Joint brake mechanism testing method, processing equipment, system and storage medium

Abstract

The invention provides a joint brake mechanism testing method, processing equipment, a system and a storage medium, and relates to the technical field of robots. The method comprises the steps that when a brake mechanism of a joint is in a braking state, the joint is controlled to operate, operation information of the joint in the operation process is obtained, and the operation information comprises a current value of a motor winding of the joint and an electrical angle value used for representing the position of a motor rotor; according to the operation information, slipping information of the joint is determined, and the slipping information is used for indicating whether the joint slips or not; and determining whether the brake mechanism of the joint is qualified or not according to the slip information. The joint is controlled to run according to the preset running state, whether the joint slips or not is determined based on the electrical angle value and the current value, then whether the brake mechanism of the joint is qualified or not is determined, and therefore the joint with too large or too small slipping torque is intercepted through a measuring means.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method, processing equipment, system and storage medium for testing a brake mechanism of a joint. Background Art

[0002] The working scene of collaborative robots is different from that of traditional industrial robots. Since they work in a human-machine collaborative way, safety fences are generally not set up, and their safety protection function is particularly important. Flexible braking of joints is also an important safety function. This function mainly allows the brake mechanism to slip under certain conditions when the joint is braked, that is, the joint can slip and displace to a certain extent when encountering external forces, rather than rigid resistance.

[0003] However, for the brake mechanism of the joint, setting the slip torque too large or too small has disadvantages, and thus cannot ensure the safety and stability of the joint operation. Therefore, how to determine whether the brake mechanism of the joint meets both safety and stability is one of the problems to be solved in this field. Summary of the invention

[0004] The purpose of this application is to provide a joint brake mechanism testing method, processing equipment, system and storage medium to address the deficiencies in the above-mentioned prior art, so as to solve the problem of how to determine whether the joint brake mechanism is qualified and ensure that the brake mechanism meets both safety and stability.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for testing a brake mechanism of a joint, the method comprising:

[0007] When the brake mechanism of the joint is in a braking state, controlling the joint to operate, and obtaining operation information of the joint during operation, wherein the operation information includes a current value of a motor winding of the joint and an electrical angle value for indicating a position of a motor rotor;

[0008] Determining slip information of the joint according to the operation information, wherein the slip information is used to indicate whether the joint slips;

[0009] Based on the slip information, determine whether the brake mechanism of the joint is qualified.

[0010] As a possible implementation manner, the controlling the joint operation includes:

[0011] The joint is controlled to run at a preset speed, and the joint is controlled to stop running when the current value of the motor winding of the joint reaches a preset current value.

[0012] As a possible implementation manner, determining the slip information of the joint according to the operation information includes:

[0013] The slip information is determined according to an initial electrical angle value and a target electrical angle value of the joint, wherein the initial electrical angle value is the electrical angle value when the joint starts running, and the target electrical angle value is the electrical angle value when the joint stops running.

[0014] As a possible implementation manner, determining the slip information according to the initial electrical angle value and the target electrical angle value of the joint includes:

[0015] Determining an electrical angle difference according to the initial electrical angle value and the target electrical angle value;

[0016] The slip information is determined according to the electrical angle difference and a preset difference threshold.

[0017] As a possible implementation manner, determining the slip information according to the electrical angle difference and a preset difference threshold includes:

[0018] If the electrical angle difference is greater than the preset difference threshold, it is determined that the joint has slipped; otherwise, it is determined that the joint has not slipped.

[0019] As a possible implementation manner, determining whether the brake mechanism of the joint is qualified according to the slip information includes:

[0020] If the joint does not slip, it is determined that the brake mechanism of the joint is unqualified;

[0021] If the joint slips, the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is determined, and based on the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running, the preset difference threshold, the current value of the motor winding when the joint stops running, the preset minimum current value and the preset maximum current value, it is determined whether the braking mechanism of the joint is qualified.

