CN114248260B - Multi-joint robot brake release management method - Google Patents
Multi-joint robot brake release management method Download PDFInfo
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- CN114248260B CN114248260B CN202010995117.3A CN202010995117A CN114248260B CN 114248260 B CN114248260 B CN 114248260B CN 202010995117 A CN202010995117 A CN 202010995117A CN 114248260 B CN114248260 B CN 114248260B
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- 238000007726 management method Methods 0.000 title description 2
- 238000000034 method Methods 0.000 claims abstract description 23
- 230000008569 process Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000903 blocking effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a method for managing release of a brake of a multi-joint robot, which is characterized in that an industrial robot comprises: the mechanical arm and the joints connected with the mechanical arm parts of the mechanical arm; the setting module is used for setting a rotation center point of the industrial robot; the receiving module is used for receiving a starting instruction; the control module is used for controlling the industrial robot to rotate around the rotation center point at a first angle and releasing the brake of the industrial robot in the rotation process; and the control device is used for checking the success of brake release and controlling the industrial robot to finish the brake release operation; and (5) checking that the brake release is unsuccessful, and controlling the industrial robot to continuously execute the brake release work. The beneficial effects of the invention are as follows: the displacement of the industrial robot for releasing the brake is small, and the safety of the industrial robot is good.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to an industrial robot and a control method thereof.
Background
With the development of society, robots are beginning to be widely used in various fields including a plurality of fields such as home robots and industrial robots. The industrial robot includes a robot arm and a plurality of joints, the joints of the industrial robot include driving motors to provide industrial robot manual power, and the industrial robot realizes the stop braking of the robot by braking each joint motor. When the industrial robot is started to execute work, the brake relieving side is required to perform work, namely, the brake of each joint motor of the industrial robot is relieved to realize the brake relieving of the industrial robot.
Therefore, it is necessary to design an industrial robot having a small movement range and good safety and a control method thereof.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an industrial robot having a small movement range and good safety, and a control method thereof.
The invention adopts the following technical scheme: an industrial robot comprising a robot arm, and joints connecting respective robot arm portions of the robot arm, the industrial robot comprising: the setting module is used for setting a rotation center point of the industrial robot; the receiving module is used for receiving a starting instruction; the control module is used for controlling the industrial robot to rotate around the rotation center point at a first angle and releasing the brake of the industrial robot in the rotation process; and the control device is used for checking the success of brake release and controlling the industrial robot to finish the brake release operation; and (5) checking that the brake release is unsuccessful, and controlling the industrial robot to continuously execute the brake release work.
Further, the rotation center point is a tool center point of the industrial robot.
Further, the industrial robot is capable of interfacing with a tool to perform a work task, the center of rotation being located on the tool.
Further, the control module is used for checking that the brake release is unsuccessful, controlling the industrial robot to rotate around the rotation center point by a second angle and release the brake, wherein the second angle is obtained after the first angle is increased by a plurality of preset amounts.
Further, the control module is used for judging whether the second angle exceeds a rotation threshold angle, and controlling the industrial robot to stop and/or alarm when the second angle is judged to be exceeded.
Further, the successful brake release is that all joints of the industrial robot are released; the unsuccessful brake release is that the industrial robot has joints which are not released.
Further, the controlling the industrial robot to finish the braking operation includes: and controlling the industrial robot to return to the initial posture.
Further, the control module is used for controlling the industrial robot to do rotational movement in 3 directions around the rotational center point, and releasing the brake of the industrial robot in the rotational process.
Further, the joint comprises a motor and a brake, the brake comprises a ratchet wheel and an electromagnetic valve, and the control module is used for controlling the industrial robot to rotate reversely around the rotation center point for a certain angle when judging that the rotation of the motor is limited by a stop pin extending out of the electromagnetic valve, so as to execute brake release work.
Further, the industrial robot is a collaborative robot.
The invention can also adopt the following technical scheme: the control method for releasing the brake of the industrial robot is characterized by comprising the following steps: s1, setting a rotation center point of an industrial robot; s2, executing startup; s3, controlling the industrial robot to rotate around the rotation center point at a first angle, and releasing the brake of the industrial robot in the rotation process; s4, checking whether the brake release is successful or not, and if the brake release is successful, controlling the industrial robot to finish the brake release operation; and S5, if the check on the release of the brake is unsuccessful, controlling the industrial robot to continue to execute the release of the brake.
