CN116404908B - Band-type brake control system of servo motor - Google Patents

Band-type brake control system of servo motor Download PDF

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Publication number
CN116404908B
CN116404908B CN202310652378.9A CN202310652378A CN116404908B CN 116404908 B CN116404908 B CN 116404908B CN 202310652378 A CN202310652378 A CN 202310652378A CN 116404908 B CN116404908 B CN 116404908B
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CN
China
Prior art keywords
band
type brake
servo motor
current
servo
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Active
Application number
CN202310652378.9A
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Chinese (zh)
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CN116404908A (en
Inventor
罗群容
赵鹏飞
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Guangdong Keyao Intelligent Technology Co ltd
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Guangdong Keyao Intelligent Technology Co ltd
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Priority to CN202310652378.9A priority Critical patent/CN116404908B/en
Publication of CN116404908A publication Critical patent/CN116404908A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/08—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/27—Devices for sensing current, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Electric Motors In General (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)

Abstract

The application discloses a band-type brake control system of a servo motor, which comprises an upper computer system, a servo driver, a servo band-type brake controller and a servo motor band-type brake, wherein an internal intermediate relay is arranged in the servo driver, the upper computer system generates a band-type brake opening instruction, the servo driver responds to the band-type brake opening instruction to generate an internal driving signal, the internal intermediate relay is driven by the internal driving signal to be switched to a relay circuit, and a current signal is generated through a power supply in the relay circuit, and the servo band-type brake controller drives the servo motor band-type brake to be opened. It is visible that the built-in intermediate relay is built-in the servo driver, external wiring is not needed, the situation that the coil of the intermediate relay is reversely connected is avoided, an internal driving signal is obtained in an internal connection mode, the situation that the contacts of the external intermediate relay are bad is avoided, the band-type brake can be safely and normally opened, and hidden danger of damaging a band-type brake system of the servo motor is reduced.

Description

Band-type brake control system of servo motor
Technical Field
The application relates to the technical field of servo motors, in particular to a band-type brake control system of a servo motor.
Background
With the development of motor system technology, servo motor technology is gradually popularized in China, and the servo motor system has wider application range than the traditional stepping motor system by virtue of the performance advantages of precision, moment frequency, overload and the like. The servo motor is really popular in China for only more than ten years and still is in a growing stage, so that the problems of debugging and finding and the problems of feedback by users are most of the problems of contracting brake of the servo motor, namely the problems of external transfer of intermediate relay contacts and intermediate relay coil wiring after the servo motor enters the market in China.
According to analysis, the band-type brake is indirectly opened through an external intermediate relay in the existing servo motor band-type brake system, and because the intermediate relay is external, external wiring is needed, the coil of the intermediate relay is easy to reverse by an external wiring mode, and the contacts of the intermediate relay are poor, so that the band-type brake cannot be normally opened, and hidden danger of damaging the servo motor band-type brake system exists.
Disclosure of Invention
In view of the above, the present application has been made in order to provide a band-type brake control system of a servo motor to safely control the opening of the band-type brake.
In order to achieve the above object, the following specific solutions are proposed:
the band-type brake control system of the servo motor comprises an upper computer system, a servo driver, a servo band-type brake controller and a servo motor band-type brake, wherein a built-in intermediate relay is arranged in the servo driver, the upper computer system is connected with the servo driver, and the built-in intermediate relay is connected with the servo motor band-type brake through the servo band-type brake controller;
the upper computer system is used for responding to the opening control operation of a user on the band-type brake of the servo motor and generating a band-type brake opening instruction;
the servo driver is used for responding to the contracting brake opening instruction and generating an internal driving signal;
the built-in intermediate relay is used for acquiring the internal driving signal in an internal connection mode, switching to a relay circuit under the driving of the internal driving signal, and generating a current signal through the enabling of a preset power supply in the relay circuit;
and the servo brake controller is used for driving the servo motor brake to be opened based on the current signal.
Optionally, a fuse is arranged in the relay circuit of the built-in intermediate relay;
the fuse is used for fusing when the current of the relay circuit is larger than a preset circuit current threshold value so as to protect the relay circuit.
Optionally, the band-type brake control system further comprises a band-type brake current detection system, wherein the band-type brake current detection system is connected with the upper computer system and the servo driver;
and the band-type brake current detection system is used for detecting a first target current of the servo driver when receiving a band-type brake opening instruction sent by the upper computer system, and determining and sending state abnormality information of the band-type brake of the servo motor to a user if the first target current is smaller than a preset current threshold.
Optionally, the band-type brake current detection system is connected with the servo motor band-type brake; the band-type brake current detection system is also used for:
when a band-type brake opening instruction sent by the upper computer system is received, detecting a first working current of the servo motor band-type brake, and if the first working current is smaller than the preset current threshold value, determining and sending state abnormality information of the servo motor band-type brake to a user.
