CN113427497B - Cooperative robot band-type brake control device and control method thereof - Google Patents
Cooperative robot band-type brake control device and control method thereof Download PDFInfo
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- CN113427497B CN113427497B CN202110708826.3A CN202110708826A CN113427497B CN 113427497 B CN113427497 B CN 113427497B CN 202110708826 A CN202110708826 A CN 202110708826A CN 113427497 B CN113427497 B CN 113427497B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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Abstract
The application relates to a cooperation robot band-type brake controlling means includes: the device comprises a baffle plate assembly, an electromagnetic blocking switch and a sensing assembly. The separation blade subassembly can make rotary motion around the contracting brake motor output shaft, and the electromagnetic blocking switch can lock or release the contracting brake separation blade, and the sensing subassembly can generate control signal in response to the triggering of contracting brake separation blade. This application is at first responded through the triggering of the band-type brake separation blade on the sensing subassembly to accurately carry out the discernment of the relative position of band-type brake separation blade and electromagnetic blocking switch, generate corresponding control signal with the rotation of control band-type brake separation blade and the action of electromagnetic blocking switch according to sensing subassembly's corresponding structure afterwards, guarantee under the contactless circumstances of band-type brake separation blade and electromagnetic blocking switch, accomplish whole band-type brake device's release work. The technical scheme of this application has realized the accurate judgement to the position of band-type brake separation blade, provides an operation weak point consuming time, efficient, band-type brake wearing and tearing are little, longe-lived and stable high band-type brake controlling means.
Description
Technical Field
The application relates to the technical field of cooperative robots, in particular to a contracting brake control device of a cooperative robot and a control method thereof.
Background
With the development of the cooperative robot technology, a cooperative robot band-type brake control technology appears, a cooperative robot band-type brake device needs to occupy joint space as little as possible, has enough strength to guarantee safety, and can stably release the band-type brake to guarantee the practicability of the cooperative robot.
In the conventional technology, when the cooperative robot is in a non-enabled state, the cooperative robot is influenced by gravity (external force), and a brake separation blade and a brake stop pin are close together, so that the stop pin is in a pressing state. The result is that when the robot is enabled, the stop pin is difficult to reset, the stop pin is always clamped on the stop piece, the release of the internal contracting brake fails, and the joint of the robot cannot normally rotate.
Aiming at the problem, the solution of the prior art is to control the joint to rotate a certain angle in a certain direction, so that the brake separation blade is separated from the brake stop pin, and then the stop pin is reset to complete the release of the brake. However, the operation of the band-type brake releasing method is time-consuming and inefficient, and errors in the rotating direction often occur, so that the band-type brake device is abraded, and the stability of the device is affected.
Disclosure of Invention
Therefore, the device and the method for controlling the contracting brake of the cooperative robot are needed to solve the problems of low efficiency and poor stability in the contracting brake releasing process of the cooperative robot.
According to an aspect of the present application, there is provided a cooperative robot band-type brake control apparatus including:
the barrier piece assembly comprises a plurality of band-type brake barrier pieces which can rotate around the output shaft of the band-type brake motor;
the electromagnetic blocking switch is configured to be capable of locking or releasing the brake blocking sheet, and in a releasing state of the electromagnetic blocking switch, the tail end of the brake blocking sheet can rotate to pass through a blocking gap of the electromagnetic blocking switch;
the sensing assembly is configured to be capable of generating a control signal in response to the triggering of the brake blocking sheet, and is capable of controlling the rotation direction of the plurality of brake blocking sheets and controlling the action of the electromagnetic blocking switch according to the control signal.
In one embodiment, the sensing assembly comprises:
the sensor comprises a first sensor and a second sensor, wherein the first sensor and the second sensor are arranged at intervals; and
a controller electrically connected to the first sensor and the second sensor;
the contracting brake separation blade is provided with triggers which can respectively trigger the first sensor and the second sensor;
each band-type brake separation blade is provided with a first trigger position capable of triggering the first sensor and a second trigger position capable of triggering the second sensor in the rotating process;
when one band-type brake separation blade is located at a first triggering position, a trigger on the band-type brake separation blade is located under the first sensor, the other band-type brake separation blade adjacent to the band-type brake separation blade in a second direction can be in contact with a second side of the electromagnetic blocking switch, and the controller controls the separation blade assembly to rotate in a first direction opposite to the second direction;
one the band-type brake separation blade is located the second and triggers the position, should trigger on the band-type brake separation blade is located under the second sensor, along the second direction with this another that the band-type brake separation blade is adjacent the band-type brake separation blade can contact in the first side of electromagnetic blocking switch, the controller control the separation blade subassembly rotates along the second direction.
