CN113364218A - Joint torque motor module and self-detection method - Google Patents
Joint torque motor module and self-detection method Download PDFInfo
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- CN113364218A CN113364218A CN202110433231.1A CN202110433231A CN113364218A CN 113364218 A CN113364218 A CN 113364218A CN 202110433231 A CN202110433231 A CN 202110433231A CN 113364218 A CN113364218 A CN 113364218A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
- H02K7/1023—Magnetically influenced friction brakes using electromagnets
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
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- Electromagnetism (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Physics & Mathematics (AREA)
Abstract
The invention provides a joint torque motor module and a self-detection method, wherein the motor module comprises: a motor module, a brake module, and an encoder module and a motor shaft. Wherein, the motor shaft passes through the bearing to be fixed in motor housing, and motor module, stopper module and encoder module all set up inside motor housing. The motor shaft is located the central point of motor module, and motor module is used for driving the motor shaft and rotates. The brake module is arranged at the lower position of the motor module, the motor shaft penetrates through the brake module and is connected with the brake module, and the brake module is used for controlling the rotation of the motor shaft. The encoder module is arranged at the lower position of the brake module and is used for detecting the position and speed information of the motor shaft (4). This motor module integrated level is high, small in size, and modular design makes installation and maintenance simpler, and the stopper is sealed effectual, avoids taking place dust pollution internals.
Description
Technical Field
The invention relates to the technical field of modular joints of cooperative robots, in particular to a joint torque motor module and a self-detection method.
Background
The rapid development of the cooperative robot technology and the continuous expansion of the application field thereof promote the development of core component modularized joints towards the directions of high integration degree, high precision, high safety, light weight, simple and convenient installation and the like, the modularized joints of the present cooperative robot basically comprise elements such as a harmonic speed reducer, a motor, a brake, an encoder, a driver and the like, but the structure is relatively dispersed, the modularized joints are assembled in a cascade mode, more parts are adopted, the utilization rate of joint space resources is low, the joint mass and the size are large, and particularly the axial length is long; although some businesses have begun integrating the encoder readhead on the actuator to reduce joint size, it is complicated and difficult to install.
In addition, electromagnetic brakes are mostly used as the brakes inside the modular joints at present, and dust is usually generated during braking operation, and the dust can cause pollution and short circuit to an encoder and a driver. However, most joints are assembled in a cascade mode, at present, a sealing structure is usually arranged inside the joint independently for sealing, but the complexity and the size of the mechanical structure design of the joint are increased by the aid of the solution, and high integration and light weight of the modular joint are not facilitated.
Therefore, a need exists for a modular motor module with light weight, good braking effect and good sealing effect.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a joint torque motor module and a self-detection method. This motor module integrated level is high, and the modularized design makes the installation simpler, and small in size, braking effect is good and the stopper is sealed effectual, can not take place dust pollution.
The invention provides a joint torque motor module, which comprises: the motor comprises a motor module, a brake module, an encoder module and a motor shaft, wherein the motor shaft is fixed in a motor shell through a bearing, and the motor module, the brake module and the encoder module are all arranged in the motor shell; the motor shaft is positioned in the center of the motor module, and the motor module is used for driving the motor shaft to rotate; the brake module is arranged at the lower position of the motor module, a motor shaft penetrates through the brake module and is connected with the brake module, and the brake module is used for controlling the rotation of the motor shaft; the encoder module is arranged at the lower position of the brake module and used for detecting the position and speed information of the motor shaft.
In an embodiment of the present invention, a motor housing includes: the motor module comprises a first shell, a second shell and a third shell, wherein the first shell is arranged on the outer side of the motor module and provides a mounting position for the motor module; the second shell is arranged at the outer side of the brake module and provides a mounting position for the brake module; the third shell is arranged on the outer side of the encoder module and provides a mounting position for the encoder module; the first shell, the second shell and the third shell are fixedly connected through fixing pieces.
In an embodiment of the present invention, a motor module includes: the motor comprises a motor rotor and a motor stator, wherein the motor rotor is fixed on a motor shaft, the motor stator is fixed on the inner wall of the first shell, and a rotating gap is formed between the motor rotor and the motor stator; the motor rotor and the motor stator interact to rotate relatively, and the motor rotor and the motor stator drive the motor shaft to rotate.
