CN113427478A

CN113427478A - Brake system and detection method thereof, mechanical arm and robot

Info

Publication number: CN113427478A
Application number: CN202110721323.XA
Authority: CN
Inventors: 章朋; 张俊鹏; 刘主福; 庄飞飞
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-09-24

Abstract

The application discloses a braking system and a detection method thereof, a mechanical arm and a robot, and belongs to the technical field of motor band-type brakes. The brake system comprises a striker type band-type brake, a physical field sensor and a field component. The striker is located at a first position when the striker-type brake is in the open state and at a second position when the striker-type brake is in the locking state. The field member is used to generate a physical field, and the field member moves as the striker moves. The physical field sensor detects a position of the field member based on the sensing of the physical field to determine whether the striker is in the first position or the second position. Therefore, the brake system can effectively detect whether the striker is in place or not in the locking state and the opening state of the striker type brake.

Description

Brake system and detection method thereof, mechanical arm and robot

Technical Field

The application relates to the technical field of motor band-type brakes, in particular to a brake system and a detection method, a mechanical arm and a robot thereof.

Background

Robots are the common name for automatic control machines (Robot). The robot may include a motor, an actuator, and a band brake. When the brake is in an open state, the motor works and drives the actuator to move so as to realize the action of the robot. When the brake is in a locking state, the brake locks the motor, so that the robot keeps a state of stopping action. Generally, the brake is a striker type brake. The striker-type brake includes a striker and a driving member for driving the movement of the striker.

In the related art, it is common to detect whether the striker-type brake is in an open state or a locked state by detecting the magnitude of current or voltage in the driving member.

However, the accuracy of detecting the state of the striker-type brake by detecting the magnitude of current or voltage in the driving member is poor.

Disclosure of Invention

The embodiment of the application provides a braking system and a detection method thereof, a mechanical arm and a robot, and can solve the problem that the accuracy of detecting the state of a striker type band brake is poor by detecting the current or voltage in a driving part in the related art.

In a first aspect, a braking system is provided, including: the device comprises a striker type band brake, a physical field inductor and a field component for generating a physical field;

the striker type brake comprises a striker, and the striker is located at a first position when the striker type brake is in an open state and at a second position when the striker type brake is in a locking state;

the field member moves as the striker moves;

the physical field sensor is configured with a position detection function, which is: based on the sensing of the physical field, a position of the field member is detected to determine whether the striker is in the first position or the second position.

In this application, a braking system includes a striker-type band brake, a physical field sensor, and a field member. The striker is located at a first position when the striker-type brake is in the open state and at a second position when the striker-type brake is in the locking state. The field member is used to generate a physical field, and the field member moves as the striker moves. The physical field sensor detects a position of the field member based on the sensing of the physical field to determine whether the striker is in the first position or the second position. The brake system can detect whether the striker is in a first position or a second position, and when the striker is in the first position, the brake system indicates that the striker type band brake is in an open state and the striker is in place; when the striker is in the second position, it indicates that the striker-type brake is in a locked state and the striker is in place. Therefore, the brake system can directly detect the position of the firing pin type brake contracting device, so that the accuracy of state detection of the firing pin type brake contracting device can be improved.

Wherein the field member comprises a magnet;

the position detection function is specifically to detect the position of the magnet based on the induction of the magnetic field generated by the magnet to determine whether the striker is in the first position or the second position.

Wherein the physical field sensor comprises: the magnetic field sensing module and the control module are connected with the magnetic field sensing module; the magnetic field sensing module outputs a first voltage signal when the striker is located at a first position and outputs a second voltage signal when the striker is located at a second position;

the control module is configured to: determining whether the striker is in the first position or the second position based on the voltage signal output by the magnetic field sensing module.

Wherein the magnetic field sensing module comprises:

the power supply terminal of the linear Hall sensing chip is connected with a power supply VCC, the grounding terminal of the linear Hall sensing chip is connected with a ground wire GND, and the output terminal of the linear Hall sensing chip is connected with the input terminal of the control module.

Wherein the physical field sensor further comprises: and the voltage following module is connected between the magnetic field sensing module and the control module, and the output voltage of the voltage following module changes along with the input voltage.

Wherein the voltage following module comprises: a resistor R1, an operational amplifier A1, a resistor R2 and a resistor R3;

the first end of the resistor R1 is connected with the magnetic field sensing module;

the second end of the resistor R1 is connected with the non-inverting input end of the operational amplifier A1;

a first end of the resistor R2 is connected with an inverting input end of the operational amplifier A1, and a second end of the resistor R2 is connected with an output end of the operational amplifier A1;

a first end of the resistor R3 is connected with the output end of the operational amplifier A1, and a second end of the resistor R3 is connected with the control module;

the voltage input end of the operational amplifier A1 is connected with a power supply VCC, and the voltage output end of the operational amplifier A1 is connected with a ground wire GND.

The control module stores corresponding relation information which indicates a corresponding relation between a voltage signal and the position of the striker;

the control module is configured to: and determining the position of the striker on the basis of the voltage signal output by the magnetic field sensing module and the corresponding relation information.

Wherein the field element comprises an energizing conductor for generating a fixed electric field;

the position detection function is specifically: the position of the energized conductor is detected based on the induction of the fixed electric field generated by the energized conductor to determine whether the striker is in the first position or the second position.