Further, the rotation center point is a tool center point of the industrial robot.
Further, the industrial robot is capable of interfacing with a tool to perform a work task, the center of rotation being located on the tool.
Further, the step S5 includes: s51, controlling the industrial robot to rotate around the rotation center point by a second angle, and releasing braking, wherein the second angle is obtained after the first angle is increased by a preset amount for a plurality of times.
Further, the step S51 includes: and judging whether the second angle exceeds a rotation threshold angle, and controlling the industrial robot to alarm and/or stop when the second angle exceeds the rotation threshold angle.
Further, the successful brake release is that all joints of the industrial robot are released; the unsuccessful brake release is that the industrial robot has joints which are not released.
Further, the step S4 includes: and (5) checking that the brake release is successful, and controlling the industrial robot to return to the initial posture.
Further, the step S3 includes: and controlling the industrial robot to do rotational movement in 3 directions around the rotational center point, and releasing the brake of the industrial robot in the rotational process.
Further, the control method includes: when the rotation of the motor is limited by the stop pin extending out of the electromagnetic valve, the industrial robot is controlled to rotate reversely around the rotation center point by a certain angle so as to execute brake release operation.
Compared with the prior art, the beneficial effects of the specific embodiment of the invention are as follows: the industrial robot releases the braking of the robot through the rotating motion process of the industrial robot around the rotating center point, the position of the rotating center point is unchanged, the displacement of the tool end in the braking releasing process of the industrial robot is small, and the safety of the industrial robot is good.
Drawings
The above-mentioned objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic view of an industrial robot according to one embodiment of the invention
FIG. 2 is a block diagram of an industrial robot according to one embodiment of the invention
FIG. 3 is a flow chart of an industrial robot brake release according to one embodiment of the invention
FIG. 4 is a partial schematic view showing a joint braking state of the industrial robot according to the present invention
FIG. 5 is a partial schematic view of an industrial robot of the present invention with its joints released
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, a clear and complete description of the solutions according to the embodiments of the present invention will be given below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention protects an industrial robot, referring to fig. 1-2, fig. 1 shows a schematic diagram of an industrial robot according to an embodiment of the present invention, and fig. 2 shows a block diagram of an industrial robot according to an embodiment of the present invention. The industrial robot comprises a traditional industrial robot and a novel cooperative robot, wherein the traditional industrial robot is mainly used for replacing manual execution work in an industrial environment, the cooperative robot is used for various scenes such as industry, life, retail and the like, and the flexible robot can cooperate with people to complete tasks, so that the work can be executed in more scenes. The industrial robot 100 includes a robot arm, and a joint 12 connecting respective arm portions 11 of the robot arm, and includes: a setting module 20 for setting a rotation center point of the industrial robot 100; a receiving module 30, configured to receive a startup instruction; a control module 40 for controlling the industrial robot 100 to rotate at a first angle around the rotation center point and releasing the brake of the industrial robot 100 during the rotation; and the control module 40 is used for checking that the brake release is successful and controlling the industrial robot 100 to finish the brake release operation; checking that the brake release is unsuccessful controls the industrial robot 100 to continue to perform the brake release operation. Further, the control module is used for checking that the brake release is successful and controlling the industrial robot to start executing work. That is, when the industrial robot does not successfully release the brake, the industrial robot must not start to perform work. Specifically, in the present embodiment, the industrial robot 100 includes a robot demonstrator 4 and a control box 5, the robot demonstrator 4 is used for a user to operate to set a working track and an executed action of the industrial robot 100, and the control box 5 is a control center of the industrial robot 100, and it should be noted that, in general, the industrial robot 100 includes a body 1, the robot demonstrator 4 and the control box 5, and "industrial robot" not specifically