In one embodiment, each band-type brake separation blade also has a non-triggering position during the rotation process;
when one band-type brake separation blade is located at a non-triggering position, a trigger on the band-type brake separation blade is staggered with the first sensor and the second sensor in the vertical direction, the other band-type brake separation blade adjacent to the band-type brake separation blade along the second direction is separated from the electromagnetic blocking switch, and the controller is further configured to control the electromagnetic blocking switch to execute a releasing action.
In one embodiment, the baffle plate assembly further comprises a baffle plate body arranged on an output shaft of the band-type brake motor, and the baffle plate body is provided with a plurality of band-type brake baffle plates at intervals along the circumferential direction of the baffle plate body.
In one embodiment, the band-type brake control device further includes:
the first fixing piece and the second fixing piece are positioned on two opposite sides of the separation blade body along the axial direction of the output shaft of the band-type brake motor;
the first gasket is positioned between the first fixing piece and the baffle plate body, and the second gasket is positioned between the second fixing piece and the baffle plate body;
the first fixing piece and the second fixing piece are configured to be connected to an output shaft of the contracting brake motor, so that a fixing position for limiting the barrier piece body to generate displacement in the axis direction of the output shaft of the contracting brake motor is formed.
In one embodiment, the end of the contracting brake separation blade, which is far away from the separation blade body, is provided with a mounting groove;
the trigger is arranged in the mounting groove.
In one embodiment, the plurality of contracting brake separation blades are uniformly distributed at intervals along the circumferential direction of the separation blade body;
the central line of the orthographic projection of the first sensor, the second sensor and the trigger on the plane perpendicular to the output shaft of the band-type brake motor forms a circle, and the central axis of the output shaft of the band-type brake motor penetrates through the circle center of the circle.
In one embodiment, the first sensor and the second sensor are both hall sensors;
the trigger is a magnet.
In one embodiment, the electromagnetic blocking switch comprises:
the electromagnet and the push rod are coaxially arranged; the electromagnet is configured to drive the push rod to move downwards when electrified; and
the brake release mechanism comprises a sleeve assembly, a band-type brake stop pin and a reset assembly, wherein the band-type brake stop pin is arranged on the sleeve, and the reset assembly is configured to provide elastic force for upward movement of the band-type brake stop pin towards a push rod;
when the electromagnetic blocking switch is in a release state, the electromagnet is electrified, and the push rod can push the brake blocking pin to move downwards to form the blocking gap;
the electromagnetic blocking switch is in a locking state, the electromagnet is powered off, and the brake blocking pin moves upwards by means of the elastic force of the reset piece to lock the brake blocking piece.
According to another aspect of the present application, in one embodiment, there is provided a cooperative robot band-type brake control method, including the steps of:
acquiring a detection signal; the detection signal is generated by the sensing assembly in response to the triggering of the contracting brake blocking piece;
and generating a control signal based on the detection signal, and controlling the rotation direction of the brake separation blade and the electromagnetic blocking switch to execute releasing or locking actions according to the control signal.
According to the cooperative robot band-type brake control device and method, the sensing assembly is used for responding to triggering of the band-type brake separation blade on the separation blade assembly, so that the relative position of the band-type brake separation blade and the electromagnetic blocking switch can be accurately identified, and then a corresponding control signal is generated according to the corresponding structure of the sensing assembly to control the rotation of the band-type brake separation blade and the action of the electromagnetic blocking switch, so that the release work of the whole band-type brake device is guaranteed to be completed under the condition that the band-type brake separation blade is not in contact with the electromagnetic blocking switch. The technical scheme of this application has realized the accurate judgement to the position of band-type brake separation blade, provides an operation weak point consuming time, efficient, band-type brake wearing and tearing are little, longe-lived and stable high band-type brake controlling means.