Wherein, striker type band brake includes:

a drive configured to drive movement of the striker when energized;

and a stopper pin and a spring provided in this order in a moving direction of the striker when driven by the driving member;

the catch pin compresses the spring when the striker moves from the second position to the first position.

Wherein the field member and the physical field sensor are sequentially disposed in a direction opposite to the moving direction, the field member is disposed on the striker, and the physical field sensor is disposed separately from the field member.

In a second aspect, there is provided a detection method applied to the braking system according to the first aspect, the detection method including:

monitoring a first control instruction and a second control instruction, wherein the first control instruction is used for controlling the striker type band brake to be switched from an open state to a band brake state, and the second control instruction is used for controlling the striker type band brake to be switched from the band brake state to the open state;

when the first control instruction is monitored, detecting whether the striker is located at a second position, and if the striker is located at the second position, outputting first indication information, wherein the first indication information indicates that the striker type band brake is in a band-type brake state and the striker is in place;

when the second control instruction is monitored, whether the striker is located at a first position or not is detected, and if the striker is located at the first position, second indication information is output and indicates that the striker type band brake is in an open state and the striker is in place.

Optionally, the field component comprises a magnet, the physical field inductor comprises: the magnetic field sensing module and the control module are connected with the magnetic field sensing module;

the detecting whether the striker is in the second position includes:

the control module acquires a voltage signal output by the magnetic field sensing module and judges whether the voltage signal is a second voltage signal or not;

if the voltage signal is a second voltage signal, the control module determines that the striker is at a second position;

the detecting whether the striker is in a first position includes:

the control module acquires a voltage signal output by the magnetic field sensing module and judges whether the voltage signal is a first voltage signal or not;

if the voltage signal is a first voltage signal, the control module determines that the striker is in a first position.

In a third aspect, a mechanical arm is provided, which comprises a motor and the brake system as described in the first aspect;

the rotating part of the motor is released when the striker type brake is in an open state, and is locked when the striker type brake is in a locking state.

In a fourth aspect, a robot is provided, which comprises a motor and the brake system of the first aspect;

It is understood that, for the beneficial effects of the second aspect, the third aspect and the fourth aspect, reference may be made to the description of the first aspect, and details are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a first braking system according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a second braking system according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating the positional relationship between the striker, the stop pin and the rotary member according to an embodiment of the present disclosure;

fig. 4 is a schematic block diagram of a first physical field sensor according to an embodiment of the present disclosure;

fig. 5 is a schematic block diagram of a second physical field sensor according to an embodiment of the present disclosure;

fig. 6 is a circuit structure diagram of a physical field sensor according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of correspondence information provided in an embodiment of the present application;

FIG. 8 is a block diagram of a third physical field sensor according to an embodiment of the present disclosure;

FIG. 9 is a flow chart of a detection method provided by an embodiment of the present application;

FIG. 10 is a schematic structural view of a striker-type band brake according to an embodiment of the present disclosure in a band-type brake state with a striker in place;

FIG. 11 is a schematic structural diagram of a first braking system with a striker not in position according to an embodiment of the present disclosure;

FIG. 12 is a schematic structural view of a striker-type band brake provided in accordance with an embodiment of the present disclosure in an open state with a striker in place;

fig. 13 is a schematic structural diagram of a second brake system with a striker not in position according to an embodiment of the present application.

Wherein, the meanings represented by the reference numerals of the figures are respectively as follows:

10. a braking system;

110. a striker type band brake;

112. a striker;

114. a drive member;

116. a stop pin;

118. a spring;

119. a pin blocking hole;

120. a physical field sensor;

121. a magnetic field sensing module;

1210. a linear Hall sensing chip;

123. an electric field sensing module;

124. a control module;

126. a voltage following module;

130. a field member;

131. a magnet;

133. an energizing conductor;

20. and a rotating member.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

It should be understood that reference to "a plurality" in this application means two or more. In the description of the present application, "/" means "or" unless otherwise stated, for example, a/B may mean a or B; "and/or" herein is only an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, for the convenience of clearly describing the technical solutions of the present application, the terms "first", "second", and the like are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

Before explaining the embodiments of the present application in detail, an application scenario of the embodiments of the present application will be described.

Robots are the common name for automatic control machines (Robot) and generally include all machines that simulate human behavior or thought, as well as other living things, such as robotic arms and the like. The robot may include a motor, an actuator, and a band brake. When the brake is in an open state, the motor works and drives the actuator to move so as to realize the action of the robot. When the brake is in a locking state, the brake locks the motor, so that the robot keeps a state of stopping action. Generally, the brake is a striker type brake. The striker-type brake includes a striker and a driving member for driving the movement of the striker. The striker should be in the first position when the striker-type brake is in the open state and in the second position when the striker-type brake is in the locked state.

In the related art, the voltage/current level in the driving member is generally detected by a voltage/current detection module and compared with a preset voltage/current threshold. If the voltage/current of the driving part is within a first preset voltage/current threshold value, detecting that the striker type brake is in a locking state; and if the voltage/current magnitude of the driving piece is within a second preset voltage/current threshold value, detecting that the striker type brake is in an open state.

However, as the number of times the striker-type brake operates increases, when the striker-type brake switches between the locked state and the open state, the striker may not move in place, for example, the striker may be stuck to another device of the robot.

