Electromagnetic brake fault detection method, device, detection terminal and storage medium

Abstract

The present invention provides a fault detection method, device, detection terminal and storage medium for an electromagnetic brake. The method comprises: taking the moment when the electromagnetic brake is powered on as the initial moment, acquiring the sampled current value flowing through the electromagnetic brake coil in real time; determining whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment; if there is, determining the fault state of the electromagnetic brake according to the first peak value; if not, determining the fault state of the electromagnetic brake as: brake fault. The first peak value of the electromagnetic brake current indicates how much current the electromagnetic brake needs at least to attract the clutch plate and release the friction disk, which can reflect the degree of wear of the brake. Therefore, the present invention determines the fault state of the brake according to the first peak value, does not require manual operation, saves manpower and material resources, and has high accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic brakes, and in particular to a fault detection method, device, detection terminal and storage medium of an electromagnetic brake. Background Art

[0002] As a key braking component of mechanical equipment, the brake can quickly achieve braking in the event of an unexpected power outage, gas outage or emergency shutdown, effectively protecting the safety of equipment and users. Once the brake fails, the equipment will not be able to shut down quickly, causing production accidents and even endangering lives. Therefore, in order to ensure the effectiveness of the brake, the brake needs to be inspected regularly.

[0003] In the prior art, the brake is usually disassembled and the thickness and flatness of the friction plate are manually measured to determine whether a new friction plate or brake needs to be replaced. This consumes manpower and material resources, is greatly affected by human factors, and the test results are inaccurate. Summary of the invention

[0004] The embodiments of the present invention provide a fault detection method, device, detection terminal and storage medium of an electromagnetic brake to solve the problem that manual detection of brakes in the prior art is labor-intensive and inaccurate.

[0005] In a first aspect, an embodiment of the present invention provides a fault detection method for an electromagnetic brake, comprising:

[0006] The moment when the electromagnetic brake is powered on is taken as the initial moment, and the current value flowing through the electromagnetic brake coil obtained by sampling is obtained in real time;

[0007] Determining whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment;

[0008] If it exists, the fault state of the electromagnetic brake is determined based on the first peak value;

[0009] If not present, the fault state of the electromagnetic brake is determined to be: brake fault.

[0010] In a second aspect, an embodiment of the present invention provides a fault detection device for an electromagnetic brake, comprising:

[0011] A parameter acquisition module is used to take the moment when the electromagnetic brake is powered on as the initial moment and acquire the current value flowing through the electromagnetic brake coil obtained by sampling in real time;

[0012] A peak value determination module, used to determine whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment;

[0013] A first judgment module, used for determining a fault state of the electromagnetic brake according to a first peak value if present;

[0014] The second judgment module is used to determine that the fault state of the electromagnetic brake is: brake failure if it does not exist.

[0015] In a third aspect, an embodiment of the present invention provides a detection terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the electromagnetic brake fault detection method provided in the first aspect or any possible implementation method of the first aspect are implemented.

[0016] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the electromagnetic brake fault detection method provided in the first aspect or any possible implementation method of the first aspect.

[0017] The embodiment of the present invention provides a fault detection method, device, detection terminal and storage medium for an electromagnetic brake. The above method includes: taking the moment when the electromagnetic brake is powered on as the initial moment, obtaining the sampled current value flowing through the electromagnetic brake coil in real time; determining whether there is a first peak in the current value flowing through the electromagnetic brake coil within the first preset time period after the initial moment; if there is, determining the fault state of the electromagnetic brake according to the first peak; if not, determining the fault state of the electromagnetic brake as: brake fault. The first peak of the electromagnetic brake coil current reflects how much current the electromagnetic brake needs at least to attract the clutch plate and release the friction disk at this time. The first peak is related to the degree of brake wear and can reflect the degree of brake wear to a certain extent. Therefore, the embodiment of the present invention determines the fault state of the brake according to the first peak, without manual operation, saving manpower and material resources. At the same time, the detection method does not rely on the experience of workers, but relies entirely on the operation data of the brake for detection, and the fault detection accuracy is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a structural diagram of a brake in a braking state provided by an embodiment of the present invention;