Drawings
Fig. 1 is a schematic structural diagram of a cooperative robot internal contracting brake control device in an embodiment of the present application;
FIG. 2 is a schematic diagram of a sensing assembly of the cooperative robot band-type brake control device shown in FIG. 1;
fig. 3 is an overall assembly diagram of a cooperative robot band-type brake control device according to an embodiment of the present application;
fig. 4 is a state diagram of a contracting brake blocking piece of the contracting brake control device of the cooperative robot in the first trigger position according to an embodiment of the application;
fig. 5 is a state diagram of a contracting brake blocking piece of the contracting brake control device of the cooperative robot in a second trigger position according to an embodiment of the application;
fig. 6 is a flowchart of a cooperative robot band-type brake blocking sheet control method according to another aspect of the present application.
The brake block comprises a block piece component 1, a block piece body 11, a band-type brake block piece 12, a mounting groove 121, a trigger 122, an electromagnetic blocking switch 2, an electromagnet 21, a band-type brake block pin 231, a sleeve component 23, a reset component 232, a sleeve 233, a push rod 22, a sensing component 3, a first sensor 31, a second sensor 32, a controller 33, a fixing component 4, a first fixing piece 5, a second fixing piece 6, a first gasket 7, a second gasket 8 and a wave spring 9.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As described in the background, the conventional cooperative robot band-type brake control technology can only rotate a preset angle in one initial direction until the band-type brake blocking pin 121 is blocked, and then rotate in the opposite direction to release the band-type brake. So, cause the operation consuming time longer, it is inefficient, and the rotation direction takes place the mistake and can lead to the brake backing pin 121 and the wearing and tearing between the electromagnetic blocking switch, influence the stability and the life of device.
Therefore, it is necessary to provide a cooperative robot band-type brake control device, which can precisely adjust the position of a band-type brake separation blade before the band-type brake control device releases the band-type brake, so as to improve the release efficiency of the band-type brake, and ensure the stability and the service life of the band-type brake control device.
Fig. 1 shows a schematic structural diagram of a cooperative robot band-type brake control device in an embodiment of the present application.
Referring to fig. 1, an embodiment of the present application provides a brake control device, which includes a barrier assembly 1, an electromagnetic blocking switch 2, and a sensing assembly 3.
The barrier component 1 comprises a plurality of contracting brake barriers 12 which can rotate around an output shaft of a contracting brake motor, the electromagnetic blocking switch 2 is configured to be capable of locking or releasing the contracting brake barriers 12, and under the releasing state of the electromagnetic blocking switch 2, the tail ends of the contracting brake barriers 12 can rotate to pass through the blocking gaps of the electromagnetic blocking switch 2. The sensing assembly 3 is configured to be capable of generating a control signal in response to the triggering of the brake flaps 12, and capable of controlling the rotation direction of the plurality of brake flaps 12 and controlling the action of the electromagnetic blocking switch 2 according to the control signal.
Further, when the cooperative robot band-type brake control device is ready to perform a band-type brake release action, the sensing component 3 senses the triggering of the band-type brake blocking piece 12 to generate a corresponding control signal and control the blocking piece component 1 to rotate, and when the blocking piece component 1 is not in contact with the electromagnetic blocking switch 2, the sensing component 3 controls the electromagnetic blocking switch 2 to act, so that the whole cooperative robot band-type brake release action is completed.
In order to ensure the structural stability, the cooperative robot band-type brake control device in an embodiment of the present application further includes a fixing component 4, where the fixing component 4 fixes the sensing component 3 in a space above the band-type brake blocking piece 12 to implement triggering of the band-type brake blocking piece 12 on the sensing component 3 to generate a control signal, and the fixing component 4 is preferably fixed by a screw, that is, the fixing component 4, the sensing component 3, and the electromagnetic blocking switch 2 are relatively stationary.
Through the structure, the exact position of the band-type brake separation blade 12 is identified according to the trigger response of the sensing component 3 to the band-type brake separation blade 12, and then a corresponding control signal is generated, so that the band-type brake separation blade 12 is rotated, the electromagnetic blocking switch 2 is controlled to act, and the release of the band-type brake separation blade 12 and the electromagnetic blocking switch 2 is guaranteed to be completed under the condition of no contact. Therefore, the problem that in the prior art, the correct position of the band-type brake separation blade 12 cannot be accurately identified, so that the release efficiency of the band-type brake is low and abrasion is easy to occur between parts can be solved.