When the striker type brake needs to be switched to a locking state, the voltage/current in the driving piece is changed to drive the striker to move. In the process, if the striker is not moved in place due to being stuck on other components of the robot, the voltage/current level in the driving member is still within the first predetermined voltage/current threshold. At this time, if the state of the striker type brake is detected by the related art, it is concluded that the striker type brake is in the locked state. Similarly, when the striker-type brake is switched to the open state, the voltage/current in the driving member changes to drive the movement of the striker. In the process, if the striker is not moved in place due to being stuck on other components of the robot, the voltage/current level in the driving member is still within the second predetermined voltage/current threshold. At this time, if the state of the striker type brake is detected by the related art, it is concluded that the striker type brake is in the open state. It follows that the condition of the striker-type brake, detected by detecting the voltage/current levels in the actuator, is inaccurate.

When the striker type brake is applied to a cooperative robot which needs to work in cooperation with a worker, the life safety of the worker may be affected even because the striker is not moved in place.

Therefore, the embodiment of the application provides a brake system and a robot, which can effectively detect whether a striker is in place or not when a striker type brake is in a locking state and an opening state, so that the problem that the accuracy of detecting the state of the striker type brake is poor by detecting the current or voltage in a driving part in the related art is solved.

The brake system provided in the embodiments of the present application will be explained in detail below. The braking system that this application embodiment provided is applied to the robot, for example, this braking system can be applied to the arm. In various embodiments of the present application, the connection between two electrical devices is referred to as an electrical connection. Here, the electrical connection means that two electrical devices are connected by wire or wireless to transmit an electrical signal.

Fig. 1 and 2 are schematic structural diagrams of a braking system 10 according to an embodiment of the present disclosure. The differences between fig. 1 and fig. 2 are: in the braking system 10 shown in FIG. 1, the striker 110 is in the open position and the striker 112 of the striker 110 is in the first position; in the braking system 10 shown in fig. 2, the striker-type brake 110 is in a locked state, and the striker 112 of the striker-type brake 110 is in the second position. As shown in fig. 1 and 2, the braking system 10 includes a striker-type band brake 110, a physical field sensor 120, and a field member 130.

Striker type brake 110 includes a striker 112. The striker 112 is movable between a first position and a second position, i.e., the striker 112 is movable from the first position to the second position and also movable from the second position to the first position. Generally, the motor has a rotation member 20. As shown in fig. 1, when the striker 110 is in the open position, the striker 112 is in the first position, and the rotor 20 of the motor is released and the rotor 20 of the motor can rotate. As shown in fig. 2, when the striker type band brake 110 is in the locked state, the striker 112 is in the second position, and the rotating member 20 of the motor is locked, and the rotating member 20 of the motor cannot rotate.

The field unit 130 is used to generate a physical field. The physical field herein includes at least one of an electric field and a magnetic field. The field member 130 may be fixedly coupled to the striker 112 so as to move with the movement of the striker 112. The fixed connection here includes a detachable fixed connection and a non-detachable fixed connection. Detachable fixed connection is like the joint, and non-detachable fixed connection is like welding, cementing etc..

The physical field sensor 120 is configured with a position detection function so that the positions of the field member 130 and the striker 112 can be detected. Specifically, the position detection function is: the physical field sensor 120 may detect the position of the field member 130 based on sensing the physical field generated by the field member 130 to determine whether the striker 112 is in the first position or the second position. Generally, the position of the physical field sensor 120 remains unchanged as the striker 112 moves between the first position and the second position.

In operation of the braking system 10, the field element 130 continuously generates the physical field. The field member 130 is fixedly coupled to the striker 112 so as to move with the movement of the striker 112. The position of the physical field sensor 120 remains unchanged during the movement of the striker 112. In this manner, the strength of the physical field generated by the field member 130 detected by the physical field sensor 120 is different when the striker 112 is in different positions, such that the physical field sensor 120 can detect the position of the field member 130 based on the sensing of the physical field, and can determine whether the striker 112 is in the first position or the second position. When striker 112 is in the first position, indicating that striker brake 110 is open and striker 112 is in position; when striker 112 is in the second position, it indicates that striker brake 110 is in the locked condition and striker 112 is in position. In this way, the braking system 10 can directly and effectively detect the position of the striker 112 of the striker type brake 110, so as to determine whether the striker 112 is in place when the striker type brake 110 is in the locked state or the open state, thereby improving the accuracy of the state detection of the striker type brake 110.

In some embodiments, as shown in FIGS. 1 and 2, striker-type brake 110 includes a striker 112, an actuator 114, a catch 116, and a spring 118.

A drive member 114 is provided for driving movement of the striker 112. Generally, the driving member 114 may be an electromagnet, and when the electromagnet is energized, the driving member 114 drives the striker 112 to move to the first position; when the electromagnet is de-energized, the driver 114 no longer has driving force on the striker 112 and the striker 112 is reset to the second position.

