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Redundant degree-of-freedom robot brake release management method

An industrial robot, redundant technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of industrial robot collision, large end displacement, and large motion range of industrial robots, and achieve the effect of not easy to collide and good safety.

Pending Publication Date: 2022-03-29
SUZHOU ELITE ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, each joint is rotated separately to release the brake of each joint, and finally the industrial robot is released from the brake, and each joint is rotated separately to release the brake, so that the industrial robot has a larger range of motion and a larger end displacement , industrial robots are prone to collisions

Method used

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  • Redundant degree-of-freedom robot brake release management method
  • Redundant degree-of-freedom robot brake release management method
  • Redundant degree-of-freedom robot brake release management method

Examples

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Embodiment Construction

[0028] In order to make the purpose, technical solutions and advantages of the present invention clearer, the solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the embodiment of the present invention Some examples but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0029] The invention protects an industrial robot, refer to Figure 1-2 , figure 1 A schematic diagram showing an industrial robot 100 according to an embodiment of the present invention, figure 2A block diagram of an industrial robot 100 according to one embodiment of the present invention is shown. Industrial robots can usually be divided into traditi...

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Abstract

The invention relates to a brake release management method for a redundant degree-of-freedom robot, an industrial robot comprises a base, a connecting rod and a plurality of joints with redundant degrees of freedom, the industrial robot has a braking state and a braking release state, and can execute a work task in the braking release state, and the industrial robot comprises a starting module, a control module and a control module, the starting module is used for receiving a starting instruction to execute a starting action; the control module is used for controlling the industrial robot to execute null-space motion and releasing braking of the industrial robot in the motion process; and checking whether the brake of the industrial robot is successfully released or not, and if the brake is successfully released, controlling the industrial robot to finish the brake releasing work. The industrial robot has the beneficial effects that the displacement of brake release of the industrial robot is small, and the safety of the industrial robot is good.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to an industrial robot and a control method thereof. Background technique [0002] With the development of society, robots have been widely used in many fields, including household robots, industrial robots and other fields. Industrial robots include three-axis, four-axis, six-axis, seven-axis and other types of robots, which have different degrees of freedom, and industrial robots with seven axes and above have redundant degrees of freedom. A robot with redundant degrees of freedom has "zero space" and can perform zero-space motion. When a robot with redundant degrees of freedom performs zero-space motion, its arm angle changes. The industrial robot includes joints, which can provide the working power of the industrial robot through the drive motors of the joints, and the industrial robot can realize the parking brake of the robot by braking the motors of each joint. When the ind...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/10B25J13/00B25J9/16
CPCB25J9/06B25J9/101B25J13/00B25J9/1666
Inventor 孙恺
Owner SUZHOU ELITE ROBOTICS CO LTD
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