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Gate opening method, device, equipment, medium, mechanical arm joint and mechanical arm

A technology of robotic arms and joints, applied in the field of collaborative robotic arms, can solve problems such as failure to open the gate

Pending Publication Date: 2022-03-01
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a brake opening method, device, equipment, storage medium, mechanical arm joint and mechanical arm, aiming at solving the problem of failure to open the brake due to the striker of the joint being pressed by the brake pad of the brake disc

Method used

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  • Gate opening method, device, equipment, medium, mechanical arm joint and mechanical arm
  • Gate opening method, device, equipment, medium, mechanical arm joint and mechanical arm
  • Gate opening method, device, equipment, medium, mechanical arm joint and mechanical arm

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Embodiment Construction

[0051] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, but cannot be construed as limitations to the present invention. Based on the embodiments in the present invention, those skilled in the art do not make creative work premise All other embodiments obtained below all belong to the protection scope of the present invention.

[0052]The invention provides a method for opening the joint of a striker-type brake manipulator, which is applied to the joint of a striker-type brake manipulator. Among them, the striker type brake mechanical arm (hereinafter referred to as the mechanical arm) includes at least one striker type brake mechani...

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Abstract

The invention discloses a brake opening method, device and equipment for a striker type band-type brake mechanical arm joint, a medium, the mechanical arm joint and a mechanical arm. The brake opening method comprises the steps that a brake opening instruction is received, motion information in the brake opening instruction is extracted, and the initial motion direction is determined according to the motion information; a first operation instruction is sent to the joint motor module, the first operation instruction is used for driving an output shaft of the joint motor module to rotate by a first preset angle in the initial movement direction, and the first preset angle is smaller than the included angle between two adjacent brake pads of a brake disc of the firing pin type band-type brake; and a first brake opening instruction is sent to the firing pin type band-type brake, wherein the first brake opening instruction is used for driving the firing pin type band-type brake to be opened. According to the technical scheme, the problem that a firing pin of a firing pin type band-type brake mechanical arm joint is pressed by a brake pad of a brake disc, so that brake opening fails can be effectively solved.

Description

technical field [0001] The invention relates to the field of cooperative mechanical arms, in particular to a gate opening method, device, equipment, medium, mechanical arm joints and mechanical arms. Background technique [0002] The collaborative manipulator can maintain the same pose when it is not powered on, which is generally achieved by adding a brake device at the joint motor end. At present, the brake devices are mainly divided into electromagnetic brakes and striker brakes; among them, the control of the striker brake is mainly realized by controlling the contraction of the striker through the electromagnet. The striker brake has the characteristics of low cost and small size. It is widely used in collaborative robotic arms. [0003] However, in some specific situations, such as: when the mechanical arm is under heavy load, the brake pads of the brake disc of the striker brake may touch the striker with a greater force, so that the striker cannot be retracted, resu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J9/16B25J13/00B25J17/00
CPCB25J9/12B25J13/00B25J9/161B25J9/1628B25J17/00
Inventor 庄飞飞姜宇
Owner SHENZHEN YUEJIANG TECH CO LTD