The catch 116 and the spring 118 are arranged in sequence in the direction of movement of the striker 112 when driven by the driver 114. In the present embodiment, the direction of movement of the striker 112 when driven by the driver 114 is in a downward direction into the page. The spring 118 may be disposed in a stopper pin hole 119, and the stopper pin hole 119 serves to provide a moving space for the stopper pin 116. As shown in fig. 1, when the striker 112 is moved to the first position by the driving member 114, the striker 112 exerts a downward force on the catch 116 along the paper, and the spring 118 located below the catch 116 is compressed, so that the length of the catch 116 extending into the catch hole 119 is increased, and the catch 116 and the rotary member 20 of the motor are no longer in the same horizontal position, and the rotary member 20 of the motor is released and can rotate. When the striker 112 is no longer driven by the driving force of the driving member 114 and the striker 112 returns to the second position, the striker 112 no longer has a force on the stop pin 116, and the stop pin 116 moves under the restoring force of the spring 118, so that the stop pin 116 and the rotating member 20 of the motor are at the same horizontal position, and the rotating member 20 of the motor is locked and cannot rotate. In some embodiments, the striker 112, the stop pin 116 and the rotatable member 20 may be positioned in the same horizontal plane as shown in fig. 3. This prevents the striker 112 from interfering with the rotation of the rotary member 20 when the striker 112 is in the first position.

In some embodiments, still shown in fig. 1 and 2, the field element 130 and the physical field sensor 120 are arranged in series opposite the direction of travel of the striker 112 as it is driven by the driver 114. In the present embodiment, the direction of movement of the striker 112 when driven by the driver 114 is in a downward direction into the page. In other words, the field members 130 and the physical field sensor 120 are arranged in this order in the upward direction of the paper, i.e., the physical field sensor 120 is located above the field members 130. The field member 130 is disposed on the striker 112. Physical field sensor 120 is located separately from field member 130 so that physical field sensor 120 does not move with field member 130 when field member 130 moves with striker 112. In some embodiments, the distance between the field member 130 and the physical field sensor 120 is 3mm when the striker 112 is in the second position. In some other embodiments, not shown, the physical field sensor 120 may also be located on the left side, the right side, the upper left side, and the upper right side of the field component 130 in the paper direction, which is not limited herein.

Different implementations of the field element 130 and the physical field sensor 120 are described below with reference to specific embodiments.

In a first possible implementation, the field component 130 comprises a magnet 131. The magnet 131 is used to generate a magnetic field. At this time, the position detection function of the physical field sensor 120 is specifically: the position of the magnet 131 is detected based on the induction of the magnetic field generated by the magnet 131 to determine whether the striker 112 is in the first position or the second position.

Fig. 4 is a schematic block diagram of a physical field sensor 120 according to an embodiment of the present disclosure. Specifically, as shown in fig. 4, the physical field sensor 120 may include a magnetic field sensing module 121 and a control module 124 connected to the magnetic field sensing module 121. The magnetic field sensing module 121 is configured to sense a magnetic field generated by the magnet 131 and output a voltage signal based on the sensing of the magnetic field generated by the magnet 131. When the relative position relationship between the magnetic field sensing module 121 and the magnet 131 changes, the magnitude of the output voltage signal of the magnetic field sensing module 121 also changes. In the present embodiment, the magnetic field sensing module 121 outputs a first voltage signal when the striker 112 is located at the first position and outputs a second voltage signal when the striker 112 is located at the second position.

The control module 124 is connected to the magnetic field sensing module 121, and is configured to obtain a voltage signal output by the magnetic field sensing module 121. As such, when the magnetic field sensing module 121 outputs the first voltage signal, the control module 124 determines that the striker 112 is in the first position; when the magnetic field sensing module 121 outputs the second voltage signal, the control module 124 determines that the striker 112 is in the second position.

Further, as shown in fig. 5, the physical field inductor 120 may further include a voltage following module 126 connected between the magnetic field sensing module 121 and the control module 124. The output voltage of the voltage follower module 126 varies with the input voltage.

The voltage follower module 126 may have an input and an output. The input end of the voltage following module 126 is connected to the output end of the magnetic field sensing module 121, and is configured to obtain a voltage signal output by the magnetic field sensing module 121. The output terminal of the voltage follower module 126 is connected to the control module 124 for outputting a voltage signal to the control module 124. Generally, the input voltage and the output voltage of the voltage follower module 126 are equal. The voltage follower module 126 is a unidirectional circuit, which can prevent the electric signal from flowing backward and burning the magnetic field sensing module 121, and can increase the loading capacity of the physical field sensor 120.

Fig. 6 is a circuit configuration diagram of a physical field sensor 120 according to an embodiment of the present disclosure. As shown in fig. 6, in some specific embodiments, the magnetic field sensing module 121 may be a linear hall sensing chip 1210.

The linear hall sensor chip 1210 has a power supply terminal VDD, a ground terminal G, and an output terminal VOUT. The power supply terminal VDD of the linear hall sensor chip 1210 is used for connecting to the power supply VCC, thereby obtaining the electric energy output by the power supply VCC. The ground terminal G of the linear hall sensor chip 1210 is used to be connected to the ground GND, so that a loop passing through the linear hall sensor chip 1210 is formed between the power source VCC and the ground GND, and the linear hall sensor chip 1210 is powered on. When the linear hall sensor chip 1210 works, the linear hall sensor chip is used for sensing a magnetic field generated by the magnetic field and outputting voltage signals with different magnitudes when the relative position relationship between the magnetic field sensing module 121 and the magnet 131 changes. The output terminal VOUT of the linear hall sensor chip 1210 is used to output a voltage signal. In the embodiment of the present application, when the striker 112 is located at the first position, the output terminal VOUT of the linear hall sensor chip 1210 outputs a first voltage signal, which may be 4.9V; when the striker 112 is in the second position, the output VOUT of the linear hall sensor chip 1210 outputs a second voltage signal, which may be 1V.