described in the present invention refers to the industrial robot body 1. Specifically, the rotation center point may be set by input of a user, for example, the industrial robot 100 includes a robot demonstrator 4, the user may set working parameters of each robot by the robot demonstrator 4, where the working parameters of each robot may include a rotation center point of the robot, when the industrial robot 100 needs to perform power-on operation, the industrial robot 100 sets the rotation center point of the industrial robot 100 through the setting module 20, that is, the robot demonstrator 4 in this embodiment, before performing power-on start, that is, receiving a power-on start instruction through the receiving module 30, and optionally, the start-up instruction from the user is received by the receiving module 30, for example, the start-up instruction is obtained by receiving a manipulation of the robot demonstrator 4 by the user, or the start-up instruction is received by receiving a manipulation of a key on the industrial robot body 1 by the user. The robot executes a start-up instruction, and the control module 40 controls the industrial robot 100 to rotate around the rotation center point by a first angle, which is a preset rotation angle in this embodiment, preferably, the first angle is set by factory setting of the industrial robot 100, and releases the brake of the industrial robot 100 during rotation, for example, in this embodiment, when the first angle of the industrial robot 100 is set to 3 degrees, the industrial robot 100 is unfolded to rotate around the rotation center point by 3 degrees, and when the industrial robot 100 rotates around the set rotation center point by the first angle, the plurality of joints 12 of the industrial robot 100 can thus be rotated so that the brake of the industrial robot 100 is released in the process, i.e. the brake of each joint 12 of the industrial robot 100 is released, i.e. the rotation of each joint 12 is linked to each other, and the position of the rotation center point is unchanged during the rotation process, and the user optionally sets the position thereof when setting the rotation center point, so that the movement range of the industrial robot 100 is small. For example, the industrial robot 100 generally performs a work task by connecting tools 13, such as a connectable jaw, a suction cup, etc., and it is generally necessary for the industrial robot 100 to avoid collision of tool ends first, and the tools 13 may also have various shapes, for example, so that some positions of the tools 13 are easy to collide, and a user may set a suitable rotation center point for different tools 13 connected to the industrial robot 100 to reduce, even avoid displacement of the tool ends, so as to avoid collision of the industrial robot 100 as much as possible.
In order to make the industrial robot 100 perform a rotational movement around a rotation center point after receiving an opening start command, first, the rotation center point needs to be set, that is, an appropriate point is selected as the rotation center point, alternatively, the rotation center point may be set by the robot demonstrator 4, further, the robot demonstrator includes a corresponding option, for example, the demonstrator includes a function of "setting the rotation center point". For example, the rotation center point may be a tool center point of the industrial robot 100, and the industrial robot 100 needs to set the tool center point before working, that is, a demonstrator of the robot includes a function of "setting the tool center point", after the tool center point is set by the demonstrator of the robot, the movement of the tool center point can represent the movement performed by the tool 13, and when tools connected by the robot are different, the setting of the tool center point is generally different, and when the rotation center point is the tool center point, the setting of the rotation center point is completed by setting the tool center point. The tool center point is set as a rotation center point, when the industrial robot rotates around the rotation center point, namely, the industrial robot rotates around the tool center point, the position of the tool center point is unchanged, the tool center point is a point which can represent the movement condition of the tool in a comparison mode, and when the position of the tool center point is unchanged, the position of the tool is unchanged relatively or only changed slightly, and therefore collision caused by larger displacement of the tool end due to brake unlocking is avoided. It is necessary for the industrial robot 100 to limit the displacement of the tool end of the industrial robot, for example, the rotation center point may also be provided on the tool, and when the industrial robot 100 rotates around the rotation center point, the rotation center point position is unchanged, so that the displacement of the tool end of the industrial robot 100 is very small or very small, so that collision of the tool end is avoided.