[0022] As a possible implementation, determining whether the brake mechanism of the joint is qualified according to the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running, a preset difference threshold, the current value of the motor winding when the joint stops running, a preset minimum current value, and a preset maximum current value includes:

[0023] If the current value of the motor winding when the joint stops running is less than the preset minimum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running is greater than the preset difference threshold, it is determined that the brake mechanism is unqualified;

[0024] If the current value of the motor winding when the joint stops running is greater than the preset minimum current value and less than the preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running is greater than the preset difference threshold, it is determined that the brake mechanism is qualified;

[0025] If the current value of the motor winding when the joint stops running is greater than the preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than the preset difference threshold, the brake mechanism is determined to be unqualified.

[0026] In a second aspect, an embodiment of the present application provides a processing device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the joint braking mechanism testing method as described in any of the above-mentioned first aspects.

[0027] In a third aspect, an embodiment of the present application provides a joint brake mechanism testing system, the system comprising: a power module, a communication module, and the processing device described in the second aspect;

[0028] The processing device is used to determine a control instruction according to a preset speed value, wherein the control instruction includes voltage and current information of a motor in a joint;

[0029] The processing device and the power module establish a communication connection through the communication module, and the processing device is further used to send the control instruction to the power module based on the communication module;

[0030] The power supply module is used to supply power to the joint according to the voltage and current information included in the control instruction, so as to control the joint to operate according to the preset speed value;

[0031] The processing device is also used to execute the steps of the joint brake mechanism testing method described in any one of the first aspects.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the joint braking mechanism testing method as described in any one of the above-mentioned first aspects are executed.

[0033] According to the joint brake mechanism testing method, processing equipment, system and storage medium of the embodiment of the present application, when the joint brake mechanism is in the braking state, the joint is controlled to run, and the operation information of the joint during the operation is obtained, and the operation information includes the current value of the motor winding of the joint and the electrical angle value used to represent the motor rotor position, and then according to the operation information, it is determined whether the joint slips, and then whether the joint brake mechanism is qualified. According to the embodiment of the present application, the joint is always in the braking state during the operation, that is, the braking function of the joint is shielded. In this state, the joint is controlled to run at a preset speed and collect data during the operation, and the electrical angle value and the current value are used as the judgment index for judging whether the joint slips, and the judgment slip threshold and the current threshold are further set to determine whether the joint brake mechanism is qualified. Since the judgment index of slip in the present application is obtained when the joint is in the braking state, it is equivalent to providing a static slip judgment method. On this basis, the brake mechanism is qualified, which can not only ensure that the brake mechanism meets safety and stability at the same time, but also improve the accuracy of slip judgment and qualified judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic structural diagram of a joint brake mechanism testing system provided in an embodiment of the present application is shown;

[0036] Figure 2 A schematic diagram showing a flow chart of a method for testing a brake mechanism of a joint provided in an embodiment of the present application is shown;

[0037] Figure 3 A schematic diagram of a process for determining the quality of a brake mechanism provided in an embodiment of the present application is shown;

[0038] Figure 4 A schematic flow chart of another joint brake mechanism testing method provided in an embodiment of the present application is shown;

[0039] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0041] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0042] In order to enable those skilled in the art to use the contents of this application, the following implementation method is given in conjunction with the specific application scenario "joint slippage determination and qualification determination of the joint's brake mechanism". For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is mainly described around the joint's brake mechanism testing method, it should be understood that this is only an exemplary embodiment.

[0043] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0044] When the robot encounters a collision accident or an unexpected power outage, the robot needs to be able to be dragged solely by manpower, so the robot's joints are required to have the ability to slip. For the slip torque of the joint, there are disadvantages if the slip torque is too large or too small. If the slip torque is too large, it is easy to cause damage to core components such as the reducer during the dragging process. If the slip torque is too small, the reliability of the joint's brake mechanism is greatly reduced. Regarding how to determine whether the joint's brake mechanism is qualified so that the reliability of the brake mechanism can be guaranteed, an embodiment of the present application provides a joint brake mechanism testing method, which controls the joint to operate according to a preset operating state, and collects operating information of the operating process, which mainly includes electrical angle values ​​and current values, and processes and analyzes the electrical angle values ​​and current values ​​during the joint operation process to determine whether the joint slips, and further determine whether the joint's brake mechanism is qualified, thereby intercepting the joint with excessive or too small slip torque through measurement means.