The voltage follower module 126 may include a resistor R1, an operational amplifier a1, a resistor R2, and a resistor R3. The first terminal of the resistor R1 is connected to the output terminal of the magnetic field sensing module 121, for example, the resistor R1 may be connected to the output terminal VOUT of the linear hall sensor chip 1210. The second terminal of the resistor R1 is connected to the non-inverting input of the operational amplifier a 1. A first terminal of the resistor R2 is connected to the inverting input terminal of the operational amplifier a1, and a second terminal of the resistor R2 is connected to the output terminal of the operational amplifier a 1. The first terminal of the resistor R3 is connected to the output terminal of the operational amplifier A1, and the second terminal of the resistor R3 is connected to the control module 124. The voltage input terminal of the operational amplifier a1 is connected to the power supply VCC, and the voltage output terminal of the operational amplifier a1 is connected to the ground GND. When the output terminal VOUT of the linear hall sensor chip 1210 outputs a first voltage signal, the second terminal of the resistor R3 also outputs the first voltage signal; when the output terminal VOUT of the linear hall sensor chip 1210 outputs the second voltage signal, the second terminal of the resistor R3 also outputs the second voltage signal.

Further, as still shown in fig. 6, the physical field sensor 120 further includes a resistor R4, a capacitor C1, a capacitor C2, a capacitor C3, a capacitor C4, a capacitor C5, and a capacitor C6. A first terminal of the resistor R4 is connected to a second terminal of the resistor R3, and a second terminal of the resistor R4 is connected to the ground GND. The first plate of the capacitor C1 is connected to the power supply VCC, and the second plate of the capacitor C1 is connected to the ground GND. The first plate of the capacitor C2 is connected to the power supply VCC, and the second plate of the capacitor C2 is connected to the ground GND. The capacitor C1 and the capacitor C2 are voltage stabilizing capacitors, so that the voltage inputted from the power supply terminal VDD of the linear hall sensor chip 1210 is more stable. The first plate of the capacitor C3 is connected to the output terminal VOUT of the linear hall sensor chip 1210, and the second plate of the capacitor C3 is connected to the ground GND. The capacitor C3 is a voltage stabilizing capacitor, which can stabilize the voltage signal output by the output terminal VOUT of the linear hall sensor chip 1210. The first plate of the capacitor C4 is connected to the voltage input of the operational amplifier A1, and the second plate of the capacitor C4 is connected to the ground GND. The first plate of the capacitor C5 is connected to the voltage input of the operational amplifier A1, and the second plate of the capacitor C5 is connected to the ground GND. The capacitor C4 and the capacitor C5 are voltage stabilizing capacitors, which can stabilize the voltage signal inputted from the voltage input terminal of the operational amplifier a 1. The first plate of the capacitor C6 is connected to the input of the control module 124, and the second plate of the capacitor C6 is connected to the ground GND. The capacitor C6 is a voltage stabilizing capacitor, which can stabilize the voltage signal inputted to the control module 124 by the magnetic field sensing module 121 or the voltage follower module 126.

Fig. 7 is a schematic diagram of correspondence information provided in an embodiment of the present application. As shown in fig. 7, the control module 124 further stores correspondence information indicating a correspondence between the voltage signal output by the magnetic field sensing module 121 and the position of the striker 112.

As is known from the above description, the magnetic field sensing module 121 outputs a first voltage signal when the striker 112 is in the first position. Namely, the first position and the first voltage signal are in a pair of corresponding relations. When the striker 112 is in the second position, the magnetic field sensing module 121 outputs a second voltage signal. Namely, the second position and the second voltage signal are in a pair of corresponding relations. In some other embodiments, the positions of the striker 112 further include a third position, the third position being between the first position and the second position, and the magnetic field sensing module 121 outputs a third voltage signal when the striker 112 is in the third position. Namely, the third position and the third voltage signal are in a pair of corresponding relations. The third voltage signal is greater than the first voltage signal and less than the second voltage signal. These correspondences are collectively referred to as correspondence information, and the control module 124 stores the correspondence information.

The control module 124 operates to determine the position of the striker 112 based on the voltage signal output by the magnetic field sensing module 121 and the correspondence information. Generally, when the magnetic field sensing module 121 outputs a voltage signal, the control module 124 may find the position of the striker 112 corresponding to the voltage signal on the correspondence information, thereby determining the position of the striker 112.

In a second possible implementation, the field element 130 comprises a current conductor 133. The current-carrying conductor 133 serves to generate a fixed and constant electric field. At this time, the position detection function of the physical field sensor 120 is specifically: the position of the energized conductor 133 is detected based on the induction of the fixed electric field generated by the energized conductor 133 to determine whether the striker 112 is in the first position or the second position.

Fig. 8 is a schematic block diagram of another physical field sensor 120 according to an embodiment of the present disclosure. Specifically, as shown in fig. 8, the physical field sensor 120 may include an electric field sensing module 123 and a control module 124 connected to the electric field sensing module 123. The electric field sensing module 123 is configured to sense the fixed electric field generated by the current conductor 133 and output a voltage signal based on the sensing of the fixed electric field generated by the current conductor 133. When the relative positional relationship between the electric field sensing module 123 and the current-carrying conductor 133 changes, the magnitude of the output voltage signal of the electric field sensing module 123 also changes. In the embodiment of the present application, the electric field sensing module 123 outputs a third voltage signal when the striker 112 is located at the first position, and outputs a fourth voltage signal when the striker 112 is located at the second position.