Fig. 3 shows an overall assembly diagram of the cooperative robot band-type brake control device in an embodiment of the present application.
Referring to fig. 3, in some embodiments, the blocking piece assembly 1 includes a blocking piece body 11 disposed on an output shaft of the band-type brake motor, the blocking piece body 11 is provided with a plurality of band-type brake blocking pieces 12 at intervals along a circumferential direction of the blocking piece body, and the band-type brake blocking pieces 12 are provided with mounting grooves 121.
In the preferred embodiment of the present application, in order to ensure the accuracy of position detection of the brake flap 12, the mounting slot 121 is disposed at the end of the brake flap 12 away from the flap body 11. Trigger 122 is installed in mounting groove 121, and a plurality of band-type brake separation blades 12 are evenly arranged along separation blade body 11 circumference interval.
That is, the flap assembly 1 has a multi-angular star structure, the end of each corner is provided with a mounting slot 121 for mounting the trigger 122, and the flap assembly 1 with the trigger 122 can cooperate with the sensing assembly 3 to position the relative position of the flap assembly 1 and the electromagnetic blocking switch 2. Preferably, the flap assembly 1 is a symmetrical hexagram structure, and the trigger 122 and the band-type brake flap 12 are mounted in an adhering manner.
In order to make the installation and operation of the flap assembly 1 more stable, in an embodiment of the present application, the band-type brake control device further includes a first fixing member 5 and a second fixing member 6, and a first gasket 7 and a second gasket 8.
First mounting 5 and second mounting 6 are located the relative both sides of separation blade body 11 along the output shaft axis direction of band-type brake motor, and first gasket 7 is located between first mounting 5 and separation blade body 11, and second gasket 8 is located between second mounting 6 and separation blade body 11, and first mounting 5 and second mounting 6 are configured to be connected in the output shaft of band-type brake motor to form the fixed position that restriction separation blade body 11 produced the displacement in the output shaft axis direction of band-type brake motor.
That is to say, separation blade subassembly 1, first gasket 7, first mounting 5 overlap in proper order and locate on the motor output shaft, and the opposite side of separation blade subassembly 1 uses separation blade subassembly 1 as the installation of symmetrical mirror image arrangement to make separation blade subassembly 1 can keep fixed plane in vertical space, guarantee under the contracting brake release state, the tail end accessible of separation blade subassembly 1 blocks the clearance.
Preferably, the first fixing part 5 and the second fixing part 6 are clamp springs made of metal, the first gasket 7 and the second gasket 8 are metal isolation gaskets, and in order to ensure installation tightness, in another embodiment of the application, a wave spring 9 is further coaxially sleeved between the clamp springs and the metal isolation gaskets, so that a brake blocking piece 12 can be pressed, and friction force is increased.
Referring to fig. 3, in an embodiment of the present application, a structure of an electromagnetic blocking switch 21 of a cooperative robot band-type brake control device is further provided.
The electromagnetic blocking switch 2 includes an electromagnet 21 and a push rod 22 coaxially disposed, and a sleeve assembly 23, the electromagnet 21 is configured to drive the push rod 22 to move downward when being powered, the sleeve assembly 23 includes a sleeve 233, and a brake catch 231 and a reset assembly 232 disposed on the sleeve 233, and the reset assembly 232 is configured to provide an elastic force for the brake catch 231 to move upward toward the push rod 22.
When the electromagnetic blocking switch 21 is in the release state, the electromagnet 21 is energized, and the push rod 22 can push the brake blocking pin 231 to move downward to form a blocking gap. When the electromagnetic blocking switch 2 is in the locking state, the electromagnet 21 is de-energized, and the brake blocking pin 231 moves upward by the elastic force of the reset member 232 to be able to lock the brake blocking piece 12.
