CN114833835B - Band-type brake release detection method and device, engineering robot and medium - Google Patents
Band-type brake release detection method and device, engineering robot and medium Download PDFInfo
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- CN114833835B CN114833835B CN202210657980.7A CN202210657980A CN114833835B CN 114833835 B CN114833835 B CN 114833835B CN 202210657980 A CN202210657980 A CN 202210657980A CN 114833835 B CN114833835 B CN 114833835B
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- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 230000009471 action Effects 0.000 claims abstract description 91
- 230000002159 abnormal effect Effects 0.000 claims abstract description 56
- 238000000034 method Methods 0.000 claims abstract description 44
- 238000004519 manufacturing process Methods 0.000 claims abstract description 25
- 230000008030 elimination Effects 0.000 claims abstract description 20
- 238000003379 elimination reaction Methods 0.000 claims abstract description 20
- 230000001276 controlling effect Effects 0.000 claims description 51
- 230000003578 releasing effect Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000015556 catabolic process Effects 0.000 claims description 3
- 238000006731 degradation reaction Methods 0.000 claims description 3
- 238000013024 troubleshooting Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
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- 238000010295 mobile communication Methods 0.000 description 1
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
-
- 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
-
- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The embodiment of the invention discloses a method and a device for detecting band-type brake release, an engineering robot and a medium, wherein the method for detecting band-type brake release comprises the following steps: the motor band-type brake release instruction is output to the motor, and the motor is controlled to execute the band-type brake release action; acquiring a brake release state of the motor; judging whether the brake release state is an abnormal brake release state; if yes, the band-type brake detector is controlled to conduct fault elimination on the motor, and the motor is controlled to complete the release action of the band-type brake. According to the detection method provided by the embodiment of the invention, the brake release state of the motor is obtained and judged, the brake detector is controlled to perform fault elimination on the motor based on the brake release state of the motor, namely, the judgment on the fault of the motor can be realized by controlling the brake detector, the motor can be ensured to smoothly execute brake release action under the condition that the motor is not replaced, the working efficiency of the motor is improved, and the production cost is saved.
Description
Technical Field
The invention relates to the technical field of motor band-type brakes, in particular to a detection method and device for band-type brake release, an engineering robot and a medium.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry, and the like. In a servo system of the engineering robot, a motor with a band-type brake function is usually selected as a driving motor.
But driving motor can exist the condition that band-type brake release is unusual when using, can stop the production line and to servo motor's change when motor band-type brake release is unusual among the prior art, has influence such as with higher costs.
Disclosure of Invention
The embodiment of the invention provides a detection method and device for band-type brake release, an engineering robot and a medium, so that the working efficiency of a motor is improved, and the production cost is saved.
In a first aspect, an embodiment of the present invention provides a method for detecting release of an internal contracting brake, including:
outputting a motor band-type brake release instruction to a motor, and controlling the motor to execute a band-type brake release action;
acquiring a brake release state of the motor;
judging whether the brake release state is an abnormal brake release state or not;
if yes, the band-type brake detector is controlled to conduct fault elimination on the motor, and the motor is controlled to complete the release action of the band-type brake.
In a second aspect, a detection apparatus for brake release provided by an embodiment of the present invention includes:
the brake release action execution module is used for outputting a motor brake release instruction to the motor and controlling the motor to execute brake release action;
the band-type brake release state acquisition module is used for acquiring the band-type brake release state of the motor;
the band-type brake release abnormal state judging module is used for judging whether the band-type brake release state is a band-type brake release abnormal state or not;
the fault elimination module is used for controlling the band-type brake detector to conduct fault elimination on the motor and controlling the motor to complete the releasing action of the band-type brake.
In a third aspect, an embodiment of the present invention provides an engineering robot, including:
one or more processors;
storage means for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting brake release according to any one of the first aspects.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium having a computer program stored thereon, where the program when executed by a processor implements a method for detecting brake release according to any one of the first aspects.