The control module 124 is connected to the electric field sensing module 123, and is configured to obtain a voltage signal output by the electric field sensing module 123. As such, when the electric field sensing module 123 outputs the third voltage signal, the control module 124 determines that the striker 112 is in the first position; when the electric field sensing module 123 outputs the fourth voltage signal, the control module 124 determines that the striker 112 is in the second position. When the voltage signal output by the electric field sensing module 123 is between the third voltage signal and the fourth voltage signal, the control module 124 determines that the striker 112 is between the first position and the second position.

In this possible embodiment, a voltage follower module 126 may also be provided between the electric field sensing module 123 and the control module 124, and the voltage follower module 126 may have the same circuit structure as the voltage follower module 126 in the first possible embodiment described above. Also, in this possible embodiment, the control module 124 may also store correspondence information indicating a correspondence between the voltage signal output by the electric field sensing module 123 and the position of the striker 112. The control module 124 operates to determine the position of the striker 112 based on the voltage signal and the correspondence information output by the electric field sensing module 123. And will not be described in detail.

In some embodiments, the current conductor 133 may be a capacitor including a first plate and a second plate. The electric field sensing module 123 may be a third plate. When the distance between the third polar plate and the first polar plate and the distance between the third polar plate and the second polar plate are changed, the capacitance of the third polar plate is changed, and therefore the voltage signal output by the third polar plate is changed. In other embodiments, the current conductor 133 can be other electric field generators.

In the embodiment of the present application, the braking system 10 includes a striker-type brake 110, a physical field sensor 120, and a field member 130. The striker 112 is in a first position when the striker type brake 110 is in the open state and in a second position when the striker type brake 110 is in the locked state. The field member 130 is used to generate a physical field, and the field member 130 moves as the striker 112 moves. The physical field sensor 120 detects the position of the field member 130 based on the sensing of the physical field to determine whether the striker 112 is in the first position or the second position. The braking system 10 can detect whether the striker 112 is in the first position or the second position, and when the striker 112 is in the first position, it indicates that the striker-type brake 110 is in the open state and the striker 112 is in the position; when striker 112 is in the second position, it indicates that striker brake 110 is in the locked condition and striker 112 is in position. In this way, the braking system 10 can directly and effectively detect the position of the striker 112 of the striker type brake 110, so as to determine whether the striker 112 is in place when the striker type brake 110 is in the locked state or the open state, thereby improving the accuracy of the state detection of the striker type brake 110.

The physical field sensor 120 of the braking system 10 may further include a voltage follower module 126 connected between the magnetic field sensing module 121/electric field sensing module 123 and the control module 124. The voltage follower module 126 is a unidirectional circuit, which can prevent the electric signal from flowing backward and burning the magnetic field sensing module 121, and can increase the loading capacity of the physical field sensor 120.

The embodiment of the application further provides a detection method which is applied to the brake system in any one of the above embodiments. As shown in fig. 9, the detection method includes the steps of:

s100, the physical field sensor 120 monitors a first control command and a second control command, where the first control command is used to control the striker type contracting brake 110 to switch from the open state to the contracting brake state, and the second control command is used to control the striker type contracting brake 110 to switch from the contracting brake state to the open state.

The physical field sensor 120 monitors the first control command and the second control command. In some embodiments, the physical field sensor 120 includes a control module 124, and the detection method of the embodiments of the present application may be implemented by the control module 124. The first control command and the second control command may also be issued by the control module 124 of the physical field sensor 120. The first control command is used to control the striker-type brake 110 to switch from the open state to the brake state. In other words, when the striker 110 receives the first control command when the striker is in the open state, the striker 112 of the striker 110 needs to be switched from the first position to the second position when the striker is switched from the open state to the contracting state. The second control command is used to control the striker-type band brake 110 to switch from the band brake state to the open state. In other words, when the striker 110 is in the contracting state, if the striker 110 receives the second control command, the switching from the contracting state to the opening state is required, and at this time, the striker 112 of the striker 110 needs to be switched from the second position to the first position.

S200, when the first control command is detected, the physical field sensor 120 detects whether the striker 112 is located at the second position, and outputs first indication information if the striker 112 is located at the second position, where the first indication information indicates that the striker-type band brake 110 is in a band-type brake state and the striker 112 is in place.

When the first control command is detected, it indicates that the striker 112 of the braking system 10 needs to be moved from the first position to the second position. At this time, the physical field sensor 120 of the braking system 10 may detect whether the striker 112 moves to the second position. If striker 112 moves to the second position, it indicates that striker brake 110 is in the engaged position and striker 112 is in position, as shown in FIG. 10. At this time, the physical field sensor 120 may output first indication information.

If the striker 112 is not moved to the second position, indicating that the striker 112 is not in position, the striker-type brake 110 may not be in a contracting state, as shown in FIG. 11. At this time, the physical field sensor 120 may output third indication information. The third indication indicates that striker 112 of striker brake 110 is not in position.

S300, when the second control command is detected, the physical field sensor 120 detects whether the striker 112 is located at the first position, and outputs second indication information if the striker 112 is located at the first position, where the second indication information indicates that the striker-type band brake 110 is in the open state and the striker 112 is in position.