In an embodiment of the present invention, a brake module includes: the brake comprises a connecting flat key, a brake rotor hub and an electromagnetic brake, wherein the connecting flat key is arranged in a key groove of a motor shaft, and the brake rotor hub is connected with the motor shaft through the connecting flat key; electromagnetic braking ware fixed connection is on the inner wall of second casing, and electromagnetic braking ware and stopper rotor hub are connected the cooperation for the rotation of control motor shaft.
In an embodiment of the present invention, an encoder module includes: the magnetic-ring encoder comprises an encoder magnetic ring insert, an encoder magnetic ring, an encoder reading head and a reading head mounting frame, wherein the encoder magnetic ring insert is fixed on a motor shaft and is positioned below a brake rotor hub and used for limiting the axial displacement of the brake rotor hub; the encoder magnetic ring is fixed on the encoder magnetic ring insert, the encoder reading head is fixedly installed on the third shell through the reading head installation frame, and the encoder magnetic ring and the encoder reading head act together and are used for recording and outputting position and speed information of a motor shaft.
Further, a sealing structure is arranged between the brake module and the encoder module and used for preventing dust from polluting motor elements.
Furthermore, the sealing structure is a labyrinth sealing structure, wherein a plurality of concentric annular grooves are formed in a friction plate rotor of the electromagnetic brake, a plurality of concentric annular grooves are also formed in the encoder magnetic ring insert, and the concentric annular grooves in the electromagnetic brake and the concentric annular grooves in the encoder magnetic ring insert are matched to form labyrinth sealing.
The invention provides a self-detection method of a joint torque motor module, which comprises the following steps:
fixedly connecting the joint torque motor module and electrifying the motor module;
inputting a small moment signal from the outside;
judging whether the motor module is in fault according to the reading state of the encoder module and the state of the motor shaft;
the motor module is in fault, and maintenance is carried out;
when the motor module is normal, the brake module is powered off to be in a braking state;
a constant torque is input externally;
judging whether the motor module is in fault according to the states of the encoder module and the motor shaft;
the motor module is in fault, and maintenance is carried out;
when the motor module is normal, the system is powered off.
Further, the step of judging whether the motor module is in fault according to the reading state of the encoder module and the state of the motor shaft specifically comprises:
when the reading of the encoder module changes, the motor shaft rotates, and the motor module is normal;
if the reading of the encoder module changes and the motor shaft does not rotate, the encoder module and the brake module are in failure;
the encoder module has no reading change, and the motor shaft rotates, so that the encoder module fails;
the encoder module has no reading change, and the motor shaft has no rotation, so the brake module has a fault.
Further, the step of judging whether the motor module is in fault according to the states of the encoder module and the motor shaft specifically comprises:
if the reading of the encoder module changes and the motor shaft rotates, the brake module fails;
if the reading of the encoder module changes and the motor shaft does not rotate, the encoder module fails;
the encoder module has no reading change, and when the motor shaft rotates, the encoder module and the brake module have faults;
the encoder module has no reading change, and the motor shaft has no rotation, so the motor module is normal.
According to the above embodiment, the joint torque motor module provided by the invention has the following advantages: compared with the prior art, the motor module realizes modular design, has higher integration level, realizes functional partitioning, and is more favorable for production, installation and fault detection. Simultaneously, the motor module is integrated more highly, and the lightweight of the module is realized. The structure is sealed more rationally effectively, can effectually avoid the dust that the stopper produced to cause the pollution to encoder and driver, has greatly guaranteed the stability of motor operation, promotes the life and the reliability of motor. In addition, this motor module's self-checking function can effectually carry out troubleshooting, has greatly reduced the cost that artifical detected.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a structural diagram of a joint torque motor module provided by the invention.
Fig. 2 is a structural diagram of a motor module of the joint torque motor module according to the present invention.
Fig. 3 is a structural diagram of a brake module of a joint torque motor module according to the present invention.
Fig. 4 is a structural diagram of an encoder module of the joint torque motor module according to the present invention.