[0020] Figure 2is a structural diagram of a brake release state provided by an embodiment of the present invention;

[0021] Figure 3 is a flow chart of an implementation method of an electromagnetic brake fault detection method provided by an embodiment of the present invention;

[0022] Figure 4 It is a graph of the current variation with time of a normal electromagnetic brake;

[0023] Figure 5 is a graph of the current variation with time for three electromagnetic brake samples;

[0024] Figure 6 is a structural schematic diagram of a fault detection device for an electromagnetic brake provided in an embodiment of the present invention;

[0025] Figure 7 is a schematic diagram of a detection terminal provided by an embodiment of the present invention;

[0026] Figure 8 It is a schematic diagram of the appearance of an operation data collection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0029] refer to Figure 1 The electromagnetic brake usually includes components such as a housing 11, a coil 12, a spring 13, a clutch plate 14, a friction plate 15, and a flange 16. The clutch plate 14 can move up and down, but cannot rotate; the friction plate 15 can move up and down, and can rotate; the spring 13 is pre-loaded and installed in the spring hole of the housing 11, the bottom of the spring 13 contacts the bottom of the spring hole and cannot move, and the top of the spring 13 is close to the clutch plate 14 and can move up and down with the clutch plate 14; the other components are fixed.

[0030] refer to Figure 1 When the electromagnetic brake is powered off, the spring 13 pushes the clutch plate 14, squeezing the friction plate 15 between the clutch plate 14 and the flange 16. The friction plate 15 is clamped to generate a friction torque, which is transmitted to the rotating shaft 17, and the electromagnetic brake is in a braking state.

[0031] refer to Figure 2 When the electromagnetic brake is energized, current flows through the coil 12 to generate a magnetic field in the housing 11 and the clutch plate 14. The attraction of the magnetic field to the clutch plate 14 exceeds the thrust of the spring 13 on the clutch plate 14. The clutch plate 14 moves toward the housing 11 and eventually approaches the housing 11. The clutch plate 14 is attracted to the housing 11, and the friction plate 15 is no longer squeezed. The shaft 17 connected to the friction plate 15 can rotate freely, and the electromagnetic brake is in a released state.

[0032] When the electromagnetic brake is applied, the two sides of the friction disc 15 rub against the flange 16 and the clutch plate 14 respectively. As the number of braking times of the electromagnetic brake increases, the friction surfaces of the friction disc 15, the flange 16 and the clutch plate 14 will gradually wear and become thinner. When the power is off, the spring 13 presses the clutch plate 14, the friction disc 15 and the flange 16 together, and the gap between the clutch plate 14 and the housing 11 will gradually increase with wear. A larger gap means that a larger excitation current is required in the coil 12 to generate enough magnetic field to attract the clutch plate 14 close to the housing 11 to release the electromagnetic brake. When the gap increases to a certain extent, the electromagnetic suction force generated by the electromagnetic brake being energized will not be enough to attract the clutch plate 14 to release the electromagnetic brake, and the electromagnetic brake will remain in a braking state, resulting in a fault.

[0033] In the prior art, the thickness and flatness of the friction disc 15 are usually measured manually to determine whether a new friction disc 15 needs to be replaced, which consumes manpower and material resources, is greatly affected by human factors, and the detection results are inaccurate.

[0034] Based on this, see Figure 3 , an embodiment of the present invention shows a flow chart of an implementation method of a fault detection method of an electromagnetic brake, which is described in detail as follows:

[0035] The above-mentioned electromagnetic brake fault detection method comprises:

[0036] S101: taking the moment when the electromagnetic brake is powered on as the initial moment, and acquiring the current value flowing through the electromagnetic brake coil obtained by sampling in real time;

[0037] S102: Determine whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment;

[0038] S103: If yes, determine the fault state of the electromagnetic brake according to the first peak value;

[0039] S104: If not, determining the fault state of the electromagnetic brake is: brake fault.