When the second control command is detected, it indicates that the striker 112 of the braking system 10 needs to be moved from the second position to the first position. At this time, the physical field sensor 120 of the braking system 10 may detect whether the striker 112 moves to the first position. If striker 112 is moved to the first position, this indicates that striker brake 110 is open and striker 112 is in position, as shown in FIG. 12. At this time, the physical field sensor 120 may output second indication information.

If striker 112 is not moved to the first position, indicating that striker 112 is not in position, striker brake 110 may not be in the open position. As shown in fig. 13. At this time, the physical field sensor 120 may output third indication information. The third indication indicates that striker 112 of striker brake 110 is not in position. Thus, the detection method can effectively detect whether the striker 112 is in place when the striker-type brake 110 in the brake system 10 is in the locked state or the open state, thereby improving the accuracy of state detection of the striker-type brake 110.

In some embodiments, the field component 130 includes a magnet 131, and the physical field inductor 120 includes: a magnetic field sensing module 121 and a control module 124 connected to the magnetic field sensing module 121. At this time, the physical field sensor 120 in the above step S200 detects whether the striker 112 is in the second position, including:

s212, the control module 124 obtains the voltage signal output by the magnetic field sensing module 121, and determines whether the voltage signal is the second voltage signal.

S214, if the voltage signal is the second voltage signal, the control module 124 determines that the striker 112 is in the second position.

That is, the control module 124 in the physical field sensor 120 obtains the voltage signal output by the magnetic field sensing module 121 in the physical field sensor 120, and determines that the striker 112 is in the second position when the voltage signal is the second voltage signal; otherwise, striker 112 is not in the second position and striker 112 is not in position.

The physical field sensor 120 in step S300 detects whether the striker 112 is in the first position, including:

s222, the control module 124 obtains the voltage signal output by the magnetic field sensing module 121, and determines whether the voltage signal is the first voltage signal;

s214, if the voltage signal is the first voltage signal, the control module 124 determines that the striker 112 is in the first position.

That is, the control module 124 in the physical field sensor 120 obtains the voltage signal output by the magnetic field sensing module 121 in the physical field sensor 120, and determines that the striker 112 is in the first position when the voltage signal is the first voltage signal; otherwise, striker 112 is not in the first position and striker 112 is not in position.

In other embodiments, field component 130 includes a current carrying conductor 133, and physical field inductor 120 includes: an electric field sensing module 123 and a control module 124 connected to the electric field sensing module 123. At this time, the physical field sensor 120 in the above step S200 detects whether the striker 112 is in the second position, including:

s212, the control module 124 obtains the voltage signal output by the electric field sensing module 123, and determines whether the voltage signal is a fourth voltage signal.

S214, if the voltage signal is the fourth voltage signal, the control module 124 determines that the striker 112 is in the second position.

That is, the control module 124 in the physical field sensor 120 obtains the voltage signal output by the electric field sensing module 123 in the physical field sensor 120, and determines that the striker 112 is in the second position when the voltage signal is the fourth voltage signal; otherwise, striker 112 is not in the second position and striker 112 is not in position.

s222, the control module 124 obtains the voltage signal output by the electric field sensing module 123, and determines whether the voltage signal is a third voltage signal;

s214, if the voltage signal is the third voltage signal, the control module 124 determines that the striker 112 is in the first position.

That is, the control module 124 in the physical field sensor 120 obtains the voltage signal output by the electric field sensing module 123 in the physical field sensor 120, and determines that the striker 112 is in the first position when the voltage signal is the third voltage signal; otherwise, striker 112 is not in the first position and striker 112 is not in position.

The embodiment of the present application further provides a mechanical arm, which includes the brake system 10 and the motor in any one of the above embodiments. The rotating member 20 of the motor is released and can rotate when the striker type band brake 110 is in the open state; the rotor 20 of the motor is locked and cannot rotate when the striker type brake 110 is in a locked state.

Specifically, the braking system 10 includes: a striker-type band brake 110, a physical field sensor 120, and a field member 130 for generating a physical field. The striker 110 includes a striker 112, and the striker 112 is in a first position when the striker 110 is in the open state and in a second position when the striker 110 is in the locked state. The field member 130 moves as the striker 112 moves. The physical field sensor 120 is configured with a position detection function that is: based on the sensing of the physical field, the position of the field member 130 is detected to determine whether the striker 112 is in the first position or the second position.

In some embodiments, the field member 130 includes a magnet 131. The position detection function is embodied to detect the position of the magnet 131 based on the induction of the magnetic field generated by the magnet 131 to determine whether the striker 112 is in the first position or the second position.

In some embodiments, physical field sensor 120 comprises: a magnetic field sensing module 121 and a control module 124 connected to the magnetic field sensing module 121. The magnetic field sensing module 121 outputs a first voltage signal when the striker 112 is in the first position and outputs a second voltage signal when the striker 112 is in the second position. The control module 124 is configured to: it is determined whether the striker 112 is in the first position or the second position based on the voltage signal output by the magnetic field sensing module 121.

In some embodiments, the magnetic field sensing module 121 includes: the power supply end of the linear hall sensing chip 1210 is connected with a power supply VCC, the ground end of the linear hall sensing chip 1210 is connected with a ground GND, and the output end of the linear hall sensing chip 1210 is connected with the input end of the control module 124.