Fig. 5 is a flowchart of a first embodiment of a joint torque motor module self-detection method according to the present invention.
Fig. 6 is a flowchart of a second embodiment of a joint torque motor module self-detection method provided in the present invention.
Fig. 7 is a flowchart of a third embodiment of a joint torque motor module self-detection method provided in the present invention.
Description of reference numerals:
1-a motor module, 2-a brake module, 3-an encoder module, 4-a motor shaft, 5-a bearing, 6-a motor shell and 7-a sealing structure;
11-motor rotor, 12-motor stator, 21-connecting flat key, 22-brake rotor hub, 23-electromagnetic brake, 31-encoder magnetic ring insert, 32-encoder magnetic ring, 33-encoder reading head, 34-reading head mounting rack, 61-first shell, 62-second shell and 63-third shell.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
The invention provides a joint torque motor module, which is shown in a structural diagram in figure 1. This motor module includes: a motor module 1, a brake module 2, an encoder module 3 and a motor shaft 4. Wherein, motor shaft 4 passes through bearing 5 to be fixed in motor casing 6, and motor module 1, stopper module 2 and encoder module 3 all set up inside motor casing 6. In this embodiment, the upper and lower ends of the motor shaft 4 are fixed in the motor housing 6 by at least two bearings 5, and can rotate relative to the motor housing 6.
In the embodiment of the present invention, the motor housing 6 includes: a first case 61, a second case 62, and a third case 63. Wherein, the first housing 61 is disposed outside the motor module 1 and provides a mounting position for the motor module 1. The second housing 62 is arranged outside the brake module 2 and provides a mounting location for the brake module 2. The third housing 63 is arranged outside the encoder module 3 and provides a mounting location for the encoder module 3. The first housing 61, the second housing 62 and the third housing 63 are fixedly connected by a fixing member. In addition, a wire slot is formed in the motor shell 6 and used for routing the motor module.
In the embodiment of the present invention, the motor shaft 4 is located at the center of the motor module 1, and the motor module 1 is used for driving the motor shaft 4 to rotate. As shown in fig. 2, in the embodiment of the present invention, the motor module 1 includes: a motor rotor 11 and a motor stator 12. Wherein, motor rotor 11 is fixed on motor shaft 4, and motor stator 4 is fixed on first casing 61 inner wall, has between motor rotor 11 and the motor stator 12 and rotates the clearance. The motor rotor 11 and the motor stator 12 interact to rotate relatively, and drive the motor shaft 4 to rotate.
In the embodiment of the present invention, the brake module 2 is disposed at a lower position of the motor module 1, and the motor shaft 4 passes through the brake module 2 and is connected to the brake module 2, and the brake module 2 is used for controlling the rotation of the motor shaft 4. As shown in fig. 3, in the embodiment of the present invention, the brake module 2 includes: a flat key 21, a brake rotor hub 22 and an electromagnetic brake 23. Wherein, connect flat key 21 and set up in the keyway of motor shaft 4, brake rotor hub 22 is connected with motor shaft 4 through connecting flat key 21 for brake rotor hub 22 rotates with motor shaft 4.
The electromagnetic brake 23 is fixedly attached to the inner wall of the second housing 62. In this embodiment, the second housing 62 has a jack hole, and the electromagnetic brake 23 is fixed to the second housing 62 by a jack. In addition, an electromagnetic brake 23 is coupled to the brake rotor hub 22 for controlling rotation of the motor shaft 4. Specifically, the central spline teeth of the brake rotor hub 22 mesh with the friction plate rotor spline tooth grooves of the electromagnetic brake 23, together serving as a rotating part of the brake module 2, which rotates together with the motor shaft 11 through the flat key 21. When the electromagnetic brake 23 receives the braking signal, the electromagnetic brake 23 acts to stop the friction plate rotor of the electromagnetic brake 23, so as to drive the brake rotor hub 22 to stop rotating, and finally the electromagnetic brake 23 brakes the motor shaft 4.