The control module 40 is configured to control the industrial robot 100 to rotate around the set rotation center point and release the brake of the industrial robot 100, after the industrial robot 100 performs the rotation action, the control module 40 is configured to check whether the release of the brake is successful, and when the check is successful, control the industrial robot 100 to end the release of the brake, further, when the check is successful, the control module is configured to control the industrial robot to start to perform a work task, i.e., when the control module checks that the release of the brake is unsuccessful, i.e., control the industrial robot to not start to perform the work task; when the check is unsuccessful, the industrial robot 100 is controlled to continue the brake release operation. Further, the control module 40 is configured to control the industrial robot 100 to perform a rotational motion around the rotation center point at a second angle when the brake release is unsuccessful, and attempt to release the brake at the same time, where the second angle is obtained by increasing the first angle several times by a predetermined amount, and the predetermined amount is a predetermined increment, that is, when the first angle does not meet the requirement, the rotational angle is increased by the predetermined amount to be the second angle, and the industrial robot rotates around the rotation center point at the second angle to release the brake, that is, when the industrial robot rotates around the rotation center point at the first angle without releasing the brake, the first angle is increased once by the predetermined amount to obtain the second angle, and the industrial robot rotates around the rotation center at the second angle to continuously release the brake, if the brake release is successful, the brake release operation is finished, and if the brake release is unsuccessful, the brake release operation is continuously executed. That is, when the second brake release is unsuccessful, the first angle is incremented by a predetermined amount twice to obtain a new second angle, the industrial robot rotates around the rotation center at the new second angle to continue brake release, checks again whether brake release is successful, and so on, to finally release the brake, and each time the brake release around the rotation center fails, the old second angle is correspondingly incremented by a predetermined amount to obtain a new second angle, and rotates around the rotation center at the new second angle to release the brake, that is, the second angle is constantly alternated. Meanwhile, the second angle cannot exceed the rotation threshold angle, and when the second angle is judged to be exceeded, the robot is controlled to stop and/or alarm, so that collision between the industrial robot body and the environment is avoided. Referring to fig. 3, fig. 3 is a schematic flow chart of an industrial robot 100 for performing brake release operation according to an embodiment of the present invention, and it should be noted that fig. 3 is a relatively complete implementation flow of an embodiment of the present invention, so as to facilitate understanding of the technical solution of the present invention, but not limit the scope of protection of the present invention. After the setting module 20 sets the rotation center point of the industrial robot 100, the receiving module 30 receives the start-up instruction, the control module 40 controls the industrial robot to rotate around the rotation center point at the first angle A1, if the brake is successfully released, the control module 40 controls the robot to finish the brake release operation, and if the brake is not successfully released, the control module 40 controls the robot to continuously execute the brake release operation. When the brake release is not successful, the control module 40 controls the robot to move around the rotation center point at a second angle to release the brake, wherein the second angle is obtained by increasing the first angle by a predetermined amount several times, that is, the second angle is larger than the first angle, and when the brake release is unsuccessful, the rotation angle is increased to continue the brake release operation, the second angle is obtained by increasing the first angle by a predetermined amount several times, exemplarily, the first angle is represented by A1, the second angle is represented by A2, the number of times of the increment is represented by N, and the predetermined amount is represented by M, and a2=a1+n×m, exemplarily, for example, the first angle is 3 degrees, the predetermined amount of each increment is 1 degree, when the brake cannot be released by rotating around the rotation center point at a first angle, that is, when the brake cannot be released by rotating around the rotation center point at a rotation angle of 3 degrees, the brake is released by rotating around the rotation center point at a rotation angle of 4 degrees when the brake release operation is performed next time. Meanwhile, if the angle of rotation of the industrial robot 100 around the rotation center point is large, although the displacement of the tool end of the industrial robot 100 can be ensured to be relatively small, the movement range of the mechanical arm is large, and collision can be possibly caused, so that the second angle is limited, and if the second angle exceeds the rotation threshold angle, the robot is controlled to stop and/or alarm, so that the working safety of the industrial robot is ensured.
The industrial robot 100 comprises a robot arm, and joints 12 connecting respective arm sections 11 of the robot arm, the industrial robot 100 comprises a plurality of joints 12, the joints 12 comprise joint motors to provide a power source for the industrial robot 100, and the joints 12 comprise brakes for braking the joints 12, the brake release being successful in releasing the brakes of all joints 12 of the industrial robot 100, the brake release being unsuccessful in the industrial robot 100 having joints 12 that are not released. When the industrial robot 100 releases successfully, controlling the industrial robot 100 to end the braking operation includes: controlling the industrial robot 100 to return to an initial pose, i.e., to return to a pose in which the industrial robot 100 is not rotated, further comprises controlling the industrial robot 100 to return to the initial pose to rotate about a center point of rotation to return to the initial pose, so as to reduce collision risk when the industrial robot 100 