[0045] Figure 1 The structure diagram of a joint brake mechanism testing system provided by an embodiment of the present application is shown. Figure 1 As shown, the system includes a power module, a communication module and a processing device. The processing device and the power module establish a communication connection through the communication module. The processing device can determine a control instruction according to a preset speed value. The control instruction includes voltage and current information of the motor in the joint. The processing device sends the control instruction to the power module through the communication module. After receiving the control instruction, the power module supplies power to the joint according to the voltage and current information contained in the control instruction to control the joint to run according to the preset speed value.

[0046] Optionally, the power module can be a 48V power supply that can provide a 48V voltage to meet the power supply requirements of the joint motor. The communication module can be a CAN box, which is used to establish a communication connection between the processing device and the power module, so that the processing device can send control instructions to the power module. The CAN box is a commonly used industrial communication device that can achieve high-speed data transmission and is suitable for occasions with high real-time requirements. The processing device can be an industrial computer, which is a computer system designed for industrial applications. It has good anti-interference ability and stability and is suitable for control and data processing tasks. The industrial computer can determine the control instruction according to the preset speed value, send the control instruction to the power module through the communication module, and execute the joint brake mechanism test method.

[0047] Based on this, the joint brake mechanism testing system provided by the embodiment of the present application monitors and processes the information of the brake mechanism by controlling the motor operation of the joint, and then determines whether the brake mechanism meets the design requirements. And through the coordinated work of the power module, communication module and processing equipment, the joint brake mechanism is precisely controlled and monitored, ensuring that the joint meets both safety and stability in actual application.

[0048] The following is combined with the above Figure 1 The contents described in the joint brake mechanism testing system shown provide a detailed description of the joint brake mechanism testing method provided in the embodiment of the present application.

[0049] Figure 2 The flowchart of a joint brake mechanism testing method provided by an embodiment of the present application is shown. The execution subject of the method is a processing device in the joint brake mechanism testing system. Figure 2 As shown, the method specifically comprises the following steps:

[0050] S201. When the brake mechanism of the joint is in a braking state, control the operation of the joint and obtain operation information of the joint during the operation.

[0051] Optionally, the brake mechanism generally refers to a hardware or software component used to brake or lock a joint, and the brake mechanism being in a braking state means that the brake mechanism is locked and the joint cannot move freely. When the brake mechanism is in a braking state, the joint operation is controlled, that is, the joint is operated in a preset operating state by overcoming the braking force. At the same time, the operating information during the operation of the joint is collected to monitor the working state of the joint, and the operating information includes the current value of the motor winding of the joint and the electrical angle value used to represent the position of the motor rotor.

[0052] S202: Determine slip information of the joint according to the operation information, where the slip information is used to indicate whether the joint slips.

[0053] Optionally, slippage is usually caused by excessive joint load or insufficient friction, which is manifested as the inconsistency between actual movement and expected movement, and slippage information is essentially a sign used to indicate whether the joint has slipped instead of rotating normally. Since the electrical angle value and current value can effectively reflect the state of the joint motor during operation, using the electrical angle value and current value as the judgment basis for slippage judgment is conducive to accurately judging whether the joint has slippage.

[0054] Optionally, the current value has the function of reflecting the load condition and abnormal current changes, and can be read by a current sampling chip. The load condition refers to the load that the motor bears when driving the joint. If the joint still tries to move when it encounters resistance, the current of the motor winding will increase. Therefore, by monitoring the change in the current value, it can be determined whether the joint is trying to overcome greater resistance. Abnormal current changes mean that if the joint slips, the motor may continue to apply torque, but because the slip cannot be converted into effective mechanical displacement, the current may increase abnormally.