In the embodiment of the present invention, the encoder module 3 is disposed at the lower position of the brake module 2, and detects the position and speed information of the motor shaft 4. As shown in fig. 4, in the embodiment of the present invention, the encoder module 3 includes: the magnetic encoder ring comprises an encoder magnetic ring insert 31, an encoder magnetic ring 32, an encoder reading head 33 and a reading head mounting frame 34. Wherein, encoder magnetic ring mold insert 31 is fixed on motor shaft 4, rotates along with motor shaft 4 synchronous. In addition, an encoder magnet ring insert 31 is located below the brake rotor hub 22 for limiting axial displacement of the brake rotor hub 22.
The encoder magnetic ring 32 is fixed on the encoder magnetic ring insert 31, the encoder reading head 33 is fixedly installed on the third shell 63 through the reading head installation frame 34, and the encoder magnetic ring 32 and the encoder reading head 33 act together to record and output position and speed information of the motor shaft 4. In this embodiment, the encoder magnetic ring 32 rotates along with the encoder magnetic ring insert 31, and the encoder reading head 33 is fixed, so as to record the motion of the motor shaft 4 conveniently.
In the embodiment of the invention, a sealing structure 7 is arranged between the brake module 2 and the encoder module 3, and the sealing structure is used for preventing dust from polluting motor elements. Specifically, the seal structure 7 is a labyrinth seal structure. Wherein, have a plurality of concentric ring channels on electromagnetic braking ware 23's the friction disc rotor, encoder magnetic ring mold insert 31 also has a plurality of concentric ring channels, and the concentric ring channel on electromagnetic braking ware 23 forms labyrinth with the cooperation of the concentric ring channel on encoder magnetic ring mold insert 31, can realize structural seal under the rotating condition, prevents that the dust that electromagnetic braking ware 23 long-term braking produced from causing pollution and destruction to the original paper of encoder module 3.
The invention also provides a self-detection method of the joint torque motor module, and fig. 5 is a flow chart of a first embodiment of the self-detection method of the joint torque motor module provided by the invention.
In the embodiment shown in the figure, the self-detection method comprises the following steps:
step S1: the joint torque motor module is fixedly connected and is electrified. Wherein, need carry out fixed connection with joint moment module before the detection to give the motor module power supply, guarantee that motor module, stopper module and encoder module can be in operating condition.
Step S2: a small torque signal is input externally. When the detection is carried out, a torque signal needs to be input externally to the motor module, and then the motor module in the motor module drives the motor shaft to rotate.
Step S3: and judging whether the motor module fails according to the reading state of the encoder module and the state of the motor shaft. After the torque signal is input from the outside, the motor module can drive the motor shaft to rotate. And judging whether the motor module is in fault or not according to the actual reading of the encoder module and the rotation condition of the motor shaft, and if so, judging the fault position.
Step S4: and (5) the motor module breaks down and is overhauled. And maintaining or replacing the fault module according to the corresponding fault information.
Step S4': when the motor module is normal, the brake module is powered off to be in a braking state. If the motor module is in a normal state, the next testing link is started, the brake module is powered off, and the brake module is in a braking state.
Step S5: a constant torque is input externally.
Step S6: and judging whether the motor module fails according to the states of the encoder module and the motor shaft. A constant torque is input to a motor shaft of the motor module from the outside, and the motor shaft does not rotate normally. And judging whether the motor module is in fault or not according to the actual reading of the encoder module and the rotation condition of the motor shaft, and if so, judging the fault position.
Step S7: and (5) the motor module breaks down and is overhauled. And maintaining or replacing the fault module according to the corresponding fault information.
Step S7': when the motor module is normal, the system is powered off.
Fig. 6 is a flowchart illustrating a second embodiment of a joint torque motor module self-testing method according to the present invention. In fig. 6, whether the motor module is faulty is determined by the reading state of the encoder module and the state of the motor shaft. If the fault occurs, the fault module can be timely maintained according to the corresponding problem.
In the embodiment shown in the drawing, step S3 specifically includes:
step S3-1: the encoder module has reading change, and the motor shaft rotates, then the motor module is normal.