returns to the initial pose. Further, the industrial robot is controlled to rotate around the rotation center point at a first angle, i.e., the industrial robot is controlled to reversely rotate around the rotation center at the first angle along the motor driving direction. Further, the brake of the joint 12 includes a ratchet wheel and an electromagnetic valve, referring to fig. 4 to 5, fig. 4 shows a partial schematic view of a braking state of the joint 12 of the industrial robot 100, fig. 5 shows a partial schematic view of a releasing brake of the joint 12 of the industrial robot 100, a motor of the joint 12 drives a motor shaft 14 of the robot to rotate, power is transferred to the industrial robot 100 to perform work, the brake includes a ratchet wheel 121 fixed to the motor shaft 14 and capable of rotating following the motor shaft 14, the ratchet wheel 121 is provided at a circumference thereof with an electromagnetic valve 122, the electromagnetic valve 122 blocks or releases rotation of the ratchet wheel 121 by a telescopic blocking pin 123, when the blocking pin 123 blocks the ratchet wheel 121 from rotating, the joint 12 is braked, referring to the state shown in fig. 4; and, when the industrial robot 100 needs to move, by retracting the solenoid valve 122 to the blocking pin 123 to release the ratchet 121 and controlling the motor to rotate again to release the brake, when the motor tries to rotate to release the brake, a large friction force may be formed between the ratchet 121 and the blocking pin 123 due to the load of the industrial robot 100, the force for controlling the solenoid valve 122 to retract the blocking pin 123 is insufficient to overcome the friction force between the ratchet 121 and the blocking pin 123, the blocking pin 123 is blocked by the ratchet 121, the solenoid valve 122 cannot smoothly retract the blocking pin 123 to release the ratchet 121, thus causing the joint to fail to release the brake, therefore, when the control module 40 of the present invention is used to determine that the rotation of the motor is limited by the stop pin 123 extended from the solenoid valve 122, the industrial robot 100 is controlled to rotate reversely around the rotation center point by a certain angle to perform the brake release operation, that is, the brake of the industrial robot is released, that is, the brakes of all joints of the industrial robot are released, that is, the stop pin 123 of the brake releases the rotation of the ratchet wheel 121. Specifically, there are various methods for judging whether the rotation of the motor is limited by the stop pin 123 extended from the solenoid valve 122, for example, detecting whether there is a sudden driving current of the motor, detecting whether the load moment of the motor is large, etc., and the control module 40 is configured to release such limitation according to the judgment that the rotation of the motor is limited by the stop pin 123, wherein the angle of rotation of the industrial robot 100 is set by factory setting of the robot, optionally, the user can change according to the need, and the setting of the rotation angle is sufficient to be able to release the state that the rotation of the motor is limited by the stop pin 123.
In the present invention, the control module 40 is preferably used to control the industrial robot 100 to make a rotational motion in 3 directions around a rotation center point by rotating the industrial robot 100 around the rotation center point to release the brake, so that the respective joints of the industrial robot 100 can be sufficiently moved to release the brake. Further, the industrial robot 100 is a collaborative robot, which is more flexible than a conventional industrial robot, and further, is a six-axis collaborative robot.
The beneficial effects of the above preferred embodiment are: the industrial robot 100 rotates around the rotation center point and releases the brake at the same time, and compared with the traditional mode that each joint 12 moves to release the brake, the displacement of the industrial robot 100 is smaller, collision is not easy to be caused, and the safety of the industrial robot is better.
The invention also provides a control method of the industrial robot 100, which comprises the following steps:
S1, setting a rotation center point of an industrial robot;
Wherein the rotation center point can be set by a user, the rotation center point can be a tool center point of the industrial robot, or the rotation center point can be arranged on a tool connected with the industrial robot;
s2, executing startup;
s3, controlling the industrial robot to rotate around the rotation center point at a first angle, and releasing the brake of the industrial robot in the rotation process;
the first angle is a preset angle, and may be set by factory setting of the robot, for example. Further, the step S3 includes: the industrial robot 100 is controlled to make a rotational motion in 3 directions around the rotational center point, and the brake of the industrial robot 100 is released during the rotation. By controlling the industrial robot 100 to do rotational movement in 3 directions around the rotational center point, each joint 12 of the industrial robot 100 can rotate, brake release of the industrial robot 100 is facilitated, and meanwhile, the industrial robot 100 is controlled to rotate around the rotational center point to release the brake, so that displacement generated when the industrial robot 100 releases the brake is small, and collision is not easy to occur.
S4, checking whether the brake release is successful, and if the brake release is successful, controlling the industrial robot 100 to finish the brake release operation;
further, controlling the industrial robot 100 to finish the brake release operation includes: the industrial robot 100 is controlled to return to the initial pose. That is, when the industrial robot 100 is released from the brake, the industrial robot 100 is controlled to return to the initial pose before the industrial robot 100 performs the rotating motion, preferably, when the industrial robot 100 returns to the initial pose, it rotates around the rotation center point to return to the initial pose, and thus, the risk of collision during the return of the industrial robot 100 to the initial pose is reduced. Further, checking that the brake release is successful, controlling the robot to finish the brake release operation further includes checking that the brake release is successful, controlling the industrial robot to finish the brake release operation, and starting to execute the work task.