Optionally, the brake of the servo motor is provided with an opening and closing contact, and the opening and closing contact is connected with the servo driver; the servo driver is further configured to:
when the band-type brake of the servo motor is in an open state, acquiring a band-type brake opening signal fed back by the opening contact, and sending information that the band-type brake of the servo motor is opened to a user based on the band-type brake opening signal;
when the band-type brake of the servo motor is in a closed state, a band-type brake closing signal fed back by the opening and closing contact is obtained, and information that the band-type brake of the servo motor is closed is sent to a user based on the band-type brake closing signal.
Optionally, the band-type brake control system further comprises a band-type brake state analysis module, wherein the band-type brake state analysis module is in communication connection with the opening and closing contact and the band-type brake current detection system; the band-type brake state analysis module is used for:
acquiring an opening and closing signal of the band-type brake and a detection current of the band-type brake current detection system, wherein the opening and closing signal of the band-type brake is the opening signal of the band-type brake or the closing signal of the band-type brake, and the detection current is the first target current or the first working current;
when the detected current is smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake opening signal, determining that the servo motor band-type brake is in a mechanical hugging abnormal state;
when the detected current is smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake closing signal, determining that the servo motor band-type brake is in an abnormal state of circuit breaking;
when the detected current is not smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake opening signal, determining that the servo motor band-type brake is in a current enabling and clamping state;
when the detected current is not smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake closing signal, determining that the servo motor band-type brake is in a mechanical damage state.
Optionally, the upper computer system is further configured to generate a brake closing instruction in response to a closing control operation of a user on the brake of the servo motor when the brake of the servo motor is opened;
the servo driver is further used for responding to the contracting brake closing instruction and generating an internal closing driving signal;
the built-in intermediate relay is also used for acquiring the internal closing driving signal in an internal connection mode, and switching the relay circuit to a normal circuit under the driving of the internal closing driving signal so as to stop providing the current signal;
and the servo band-type brake controller is also used for driving the servo motor band-type brake to be closed after the current signal disappears.
Optionally, the band-type brake control system further comprises a band-type brake current detection system, wherein the band-type brake current detection system is connected with the upper computer system and the servo driver;
and the band-type brake current detection system is used for detecting a second target current of the relay circuit in the servo driver when receiving a band-type brake closing instruction sent by the upper computer system, and determining and sending state abnormality information of the band-type brake of the servo motor to a user if the second target current is larger than a preset quiescent current threshold value.
Optionally, the band-type brake current detection system is connected with the servo motor band-type brake; the band-type brake current detection system is also used for:
when a band-type brake closing instruction sent by the upper computer system is received, detecting a second working current of the servo motor band-type brake, and if the second working current is larger than the preset quiescent current threshold value, determining and sending state abnormality information of the servo motor band-type brake to a user.
Optionally, the power supply voltage of the preset power supply is 24V.
By means of the technical scheme, the band-type brake control system comprises an upper computer system, a servo driver, a servo band-type brake controller and a servo motor band-type brake, wherein an internal intermediate relay is arranged in the servo driver, the upper computer system is connected with the servo driver, the internal intermediate relay is connected with the servo motor band-type brake through the servo band-type brake controller, the upper computer system responds to the opening control operation of a user on the servo motor band-type brake to generate a band-type brake opening instruction, the servo driver responds to the band-type brake opening instruction to generate an internal driving signal, the internal intermediate relay acquires the internal driving signal in an internal connection mode, is driven by the internal driving signal and is switched to a relay circuit, and generates a current signal through the enabling of a preset power supply in the relay circuit, and the servo band-type brake controller drives the servo motor brake to be opened based on the current signal. Therefore, the internal intermediate relay of the band-type brake control system is arranged in the servo driver, external wiring is not needed, the situation that the coil of the intermediate relay is reversely connected is avoided, an internal driving signal can be obtained in an internal connection mode, the situation that the contact of the external intermediate relay is poor is avoided, the band-type brake can be safely and normally opened, and hidden danger of damaging a band-type brake system of a servo motor is reduced.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a first architecture diagram of a brake control system for a servo motor according to an embodiment of the present application;
FIG. 2 is a second architecture diagram of a brake control system for a servo motor according to an embodiment of the present application;
FIG. 3 is a third architecture diagram of a brake control system for a servo motor according to an embodiment of the present application;
fig. 4 is a fourth architecture diagram of a band-type brake control system of a servo motor according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 is an optional architecture of a band-type brake control system of a servo motor according to an embodiment of the present application, as shown in fig. 1, the architecture may include: the servo motor band-type brake comprises an upper computer system 10, a servo driver 20, a servo band-type brake controller 30 and a servo motor band-type brake 40.