[0040] Figure 4A graph showing the current variation over time of a normal electromagnetic brake. 0 Before time T, the electromagnetic brake is not powered and the current is 0. 0 When the magnetic field generated by the current attracts the clutch plate more than the spring pushes the clutch plate, the clutch plate starts to move toward the housing. 1 The current reaches the first peak moment The movement of the clutch plate toward the housing will increase the magnetic field, which in turn generates a back electromotive force in the coil, causing the current to drop temporarily. When the clutch plate moves, the current drops to a local valley value. , corresponding to T 2 moment. After that, the current continues to rise until it reaches the steady-state value .

[0041] The first peak It represents the minimum current required by the electromagnetic brake to attract the clutch plate and release the friction disc. If the electromagnetic brake can obtain a larger current than this, the electromagnetic brake can be released normally. The larger the current, the less likely the electromagnetic brake will have problems. If the current that can be obtained is only slightly greater than , it means that the electromagnetic brake needs maintenance or replacement. , it means that the electromagnetic brake cannot be released and the electromagnetic brake is faulty.

[0042] Figure 5 The following graphs show the current variation over time of three electromagnetic brakes with different degrees of wear. Sample 1 is the current curve of a normal electromagnetic brake. After the current reaches the first peak, it drops briefly, indicating that the electromagnetic brake can be released normally. Then it rises again, and after the rise, it can reach a current much larger than the first peak, indicating that sample 1 is in good condition and does not need to be replaced. Sample 2 is an electromagnetic brake that has been used for a period of time. After the current reaches a peak, it drops briefly, indicating that the electromagnetic brake can be released normally. The first peak is large, indicating that the wear is more serious than that of sample 1. Sample 3 has no current peak, indicating that sample 3 cannot be released normally and the electromagnetic brake is faulty.

[0043] Based on this, the present application obtains the sampled current value flowing through the electromagnetic brake coil in real time, determines the first peak value in the current value, and determines the fault state of the electromagnetic brake based on the peak value, which does not require manual operation, saves manpower and material resources, and completely relies on the operating parameters of the brake to perform fault detection, which is not affected by human factors and has a higher detection accuracy. In addition, the above process does not require the electromagnetic brake to be disassembled, and the production equipment does not need to be shut down, which effectively improves production efficiency.

[0044] In a possible implementation, S103 may include:

[0045] S1031: determining a first current threshold and a second current threshold according to the first peak value; wherein the first current threshold is less than the second current threshold, and the first current threshold is not less than the first peak value;

[0046] S1032: Determine a fault state of the electromagnetic brake according to the first current threshold and the second current threshold.

[0047] Since the greater the current that the electromagnetic brake can obtain after reaching the first peak value is than the first peak value, the less likely the current electromagnetic brake is to have problems, therefore, the present application sets two current thresholds to further determine the fault state of the electromagnetic brake.

[0048] In a possible implementation, S1031 may include:

[0049] 1. According to the first peak value, the first current threshold is calculated by combining the first formula;

[0050] 2. According to the first peak value, the second current threshold is calculated by combining the second formula;

[0051] The first formula can be:

[0052]

[0053] The second formula can be:

[0054]

[0055] in, is the first current threshold, is the second current threshold, is the first peak, is the first coefficient, is the second coefficient.

[0056] It should be noted that the first coefficient and the second coefficient Both are greater than 1.

[0057] In a possible implementation, S1032 may include:

[0058] 1. The time corresponding to the first peak is taken as the peak time;

[0059] 2. Determine whether there is a current value greater than a first current threshold value among the current values ​​flowing through the electromagnetic brake coil within a second preset time period starting from the peak moment;

[0060] 3. If it does not exist, the fault state of the electromagnetic brake is determined to be: brake failure;

[0061] 4. If yes, determine whether there is a current value greater than a second current threshold value among the current values ​​flowing through the electromagnetic brake coil within a second preset time period starting from the peak moment;

[0062] 5. If present, the fault state of the electromagnetic brake is determined as follows: the brake is released normally and no maintenance is required;

[0063] 6. If not present, the fault state of the electromagnetic brake is determined to be: the brake is released normally and maintenance is required.