That is to say, when the push rod 22 pushes the electromagnet 21 to move downward, a blocking gap may be formed in the electromagnetic blocking switch 2, the band-type brake blocking piece 12 may pass through the electromagnetic blocking switch 2, and when the electromagnet 21 is driven by the elastic force of the resetting member 232 to return to the original position together with the push rod 22, the blocking gap is occupied by the band-type brake blocking pin 231121, and the band-type brake blocking piece 12 and the band-type brake blocking pin 231 are locked.
In order to realize the exact position positioning of the sensor assembly 3 on the brake flap 12, in one embodiment, an arrangement manner of the sensor assembly and a design manner of the brake flap 12 are provided, and fig. 2 shows a schematic structural diagram of the sensor assembly 3 of the cooperative robot brake control device in one embodiment of the present application.
Referring to fig. 2, in an embodiment of the present application, a structure of a sensing assembly 3 of a cooperative robot band-type brake control device is further provided.
The sensing assembly 3 comprises a first sensor 31, a second sensor 32 and a controller 33, wherein the first sensor 31 and the second sensor 32 are arranged at intervals, and the controller 33 is electrically connected with the first sensor 31 and the second sensor 32. The contracting brake blocking piece 12 is provided with a trigger 122 capable of triggering the first sensor 31 and the second sensor 32 respectively, and the position of the trigger 122 may be arranged on the contracting brake blocking piece 12 or at the tail of the contracting brake blocking piece 12. Preferably, the trigger 122 is disposed at the tail of the brake flap 12 for facilitating the installation of the sensing assembly 3 and improving the accuracy of identification.
Each band-type brake flap 12 has a first triggering position capable of triggering the first sensor 31 and a second triggering position capable of triggering the second sensor 32 during rotation, and preferably, in order to reduce response errors caused by too close distance between the two sensors, the first triggering position is located right below the first sensor 31, and the second triggering position is located right below the second sensor 32.
That is, the projections of the first trigger position and the position of the first sensor 31, and the second trigger position and the position of the second sensor 32 on the horizontal plane coincide.
In one embodiment of the present application, a position sensing assembly and a control method for a brake blocking piece 12 are further provided, wherein when a brake control device is ready to perform a brake releasing action, a position of the brake blocking piece 12 is determined and the brake blocking piece 12 is adjusted to a reasonable position.
As shown in fig. 4, fig. 4 is a state diagram of a band-type brake blocking piece 12 of a band-type brake control device of a cooperative robot in a first triggering position according to an embodiment of the present application.
When one band-type brake blocking piece 12 is located at the first triggering position, the trigger 122 on the band-type brake blocking piece 12 is located right below the first sensor 31, another band-type brake blocking piece 12 adjacent to the band-type brake blocking piece 12 along the second direction can contact the second side of the electromagnetic blocking switch 2, and the controller 33 controls the blocking piece assembly 1 to rotate along the first direction opposite to the second direction.
As shown in fig. 5, fig. 5 is a state diagram of the band-type brake blocking plate 12 of the cooperative robot band-type brake control device in the second triggering position according to an embodiment of the present application.
When one band-type brake blocking piece 12 is located at the second triggering position, the trigger 122 on the band-type brake blocking piece 12 is located right below the second sensor 32, another band-type brake blocking piece 12 adjacent to the band-type brake blocking piece 12 along the second direction can contact the first side of the electromagnetic blocking switch 2, and the controller 33 controls the blocking piece assembly 1 to rotate along the second direction.
Specifically, the first direction is a clockwise direction, the second direction is a counterclockwise direction, the first side is a left half of the electromagnetic blocking switch 21 when looking down the entire internal contracting brake control device, and the second side is a right half of the electromagnetic blocking switch 21 when looking down the entire internal contracting brake control device.
Since the sensor sensing has a certain deviation, in order to improve the efficiency of contracting brake release, another position determination mode of the contracting brake blocking piece 12 is provided, and when the response signal of the first sensor 31 is significantly stronger than the response signal of the second sensor 32, the controller 33 determines that a contracting brake blocking piece 12 adjacent to the contracting brake blocking piece 12 along the second direction is located on the left half side of the electromagnetic blocking switch 2, and then controls the contracting brake blocking piece 12 to rotate counterclockwise. When the corresponding signal of the second sensor 32 is significantly stronger than the corresponding signal of the first sensor 31, the controller 33 determines that a band-type brake flap 12 adjacent to the band-type brake flap 12 in the second direction is located on the right side of the electromagnetic blocking switch 2, and then controls the band-type brake flap 12 to rotate clockwise.