According to the detection method for brake release provided by the embodiment of the invention, firstly, a motor brake release instruction is output to a motor, and the motor is controlled to execute brake release action; acquiring the release state of the band-type brake of the motor; judging whether the brake release state is an abnormal brake release state or not; if yes, the band-type brake detector is controlled to conduct fault elimination on the motor, and the motor is controlled to complete the release action of the band-type brake. According to the method and the device for judging the band-type brake release state of the motor, the band-type brake detector is controlled to conduct fault elimination on the motor based on the band-type brake release state of the motor, namely, the motor can be judged to be faulty through controlling the band-type brake detector, the motor can be guaranteed to smoothly execute the band-type brake release action under the condition that the motor is not replaced, the working efficiency of the motor is improved, and the production cost is saved.
Drawings
In order to more clearly illustrate the technical solution of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the invention to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for detecting brake release according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motor according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of another motor according to a first embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for detecting brake release according to a second embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for detecting brake release according to a third embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for detecting brake release according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a detecting device for releasing an internal contracting brake according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an engineering robot according to a sixth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be fully described below by way of specific embodiments with reference to the accompanying drawings in the examples of the present invention. It is apparent that the described embodiments are some, but not all, embodiments of the present invention, and that all other embodiments, which a person of ordinary skill in the art would obtain without making inventive efforts, are within the scope of this invention.
Example 1
Fig. 1 is a schematic flow chart of a method for detecting brake release according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a motor according to an embodiment of the present invention, fig. 3 is a schematic structural diagram of another motor according to an embodiment of the present invention, and referring to fig. 1 to 3, the embodiment may be adapted to detect brake release of a motor, the method may be performed by a device for detecting brake release according to an embodiment of the present invention, where the device may be implemented by software and/or hardware, and the device may be integrated with a device that may further provide a device for detecting brake release, and the method specifically includes the following steps:
s110, outputting a motor band-type brake release instruction to the motor, and controlling the motor to execute the band-type brake release action.
The motor acquires related instructions sent by the control module, and controls the motor to execute related actions based on the related instructions. Specifically, the control module can be a control cabinet, and the control cabinet is used for assembling the switch equipment, the measuring instrument, the protection electrical appliance and the auxiliary equipment in the closed or semi-closed metal cabinet or on the screen according to the electrical wiring requirement, and the arrangement of the control cabinet meets the requirement of normal operation of the power system, is convenient to overhaul and does not endanger the safety of personnel and surrounding equipment. The circuit can be switched on or off by means of a manual or automatic switch during normal operation. In case of failure or abnormal operation, the circuit is cut off or an alarm is given by means of a protective electric appliance. The measuring instrument can display various parameters in operation, and can also adjust certain electrical parameters to prompt or signal deviation from a normal working state. The method is commonly used in various power generating, distributing and transforming substations. The embodiment of the invention does not limit the control cabinet specifically.
Further, when the control module sends out a motor band-type brake release instruction, the motor executes the band-type brake release action after receiving the motor band-type brake release instruction. Specifically, referring to fig. 2 and 3, when the motor 100 is powered on, that is, there is a voltage, referring to fig. 3, the electromagnetic coil is powered on and separates the inner plate 110 from the electromagnetic coil 140 against a pulling force, the inner plate 110 is attached to the band-type brake disc 130, the motor 100 operates normally, and there is a band-type brake gap L1. When the motor 100 is powered off, that is, when no voltage is present, as shown in fig. 2, the motor 100 is powered off, the band-type brake disc 130 is separated from the inner plate 110, the band-type brake disc 130 brakes, the inner plate 110 is pushed to the electromagnetic coil 140, and the motor 100 is braked to stop rotating.
S120, acquiring the brake release state of the motor.
Specifically, when the control module, i.e. the control cabinet, sends out a motor brake release instruction, the motor may have different brake release states, for example, the motor normally executes brake release action and the electrode abnormally executes brake release action, and the embodiment of the invention does not specifically limit the specific states. Whether the motor or the control module is abnormal or not is further judged by acquiring the brake release state of the motor, safety and reliability of the motor brake are guaranteed, working efficiency of the motor is improved, and production cost is saved.
S130, judging whether the brake release state is an abnormal brake release state.
