Robot modular joint redundant brake device and its safety detection method

Abstract

The invention discloses a robot modular joint redundant brake device and a safety detection method thereof, belonging to the field of robots. Specifically, a pressure sensor is added to the existing normally closed brake assembly to detect whether the corresponding stop rod is in place, and the position of the first stop rod is accurately determined by accurately detecting the pressure change on the contact surface between the first stop rod and the first elastic rod. In this way, the problem of smashing the arm caused by the joint shaft not being locked due to the first stop lever not being in place due to the stagnation is avoided. At the same time, using the dual-redundant brake components of the normally closed brake component and the normally open brake component, a double-redundant safety control unit is set up for the entire brake device, and a safety control method is proposed. After the normally closed brake component fails, the normally closed brake component is used. The brake opening component ensures that the mechanical arm will not be smashed, which ensures the safety of personnel and equipment, and greatly improves the reliability of the brake device.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a modular joint redundant brake device of a robot and a safety detection method thereof. Background technique [0002] With the implementation of the Machinery Manufacturing 2025 strategy, human-machine fusion-style collaborative robots have seen a blowout development. Due to the need for integration and cooperation with humans, their reliability and safety are extremely important. As the core component of the collaborative robot, the reliability and safety of the modular joint determine the reliability and safety of the collaborative robot, and the key to the safety of the modular joint lies in its brake system. In the prior art, the electromagnetic coil body, the elastic rod and the stop rod, and the brake assembly of the claw plate structure connected with the joint shaft are mostly used. The connection form of each component in the brake assembly is referred to in the patent...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the technical problem existing in the prior art that the brake lever is stuck and easily causes the arm to be smashed, the present invention proposes a robot modular joint redundant brake device and its safety detection method, specifically for the existing normally closed A pressure sensor is added to the brake assembly to detect whether the corresponding stopper is in place. At the same time, a dual-redundancy brake assembly is used to set up a dual-redundancy safety control unit for the entire brake device, and A set of effective safety assurance control methods is proposed to ensure the safety and reliability of the brake device

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