The upper computer system 10, the servo driver 20 and the servo brake controller 30 all have a signal transmission function, and can all receive and send information.
The servo driver 20 may be built with a built-in intermediate relay 21, the upper computer system 10 may be connected to the servo driver 20, and the built-in intermediate relay 21 may be connected to the servo motor band brake 40 through the servo band brake controller 30.
Specifically, the servo driver 20 and the built-in intermediate relay 21 may be internally connected, so as to realize internal control of the built-in intermediate relay 21 by the servo driver 20.
The upper computer system 10 may be provided with a system control interface, in which a button function is provided to control the opening and closing of the servo motor band-type brake 40, and the opening and closing operation of the upper computer system 10 may be not affected by the opening/closing timing sequence of the current servo motor band-type brake 40, or may not be affected by the enabling of the servo motor, and the user may perform the operation of controlling the opening and closing of the servo motor band-type brake 40 in the system control interface, so as to test whether the servo motor band-type brake 40 can be normally opened and closed.
The upper computer system 10 may be configured to generate a brake opening command in response to a user's opening control operation of the servo motor brake 40.
Specifically, when the user presses the open button of the servo motor band-type brake 40, the host computer system 10 may generate a band-type brake open instruction.
And the servo driver 20 is used for responding to the contracting brake opening command and generating an internal driving signal.
Specifically, after receiving the brake opening instruction provided by the host computer system 10, the servo driver 20 may trigger to control the built-in intermediate relay 21, so as to indirectly control the servo motor brake 40 by controlling the built-in intermediate relay 21, and thus may generate an internal driving signal for controlling the built-in intermediate relay 21.
The built-in intermediate relay 21 is configured to obtain an internal driving signal through an internal connection manner, switch to a relay circuit under the driving of the internal driving signal, and generate a current signal through the enabling of a preset power supply in the relay circuit.
Specifically, the supply voltage of the preset power supply may be 24V.
It can be understood that, because the current at the moment of opening and closing the band-type brake 40 of the servo motor can be larger, the original system voltage (24V) can be lowered, the normal operation of the band-type brake control system is affected, in order to avoid the influence of the current at the moment of opening and closing the band-type brake 40 of the servo motor on the band-type brake control system, the preset power supply can be independently arranged in the relay circuit, and is different from the power supply of the normal circuit of the built-in intermediate relay 21, so that the stability of the relay circuit is improved.
Since the built-in intermediate relay 21 is built in the servo driver 20, the normally closed contact and the normally open contact of the built-in intermediate relay 21 can be kept good, the normally closed contact of the built-in intermediate relay 21 is separated under the drive of an internal driving signal, and the normally open contact is closed, so that a normal circuit is switched to a relay circuit, and a current signal is generated under the enabling of a preset power supply.
The servo brake controller 30 is configured to drive the servo motor brake 40 to open based on the current signal.
Specifically, the servo band-type brake controller 30 may drive the brake wheel of the servo motor band-type brake 40 to move based on the intensity of the current signal, and when the current signal reaches the preset intensity, the brake wheel of the servo motor band-type brake 40 is driven to be separated from the brake shoe, so as to open the servo motor band-type brake 40.
The band-type brake control system of the servo motor comprises an upper computer system, a servo driver, a servo band-type brake controller and a servo motor band-type brake, wherein a built-in intermediate relay is arranged in the servo driver, the upper computer system is connected with the servo driver, the built-in intermediate relay is connected with the servo motor band-type brake through the servo band-type brake controller, the upper computer system responds to the opening control operation of a user on the servo motor band-type brake to generate a band-type brake opening instruction, the servo driver responds to the band-type brake opening instruction to generate an internal driving signal, the built-in intermediate relay acquires the internal driving signal in an internal connection mode and switches to a relay circuit under the driving of the internal driving signal, and a current signal is generated through the enabling of a preset power supply in the relay circuit, and the servo band-type brake controller drives the servo motor band-type brake to be opened based on the current signal. Therefore, the internal intermediate relay of the band-type brake control system is arranged in the servo driver, external wiring is not needed, the situation that the coil of the intermediate relay is reversely connected is avoided, an internal driving signal can be obtained in an internal connection mode, the situation that the contact of the external intermediate relay is poor is avoided, the band-type brake can be safely and normally opened, and hidden danger of damaging a band-type brake system of a servo motor is reduced.
In some embodiments of the present application, considering that the relay circuit of the built-in intermediate relay 21 in the band-type brake control system can cause the servo motor band-type brake 40 to be opened when being turned on, but the fault of the servo motor band-type brake 40 may cause the relay circuit to be excessively high in current and damage the relay circuit, in the band-type brake control system of the servo motor provided by the present application, a fuse is arranged in the relay circuit of the built-in intermediate relay 21.