Specifically, whether the motor normally executes the brake release action is judged based on the brake release state of the acquired electrode, if the motor normally executes the brake release action, the current brake release normal state is judged based on the brake release state of the motor, and the S140 is executed to control the motor to complete the brake release action. If the motor abnormally executes the brake release action, judging that the motor is in the brake release abnormal state based on the brake release state of the motor, and if the motor is in the brake release abnormal state, executing S150, controlling the brake detector to conduct fault elimination on the motor, and controlling the motor to complete the brake release action. Further, through judging the different states that the motor released, carry out different orders, better assurance motor band-type brake's safe and reliable promotes the work efficiency of motor, practices thrift the cost of production.
And S140, controlling the motor to complete the brake release action.
Specifically, when the brake release state of the motor is judged not to be the brake release abnormal state, namely the motor is not abnormal, and the motor normally acquires a motor brake release instruction, the motor is controlled to normally complete brake release action, namely the state of the motor is converted from the brake release state to the guarantee release state, and the brake release instruction is shown in reference to fig. 2 and 3.
And S150, controlling the band-type brake detector to conduct fault elimination on the motor, and controlling the motor to complete the release action of the band-type brake.
Specifically, when judging that the brake release state is the brake release abnormal state, that is, the motor is abnormal, the motor is subjected to fault removal through the brake detector, for example, as shown in reference to fig. 3, when the brake clearance L1 is overlarge, the motor acquires a motor brake release instruction, when the voltage obtained by the motor power on is insufficient to overcome the guaranteed clearance L1, the motor is lifted through the brake detector, the motor is guaranteed to normally execute the motor brake release instruction, and the brake release action of the motor is completed. The normal execution of the motor band-type brake is guaranteed, the working efficiency of the motor is improved, and the production cost is saved.
According to the detection method for band-type brake release, which is provided by the embodiment of the invention, the band-type brake release state of the motor is obtained and judged, the band-type brake detector is controlled to perform fault elimination on the motor based on the band-type brake release state of the motor, namely, the motor can be judged by controlling the band-type brake detector, the motor can be ensured to smoothly execute the band-type brake release action under the condition that the motor is not replaced, the working efficiency of the motor is improved, and the production cost is saved.
Example two
Fig. 4 is a schematic flow chart of a method for detecting brake release according to a second embodiment of the present invention, and referring to fig. 4, the second embodiment refines the method based on the foregoing embodiment, and specifically refines how to control the brake detector to perform fault removal on the motor. In this embodiment, the method specifically includes the following steps:
s210, outputting a motor band-type brake release instruction to the motor, and controlling the motor to execute the band-type brake release action.
S220, acquiring the brake release state of the motor.
S230, judging whether the brake release state is an unsuccessful motor brake release state.
The motor brake release abnormal state comprises a motor brake release unsuccessful state, and whether the motor brake state is the motor brake release unsuccessful state is judged. Specifically, the unsuccessful motor band-type brake release state means that the motor has acquired a motor band-type brake release instruction, and the motor executes a band-type brake release action based on the motor band-type brake release instruction, but the motor has an abnormal condition, so that the band-type brake release action cannot be completed normally. The motor brake release action is performed for more than normal execution time, or sound generated by the motor brake release action is abnormal, and then the motor brake release action to be performed by the motor is acquired, but the motor brake release action is not successfully performed. When the brake release state of the motor is an unsuccessful motor brake release state, potential safety hazards exist, smooth generation cannot be guaranteed, and time cost and the like are affected. By judging whether the brake release state is the motor brake release unsuccessful state or not and executing different operation instructions, the motor can smoothly execute brake release action under the condition of not replacing, the working efficiency of the motor is improved, and the production cost is saved.
Specifically, when the brake release state is not the motor brake release unsuccessful state, S240 is executed, and the motor is controlled to complete brake release action. And when judging that the brake release state is the motor brake release unsuccessful state, executing S250, and controlling the brake detector to raise the input voltage of the motor to control the motor to complete brake release action.
S240, controlling the motor to complete the brake release action.
S250, controlling the band-type brake detector to increase the input voltage of the motor, and controlling the motor to complete the release action of the band-type brake.