[0055] Optionally, the electrical angle value has the function of reflecting the difference between the actual and expected and precise position feedback. Precise position feedback means that the electrical angle value is measured by a relative encoder or sensor inside the motor, which can provide accurate information about the position of the motor rotor. Therefore, by tracking the change of the electrical angle value, the actual rotation of the motor can be understood. Detecting the difference between the actual and expected means that under ideal conditions, after the motor receives the control signal, its rotor should rotate according to the predetermined angle change. If the joint slips, although the motor is still running, the actual rotation angle will deviate from the expected angle. Therefore, by comparing the actual electrical angle value with the expected electrical angle value, this deviation can be identified to determine whether slipping has occurred.

[0056] S203: Determine whether the brake mechanism of the joint is qualified according to the slip information.

[0057] Optionally, the electrical angle value and the current value are used to comprehensively determine whether the joint is slipping. For example, if the current value is abnormally increased, but the change in the electrical angle value is small or not, it means that the motor is trying to drive the joint but is unsuccessful. Or the change in the electrical angle value is not consistent with expectations, that is, the motor should complete a certain angle of rotation but actually does not reach it. The above situations are specific manifestations of slippage problems.

[0058] Optionally, if no slippage is detected in the braking state of the brake mechanism, that is, the current value is reasonable and the change in the electrical angle value is as expected, it is considered that the brake mechanism can effectively prevent the joint movement and the brake mechanism is qualified. On the contrary, if slippage is detected, it indicates that the brake mechanism has failed to effectively lock the joint, and it is necessary to further check whether there is a problem with the brake system. Therefore, based on the two key parameters of the electrical angle value and the current value, it is possible to effectively judge whether the joint can work normally in the braking state, thereby ensuring the safety and reliability of the joint operation.

[0059] Based on this, according to the joint brake mechanism testing method provided in the embodiment of the present application, the joint is always kept in the braking state during operation, that is, the braking function of the joint is shielded. In this state, the joint is controlled to run at a preset speed and collect data during the operation, and the electrical angle value and the current value are used as the judgment index to judge whether the joint is slipping, and the slip judgment threshold and the current threshold are further set to determine whether the joint brake mechanism is qualified. Since the slip judgment index in the present application is obtained when the joint is in the braking state, it is equivalent to providing a static slip judgment method. On this basis, the brake mechanism is judged to be qualified, which can not only ensure the reliability of the brake mechanism, but also improve the accuracy of slip judgment and qualified judgment.

[0060] As a possible implementation, the above step S201 controls the operation of the joint, including: controlling the joint to operate at a preset speed, and controlling the joint to stop operating when the current value of the motor winding of the joint reaches a preset current value.

[0061] Optionally, controlling the joint to run at a preset speed means starting the joint and setting a predetermined speed, and the joint will move at this predetermined speed. The implementation process of controlling the joint to run at the preset speed is: the processing device determines the control instruction according to the preset speed, and the control instruction includes the motor voltage and current information corresponding to the preset speed. Further, the processing device sends the control instruction to the power module through the communication module, and the power module supplies power to the joint according to the voltage and current information contained in the control instruction to control the joint to run at the preset speed. Among them, the preset speed can be set to 0.1% of the rated speed. The preset speed can be set according to the actual application scenario to ensure the safety of the joint operation. The specific value is not limited.

[0062] Optionally, the preset current value is set to protect the motor and joint from damage caused by overload or abnormal conditions. For example, if the joint encounters a large resistance, the motor may try to provide a larger torque to overcome the resistance, which will cause the current to rise. By setting a safe current upper limit, the motor can be prevented from being damaged by overload.

[0063] Exemplarily, the joint is controlled to start and run at a preset speed. During the operation of the joint, the processing device continuously monitors the current value of the motor winding, and stops the joint operation when it is detected that the current value reaches a preset current threshold.

