Brake driving method, brake driving circuit, and robot

Abstract

The application provides a clutch driving method, a clutch driving circuit and a robot. The clutch driving method comprises the following steps: obtaining a clutch model parameter table, and calculating theoretical impedances of electromagnetic clutch devices of various models according to theoretical inductances and theoretical resistances of the electromagnetic clutch devices of various models in the clutch model parameter table; supplying power to the electromagnetic clutch device, applying a PWM wave at a preset angular frequency to two ends of the electromagnetic clutch device; collecting voltage values at the two ends of the electromagnetic clutch device and current flowing through the electromagnetic clutch device, and calculating an actual impedance of the electromagnetic clutch device according to the collected voltage and current; searching for a theoretical impedance with the smallest error with the actual impedance of the current electromagnetic clutch device from the calculated theoretical impedances of the electromagnetic clutch devices of various models, and driving the current electromagnetic clutch device by using driving parameters of the electromagnetic clutch device of the corresponding model corresponding to the theoretical impedance. The application can accurately identify the clutch model and drive the clutch by using the corresponding driving parameters.

Description

Technical Field

[0001] This application belongs to the field of circuit drive technology, specifically relating to a brake driving method, a brake driving circuit, and a robot. Background Technology

[0002] Robots are automated equipment integrating advanced technologies from multiple disciplines such as mechanics, electronics, control, sensing, and artificial intelligence. Since the birth of the robotics industry, after years of development, robots have been widely used in high-tech industries such as equipment manufacturing, new materials, biomedicine, and smart new energy. Robots can not only replace humans in tedious and repetitive tasks, but also perform complex collaborative operations in harsh and dangerous environments. In the process of human-robot collaborative production, safety and reliability have become a crucial aspect.

[0003] As a type of robot, the robotic arm is equipped with an electromagnetic brake device in each joint. The electromagnetic brake device engages when power is off and disengages when power is on. When the robotic arm is not in use due to power failure, it needs to be locked in a safe state to prevent movement. When the robotic arm is powered on, the system, after confirming that the robotic arm is in a safe state, powers the brake drive circuit to drive the brake coil, releasing the latch, and allowing controlled movement of the robotic arm. Because different joints require different forces, and the brake power varies, different brake devices require different drive parameters. However, the inventors of this application discovered during the research and development process that in the prior art, when the electromagnetic brake device is powered on, the system often cannot identify the type of brake, and therefore cannot provide the correct drive parameters to drive the electromagnetic brake device. Summary of the Invention

[0004] To at least partially overcome the problems existing in the related technologies, this application provides a brake driving method, a brake driving circuit, and a robot that can automatically identify the type of brake.

[0005] According to a first aspect of the embodiments of this application, this application provides a brake driving method, which includes the following steps:

[0006] Obtain the brake model parameter table, and calculate the theoretical impedance of each model of electromagnetic brake device based on the theoretical inductance and theoretical resistance of each model in the brake model parameter table.

[0007] Power is supplied to the electromagnetic brake device, and PWM waves are applied to both ends of the electromagnetic brake device at a preset angular frequency;

[0008] Collect the voltage values ​​at both ends of the electromagnetic brake device and the current flowing through the electromagnetic brake device, and calculate the actual impedance of the electromagnetic brake device based on the collected voltage and current.

[0009] Find the theoretical impedance with the smallest error to the actual impedance of the current electromagnetic brake device among the theoretical impedances of each model of electromagnetic brake device obtained from the calculation, and use the driving parameters of the electromagnetic brake device of the corresponding model with the theoretical impedance to drive the current electromagnetic brake device.

[0010] The above-mentioned brake driving method further includes the following steps: detecting the temperature of the electromagnetic brake device and comparing the detected temperature value with a preset temperature threshold; when the detected temperature value is greater than the preset temperature threshold, controlling the electromagnetic brake device to stop working.

[0011] In the above-mentioned brake driving method, the theoretical impedance of each type of electromagnetic brake device is:

[0012] Z si =R+ωL,

[0013] In the formula, i represents the brake material number in the brake model parameter table, Z si L represents the theoretical impedance of the brake corresponding to material number i, L represents the theoretical inductance of the electromagnetic brake device, and ω represents the angular frequency of the PWM wave.