Specifically, when the input voltage of the motor is equal to the release voltage of the motor, the motor can smoothly complete the brake release action, and referring to fig. 3, the release voltage of the motor is a voltage that satisfies the release of the inner plate 110 and the electromagnetic coil 140 under the brake gap L1. When the motor has abnormal abrasion, the band-type brake clearance can be increased, the input voltage of the motor is increased by controlling the band-type brake detector until the motor reaches the release voltage under the current band-type brake clearance, namely, the power is increased by increasing the input voltage of the motor, and the control machine can complete the band-type brake release action. By means of the detection method provided by the embodiment of the invention, the input voltage of the motor is increased through the band-type brake detector, the motor is controlled to complete the band-type brake release action, and only 10 minutes are needed, so that the motor can be ensured to normally operate under the safe condition, the working efficiency of the motor is improved, and the production cost is saved.
And S260, controlling the motor to replace or maintain the motor after the production work is completed.
Further, even if the motor is abnormal in the generation process, the motor can normally run, the working efficiency of the motor is improved, and the production cost is saved. But in order to further ensure the smooth proceeding of the subsequent generation and improve the safety and stability of the working procedure, the motor is replaced or maintained after the control motor finishes the generation work, so that the safety and stability of the working procedure are further ensured, the working efficiency of the motor is ensured, and the production cost is saved.
In conclusion, through the input voltage that control band-type brake detector risees the motor, control motor accomplishes band-type brake release action, guarantees the normal operating of motor under the circumstances of safety, has promoted the work efficiency of motor, practices thrift the cost of production. And the motor is replaced or maintained after the motor finishes production work, so that the safety and stability of the working procedure are further ensured.
Example III
Fig. 5 is a schematic flow chart of a method for detecting brake release according to a third embodiment of the present invention, and referring to fig. 5, the third embodiment refines the method based on the above embodiment, and specifically refines how to control the brake detector to perform fault removal on the motor. In this embodiment, the method specifically includes the following steps:
s310, outputting a motor band-type brake release instruction to the motor, and controlling the motor to execute the band-type brake release action.
S320, acquiring the brake release state of the motor.
S330, judging whether the brake release state is a motor brake release non-progress state.
The motor brake release abnormal state further comprises a motor brake release non-proceeding state, and whether the motor brake state is the motor brake release non-proceeding state is judged. Specifically, the motor band-type brake release non-proceeding state refers to the situation that the motor does not execute the band-type brake release action, namely, the motor does not acquire a motor band-type brake release instruction, and then the control module, namely, the control cabinet, does not transmit the motor band-type brake release instruction to the motor. The control module, that is, the control cabinet, is abnormal, and the control device in the control module is abnormal or is not maintained regularly, for example, which is not particularly limited in the embodiment of the present invention.
When the band-type brake release state of the motor is the motor band-type brake release non-progress state, whether the band-type brake release abnormal state of the motor is based on the control module, namely, the control cabinet instruction is not transmitted or not can be accurately judged through the follow-up judging process, and further the reason that the band-type brake detection method provided by the embodiment is more accurate in judging the motor band-type brake state is abnormal is guaranteed. In particular, the method comprises the steps of,
and when judging that the brake release state is not the motor brake release non-progress state, executing S340, and controlling the motor to complete brake release action. And when the brake release state is judged to be the motor brake release non-progress state, executing S250, and controlling the brake detector to increase the input voltage of the motor. The input voltage of the motor is adjusted through the band-type brake detector, and whether the motor is in a state that motor band-type brake release is not performed is judged, and the motor is abnormal due to abrasion of the motor or the control module does not output a motor band-type brake release instruction to the motor.
S340, controlling the motor to complete the brake release action.
S350, controlling the band-type brake detector to increase the input voltage of the motor.
S360, judging whether the brake release state is an abnormal brake release state.