[0064] Based on this, during the operation of the equipment, by monitoring the current value, abnormal conditions such as jamming or excessive load can be discovered in time, so that measures can be taken quickly to avoid equipment damage. Fault diagnosis can also be performed based on the current value. If the joint frequently stops due to excessively high current values, there may be problems with the joint or motor, which requires further inspection and maintenance. In addition, by setting a reasonable preset current value, the working efficiency of the joint can be optimized to ensure that the performance of the joint is maximized within a safe range.

[0065] As a possible implementation manner, the above step S202 determines the slip information of the joint according to the operation information, including: determining the slip information according to the initial electrical angle value and the target electrical angle value of the joint.

[0066] Optionally, the initial electrical angle value is the electrical angle value when the joint starts running, and the target electrical angle value is the electrical angle value when the joint stops running.

[0067] Exemplarily, the slip detection based on the initial electrical angle value and the target electrical angle value is mainly used to ensure that the joint can accurately reach the expected position during operation. When the joint stops running, by comparing the difference between the actual target electrical angle value and the initial electrical angle value, if there is a large deviation between the actual target electrical angle value and the initial electrical angle value, that is, the joint has not reached the expected position, it can be determined that the joint has slipped.

[0068] As a possible implementation method, the slip information is determined based on the initial electrical angle value and the target electrical angle value of the joint, including: determining the electrical angle difference based on the initial electrical angle value and the target electrical angle value; determining the slip information based on the electrical angle difference and a preset difference threshold.

[0069] Optionally, the initial electrical angle value represents the starting position of the motor rotor, which can be used as a reference point for comparison with the position of the motor rotor when the motor stops running. The electrical angle difference is obtained by calculating the difference between the target electrical angle value and the initial electrical angle value, and combined with a preset difference threshold for determining whether the electrical angle difference exceeds a normal range. Specifically, if the electrical angle difference is greater than the preset difference threshold, it is determined that the joint has slipped, and if the electrical angle difference is less than or equal to the preset difference threshold, it is determined that the joint has not slipped.

[0070] Optionally, in addition to using the above-mentioned initial electrical angle value and target electrical angle value to determine the slip information, the first electrical angle value of the joint after the preset time of starting operation and the second electrical angle value of the period before the joint stops operating can also be selected. Among them, the selection of the preset time can be determined based on experience or experiments to avoid the unstable stage at the beginning of the start-up, and the period before stopping operation can be a few seconds or a few milliseconds, depending on the needs of the actual application. In addition, a target preset current value is set, and when the current value of the motor winding reaches the target preset current value, the third electrical angle value at this time is obtained.

[0071] Exemplarily, by calculating the electrical angle difference between the first electrical angle value and the second electrical angle value, and comparing the electrical angle difference with the third electrical angle value, if the electrical angle difference is greater than the third electrical angle difference, it is considered that the joint has slipped; otherwise, if the electrical angle difference is less than or equal to the third electrical angle difference, it is considered that the joint has not slipped.

[0072] Based on this, by effectively monitoring and preventing the slipping of joints during operation, the overall reliability and safety of the joints can be improved. And by collecting electrical angle values ​​at multiple time points, the state changes of the joints during operation can be more comprehensively understood, thereby improving the accuracy of slip detection.

[0073] Figure 3 A schematic diagram of a flow chart of a brake mechanism qualification determination method provided in an embodiment of the present application is shown. As a possible implementation method, refer to Figure 3 As shown, the above step S203 determines whether the brake mechanism of the joint is qualified according to the slip information, including:

[0074] S301: If the joint does not slip, it is determined that the brake mechanism of the joint is unqualified.

[0075] Optionally, the function of the brake mechanism is to ensure that the joint can decelerate smoothly and eventually stop during operation. If the brake mechanism works properly, it can provide sufficient resistance during the operation of the joint to cause the joint to slip to a certain extent. If the brake mechanism does not play its due role, that is, does not cause slipping, it means that there may be a problem with the brake mechanism, such as insufficient braking effect or a malfunction.