[0014] In the above-described brake driving method, the actual impedance of the electromagnetic brake device is:

[0015] The actual impedance Z of the electromagnetic brake device r for:

[0016]

[0017] In the formula, U + U- represents the voltage at the positive terminal of the electromagnetic brake device, U- represents the voltage at the negative terminal of the electromagnetic brake device, and I represents the current flowing through the electromagnetic brake device.

[0018] According to a second aspect of the embodiments of this application, this application also provides a brake drive circuit, which includes a working circuit, a first voltage sensor, a second voltage sensor, a current sensor and a controller; the working circuit, the first voltage sensor, the second voltage sensor and the current sensor are all connected to the controller;

[0019] The working circuit is used to connect the power supply and the electromagnetic brake device. The controller is used to output a PWM wave to the working circuit. The first voltage sensor is used to collect the voltage at the positive terminal of the electromagnetic brake device. The second voltage sensor is used to collect the voltage at the negative terminal of the electromagnetic brake device. The current sensor is used to collect the current flowing through the electromagnetic brake device.

[0020] The controller calculates the actual impedance of the electromagnetic brake device based on the collected voltage at the positive terminal, voltage at the negative terminal, and current flowing through the electromagnetic brake device.

[0021] The controller has a preset brake model parameter table. The controller calculates the theoretical impedance of each model of electromagnetic brake device based on the theoretical inductance and theoretical resistance of each model of electromagnetic brake device in the brake model parameter table.

[0022] The controller searches for the theoretical impedance with the smallest error from the actual impedance in the brake model parameter table based on the calculated actual impedance of the electromagnetic brake device, and drives the current electromagnetic brake device according to the driving parameters of the electromagnetic brake device model corresponding to the theoretical impedance.

[0023] The aforementioned brake drive circuit also includes a temperature sensor connected to the controller. The temperature sensor is used to detect the temperature of the electromagnetic brake device connected in the working circuit and transmit the detected temperature value to the controller. The controller controls the electromagnetic brake device to work based on the comparison result between the detected temperature value and a preset temperature threshold.

[0024] In the above-mentioned brake drive circuit, the working circuit includes a power supply switch, a brake interface, a PWM switch circuit, a sampling resistor, a first switch drive circuit, and a second switch drive circuit.

[0025] The power supply is connected to the positive terminal of the brake interface through the power supply switch, and the negative terminal of the brake interface is connected to one end of the sampling resistor through the PWM switch circuit. The other end of the sampling resistor is grounded. The brake interface is used to connect to an electromagnetic brake device.

[0026] The controller is connected to the power supply switch through the first switch drive circuit and to the PWM switch circuit through the second switch drive circuit.

[0027] Furthermore, a diode is connected in parallel at both ends of the brake interface, with the positive terminal of the diode connected to the negative terminal of the brake interface and the negative terminal connected to the positive terminal of the brake interface.

[0028] According to a third aspect of the embodiments of this application, this application also provides a robot, which includes an electromagnetic brake device and a brake drive circuit as described in any of the above claims, wherein the electromagnetic brake device is connected to a brake interface in the brake drive circuit.

[0029] As can be seen from the above specific embodiments of this application, at least the following beneficial effects are achieved: the brake driving method provided by this application can detect the brake parameters and determine the model of the current electromagnetic brake device when the electromagnetic brake device is powered on, so as to provide the corresponding driving parameters, reliably open the electromagnetic brake device and keep it in a low power holding state.

[0030] The brake drive circuit provided in this application has advantages such as simple structure and accurate identification of brake type.

[0031] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the claims made in this application. Attached Figure Description

[0032] The accompanying drawings, which are part of the specification of this application, illustrate embodiments of the present application and are used together with the description of the specification to illustrate the principles of the present application.

[0033] Figure 1 A flowchart illustrating a brake driving method provided for a specific embodiment of this application.

[0034] Figure 2 This is a schematic diagram of a brake drive circuit provided for a specific embodiment of this application.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Working circuit;

[0037] 11. Power supply switch; 12. Brake interface; 13. PWM switching circuit; 14. Sampling resistor; 15. First switch drive circuit; 16. Second switch drive circuit; 17. Diode;

[0038] 2. First voltage sensor; 3. Second voltage sensor; 4. Current sensor; 5. Controller; 6. Temperature sensor. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the spirit of the content disclosed in this application will be clearly explained below with reference to the accompanying drawings and detailed description. After understanding the embodiments of this application, any person skilled in the art can make changes and modifications based on the technology taught in this application without departing from the spirit and scope of this application.