Specifically, the input voltage of the motor is increased through the band-type brake detector, namely, the power of the motor is increased, and whether the abnormal state of the band-type brake release of the motor is caused by motor abrasion or not is detected, and the gap between the band-type brakes is overlarge. If the input voltage of the motor is increased by controlling the band-type brake detector, and the current band-type brake state of the motor is not the abnormal band-type brake release state, S340 is executed, and the motor is controlled to complete the band-type brake release action. If the input voltage of the motor is increased through the band-type brake detector, the band-type brake state of the motor is still in an abnormal band-type brake release state, the control module, namely the control cabinet, is proved to be abnormal, the motor does not receive the motor band-type brake release instruction, that is, S370 is executed, and the reason for determining that the abnormal band-type brake release state is that the motor band-type brake release instruction is not output to the motor is proved.
In conclusion, by controlling the band-type brake detector to raise the input voltage of the motor and then judging whether the band-type brake release state is an abnormal band-type brake release state, the reason of the abnormal band-type brake release state can be determined, and the accuracy and the reliability of the band-type brake release detection method provided by the embodiment of the invention are improved.
Example IV
Fig. 6 is a schematic flow chart of a method for detecting brake release according to a fourth embodiment of the present invention, and referring to fig. 6, the fourth embodiment refines the method based on the foregoing embodiment, and specifically refines how to pre-detect a motor. In this embodiment, the method specifically includes the following steps:
s410, controlling the band-type brake detector to pre-detect whether the motor is normal.
The motor can be pre-detected before being put into production and used for ensuring normal use of the motor, whether the motor can normally execute the brake release action or not is judged, if the brake release action is normally executed, the motor is indicated to have no abnormal condition, and the motor can be put into use normally; if the band-type brake release action cannot be normally executed, the motor is indicated to have abnormal conditions, the motor can be maintained or replaced, the production is not affected, and the production cost is saved from the source.
Optionally, the band-type brake detector is controlled to input standard voltage to the motor, wherein the standard voltage is release voltage of the motor under normal conditions; judging whether the motor executes the brake release action under the standard voltage, wherein the frequency of the motor obtaining the standard voltage is I1, and the frequency of the motor executing the brake release action is I2; if the number of times that the motor acquires the standard voltage is equal to the number of times that the motor executes the brake release action, namely, i1=i2, the motor is in a normal state; if the number of times that the motor acquires the standard voltage is greater than the number of times that the motor executes the brake release action, namely, I1 is more than I2, the motor is in a degradation state; if the number of times the motor performs the band-type brake release action is zero, i.e., i2=0, the motor is in an abnormal state.
Illustratively, the motor may be pre-detected by a band-type brake detector. The control band-type brake detector inputs standard voltage for the motor, namely, the voltage required by the motor for executing the band-type brake releasing action under normal conditions is input. The band-type brake detector inputs standard voltage to the motor for a plurality of times, so that the error of a motor to-be-detected result is reduced.
Specifically, when the number of times of the standard voltage acquired by the motor is I1 and the number of times of the motor executing the brake release action is I2, when i1=i2, the motor is indicated to complete the brake release action under the standard voltage acquired each time, that is, the motor is indicated to be in a normal state. When I1 > I2, the motor is only required to complete the brake release action under partial conditions of the standard voltage obtained each time, namely the motor is in a degradation state, and the motor can only complete the brake release action under the standard voltage obtained each time under the condition that the brake detector further lifts the standard voltage, and the brake release action can be normally executed by the motor each time only when the brake detector adjusts the voltage to 26V, by way of example, the standard voltage of the normal motor is 24V. When i2=0, it indicates that the motor has not completed the brake release action under the standard voltage obtained each time, that is, indicates that the motor is in an abnormal state, and under the condition that the motor is in a deteriorated state, and the brake detector further lifts the standard voltage, the motor can only complete the brake release action under the standard voltage obtained each time, and the standard voltage of the normal motor is 24V, and only when the brake detector adjusts the voltage to 28V, the motor can normally execute the brake release action each time. The state of the current motor is better judged through the band-type brake detector, and the accuracy of the band-type brake release detection method is better ensured.
S420, outputting a motor band-type brake release instruction to the motor, and controlling the motor to execute the band-type brake release action.
S430, acquiring the brake release state of the motor.
S440, judging whether the brake release state is an abnormal brake release state.
S450, controlling the motor to complete the brake release action.
