Flexible braking circuit for robot arm, robot arm and robot

Abstract

The invention provides a flexible braking circuit for a robot arm. The flexible braking circuit comprises a permanent magnet motor, a motor driver connected with the permanent magnet motor through a three-phase circuit and a relay connected with at least one phase circuit in the three-phase circuit. When power of the robot arm is cut off, a contact of the relay is automatically closed, at least one phase circuit in the three-phase circuit is conducted, and therefore a rotating magnetic field generated in the permanent magnet motor can be sufficiently utilized for being converted into torque inthe reverse direction so that the rapid falling of the arm can be resisted, and the safety protection purpose is achieved. When the robot arm is electrified, the contact of the relay is opened, at least one phase circuit of the three-phase circuit is opened, and normal work of the robot arm is guaranteed. The invention further provides the robot arm comprising the flexible braking circuit and a robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible brake circuit for a robot arm, a robot arm and a robot. Background technique [0002] With the advancement of science and technology, the research and application fields of robots are constantly expanding. The robot arm is the most representative complex part in the robot system, and it is the basis for the robot to complete the grasping operation and interact with the human machine. Therefore, the compactness, versatility and flexibility of its structural design are the primary factors for realizing the intelligent control of the arm. At the same time, the flexibility, safety, stability and modular design of the multi-degree-of-freedom joint mechanism of the manipulator are urgent problems to be solved. The key to evaluating the flexibility of the robot is the multi-degree-of-freedom motion mechanism design of the robot’s shoulder joints, elbow joints, and wrist joint...

AI Technical Summary

Problems solved by technology

[0003] At present, the robot arm may be in any position within the reach of the arm in the working state. If the power is accidentally lost, the arm will accelerate and fall under its own gravity, which will cause certain danger to the arm itself and the facilities and personnel within the range.

Images