How to release the brake of the robot arm
A technology of robot arm and brake device, which is applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve the problems affecting the positioning accuracy of the robot arm, the failure of the drive module 10 to release the brake, and the bending and deformation of the ratchet wheel 14, etc.
Active Publication Date: 2021-09-28
TECHMAN ROBOT INC
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Problems solved by technology
When the robot arm needs to move again, the power of controlling the solenoid valve 15 to retract the stop pin 16 is not enough to overcome the friction between the ratchet 14 and the stop pin 16, the stop pin 16 is blocked by the ratchet 14, and the solenoid valve 15 will not be able to move smoothly. Retracting the stop pin 16 releases the ratchet 14, thus causing the drive module 10 to fail to release the brake
If the brake cannot be released, once the drive module 10 uses a greater force or rotation angle to drive the motor 11 to rotate, it will cause the stop pin 16 or the ratchet 14 to bend and deform, which will not only affect the positioning accuracy of the robot arm, but even cause damage to the robot arm
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[0036] In order to achieve the above object, the present invention adopts the technical means and its effects, hereby give preferred embodiments, and illustrate as follows in conjunction with the accompanying drawings.
[0037] Please also see figure 2 , image 3 , Figure 4 and Figure 5 , figure 2 It is a schematic diagram of the load bearing of the robot arm of the present invention, image 3 It is a side sectional view of the driving module of the robotic arm of the present invention, Figure 4 It is a schematic diagram of the load action of the robotic arm of the present invention in the clockwise direction, Figure 5 It is a schematic diagram of the load action of the robotic arm of the present invention in the counterclockwise direction. The invention is a robotic arm 20 comprising at least one axis, figure 2 In this embodiment, the multi-axis robotic arm 20 is taken as an example for illustration. The robot arm 20 uses the first drive module 21 to drive one ...
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The invention discloses a method for releasing the brake of a robot arm. The gravity angle of the driving module is obtained, and the rotation angle of the driving module is detected by the encoder of the motor. The gravity angle and the rotation angle are compared, and the braking device is judged based on the comparison result. Load direction, control the motor to output preset torque in the opposite load direction, and control the solenoid valve of the drive module to retract the stop pin to release the brake.
Description
technical field [0001] The invention relates to a robot arm, in particular to a method for releasing the brake to allow the robot arm to move when the robot arm is stopped by the brake. Background technique [0002] Factory automation uses robotic arms to automatically grab workpieces and move back and forth for assembly and manufacturing to improve production efficiency. The robot arm that moves back and forth, in addition to the drive module to provide power, also needs to rely on stable and reliable brakes to stop the robot arm at a predetermined position for precise operations. [0003] Please refer to figure 1 , is the driving module 10 of the robotic arm of the prior art US Patent No. 8,410,732. The drive module 10 in the prior art utilizes the motor 11 to drive the rotating shaft 12 to rotate, and after being decelerated by the decelerating device 13 , it outputs power to move the robot arm. A braking device is arranged in the driving module 10, and the braking dev...
Claims
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IPC IPC(8): B25J9/16B25J9/10
CPCB25J9/101B25J9/1612B25J9/1633
Inventor 苏怡宾夏绍基
Owner TECHMAN ROBOT INC