The fuse may be used to blow when the current of the relay circuit is greater than a preset circuit current threshold to protect the relay circuit.
In particular, the preset circuit current threshold may represent a minimum current value that damages the relay circuit or damages the relay circuit components.
It can be appreciated that when the servo motor band-type brake 40 fails in an opened state, current rises, and then the current of the relay circuit is excessively large, and as the fuse is arranged in the relay circuit, the fuse heats when the current is excessively large and fuses when the current is larger than a preset circuit current threshold value, the relay circuit is broken, and the effect of protecting the relay circuit is achieved.
Considering that the band-type brake control system needs to monitor the abnormal state of the servo motor band-type brake 40 during initial test or during failure, in some embodiments of the present application, the band-type brake control system of the above embodiment is further described, based on the architecture shown in fig. 1, fig. 2 shows a second architecture diagram of the band-type brake control system of the servo motor provided by the embodiment of the present application, and referring to fig. 2, the architecture may include: the device comprises an upper computer system 10, a servo driver 20, a servo brake controller 30, a servo motor brake 40 and a brake current detection system 50.
The upper computer system 10, the servo driver 20, the servo brake controller 30 and the servo motor brake 40 are in one-to-one correspondence with the upper computer system 10, the servo driver 20, the servo brake controller 30 and the servo motor brake 40 in the foregoing embodiments, and the functions of the detailed components and their connection relationships are described with reference to the foregoing description, which is not repeated here.
The band-type brake current detection system 50 is connected with the upper computer system 10, the band-type brake current detection system 50 is connected with the servo driver 20, and the band-type brake current detection system 50 can have a signal transmission function and can receive and send information.
The band-type brake current detection system 50 may be configured to detect a first target current of the servo driver 20 when receiving a band-type brake opening command sent by the host computer system 10, and determine and send abnormal state information of the servo motor band-type brake 40 to a user if the first target current is less than a preset current threshold.
Specifically, the preset current threshold may represent a minimum current that can cause the servo motor band-type brake 40 to open normally.
It can be appreciated that, after the upper computer system 10 generates the brake opening command, the brake opening command may be sent to the brake current detection system 50, so that the brake current detection system 50 obtains the information that the servo motor brake 40 requests to be opened. At this time, the normal current of the servo driver 20 should be a current capable of making the servo motor band-type brake 40 normally open, i.e. a current greater than a preset current threshold, so if the first target current of the servo driver 20 is detected to be smaller than the preset current threshold, it may be indicated that the servo motor band-type brake 40 cannot be driven to open only by the current enable of the built-in intermediate relay 21, and thus abnormal state information of the servo motor band-type brake 40 may be determined and sent to the user.
According to the band-type brake control system of the servo motor, the band-type brake current detection system 50 is arranged and is communicated with the upper computer system 10 and the servo driver 20, so that the first target current of the servo driver 20 is detected when a band-type brake opening instruction is received, and when the first target current is detected to be smaller than the preset current threshold value, abnormal state information of the servo motor band-type brake 40 is determined and sent to a user, so that the user can timely monitor the abnormal state of the servo motor band-type brake 40.
In some embodiments of the present application, the band-type brake control system of the above embodiment is further described, based on the architecture shown in fig. 2, fig. 3 shows a third architecture diagram of the band-type brake control system of the servo motor provided by the embodiment of the present application, and referring to fig. 2, the architecture may include: the device comprises an upper computer system 10, a servo driver 20, a servo brake controller 30, a servo motor brake 40 and a brake current detection system 50.
The above-mentioned host computer system 10, servo driver 20, servo brake controller 30, servo motor brake 40 and brake current detection system 50 are in one-to-one correspondence with the host computer system 10, servo driver 20, servo brake controller 30, servo motor brake 40 and brake current detection system 50 in the foregoing embodiments, and the functions of the detailed components and their connection relationships are described with reference to the foregoing descriptions, and are not repeated here.
Wherein, band-type brake current detection system 50 can also be connected with servo motor band-type brake 40.
The band-type brake current detection system 50 may also be configured to detect a first working current of the servo motor band-type brake 40 when receiving a band-type brake opening command sent by the host computer system 10, and determine and send abnormal state information of the servo motor band-type brake to a user if the first working current is less than a preset current threshold.
It can be appreciated that, after the upper computer system 10 generates the brake opening command, the brake opening command may be sent to the brake current detection system 50, so that the brake current detection system 50 obtains the information that the servo motor brake 40 requests to be opened. At this time, the normal current of the servo motor band-type brake 40 should be the current that can enable the servo motor band-type brake 40 to normally open, i.e. the current that is greater than the preset current threshold, so if the first working current of the servo motor band-type brake 40 is detected to be smaller than the preset current threshold, it can be indicated that the servo motor band-type brake 40 cannot be driven to open only by the first working current, and therefore abnormal state information of the servo motor band-type brake 40 can be determined and sent to a user.
