Method for detecting abrasion of robot joint electromagnetic brake

Abstract

The invention relates to a method for detecting abrasion of a robot joint electromagnetic brake. The method comprises the steps that a joint moves for a distance according to same motion parameters when the brake is in a start state and a shutdown state respectively, and joint load torque, speed reducer friction torque and a brake torque sum value curve generated when the brake is in the shutdownstate are obtained; the difference of torque sum values obtained in the two states respectively is obtained at a speed and position matching position to obtain the brake torque of the brake; and the measured brake torque is compared with a safe threshold to judge the abrasion condition of the brake. Compared with the prior art, the method has the beneficial effects that sensor detection is not used, so that the difficulty of installing a sensor in a narrow space is avoided; and the brake torque of the brake can be directly measured without disassembling the joint or even disassembling the brake, state monitoring of the robot joint brake is realized, and anomaly feedback is provided.

Description

technical field [0001] The invention relates to the technical field of collaborative robot joints, in particular to a wear detection method for electromagnetic brakes of robot joints. Background technique [0002] With the rapid development of collaborative robot technology, collaborative robots have begun to be used in cutting-edge industries such as semiconductors. Therefore, the braking requirements and safety performance of collaborative robots are getting higher and higher. As an important part of the joint braking system of the collaborative robot, the brake is mainly used to keep the manipulator in a stopped state when it is stopped, and to perform emergency braking when the power is off. Especially in emergency braking, it is necessary to ensure that the manipulator is stable and reliable. Braking distance requirements. At present, the mechanical claw disc brakes used by many collaborative robots have problems such as sliding arms and claw gaps, which have graduall...

AI Technical Summary

Problems solved by technology

Through practice, it is known that the electromagnetic brake is worn during use, and the braking torque of the brake will decrease after long-term wear. Insufficient braking torque will cause the mechanical arm to fail to stop within the specified braking distance, and unexpected accidents may occur. movement, resulting in major safety accidents

[0003] At present, the detection of the wear state of the electromagnetic brake usually relies on special external detection equipment or the installation of sensors, such as the traditional method of measuring the thickness of the brake rotor or the air gap. However, due to the high integration of the robot joint package, the volume space is very limited. It is undoubtedly very difficult to install sensors, and it is also difficult to directly detect the internal components of the joint without disassembling the joint through external detection equipment.

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