And S5, if the check on the release of the brake is unsuccessful, controlling the industrial robot to continue to execute the release of the brake.
Wherein, the step S5 further comprises: and S51, controlling the industrial robot 100 to rotate around the rotation center point by a second angle and releasing the brake, wherein the second angle is obtained after the first angle is increased by a predetermined amount for a plurality of times. The step S51 includes: and judging whether the second angle exceeds a rotation threshold angle, and controlling the industrial robot 100 to alarm and/or stop when the second angle exceeds the rotation threshold angle. Wherein, the acquisition of the second angle is described in the foregoing, which is not described herein,
The above-mentioned successful brake release is that all joints of the industrial robot 100 are released; the unsuccessful brake release is that the industrial robot has joints which are not released. Further, the control method further includes: when the rotation of the motor is limited by the stop pin extending out of the electromagnetic valve, the industrial robot is controlled to rotate reversely around the rotation center point by a certain angle so as to continuously execute the brake release work. The specific principles have been described in the foregoing and are not repeated here.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. An industrial robot, a method for implementing multi-joint robot brake release management, comprising a robot arm, and joints connecting respective robot arm portions of the robot arm, the industrial robot comprising:
the setting module is used for setting a rotation center point of the industrial robot;
The receiving module is used for receiving a starting instruction;
The control module is used for controlling the industrial robot to rotate around the rotation center point at a first angle and releasing the brake of the industrial robot in the rotation process; and the control device is used for checking the success of brake release and controlling the industrial robot to finish the brake release operation; checking that the brake release is unsuccessful, and controlling the industrial robot to continuously execute the brake release work;
The rotation center point is a tool center point of the industrial robot; the control module is used for checking that the brake release is unsuccessful, controlling the industrial robot to rotate around the rotation center point by a second angle and releasing the brake, wherein the second angle is obtained after the first angle is increased by a preset amount for a plurality of times.
2. The industrial robot of claim 1, wherein the industrial robot is capable of interfacing with a tool to perform a work task, the center of rotation point being located on the tool.
3. The industrial robot of claim 1, wherein the control module is configured to determine whether the second angle exceeds a rotation threshold angle, and to control the industrial robot to stop and/or alarm if the second angle exceeds the rotation threshold angle.
4. The industrial robot of claim 1, wherein the successful brake release is that all joints of the industrial robot are released; the unsuccessful brake release is that the industrial robot has joints which are not released.
5. The industrial robot of claim 1, wherein the controlling the industrial robot to end the braking operation comprises: and controlling the industrial robot to return to the initial posture.
6. The industrial robot of claim 1, wherein the control module is configured to control the industrial robot to perform a rotational motion in 3 directions about the rotational center point and to release the brake of the industrial robot during the rotation.
7. The industrial robot of claim 1, wherein the joint comprises a motor and a brake, the brake comprises a ratchet and a solenoid valve, and the control module is configured to control the industrial robot to reverse a rotation angle around the rotation center point to perform the brake release operation when it is determined that the rotation of the motor is limited by a stop pin extended from the solenoid valve.
8. A control method for releasing brake of an industrial robot, for brake release management of a multi-joint robot, characterized by being applied to the industrial robot according to any one of claims 1 to 7, comprising the steps of:
S1, setting a rotation center point of an industrial robot;
s2, executing startup;
s3, controlling the industrial robot to rotate around the rotation center point at a first angle, and releasing the brake of the industrial robot in the rotation process;
S4, checking whether the brake release is successful or not, and if the brake release is successful, controlling the industrial robot to finish the brake release operation;
And S5, if the check on the release of the brake is unsuccessful, controlling the industrial robot to continue to execute the release of the brake.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010995117.3A CN114248260B (en) | 2020-09-21 | 2020-09-21 | Multi-joint robot brake release management method |
| PCT/CN2021/117626 WO2022057730A1 (en) | 2020-09-21 | 2021-09-10 | Robot braking anomaly detection method and multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010995117.3A CN114248260B (en) | 2020-09-21 | 2020-09-21 | Multi-joint robot brake release management method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114248260A CN114248260A (en) | 2022-03-29 |
| CN114248260B true CN114248260B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010995117.3A Active CN114248260B (en) | 2020-09-21 | 2020-09-21 | Multi-joint robot brake release management method |
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