According to the band-type brake control system of the servo motor, communication is established between the band-type brake current detection system 50 and the servo motor band-type brake 40, so that first working current of the servo motor band-type brake 40 is detected when a band-type brake opening instruction is received, the state abnormality information of the servo motor band-type brake 40 is determined and sent to a user when the first working current is detected to be smaller than a preset current threshold value, and the user can monitor the abnormal state of the servo motor band-type brake 40 in time.
Considering that the opening and closing amplitude of the brake 40 of the servo motor is not easily perceived by a user, the opening and closing state information of the brake 40 of the servo motor needs to be acquired in real time, and therefore, in some embodiments of the present application, the brake control system of the foregoing embodiments is further described, and an opening and closing contact is disposed in the brake 40 of the servo motor, and the opening and closing contact may be connected to the servo driver 20 to feed back the opening and closing state signal of the brake 40 of the servo motor to the servo driver 20. On this basis, the servo driver 20 may also be used to feed back the opening and closing state conditions of the servo motor band-type brake 40 to the user, and the conditions can be divided into the following two conditions:
first, when the servo driver 20 is in an open state of the servo motor band-type brake 40, a band-type brake opening signal fed back by the opening and closing contact is obtained, and information that the servo motor band-type brake 40 is opened is sent to a user based on the band-type brake opening signal.
It will be appreciated that when the brake shoe of the servo motor band-type brake 40 is separated from the brake wheel, the servo motor band-type brake 40 is in an open state, and the opening and closing contacts feed back a band-type brake opening signal to the servo driver 20, and because the servo driver 20 has a function of receiving and transmitting information, the servo driver 20 can transmit information that the servo motor band-type brake 40 has been opened to a user based on the band-type brake opening signal, so that the user can acquire the opened information of the servo motor band-type brake 40 in advance when the user cannot perceive the state of the servo motor band-type brake 40.
Specifically, the servo driver 20 may send information that the brake 40 of the servo motor has been opened to a terminal corresponding to a user, or may display the information that the brake 40 of the servo motor has been opened by displaying the information, so as to inform the user.
Second, when the servo motor band-type brake 40 is in a closed state, the servo driver 20 acquires a band-type brake closing signal fed back by the opening and closing contact, and sends information that the servo motor band-type brake 40 is closed to a user based on the band-type brake closing signal.
It will be appreciated that when the brake shoe of the servo motor band-type brake 40 contacts/closes with the brake wheel, the servo motor band-type brake 40 is in a closed state, and the opening and closing contacts feed back the band-type brake closing signal to the servo driver 20, and because the servo driver 20 has the function of receiving and transmitting information, the servo driver 20 can transmit the information that the servo motor band-type brake 40 is closed to the user based on the band-type brake opening signal, so that the user can acquire the closed information of the servo motor band-type brake 40 in advance when the user cannot perceive the state of the servo motor band-type brake 40.
According to the band-type brake control system of the servo motor, the opening and closing contacts are arranged on the band-type brake 40 of the servo motor, so that when a user cannot perceive the state of the band-type brake 40 of the servo motor, the opened/closed information of the band-type brake 40 of the servo motor can be acquired in advance.
Considering that a user can make the state of the band-type brake control system clearer so as to use the band-type brake control system more confidently, in some embodiments of the present application, a band-type brake state analysis module is added to the band-type brake control system of the servo motor to determine what state and whether the servo motor band-type brake 40 is in the current state or not, so that better experience is provided for the user.
As shown in fig. 4, the band-type brake status analysis module 60 may be communicatively connected to the opening and closing contacts, and to the band-type brake current detection system 50, to timely obtain current information and opening and closing information of the servo motor band-type brake 40.
Based on this, the process of analyzing the specific state of the servo motor band-type brake 40 by the band-type brake state analysis module 60 may include:
s1, acquiring an opening and closing signal of the band-type brake sent by an opening and closing contact, and detecting current of a band-type brake current detection system 50.
The band-type brake opening and closing signal can be a band-type brake opening signal or a band-type brake closing signal, and the detection current can be a first target current or a first working current.
Specifically, the opening and closing contact can continuously monitor the opening and closing state of the brake 40 of the servo motor in real time, and can transmit the brake opening and closing signal to the brake state analysis module 60 in real time. The band-type brake current detection system 50 may transmit detected current information obtained by the detection to the band-type brake state analysis module 60.
S2, when the detected current is smaller than a preset current threshold value, if the band-type brake opening and closing signal is a band-type brake opening signal, determining that the servo motor band-type brake 40 is in a mechanical clamping abnormal state.