[0040] The illustrative embodiments and descriptions provided in this application are for explaining the application, but are not intended to limit the application. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0041] The terms “first,” “second,” etc., used in this document are not intended to specifically refer to order or sequence, nor are they used to limit this application; they are merely used to distinguish elements or operations described using the same technical terms.

[0042] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0043] The term "and / or" as used herein includes any or all of the things mentioned.

[0044] The term "multiple" in this article includes "two" and "more than two"; the term "multiple groups" in this article includes "two groups" and "more than two groups".

[0045] Certain terms used to describe this application will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the application.

[0046] like Figure 1 As shown, the brake driving method provided in this application includes the following steps:

[0047] S1. Obtain the brake model parameter table, and calculate the theoretical impedance of each model of electromagnetic brake device based on the theoretical inductance and theoretical resistance of each model in the brake model parameter table.

[0048] As shown in Table 1, the brake model parameter table includes parameters such as brake material number, overexcitation voltage, overexcitation power, minimum overexcitation time, holding voltage, holding power, inductance, resistance, minimum braking torque, and maximum braking torque. The maximum overexcitation voltage can be 48V, and the minimum can be 12V; the maximum overexcitation power can be 58W, and the minimum can be 8.3W.

[0049] Table 1. Brake Model Parameter Table

[0050]

[0051] The theoretical impedance of the electromagnetic brake device is:

[0052] Z si =R+ωL (1)

[0053] In formula (1), i represents the brake material number in the brake model parameter table, Z si R represents the theoretical impedance of the brake corresponding to material number i, L represents the theoretical resistance of the electromagnetic brake device, L represents the theoretical inductance of the electromagnetic brake device, and ω represents the angular frequency of the PWM wave.

[0054] S2. Power the electromagnetic brake device and apply a PWM wave at the two ends of the electromagnetic brake device at a preset angular frequency ω.

[0055] Specifically, the voltage of the PWM wave can be 0.3 to 12V.

[0056] S2. Collect the voltage values ​​at both ends of the electromagnetic brake device and the current flowing through the electromagnetic brake device, and calculate the actual impedance of the electromagnetic brake device based on the collected voltage and current.

[0057] The actual impedance Z of the electromagnetic brake device r for:

[0058]

[0059] In equation (2), U + U- represents the voltage at the positive terminal of the electromagnetic brake device, U- represents the voltage at the negative terminal of the electromagnetic brake device, and I represents the current flowing through the electromagnetic brake device.

[0060] S4. Find the theoretical impedance with the smallest error to the actual impedance of the current electromagnetic brake device among the theoretical impedances of each model of electromagnetic brake device calculated in step S1, and drive the current electromagnetic brake device using the driving parameters of the electromagnetic brake device corresponding to the theoretical impedance model.

[0061] Based on the theoretical impedance of each model of electromagnetic brake device and the actual impedance of the current electromagnetic brake device, the corresponding model of brake can be found in Table 1, and then the current electromagnetic brake device can be driven according to the overexcitation voltage and holding voltage of that model of brake.

[0062] The brake driving method provided in this application embodiment further includes the following steps:

[0063] The temperature of the electromagnetic brake device is detected and compared with a preset temperature threshold. When the detected temperature value is greater than the preset temperature threshold, the electromagnetic brake device is controlled to stop working.

[0064] The brake driving method provided in this application embodiment can detect the brake parameters when the electromagnetic brake device is powered on, thereby determining the model of the current electromagnetic brake device and providing the corresponding driving parameters to reliably open the electromagnetic brake device and keep it in a low-power holding state.

[0065] Based on the brake driving method provided in the embodiments of this application, this application also provides a brake driving circuit, which includes a working circuit 1, a first voltage sensor 2, a second voltage sensor 3, a current sensor 4, and a controller 5. The working circuit 1, the first voltage sensor 2, the second voltage sensor 3, and the current sensor 4 are all connected to the controller 5. The working circuit 1 is used to connect the power supply and the electromagnetic brake device; the controller 5 is used to output a PWM wave to the working circuit 1; the first voltage sensor 2 is used to collect the voltage at the positive terminal of the electromagnetic brake device; the second voltage sensor 3 is used to collect the voltage at the negative terminal of the electromagnetic brake device; and the current sensor 4 is used to collect the current flowing through the electromagnetic brake device.