Step S3-2: if the encoder module has reading change and the motor shaft does not rotate, the encoder module and the brake module are in failure. It would normally be the case that there is a change in the reading of the encoder module and the motor shaft is rotating. At the moment, the encoder module has reading change, and the motor shaft does not rotate, so that the encoder module and the brake module are both in failure.
Step S3-3: the encoder module has no reading change, and the motor shaft rotates, then the encoder module breaks down. It would normally be the case that there is a change in the reading of the encoder module and the motor shaft is rotating. At the moment, the encoder module has no reading change, and the motor shaft rotates, so that the encoder module breaks down.
Step S3-4: the encoder module has no reading change, and the motor shaft has no rotation, so the brake module has a fault. It would normally be the case that there is a change in the reading of the encoder module and the motor shaft is rotating. At the moment, the encoder module has no reading change, and the motor shaft does not rotate, so that the brake module breaks down.
Fig. 7 is a flowchart illustrating a third embodiment of a self-testing method for a joint torque motor module according to the present invention. In fig. 7, whether the motor module is faulty is determined by the reading state of the encoder module and the state of the motor shaft. If the fault occurs, the fault module can be timely maintained according to the corresponding problem.
In the embodiment shown in the drawing, step S6 specifically includes:
step S6-1: when the reading of the encoder module changes, the motor shaft rotates, and then the brake module fails. The normal situation would be that there would be no change in the encoder module and no rotation of the motor shaft. At the moment, the reading of the encoder module changes, and the motor shaft rotates, so that the brake module breaks down.
Step S6-2: if the encoder module has a reading change and the motor shaft does not rotate, the encoder module fails. The normal situation would be that there would be no change in the encoder module and no rotation of the motor shaft. At the moment, the encoder module has reading change, and the motor shaft does not rotate, so that the encoder module breaks down.
Step S6-3: the encoder module has no reading change, and the motor shaft rotates, so that the encoder module and the brake module have fault faults. The normal situation would be that there would be no change in the encoder module and no rotation of the motor shaft. At the moment, the encoder module has no reading change, and the motor shaft rotates, so that the encoder module and the brake module are both in failure.
Step S6-4: the encoder module has no reading change, and the motor shaft has no rotation, so the motor module is normal.
After two tests, the motor module is subjected to fault elimination or has no fault, and the motor module passes the tests and can be put into use.
The foregoing is merely an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principle of the present invention should fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a joint torque motor module which characterized in that, this motor module includes: a motor module (1), a brake module (2), an encoder module (3) and a motor shaft (4), wherein,
the motor shaft (4) is fixed in a motor shell (6) through a bearing (5), and the motor module (1), the brake module (2) and the encoder module (3) are all arranged inside the motor shell (6);
the motor shaft (4) is positioned at the center of the motor module (1), and the motor module (1) is used for driving the motor shaft (4) to rotate;
the brake module (2) is arranged at the lower position of the motor module (1), the motor shaft (4) penetrates through the brake module (2) and is connected with the brake module (2), and the brake module (2) is used for controlling the rotation of the motor shaft (4);
the encoder module (3) is arranged at the lower position of the brake module (2) and is used for detecting the position and speed information of the motor shaft (4).
2. The joint torque motor module according to claim 1, wherein the motor housing (6) comprises: a first housing (61), a second housing (62) and a third housing (63), wherein,
the first shell (61) is arranged on the outer side of the motor module (1) and provides a mounting position for the motor module (1);
the second housing (62) is arranged outside the brake module (2) and provides a mounting position for the brake module (2);
the third shell (63) is arranged outside the encoder module (3) and provides a mounting position for the encoder module (3);
the first shell (61), the second shell (62) and the third shell (63) are fixedly connected through fixing pieces.
3. Joint torque motor module according to claim 2, characterized in that the motor module (1) comprises: a motor rotor (11) and a motor stator (12), wherein,
the motor rotor (11) is fixed on the motor shaft (4), the motor stator (4) is fixed on the inner wall of the first shell (61), and a rotating gap is formed between the motor rotor (11) and the motor stator (12);
the motor rotor (11) and the motor stator (12) interact to rotate relatively, and the motor rotor drives the motor shaft (4) to rotate.