It will be appreciated that when the first target current or the first operating current is less than the preset current threshold, it may indicate that the servo motor band-type brake 40 cannot be driven to open only by the current of the built-in intermediate relay 21 or the current in the servo motor band-type brake 40. On the basis, if the band-type brake opening and closing signal is a band-type brake opening signal, which indicates that the servo motor band-type brake 40 is still opened, the open non-current enabling driving of the servo motor band-type brake 40 can be determined, and the band-type brake is in a mechanical band-type abnormal state under the condition of self mechanical band-type.
And S3, when the detected current is smaller than a preset current threshold value, if the band-type brake opening and closing signal is a band-type brake closing signal, determining that the servo motor band-type brake 40 is in a circuit breaking abnormal state.
It can be understood that when the first target current or the first working current is smaller than the preset current threshold, it may indicate that the current obtained by the band-type brake 40 of the servo motor is insufficient to drive the band-type brake 40 of the servo motor to open, on this basis, if the band-type brake opening/closing signal is a band-type brake closing signal, it may indicate that the current of the relay circuit is too large to blow the fuse to break the relay circuit, or the band-type brake coil is directly burnt out due to the too large circuit current, so that the circuit is in a broken state, resulting in that the band-type brake 40 of the servo motor is not enabled by the current, but the band-type brake 40 of the servo motor cannot be opened, and is in an abnormal state of breaking the circuit.
And S4, when the detected current is not smaller than a preset current threshold value, if the band-type brake opening and closing signal is a band-type brake opening signal, determining that the servo motor band-type brake 40 is in a current enabling and clamping state.
It will be appreciated that when the first target current or the first operating current is not less than the preset current threshold, it may be indicative of the current of the built-in intermediate relay 21 or the enabling of the current in the servo motor band-type brake 40 sufficient to drive the servo motor band-type brake 40 open. On this basis, if the band-type brake opening and closing signal is a band-type brake opening signal, the state that the servo motor band-type brake 40 is opened due to current enabling and the current enabling is in a hugging normal opening state can be indicated.
And S5, when the detected current is not smaller than a preset current threshold value, if the band-type brake opening and closing signal is a band-type brake closing signal, determining that the servo motor band-type brake 40 is in a mechanical damage state.
It will be appreciated that when the first target current or the first operating current is not less than the preset current threshold, it may be indicative of the current of the built-in intermediate relay 21 or the enabling of the current in the servo motor band-type brake 40 sufficient to drive the servo motor band-type brake 40 open. On the basis, if the band-type brake opening and closing signal is a band-type brake closing signal, the condition that the servo motor band-type brake 40 cannot be opened under enough current enable can be indicated, and the condition that the servo motor band-type brake 40 cannot be opened due to mechanical damage can be judged, so that the servo motor band-type brake 40 is in a mechanical damage state can be determined.
According to the band-type brake control system of the servo motor, provided by the embodiment, the band-type brake state analysis module 60 is arranged to analyze the specific state of the band-type brake 40 of the servo motor, so that the state of the band-type brake control system can be made clearer by a user, the band-type brake control system can be used more confidently, and the user experience is improved.
In some embodiments of the present application, a process for closing the brake 40 of the servo motor by the brake control system of the servo motor mentioned in the above embodiments is described, where the process may include:
s1, when the servo motor band-type brake 40 is opened, the upper computer system 10 responds to the closing control operation of a user on the servo motor band-type brake 40 to generate a band-type brake closing instruction.
Specifically, the user may click a close button on the system control interface of the host computer system 10, and the host computer system 10 generates a band-type brake closing instruction.
It will be appreciated that, since the opening and closing operations of the host computer system 10 may not be affected by the current timing of opening/closing the servo motor band-type brake 40, the host computer system 10 may also generate a band-type brake closing command when the servo motor band-type brake 40 is closed.
S2, the servo driver 20 responds to the contracting brake closing instruction to generate an internal closing driving signal.
Specifically, after receiving the band-type brake closing instruction provided by the host computer system 10, the servo driver 20 may trigger to control the built-in intermediate relay 21, so as to indirectly control the servo motor band-type brake 40 by controlling the built-in intermediate relay 21, and thus may generate an internal closing driving signal for controlling the built-in intermediate relay 21.
S3, the built-in intermediate relay 21 acquires an internal closing driving signal in an internal connection mode, and switches the relay circuit to a normal circuit under the driving of the internal closing driving signal so as to stop providing a current signal.
It can be understood that, because the band-type brake 40 of the servo motor is in an open state, at this time, the normally closed contact of the built-in intermediate relay 21 is separated, the normally open contact is closed, and under the driving of the internal closing driving signal, the normally closed contact is closed, and the normally open contact is separated, the relay circuit is switched to the normal circuit, so that the supply of the current signal is stopped.
And S4, after the current signal disappears, the servo band-type brake controller 30 drives the servo motor band-type brake 40 to be recovered to be closed.