[0076] For example, since the joint is operating in a braking state, combined with the function of the brake mechanism, the joint should slip to a certain extent in this state. If the joint does not slip, it is considered that the brake mechanism does not play the due braking role, and therefore the brake mechanism is unqualified.

[0077] S302. If the joint slips, determine the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running, and determine whether the joint's braking mechanism is qualified based on the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running, the preset difference threshold, the current value of the motor winding when the joint stops running, the preset minimum current value and the preset maximum current value.

[0078] Optionally, if the current value of the motor winding when the joint stops running is less than a preset minimum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than a preset difference threshold, the brake mechanism is determined to be unqualified. If the current value of the motor winding when the joint stops running is greater than a preset minimum current value and less than a preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than a preset difference threshold, the brake mechanism is determined to be qualified. If the current value of the motor winding when the joint stops running is greater than a preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than a preset difference threshold, the brake mechanism is determined to be unqualified.

[0079] For example, if the current value of the motor winding when the joint stops running is less than the preset minimum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running is greater than the preset difference threshold, it means that even if the current value is very low, the joint still has a large position deviation, indicating that the brake mechanism does not provide sufficient resistance, and therefore the brake mechanism is considered to be unqualified.

[0080] For example, if the current value of the motor winding when the joint stops running is greater than the preset minimum current value and less than the preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than the preset difference threshold, it means that the current value is within a reasonable range, and at the same time, a large position deviation has occurred in the joint, indicating that the brake mechanism provides sufficient resistance within the normal operating range, and therefore the brake mechanism is considered to be qualified.

[0081] For example, if the current value of the motor winding when the joint stops running is greater than the preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than the preset difference threshold, it means that the current value is too high. Even if the joint has a large position deviation, the brake mechanism may be too tight or have other problems that cause current abnormality. Therefore, the brake mechanism is considered to be unqualified.

[0082] Based on this, the electrical angle difference, the current value of the motor winding and its threshold are comprehensively considered to determine whether the brake mechanism of the joint is qualified, ensuring that the brake mechanism provides sufficient resistance within a reasonable working range and avoids being too loose or too tight, thereby improving the reliability and safety of the joint in practical applications.

[0083] Figure 4 A schematic diagram of a flow chart of another joint brake mechanism testing method provided in an embodiment of the present application is shown. Figure 4 As shown, the brake function is shielded, so that the joint is always in a braking state, that is, the joint cannot move freely. On this basis, by setting a speed value for the joint and monitoring the electrical angle value and current value when the joint is running at the speed value, the slip torque of the joint is evaluated to see whether it meets the design requirements. Further, the difference between the electrical angle value when the joint stops running and the initial electrical angle value is calculated, and the lq current value when the joint stops running is compared with the minimum design current value (preset minimum current value) and the maximum design current value (preset maximum current value). If the lq current value when the joint stops running is lower than the minimum design lq current value, and the electrical angle difference exceeds the threshold, it indicates that the slip torque of the joint is too small and does not meet the product requirements; if the lq current value when the joint stops running is higher than the maximum design lq current value, and the electrical angle difference does not exceed the threshold, it indicates that the slip torque of the joint is too large and does not meet the product requirements; if the lq current value when the joint stops running is between the minimum design lq current value and the maximum design lq current value, and the electrical angle difference exceeds the threshold, it indicates that the slip torque of the joint is moderate and meets the product requirements.

[0084] Based on this, according to the embodiment of the present application, it is possible to effectively evaluate whether the slip torque of the joint in the braking state meets the design requirements, and ensure that the joint is neither too loose nor too tight in actual application, thereby ensuring the reliability and safety of the joint. And by monitoring the current value and electrical angle value, possible problems in the joint operation process can be discovered and corrected in time.