S460, controlling the voltage regulating plate to remove faults of the motor, and controlling the motor to complete brake release action.
Further, the band-type brake detector can adopt a voltage regulating plate, input voltage adjustment to the motor is realized through the voltage regulating plate, power of the motor is increased, and smooth completion of band-type brake releasing action of the motor is ensured.
In summary, in order to ensure the normal use of the motor during production, the motor can be pre-detected before being put into production and used, if the band-type brake release action is normally executed, the motor is indicated to have no abnormal condition, and the motor can be put into use normally; if the band-type brake release action cannot be normally executed, the motor is indicated to have abnormal conditions, the motor can be maintained or replaced, the production is not affected, and the production cost is saved from the source.
Example five
Fig. 7 is a schematic structural diagram of a detecting device for brake release according to a fifth embodiment of the present invention, where the device may be applied to a product with a function of judging a brake release state of a motor, and the device may be implemented by software and/or hardware.
As shown in fig. 7, a detection device 10 for brake release includes: the device comprises a band-type brake release action execution module 200, a band-type brake release state acquisition module 300, a band-type brake release abnormal state judgment module 400 and a fault removal module 500.
The band-type brake release action execution module 200 is used for outputting a motor band-type brake release instruction to the motor and controlling the motor to execute the band-type brake release action.
And the band-type brake release state acquisition module 300 is used for acquiring the band-type brake release state of the motor.
The band-type brake release abnormal state judging module 400 is configured to judge whether the band-type brake release state is a band-type brake release abnormal state.
The fault elimination module 500 is used for controlling the band-type brake detector to conduct fault elimination on the motor and controlling the motor to complete the band-type brake releasing action.
In the detection device for brake release, a brake release action execution module is used for receiving a motor brake release instruction sent by a control module and controlling a motor to execute brake release action; the band-type brake release state acquisition module is used for acquiring the band-type brake release state of the motor; the band-type brake release abnormal state judging module is used for judging whether the band-type brake release state is the band-type brake release abnormal state or not; and finally, the fault elimination module is used for controlling the band-type brake detector to conduct fault elimination on the motor and controlling the motor to complete the band-type brake release action. Band-type brake release state control band-type brake detector based on motor carries out the troubleshooting to the motor, can realize the judgement that breaks down to the motor through control band-type brake detector to guarantee that the motor can carry out band-type brake release action smoothly under the condition that does not change, promote the work efficiency of motor, practice thrift the cost of production.
Example six
Fig. 8 is a schematic structural diagram of an engineering robot according to a sixth embodiment of the present invention, where, as shown in fig. 8, the engineering robot according to the embodiment of the present invention includes: one or more processors 41 and a storage device 42; the number of processors 41 in the device may be one or more, one processor 41 being taken as an example in fig. 8; the storage device 42 is used for storing one or more programs; one or more programs are executed by the one or more processors 41 that cause the one or more processors 41 to implement a method of detecting brake release as in any of the embodiments of the present invention.
The processor 41, the storage means 42, the input means 43 and the output means 44 in the device may be connected by a bus or by other means, in fig. 8 by way of example.
The storage device 42 in the apparatus is used as a computer readable storage medium, and may be used to store one or more programs, which may be a software program, a computer executable program, and a module, where a program instruction/module corresponding to a method for detecting band-type brake release is provided in an embodiment of the present invention (for example, the band-type brake release detection device 10 shown in fig. 7 includes a band-type brake release action executing module 200, a band-type brake release state obtaining module 300, a band-type brake release abnormal state judging module 400, and a troubleshooting module 500). The processor 41 executes various functional applications and data processing of the terminal device by running software programs, instructions and modules stored in the storage device 42, that is, implements the method for detecting brake release in the above method embodiment.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the device, etc. In addition, the storage 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, storage 42 may further include memory located remotely from processor 41, which may be connected to the device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 43 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output device 44 may include a display device such as a display screen.
And, when one or more programs included in the above-described apparatus are executed by the one or more processors 41, the programs perform the following operations: the motor band-type brake release instruction is output to the motor, and the motor is controlled to execute the band-type brake release action; acquiring a brake release state of the motor; judging whether the brake release state is an abnormal brake release state; if yes, the band-type brake detector is controlled to conduct fault elimination on the motor, and the motor is controlled to complete the release action of the band-type brake.