[0066] The controller 5 calculates the actual impedance of the electromagnetic brake device based on the collected voltage at the positive terminal, voltage at the negative terminal, and current flowing through the electromagnetic brake device.

[0067] The controller 5 has a preset brake model parameter table. Based on the theoretical inductance and theoretical resistance of each model of electromagnetic brake device in the brake model parameter table, the controller 5 calculates the theoretical impedance of each model of electromagnetic brake device. The controller 5 can store the calculated theoretical impedance of each model of electromagnetic brake device into the brake model parameter table.

[0068] The controller 5 can find the theoretical impedance with the smallest error from the actual impedance in the brake model parameter table based on the calculated actual impedance of the electromagnetic brake device, and drive the current electromagnetic brake device according to the drive parameters of the electromagnetic brake device model corresponding to the theoretical impedance.

[0069] In other embodiments, the brake drive circuit further includes a temperature sensor 6, which is connected to the controller 5. The temperature sensor 6 is used to detect the temperature of the electromagnetic brake device connected in the working circuit 1 and transmit the detected temperature value to the controller 5. The controller 5 controls the electromagnetic brake device to operate based on the comparison result between the detected temperature value and a preset temperature threshold.

[0070] In one specific embodiment, the operating circuit 1 includes a power supply switch 11, a brake interface 12, a PWM switching circuit 13, a sampling resistor 14, a first switch driving circuit 15, and a second switch driving circuit 16. The power supply is connected to the positive terminal of the brake interface 12 via the power supply switch 11. The negative terminal of the brake interface 12 is connected to one end of the sampling resistor 14 via the PWM switching circuit 13, and the other end of the sampling resistor 14 is grounded. The brake interface 12 is used to connect to an electromagnetic brake device.

[0071] The controller 5 is connected to the power supply switch 11 via the first switch drive circuit 15 to control the opening or closing of the power supply switch 11. The controller 5 is connected to the PWM switch circuit 13 via the second switch drive circuit 16 to apply PWM waves to the electromagnetic brake device connected in the working circuit 1.

[0072] A diode 17 is connected in parallel across the two ends of the brake interface 12. The anode of the diode 17 is connected to the cathode of the brake interface 12, and the cathode is connected to the anode of the brake interface 12. The diode 17 serves both a protection and current storage function.

[0073] In one specific embodiment, the controller 5 can be a DSP, which is responsible for data sampling calculations and outputting drive parameters. The power supply can be a 48V power supply.

[0074] Based on the brake drive circuit provided in the embodiments of this application, this application also provides a robot, which includes an electromagnetic brake device and the aforementioned brake drive circuit. The electromagnetic brake device is connected to the brake interface 12 in the brake drive circuit. The detailed structure of the brake drive circuit can be referred to the above embodiments, and will not be repeated here. It is understood that since the aforementioned brake drive circuit is used in the robot of this application, the robot provided in the embodiments of this application includes all the technical solutions of all embodiments of the aforementioned brake drive circuit, and the achieved technical effects are also completely the same, and will not be repeated here.

[0075] The embodiments of this application described above can be implemented in various hardware, software codes, or combinations thereof. For example, embodiments of this application can also be program code executing the methods described above in a data signal processor. This application can also relate to various functions executed by a computer processor, digital signal processor, microprocessor, or field-programmable gate array. The processor described above can be configured to perform specific tasks according to this application, which is accomplished by executing machine-readable software code or firmware code defining the specific methods disclosed in this application. The software code or firmware code can be developed into different programming languages ​​and different formats or forms. The software code can also be compiled for different target platforms. However, the different code styles, types, and languages ​​of the software code performing tasks according to this application and other types of configuration code do not depart from the spirit and scope of this application.

[0076] The above description is merely an illustrative embodiment of this application. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of this application shall fall within the scope of protection of this application.