It will be appreciated that the servo band-type brake controller 30 is unable to current enable the servo motor band-type brake 40 because the built-in intermediate relay 21 stops providing the current signal, and is therefore able to drive the servo motor band-type brake 40 back to close after the current signal has disappeared.
Considering that the built-in intermediate relay 21 of the servo driver 20 in the band-type brake control system cannot switch the relay circuit to the normal circuit due to a fault under the driving of the internal closing driving signal, so that the servo motor band-type brake 40 cannot be normally closed, and the abnormal state of the servo motor band-type brake 40 needs to be monitored, according to some embodiments of the present application, the process of monitoring the abnormal state of the servo motor band-type brake 40 by the band-type brake current detection system 50 may include the following two cases:
first, when receiving the band-type brake closing instruction sent by the upper computer system 10, detecting a second target current of the relay circuit in the servo driver 20, and if the second target current is greater than a preset quiescent current threshold value, determining and sending abnormal state information of the band-type brake of the servo motor to a user.
Specifically, the preset quiescent current threshold may represent a maximum current that can cause the servo motor band-type brake 40 to close.
It can be appreciated that, after the upper computer system 10 generates the band-type brake closing instruction, the band-type brake closing instruction may be sent to the band-type brake current detection system 50, so that the band-type brake current detection system 50 obtains the information that the servo motor band-type brake 40 requests to close. At this time, the normal current of the servo driver 20 should be no greater than the current for closing the brake 40 of the servo motor, that is, the current is no greater than the preset quiescent current threshold, so if the second target current of the servo driver 20 is detected to be greater than the preset quiescent current threshold, it can be indicated that the current of the internal intermediate relay 21 can still drive the brake 40 of the servo motor to be continuously opened, and the brake 40 of the servo motor cannot be normally closed, so that abnormal state information of the brake 40 of the servo motor can be determined and sent to the user.
Second, when receiving the band-type brake closing instruction sent by the upper computer system 10, detecting a second working current of the servo motor band-type brake 40, and if the second working current is greater than a preset quiescent current threshold value, determining and sending abnormal state information of the servo motor band-type brake to a user.
It can be appreciated that, after the upper computer system 10 generates the band-type brake closing instruction, the band-type brake closing instruction may be sent to the band-type brake current detection system 50, so that the band-type brake current detection system 50 obtains the information that the servo motor band-type brake 40 requests to close. At this time, the normal current of the servo driver 20 should be not greater than the current for closing the brake 40 of the servo motor, that is, the current not greater than the preset quiescent current threshold, so if the second working current of the brake 40 of the servo motor is detected to be greater than the preset quiescent current threshold, it can be indicated that the second working current can enable to drive the brake 40 of the servo motor to continuously open, the brake 40 of the servo motor cannot be normally closed, and therefore abnormal state information of the brake 40 of the servo motor can be determined and sent to a user.
According to the band-type brake control system of the servo motor, the band-type brake current detection system 50 detects whether the second target current of the relay circuit of the built-in intermediate relay 21 in the servo driver 20 exceeds the preset quiescent current threshold value, and detects whether the second working current of the band-type brake 40 of the servo motor exceeds the preset quiescent current threshold value, so that a user can timely monitor the abnormal state of the band-type brake 40 of the servo motor.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. The band-type brake control system of the servo motor is characterized by comprising an upper computer system, a servo driver, a servo band-type brake controller, a servo motor band-type brake and a band-type brake current detection system, wherein an internal intermediate relay is arranged in the servo driver, the servo motor band-type brake is provided with an opening contact, the upper computer system is connected with the servo driver, the internal intermediate relay is connected with the servo motor band-type brake through the servo band-type brake controller, the band-type brake current detection systems are connected with the upper computer system and the servo driver, the band-type brake current detection system is connected with the servo motor band-type brake, and the opening contact is connected with the servo driver;
the upper computer system is used for responding to the opening control operation of a user on the band-type brake of the servo motor and generating a band-type brake opening instruction;
the servo driver is used for responding to the contracting brake opening instruction and generating an internal driving signal;
the built-in intermediate relay is used for acquiring the internal driving signal in an internal connection mode, switching to a relay circuit under the driving of the internal driving signal, and generating a current signal through the enabling of a preset power supply in the relay circuit;
the servo brake controller is used for driving the servo motor brake to be opened based on the current signal;
the band-type brake current detection system is used for detecting a first target current of the servo driver when receiving a band-type brake opening instruction sent by the upper computer system, and determining and sending state abnormality information of the servo motor band-type brake to a user if the first target current is smaller than a preset current threshold;
the band-type brake current detection system is further used for detecting a first working current of the servo motor band-type brake when receiving a band-type brake opening instruction sent by the upper computer system, and determining and sending abnormal state information of the servo motor band-type brake to a user if the first working current is smaller than the preset current threshold;
the servo driver is further used for acquiring a band-type brake opening signal fed back by the opening contact when the servo motor band-type brake is in an opening state, sending information that the servo motor band-type brake is opened to a user based on the band-type brake opening signal, acquiring a band-type brake closing signal fed back by the opening contact when the servo motor band-type brake is in a closing state, and sending information that the servo motor band-type brake is closed to the user based on the band-type brake closing signal.