In some embodiments, physical field sensor 120 further comprises: and a voltage following module 126 connected between the magnetic field sensing module 121 and the control module 124, wherein the output voltage of the voltage following module 126 is changed along with the input voltage.

In some embodiments, the voltage follower module 126 includes: resistor R1, operational amplifier A1, resistor R2 and resistor R3. A first end of the resistor R1 is connected to the magnetic field sensing module 121. The second terminal of the resistor R1 is connected to the non-inverting input of the operational amplifier a 1. A first terminal of the resistor R2 is connected to the inverting input terminal of the operational amplifier a1, and a second terminal of the resistor R2 is connected to the output terminal of the operational amplifier a 1. The first terminal of the resistor R3 is connected to the output terminal of the operational amplifier A1, and the second terminal of the resistor R3 is connected to the control module 124. The voltage input terminal of the operational amplifier a1 is connected to the power supply VCC, and the voltage output terminal of the operational amplifier a1 is connected to the ground GND.

In some embodiments, the control module 124 stores correspondence information indicating a correspondence between the voltage signal and the position of the striker 112. The control module 124 is configured to: the position of the striker 112 is determined based on the voltage signal output by the magnetic field sensing module 121 and the correspondence information.

In some embodiments, the field members 130 include energized conductors 133 for generating a fixed electric field. The position detection function is specifically: the position of the energized conductor 133 is detected based on the induction of the fixed electric field generated by the energized conductor 133 to determine whether the striker 112 is in the first position or the second position.

In some embodiments, striker-type band brake 110 includes: a drive member 114 configured to drive movement of the striker 112 when energized. And a catch 116 and a spring 118 arranged in that order in the direction of movement of the striker 112 when driven by the driver 114. The catch 116 compresses the spring 118 as the striker 112 moves from the second position to the first position.

In some embodiments, the field element 130 and the physical field sensor 120 are disposed in sequence in a direction opposite to the direction of movement, the field element 130 is disposed on the striker 112, and the physical field sensor 120 is disposed separately from the field element 130.

In an embodiment of the present application, the robot includes a braking system 10 as described in any of the above embodiments. The braking system 10 includes a striker-type band brake 110, a physical field sensor 120, and a field assembly 130. The striker 112 is in a first position when the striker type brake 110 is in the open state and in a second position when the striker type brake 110 is in the locked state. The field member 130 is used to generate a physical field, and the field member 130 moves as the striker 112 moves. The physical field sensor 120 detects the position of the field member 130 based on the sensing of the physical field to determine whether the striker 112 is in the first position or the second position. The braking system 10 can detect whether the striker 112 is in the first position or the second position, and when the striker 112 is in the first position, it indicates that the striker-type brake 110 is in the open state and the striker 112 is in the position; when striker 112 is in the second position, it indicates that striker brake 110 is in the locked condition and striker 112 is in position. In this way, the braking system 10 can directly and effectively detect the position of the striker 112 of the striker type brake 110, so as to determine whether the striker 112 is in place when the striker type brake 110 is in the locked state or the open state, thereby improving the accuracy of the state detection of the striker type brake 110.

The embodiment of the application also provides a robot, which comprises the brake system 10 and the motor in any one of the above embodiments. The rotating member 20 of the motor is released and can rotate when the striker type band brake 110 is in the open state; the rotor 20 of the motor is locked and cannot rotate when the striker type brake 110 is in a locked state.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A braking system, comprising: the device comprises a striker type band brake, a physical field inductor and a field component for generating a physical field;

the field member moves as the striker moves;

2. The braking system of claim 1,

the field member comprises a magnet;

3. A braking system according to claim 2 wherein the physical field sensor comprises: the magnetic field sensing module and the control module are connected with the magnetic field sensing module; the magnetic field sensing module outputs a first voltage signal when the striker is located at a first position and outputs a second voltage signal when the striker is located at a second position;

4. A braking system according to claim 3, characterized in that said magnetic field sensing module comprises:

5. A braking system according to claim 3 wherein the physical field sensor further comprises: and the voltage following module is connected between the magnetic field sensing module and the control module, and the output voltage of the voltage following module changes along with the input voltage.

6. The braking system of claim 5, wherein the voltage following module comprises: a resistor R1, an operational amplifier A1, a resistor R2 and a resistor R3;

7. The braking system of claim 3, wherein the control module stores correspondence information indicating a correspondence between the voltage signal and the position of the striker;

8. The braking system of claim 1,

the field element comprises an energizing conductor for generating a fixed electric field;

9. A braking system as claimed in any one of claims 1 to 8 wherein the striker-type band brake comprises:

a drive configured to drive movement of the striker when energized;

10. The brake system according to claim 9, wherein the field member and the physical field sensor are disposed in this order in a direction opposite to the moving direction, the field member is disposed on the striker, and the physical field sensor is disposed separately from the field member.

11. A detection method applied to the braking system according to any one of claims 1 to 10, characterized in that the detection method comprises:

12. The detection method of claim 11, wherein the field component comprises a magnet, and the physical field sensor comprises: the magnetic field sensing module and the control module are connected with the magnetic field sensing module;

the detecting whether the striker is in the second position includes:

the detecting whether the striker is in a first position includes:

13. A robot arm comprising a motor and a braking system according to any one of claims 1 to 10;

14. A robot comprising a motor and a braking system according to any one of claims 1 to 10;