4. Joint torque motor module according to claim 2, characterized in that the brake module (2) comprises: a connecting flat key (21), a brake rotor hub (22) and an electromagnetic brake (23), wherein,
the connecting flat key (21) is arranged in a key groove of the motor shaft (4), and the brake rotor hub (22) is connected with the motor shaft (4) through the connecting flat key (21);
the electromagnetic brake (23) is fixedly connected to the inner wall of the second shell (62), and the electromagnetic brake (23) is connected and matched with the brake rotor hub (22) and used for controlling the rotation of the motor shaft (4).
5. Joint torque motor module according to claim 4, characterized in that said encoder module (3) comprises: an encoder magnetic ring insert (31), an encoder magnetic ring (32), an encoder reading head (33) and a reading head mounting rack (34),
the encoder magnetic ring insert (31) is fixed on the motor shaft (4), and the encoder magnetic ring insert (31) is located below the brake rotor hub (22) and used for limiting the axial displacement of the brake rotor hub (22);
the encoder magnetic ring (32) is fixed on the encoder magnetic ring insert (31), the encoder reading head (33) is fixedly mounted on the third shell (63) through the reading head mounting frame (34), and the encoder magnetic ring (32) and the encoder reading head (33) act together to record and output position and speed information of the motor shaft (4).
6. Joint torque motor module according to claim 5, characterized in that a sealing structure (7) is provided between the brake module (2) and the encoder module (3), which sealing structure is used to prevent dust from contaminating the motor elements.
7. The joint torque motor module according to claim 6, wherein the sealing structure (7) is a labyrinth sealing structure, wherein a friction plate rotor of the electromagnetic brake (23) has a plurality of concentric annular grooves thereon, the encoder magnetic ring insert (31) also has a plurality of concentric annular grooves thereon, and the concentric annular grooves on the electromagnetic brake (23) and the concentric annular grooves on the encoder magnetic ring insert (31) cooperate to form a labyrinth seal.
8. A self-detection method of a joint torque motor module is characterized in that the joint torque motor module according to claims 1-7 is provided, and the self-detection method specifically comprises the following steps:
fixedly connecting the joint torque motor module and electrifying the motor module;
inputting a small moment signal from the outside;
judging whether the motor module is in fault according to the reading state of the encoder module and the state of the motor shaft;
the motor module is in fault, and maintenance is carried out;
when the motor module is normal, the brake module is powered off to be in a braking state;
a constant torque is input externally;
judging whether the motor module is in fault according to the states of the encoder module and the motor shaft;
the motor module is in fault, and maintenance is carried out;
when the motor module is normal, the system is powered off.
9. The self-detection method of the joint torque motor module according to claim 8, wherein the step of determining whether the motor module is faulty according to the reading state of the encoder module and the state of the motor shaft specifically comprises:
when the reading of the encoder module changes, the motor shaft rotates, and the motor module is normal;
if the reading of the encoder module changes and the motor shaft does not rotate, the encoder module and the brake module are in failure;
the encoder module has no reading change, and the motor shaft rotates, so that the encoder module fails;
the encoder module has no reading change, and the motor shaft has no rotation, so the brake module has a fault.
10. The self-detection method of the joint torque motor module according to claim 8, wherein the step of determining whether the motor module is faulty according to the states of the encoder module and the motor shaft specifically comprises:
if the reading of the encoder module changes and the motor shaft rotates, the brake module fails;
if the reading of the encoder module changes and the motor shaft does not rotate, the encoder module fails;
the encoder module has no reading change, and when the motor shaft rotates, the encoder module and the brake module have faults;
the encoder module has no reading change, and the motor shaft has no rotation, so the motor module is normal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110433231.1A CN113364218A (en) | 2021-04-22 | 2021-04-22 | Joint torque motor module and self-detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110433231.1A CN113364218A (en) | 2021-04-22 | 2021-04-22 | Joint torque motor module and self-detection method |
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| CN202110433231.1A Pending CN113364218A (en) | 2021-04-22 | 2021-04-22 | Joint torque motor module and self-detection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023202032A1 (en) * | 2022-04-22 | 2023-10-26 | 广州广电运通金融电子股份有限公司 | Robot joint braking device, and robot joint |
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