Example seven
A seventh embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program for executing a method for detecting a brake release when executed by a processor, the method comprising: the motor band-type brake release instruction is output to the motor, and the motor is controlled to execute the band-type brake release action; acquiring a brake release state of the motor; judging whether the brake release state is an abnormal brake release state; if yes, the band-type brake detector is controlled to conduct fault elimination on the motor, and the motor is controlled to complete the release action of the band-type brake.
Optionally, the program when executed by the processor may also be used to execute the method for detecting brake release provided by any embodiment of the present invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio frequency (RadioFrequency, RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. The method for detecting the release of the band-type brake is characterized by comprising the following steps of:
outputting a motor band-type brake release instruction to a motor, and controlling the motor to execute a band-type brake release action;
acquiring a brake release state of the motor;
judging whether the brake release state is an abnormal brake release state or not;
if yes, controlling a band-type brake detector to perform fault elimination on the motor, and controlling the motor to complete the brake release action;
wherein, judge whether band-type brake release state is band-type brake release abnormal state, include:
judging whether the brake release state is an unsuccessful motor brake release state;
if yes, the band-type brake detector is controlled to raise the input voltage of the motor, and the motor is controlled to complete the release action of the band-type brake.
2. The method of detecting according to claim 1, wherein after controlling the motor to complete the brake release action, further comprising:
and controlling the motor to replace or maintain the motor after the motor finishes production work.
3. The method according to claim 1, wherein,
judging whether the band-type brake release state is an abnormal band-type brake release state or not, comprising:
judging whether the brake release state is a motor brake release non-progress state;
if yes, the band-type brake detector is controlled to raise the input voltage of the motor;
judging whether the brake release state is an abnormal brake release state or not again;
if yes, determining that the reason for the abnormal state of the band-type brake release is that the motor band-type brake release instruction is not output to the motor.
4. The method according to claim 1, wherein outputting a motor brake release command to a motor and controlling the motor to perform a brake release operation, further comprises:
and controlling the band-type brake detector to pre-detect whether the motor is normal or not.
5. The method of detecting according to claim 4, wherein controlling the band-type brake detector to pre-detect whether the motor is normal comprises:
controlling the band-type brake detector to input standard voltage to the motor, wherein the standard voltage is release voltage of the motor under normal conditions;
judging whether the motor executes the brake release action under the standard voltage, wherein the frequency of the motor obtaining the standard voltage is I1, and the frequency of the motor executing the brake release action is I2;
if the number of times that the motor acquires the standard voltage and the number of times that the motor executes the brake release action meet the requirement that I1=I2, the motor is in a normal state;
if the number of times that the motor acquires the standard voltage and the number of times that the motor executes the brake release action meet the requirement that I1 is more than I2, the motor is in a degradation state;
and if the number of times that the motor executes the brake release action is zero, the motor is in an abnormal state.
6. The method of claim 1, wherein the band-type brake detector is a voltage regulator plate;
control band-type brake detector carries out the troubleshooting to the motor, include:
and controlling the voltage regulating plate to perform fault elimination on the motor, and controlling the motor to complete the brake release action.
7. A brake release detection device, for performing a brake release detection method according to any one of claims 1 to 6, comprising:
the brake release action execution module is used for outputting a motor brake release instruction to the motor and controlling the motor to execute brake release action;
the band-type brake release state acquisition module is used for acquiring the band-type brake release state of the motor;
the band-type brake release abnormal state judging module is used for judging whether the band-type brake release state is a band-type brake release abnormal state or not;
the fault elimination module is used for controlling the band-type brake detector to conduct fault elimination on the motor and controlling the motor to complete the releasing action of the band-type brake.
8. An engineering robot, characterized in that the engineering robot comprises:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement a method of detecting a band-type brake release as described in any one of claims 1-6.
9. A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method of detecting brake release as claimed in any one of claims 1 to 6.
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| CN114833835A (en) | 2022-08-02 |
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