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Method and device for braking an axis group of a robot

A technology of robots and control devices, applied in general control systems, instruments, manipulators, etc., can solve problems such as effect divergence and high load, and achieve the effect of lightening the burden and reducing the load.

Active Publication Date: 2019-10-18
库卡实验仪器有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition or as an alternative, the brake can in particular have a diverging effect due to manufacturing and / or assembly tolerances and thus lead to higher loads

Method used

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  • Method and device for braking an axis group of a robot
  • Method and device for braking an axis group of a robot
  • Method and device for braking an axis group of a robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0060] figure 1 Axis A of a robot axis group according to one embodiment of the invention is shown. The axis can be, for example, a base axis or an arm axis of a six-axis or multi-axis industrial robot or a light robot. The other axes of the robot, which are not shown, can be set up or braked in the same way as described below for the axes shown.

[0061] The robot shaft has a driven component in the form of a driven shaft 1 of the gearing 4.3, 4.4 of the shaft drive, which is connected in a rotationally fixed and axially fixed manner to the robot component 2.1 by means of the driven shaft It is mounted rotatably on the other robot component 2.2 via a bearing 3.

[0062] An electric motor is provided for applying the drive force on the driven shaft, which has a stator 4.1 and a rotor 4.2, which is coupled to the driven shaft 1 via gear wheels 4.3, 4.4 of the transmission.

[0063] In order to apply the braking force on the driven shaft, an additional brake is provided, whic...

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Abstract

A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and / or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.

Description

technical field [0001] The invention relates to a method for braking a robot axis group as well as a robot axis group and a computer program product for carrying out the method. Background technique [0002] A robot has a robot axis group consisting of one or more robot (motion) axes. These robot axes are actuated via drives in order to move the robot and drive it along a predetermined trajectory, for example via a robot-specific reference point such as TCP (“Tool Center Point”). In order to brake the shaft, the drive must apply a reverse drive torque during normal operation. [0003] The robot axis can additionally have a brake for immobilizing the stationary axis when the drive is de-energized. [0004] When the operation is abnormal (such as emergency stop), according to the actual operation situation, the driver is powered off and the additional brake is quickly connected at the same time, so that the shaft can be stopped quickly and reliably. In this case, high loads...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/18
CPCB25J9/1674B25J19/0004G05B2219/41279G05B2219/41285G05B2219/42284B25J9/16B25J11/00
Inventor 哈特穆特·凯尔米夏埃尔·蒂姆尔迪特玛尔·恰尼特托比亚斯·韦泽
Owner 库卡实验仪器有限公司