In an embodiment of the present application, it is preferable to control the rotation angle of the brake flap 12 not to be too large or too small, and it is sufficient to maintain the same brake flap 12 between the included angle between the clip and the two adjacent brake flaps 12 when the electromagnetic blocking switch 2 is on the first side and the second side, and as a preferred embodiment of the present application, the rotation angle is preferably 20 °.
Through the control mode, the accurate position identification of the band-type brake separation blade 12 can be carried out according to the response result of the sensor, the rotating direction of the band-type brake separation blade 12 is controlled, the band-type brake separation blade 12 is ensured not to be in contact with a blocking switch before the electromagnetic blocking switch 2 is released, and therefore the working efficiency of the band-type brake separation blade 12 in the early release stage is improved.
In order to realize the control of the action of the electromagnetic blocking switch 2 and ensure that the contracting brake blocking sheet 12 blocks the action of the electromagnetic blocking switch 2 under the condition of no contact with the electromagnetic blocking switch 21.
In an embodiment of the present application, during the rotation of the brake flap 12, there is also a non-triggering position, when a brake flap 12 is located at the non-triggering position, the trigger 122 on the brake flap 12 is vertically displaced from the first sensor 31 and the second sensor 32, another brake flap 12 adjacent to the brake flap 12 in the second direction is separated from the electromagnetic blocking switch 2, and the controller 33 is further configured to control the electromagnetic blocking switch 2 to perform a releasing action.
Similarly, since the sensor induction has a certain deviation, in order to improve the efficiency of brake release, another mode for determining the position of the brake blocking piece 12 is provided, when the intensity of the response signal of the first sensor 31 is close to that of the response signal of the second sensor 32, it can also be determined that the brake blocking piece 12 is not in contact with the electromagnetic blocking switch 2, and the electromagnetic blocking switch 2 can be controlled to release accordingly.
In the preferred embodiment of the present application, in order to ensure the accuracy of the position determination of the brake flap 12, the sizes of the first sensor 31 and the second sensor 32 and the trigger 122 are kept consistent and suitable materials are selected, preferably, the first sensor 31 and the second sensor 32 are preferably hall sensors, and the trigger 122 is preferably a magnet.
In an embodiment of the present application, a central line of an orthographic projection of the first sensor 31, the second sensor 32 and the trigger 122 on a plane perpendicular to the output shaft of the band-type brake motor forms a circle, and a central axis of the output shaft of the band-type brake motor passes through a center of the circle.
That is to say, the vertical distances from the first sensor 31, the second sensor 32 and the trigger 122 to the output shaft of the band-type brake motor are equal, and the included angle formed by the three points of the circle center formed by the first sensor 31 and the second sensor 32 on the plane and the output shaft on the plane is equal to the included angle formed by the band-type brake blocking piece 12 in the first position and the second position. The position design of the first sensor 31, the second sensor 32 and the trigger 122 can ensure the accuracy of the position detection of the brake blocking piece 12.
Fig. 6 illustrates a cooperative robot band-type brake control method in some embodiments of the present application, including the steps of:
and acquiring a detection signal generated by the sensing component 3 in response to the triggering of the band-type brake separation blade 12, judging the specific contact relation between the band-type brake separation blade and the electromagnetic blocking switch based on the detection signal to further generate a control signal, and controlling the rotation direction of the band-type brake separation blade 12 and the electromagnetic blocking switch 2 to execute a band-type brake release action according to the control signal.
As a preferred embodiment of the present application, the present application can perform position discrimination on the band-type brake blocking piece 12 before the electromagnetic blocking switch 2 is released, and then control the band-type brake blocking piece 12 to rotate, and when the to-be-sensed component 3 detects that the band-type brake blocking piece 12 is not in contact with the electromagnetic blocking switch 2, control the electromagnetic blocking switch 2 to be released, and the band-type brake blocking piece 12 can pass through the blocking gap.