[0085] The present application embodiment also provides a processing device 500, such as Figure 5 As shown, it is a schematic diagram of the structure of the processing device 500 provided in the embodiment of the present application, including: a processor 501, a memory 502, and optionally, a bus 503. The memory 502 stores machine-readable instructions executable by the processor 501. When the processing device 500 is running, the processor 501 communicates with the memory 502 through the bus 503. When the machine-readable instructions are executed by the processor 501, the steps of the joint brake mechanism testing method as described in any one of the above items are executed.

[0086] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the joint braking mechanism testing method as described in any one of the above items are executed.

[0087] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0088] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0089] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for testing a brake mechanism of a joint, characterized in that: include: When the brake mechanism of the joint is in a braking state, controlling the joint to operate, and obtaining operation information of the joint during operation, wherein the operation information includes a current value of a motor winding of the joint and an electrical angle value for indicating a position of a motor rotor; Determining slip information of the joint according to the operation information, wherein the slip information is used to indicate whether the joint slips; Based on the slip information, determine whether the brake mechanism of the joint is qualified.

2. The method according to claim 1, characterized in that The controlling the joint operation comprises: The joint is controlled to run at a preset speed, and the joint is controlled to stop running when the current value of the motor winding of the joint reaches a preset current value.

3. The method according to claim 1, characterized in that Determining the slip information of the joint according to the operation information includes: The slip information is determined according to an initial electrical angle value and a target electrical angle value of the joint, wherein the initial electrical angle value is the electrical angle value when the joint starts running, and the target electrical angle value is the electrical angle value when the joint stops running.

4. The method according to claim 3, characterized in that The step of determining the slip information according to the initial electrical angle value and the target electrical angle value of the joint comprises: Determining an electrical angle difference according to the initial electrical angle value and the target electrical angle value; The slip information is determined according to the electrical angle difference and a preset difference threshold.

5. The method according to claim 4, characterized in that The step of determining the slip information according to the electrical angle difference and a preset difference threshold value includes: If the electrical angle difference is greater than the preset difference threshold, it is determined that the joint has slipped; otherwise, it is determined that the joint has not slipped.

6. The method according to claim 1, characterized in that The step of determining whether the brake mechanism of the joint is qualified according to the slip information includes: If the joint does not slip, it is determined that the brake mechanism of the joint is unqualified; If the joint slips, the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is determined, and based on the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running, the preset difference threshold, the current value of the motor winding when the joint stops running, the preset minimum current value and the preset maximum current value, it is determined whether the braking mechanism of the joint is qualified.

7. The method according to claim 6, characterized in that The method of determining whether the brake mechanism of the joint is qualified according to the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running, a preset difference threshold, the current value of the motor winding when the joint stops running, a preset minimum current value, and a preset maximum current value comprises: If the current value of the motor winding when the joint stops running is less than the preset minimum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running is greater than the preset difference threshold, it is determined that the brake mechanism is unqualified; If the current value of the motor winding when the joint stops running is greater than the preset minimum current value and less than the preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when the joint stops running is greater than the preset difference threshold, it is determined that the brake mechanism is qualified; If the current value of the motor winding when the joint stops running is greater than the preset maximum current value, and the difference between the electrical angle value when the joint starts running and the electrical angle value when it stops running is greater than the preset difference threshold, the brake mechanism is determined to be unqualified.

8. A processing device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the processing device is running, the processor executes the machine-readable instructions to perform the steps of the joint brake mechanism testing method as described in any one of claims 1 to 7.

9. A joint brake mechanism testing system, characterized in that: The system comprises: a power module, a communication module and the processing device according to claim 8; The processing device is used to determine a control instruction according to a preset speed value, wherein the control instruction includes voltage and current information of a motor in a joint; The processing device and the power module establish a communication connection through the communication module, and the processing device is further used to send the control instruction to the power module based on the communication module; The power supply module is used to supply power to the joint according to the voltage and current information included in the control instruction, so as to control the joint to operate according to the preset speed value; The processing device is also used to execute the steps of the joint brake mechanism testing method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the method for testing the brake mechanism of a joint as described in any one of claims 1 to 7.

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