Claims

1. A method of driving a band brake, characterized by, The method comprises the following steps: Obtaining a brake model parameter table, and calculating theoretical impedances of electromagnetic brake devices of various models according to theoretical inductances and theoretical resistances of the electromagnetic brake devices of the various models in the brake model parameter table; the theoretical impedances of the electromagnetic brake devices of the various models are: Z si = R + ωL, In the formula, i represents the clutch material number in the clutch model parameter table, Z si represents the theoretical impedance of the clutch corresponding to the clutch material number i, L represents the theoretical inductance of the electromagnetic clutch device, and ω represents the angular frequency of the PWM wave. Powering the electromagnetic brake device, and applying a PWM wave at a preset angular frequency to both ends of the electromagnetic brake device; The voltage values at both ends of the electromagnetic holding brake device and the current flowing through the electromagnetic holding brake device are collected, and the actual impedance of the electromagnetic holding brake device is calculated according to the collected voltage and current; the actual impedance Z of the electromagnetic holding brake device is r is: wherein U + represents the voltage at the positive terminal of the electromagnetic brake device, U - represents the voltage at the negative terminal of the electromagnetic brake device, and I represents the current flowing through the electromagnetic brake device; Finding a theoretical impedance with the smallest error with the actual impedance of the current electromagnetic brake device from the calculated theoretical impedances of the electromagnetic brake devices of the various models, and driving the current electromagnetic brake device according to the driving parameters of the electromagnetic brake device of the model corresponding to the theoretical impedance.

2. The drive method of the band brake according to claim 1, characterized by, The method further comprises the following steps: Detecting the temperature of the electromagnetic brake device, and comparing the detected temperature value with a preset temperature threshold; when the detected temperature value is greater than the preset temperature threshold, controlling the electromagnetic brake device to stop working.

3. A band brake drive circuit, characterized by The working circuit, the first voltage sensor, the second voltage sensor, the current sensor, and the controller are connected with the controller; The working circuit is used to connect a power supply and the electromagnetic brake device, the controller is used to output a PWM wave to the working circuit, the first voltage sensor is used to collect the voltage at the positive end of the electromagnetic brake device, the second voltage sensor is used to collect the voltage at the negative end of the electromagnetic brake device, and the current sensor is used to collect the current flowing through the electromagnetic brake device; The controller calculates the actual impedance of the electromagnetic brake device according to the voltage of the positive terminal, the voltage of the negative terminal and the current flowing through the electromagnetic brake device; the actual impedance Z of the electromagnetic brake device is: r Z = (V+ - V-) / I wherein U + represents the voltage at the positive terminal of the electromagnetic brake device, U - represents the voltage at the negative terminal of the electromagnetic brake device, and I represents the current flowing through the electromagnetic brake device; The controller is preset with a brake model parameter table, and the controller calculates the theoretical impedances of the electromagnetic brake devices of the various models according to the theoretical inductances and the theoretical resistances of the electromagnetic brake devices of the various models in the brake model parameter table; the theoretical impedances of the electromagnetic brake devices of the various models are: Z si = R + ωL, In the formula, i represents the clutch material number in the clutch model parameter table, Z si represents the theoretical impedance of the clutch corresponding to the clutch material number i, L represents the theoretical inductance of the electromagnetic clutch device, and ω represents the angular frequency of the PWM wave. The controller finds a theoretical impedance with the smallest error with the actual impedance of the electromagnetic brake device from the brake model parameter table according to the calculated actual impedance of the electromagnetic brake device, and drives the current electromagnetic brake device according to the driving parameters of the electromagnetic brake device of the model corresponding to the theoretical impedance.

4. The band brake drive circuit of claim 3, wherein, The temperature sensor is connected with the controller, and is used to detect the temperature of the electromagnetic brake device connected in the working circuit, and transmit the detected temperature value to the controller; the controller controls the electromagnetic brake device to work according to the comparison result of the detected temperature value and the preset temperature threshold.

5. The band brake drive circuit of claim 3, wherein, The working circuit comprises a power supply switch, a brake interface, a PWM switch circuit, a sampling resistor, a first switch driving circuit, and a second switch driving circuit; The power supply is connected with the positive end of the brake interface through the power supply switch, the negative end of the brake interface is connected with one end of the sampling resistor through the PWM switch circuit, and the other end of the sampling resistor is grounded; and the brake interface is used to connect the electromagnetic brake device; The controller is connected with the power supply switch through the first switch driving circuit, and is connected with the PWM switch circuit through the second switch driving circuit.

6. The band brake drive circuit of claim 5, wherein, Both ends of the brake interface are connected with a diode in parallel, the positive electrode of the diode is connected with the negative end of the brake interface, and the negative electrode of the diode is connected with the positive end of the brake interface.

7. A robot, characterized in that An electromagnetic brake device and a brake drive circuit according to any one of claims 3-6, the electromagnetic brake device being connected to the brake interface in the brake drive circuit.

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