When this application can solve the band-type brake armful, separation blade subassembly 1 leads to the band-type brake release difficulty with the electromagnetic blocking switch 2 packing force is too big, and the problem of release inefficiency has slowed down separation blade subassembly 1's wearing and tearing, improves cooperation robot band-type brake controlling means's working life.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A cooperative robot band-type brake control device, characterized by comprising:
the barrier piece assembly comprises a plurality of band-type brake barrier pieces which can rotate around an output shaft of the band-type brake motor;
the electromagnetic blocking switch is configured to be capable of locking or releasing the brake blocking piece, and in a releasing state of the electromagnetic blocking switch, the tail end of the brake blocking piece can rotate to pass through a blocking gap of the electromagnetic blocking switch;
the sensing assembly comprises a first sensor, a second sensor and a controller, wherein the first sensor and the second sensor are arranged at intervals, and the controller is electrically connected with the first sensor and the second sensor respectively;
each band-type brake separation blade is provided with a first trigger position capable of triggering the first sensor and a second trigger position capable of triggering the second sensor in the rotating process, the sensing assembly is configured to be capable of generating a control signal in response to the triggering of the band-type brake separation blade, and is capable of controlling the rotating direction of the plurality of band-type brake separation blades and controlling the action of the electromagnetic blocking switch according to the control signal;
the controller can control the rotation direction of the brake blocking piece according to the strength of the response signal of the first sensor and the strength of the response signal of the second sensor; or the sensing assembly can identify the exact position of the band-type brake separation blade so as to control the rotation direction of the band-type brake separation blade.
2. The cooperative robot band-type brake control device according to claim 1,
the contracting brake separation blade is provided with triggers which can respectively trigger the first sensor and the second sensor;
when one band-type brake separation blade is located at a first triggering position, a trigger on the band-type brake separation blade is located under the first sensor, the other band-type brake separation blade adjacent to the band-type brake separation blade in a second direction can be in contact with a second side of the electromagnetic blocking switch, and the controller controls the separation blade assembly to rotate in a first direction opposite to the second direction;
one the band-type brake separation blade is located the second and triggers the position, should trigger on the band-type brake separation blade is located under the second sensor, along the second direction with this another that the band-type brake separation blade is adjacent the band-type brake separation blade can contact in the first side of electromagnetic blocking switch, the controller control the separation blade subassembly rotates along the second direction.
3. The cooperative robot band-type brake control device according to claim 2, wherein each band-type brake separation blade rotation process further has a non-trigger position;
when one band-type brake separation blade is located at a non-triggering position, a trigger on the band-type brake separation blade is staggered with the first sensor and the second sensor in the vertical direction, the other band-type brake separation blade adjacent to the band-type brake separation blade along the second direction is separated from the electromagnetic blocking switch, and the controller is further configured to control the electromagnetic blocking switch to execute a releasing action.
4. The cooperative robot band-type brake control device according to claim 2, wherein the barrier blade assembly further includes a barrier blade body provided on an output shaft of the band-type brake motor, the barrier blade body being provided with a plurality of the band-type brake barrier blades at intervals along a circumferential direction thereof.
5. The cooperative robot band-type brake control device according to claim 4, further comprising:
the first fixing piece and the second fixing piece are positioned on two opposite sides of the separation blade body along the axial direction of the output shaft of the band-type brake motor;
the first gasket is positioned between the first fixing piece and the baffle plate body, and the second gasket is positioned between the second fixing piece and the baffle plate body;
the first fixing piece and the second fixing piece are configured to be connected to an output shaft of the contracting brake motor, so that a fixing position for limiting the barrier piece body to generate displacement in the axis direction of the output shaft of the contracting brake motor is formed.
6. The cooperative robot band-type brake control device according to claim 4, wherein a mounting groove is formed in the tail end, away from the barrier blade body, of the band-type brake barrier blade;
the trigger is arranged in the mounting groove.
7. The cooperative robot band-type brake control device according to claim 4, wherein the plurality of band-type brake separation blades are evenly arranged at intervals along the circumferential direction of the separation blade body;
the central line of the orthographic projection of the first sensor, the second sensor and the trigger on the plane perpendicular to the output shaft of the band-type brake motor forms a circle, and the central axis of the output shaft of the band-type brake motor penetrates through the circle center of the circle.