2. A band-type brake control system according to claim 1, wherein a fuse is placed in the relay circuit of the built-in intermediate relay;
the fuse is used for fusing when the current of the relay circuit is larger than a preset circuit current threshold value so as to protect the relay circuit.
3. A band-type brake control system according to claim 1, further comprising a band-type brake status analysis module, wherein the band-type brake status analysis module is communicatively connected to the opening and closing contacts and the band-type brake current detection system; the band-type brake state analysis module is used for:
acquiring an opening and closing signal of the band-type brake and a detection current of the band-type brake current detection system, wherein the opening and closing signal of the band-type brake is the opening signal of the band-type brake or the closing signal of the band-type brake, and the detection current is the first target current or the first working current;
when the detected current is smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake opening signal, determining that the servo motor band-type brake is in a mechanical hugging abnormal state;
when the detected current is smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake closing signal, determining that the servo motor band-type brake is in an abnormal state of circuit breaking;
when the detected current is not smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake opening signal, determining that the servo motor band-type brake is in a current enabling and clamping state;
when the detected current is not smaller than the preset current threshold, if the band-type brake opening and closing signal is a band-type brake closing signal, determining that the servo motor band-type brake is in a mechanical damage state.
4. The band-type brake control system according to claim 1, wherein the upper computer system is further configured to generate a band-type brake closing instruction in response to a closing control operation of a user on the servo motor band-type brake when the servo motor band-type brake is opened;
the servo driver is further used for responding to the contracting brake closing instruction and generating an internal closing driving signal;
the built-in intermediate relay is also used for acquiring the internal closing driving signal in an internal connection mode, and switching the relay circuit to a normal circuit under the driving of the internal closing driving signal so as to stop providing the current signal;
and the servo band-type brake controller is also used for driving the servo motor band-type brake to be closed after the current signal disappears.
5. A band-type brake control system according to claim 4, further comprising a band-type brake current detection system, wherein the band-type brake current detection system is connected to the host computer system and the servo driver;
and the band-type brake current detection system is used for detecting a second target current of the relay circuit in the servo driver when receiving a band-type brake closing instruction sent by the upper computer system, and determining and sending state abnormality information of the band-type brake of the servo motor to a user if the second target current is larger than a preset quiescent current threshold value.
6. A band-type brake control system according to claim 5, wherein the band-type brake current detection system is connected to the servo motor band-type brake; the band-type brake current detection system is also used for:
when a band-type brake closing instruction sent by the upper computer system is received, detecting a second working current of the servo motor band-type brake, and if the second working current is larger than the preset quiescent current threshold value, determining and sending state abnormality information of the servo motor band-type brake to a user.
7. A band-type brake control system according to any one of claims 1 to 6, wherein the power supply voltage of the preset power supply is 24V.
CN202310652378.9A 2023-06-05 2023-06-05 Band-type brake control system of servo motor Active CN116404908B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012100443A1 (en) * 2011-01-28 2012-08-02 石家庄五龙制动器股份有限公司 Pwm control circuit for elevator brakes
CN207354096U (en) * 2017-10-13 2018-05-11 高创传动科技开发（深圳）有限公司 Band-type brake drive circuit and industrial robot
CN212024450U (en) * 2020-03-25 2020-11-27 沈阳市蓝光自动化技术有限公司 Band-type brake control device started by output voltage slope
CN216252160U (en) * 2021-11-19 2022-04-08 浙江瀚宇北宸科技有限公司 Servo driver with band-type brake control and band-type brake current detection protection circuit
CN114584041A (en) * 2022-03-11 2022-06-03 珠海格力智能装备有限公司 Control method and device of servo driver

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012100443A1 (en) * 2011-01-28 2012-08-02 石家庄五龙制动器股份有限公司 Pwm control circuit for elevator brakes
CN207354096U (en) * 2017-10-13 2018-05-11 高创传动科技开发（深圳）有限公司 Band-type brake drive circuit and industrial robot
CN212024450U (en) * 2020-03-25 2020-11-27 沈阳市蓝光自动化技术有限公司 Band-type brake control device started by output voltage slope
CN216252160U (en) * 2021-11-19 2022-04-08 浙江瀚宇北宸科技有限公司 Servo driver with band-type brake control and band-type brake current detection protection circuit
CN114584041A (en) * 2022-03-11 2022-06-03 珠海格力智能装备有限公司 Control method and device of servo driver

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