8. The cooperative robot band-type brake control device according to claim 2, wherein the first sensor and the second sensor are both hall sensors;
the trigger is a magnet.
9. The cooperative robot band-type brake control device according to claim 1, wherein the electromagnetic blocking switch includes:
the electromagnet and the push rod are coaxially arranged; the electromagnet is configured to drive the push rod to move downwards when electrified; and
the brake release mechanism comprises a sleeve assembly, a band-type brake stop pin and a reset assembly, wherein the band-type brake stop pin is arranged on the sleeve, and the reset assembly is configured to provide elastic force for upward movement of the band-type brake stop pin towards a push rod;
when the electromagnetic blocking switch is in a release state, the electromagnet is electrified, and the push rod can push the brake blocking pin to move downwards to form the blocking gap;
the electromagnetic blocking switch is in a locking state, the electromagnet is powered off, and the band-type brake stop pin moves upwards by means of the elastic force of the reset piece so as to lock the band-type brake stop piece.
10. A cooperative robot band-type brake control method, according to any one of claims 1 to 9, characterized by comprising:
acquiring a detection signal: the detection signal is generated by the sensing assembly in response to the triggering of the band-type brake separation blade, and comprises a detection signal for detecting the strength of the response signal of the first sensor, a detection signal for detecting the strength of the response signal of the second sensor and a detection signal for identifying the exact position of the band-type brake separation blade according to the triggering response of the sensing assembly to the band-type brake separation blade;
and generating three corresponding control signals based on the detection signal, and controlling the rotation direction of the band-type brake separation blade according to the control signals so as to enable the electromagnetic blocking switch to execute releasing or locking actions under the condition of no contact with the band-type brake separation blade.
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| CN114368009B (en) * | 2022-03-01 | 2024-07-19 | 苏州艾利特机器人有限公司 | Electromagnetic lock mechanism, brake and robot |
| CN114833835B (en) * | 2022-06-10 | 2024-03-29 | 一汽丰田汽车有限公司 | Band-type brake release detection method and device, engineering robot and medium |
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| CN2891435Y (en) * | 2006-04-04 | 2007-04-18 | 上海华明电力设备制造有限公司 | Proximity motor rotation direction detector |
| CN104908059B (en) * | 2014-12-18 | 2017-01-04 | 遨博（北京）智能科技有限公司 | A kind of can the modular mechanical shoulder joint of variable freedom |
| JP6658208B2 (en) * | 2016-03-30 | 2020-03-04 | 日本電産株式会社 | Motor system |
| US11161258B2 (en) * | 2017-01-16 | 2021-11-02 | Kollmorgen Corporation | Robot arm joint |
| CN108656148B (en) * | 2017-03-31 | 2024-03-08 | 沈机（上海）智能系统研发设计有限公司 | Modularized joint of cooperative robot |
| CN109760035B (en) * | 2019-03-07 | 2021-05-04 | 中科新松有限公司 | Robot modular joint redundancy internal contracting brake device and safety detection method thereof |
| CN209986947U (en) * | 2019-04-03 | 2020-01-24 | 苏州睿梵工业设计有限公司 | Joint module and mechanical arm |
| CN111293965A (en) * | 2020-01-22 | 2020-06-16 | 中国电建集团中南勘测设计研究院有限公司 | Photovoltaic system's location locking device |
| CN111283663A (en) * | 2020-03-05 | 2020-06-16 | 埃夫特智能装备股份有限公司 | A articulated motor band-type brake system of integration for cooperating robot |
| CN111590546B (en) * | 2020-05-15 | 2021-11-02 | 配天机器人技术有限公司 | Robot band-type brake releasing method, robot and device with storage function |
| CN112605984A (en) * | 2020-12-25 | 2021-04-06 | 深圳市越疆科技有限公司 | Firing pin type band-type brake device of mechanical arm joint, mechanical arm joint and mechanical arm |
| CN112894875B (en) * | 2021-01-28 | 2022-03-04 | 南京埃斯顿自动化股份有限公司 | Band-type brake and self-cooling fan integrated cooperative robot joint structure |
| CN112936293B (en) * | 2021-04-02 | 2022-09-20 | 上海节卡机器人科技有限公司 | Brake release method and device of blocking type brake mechanism |
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