[0064] In the embodiment of the present invention, it is determined whether the electromagnetic brake can reach the first current threshold after reaching the first peak value. If not, it means that the electromagnetic brake cannot be released normally and the electromagnetic brake is faulty. If the first current threshold can be reached but the second current threshold cannot be reached, it means that the electromagnetic brake is worn and requires maintenance. If the second current threshold can be reached, it means that the electromagnetic brake is in good condition, can be released normally, and can reach a larger current without maintenance.

[0065] In a possible implementation, the value of the first coefficient may be 1.05, and the value of the second coefficient may be 1.2.

[0066] For example, the first peak of the electromagnetic brake is 1A, then the first current threshold 1*1.05=1.05A, the second current threshold It is 1*1.2=1.2A; if the current of the electromagnetic brake can reach 1.2A, it means that the electromagnetic brake is in good condition and does not need to be replaced; if the current of the electromagnetic brake can reach 1.05A but cannot reach 1.2A, it means that the electromagnetic brake can be released normally but requires maintenance; if the current of the electromagnetic brake cannot reach 1.05A, it means that the electromagnetic brake is faulty.

[0067] For example, the first peak value of the electromagnetic brake current is 2A, then the first current threshold 2*1.05=2.1A, the second current threshold 2*1.2=2.4A. The specific judgment process is the same as above and will not be repeated here.

[0068] The first coefficient and the second coefficient of electromagnetic brakes of different models may be different, and can be set according to actual application requirements, which is not limited here.

[0069] In a possible implementation, S102 may include:

[0070] S1021: taking the initial time as the initial value of the target time;

[0071] S1022: Obtain a preset number of current values ​​before a target time, a preset number of current values ​​after the target time, and a current value at the target time, and arrange them in order from front to back in time to form a current sequence;

[0072] S1023: Perform one-dimensional convolution calculation on the current sequence to obtain a characteristic value corresponding to the target time;

[0073] S1024: If the characteristic value corresponding to the target moment is less than 0, and the characteristic value corresponding to the moment before the target moment is not less than 0, the current value at the moment before the target moment is taken as the first peak value;

[0074] S1025: Otherwise, the moment after the current target moment is taken as the new target moment, and the process jumps to the step of obtaining a preset number of current values ​​before the target moment, a preset number of current values ​​after the target moment, and the current value at the target moment, and arranging them in order from the front to the back in time to form a current sequence;

[0075] Among them, the convolution kernel of one-dimensional convolution calculation is: .

[0076] In a possible implementation, the calculation formula for one-dimensional convolution calculation may be:

[0077]

[0078] in, For the target moment, is the eigenvalue corresponding to the target moment, is the current value at the target time, is the preset quantity, is the sampling interval.

[0079] In the embodiment of the present invention, one-dimensional convolution is used to determine the characteristic value at each moment, and the convolution kernel contains an odd number of elements, such as 3, 5, 7, 9..., the middle element is 0, and the remaining elements are positive on one side and negative on the other side, arranged symmetrically, and the characteristic value reflects the changing trend of the current within a certain period of time. For example, the convolution kernel of 3 elements can be [-1, 0, +1], and the convolution kernel of 5 elements can be [-1, -1, 0, +1, +1] and so on. Specifically, the more elements of the convolution kernel, the stronger the ability of the fault detection method to resist the noise of the current sampling data.

[0080] Exemplarily, the preset number is 2, and the current sequence is , the convolution kernel is [-1, -1, 0, +1, +1], and the number of elements in the convolution kernel is the same as the number of elements in the current sequence, .

[0081] When the electromagnetic brake is just powered on, the current gradually increases and the characteristic value will always be greater than 0. When the characteristic value is less than 0, it means that the current begins to decrease and the first peak value is obtained.

[0082] Furthermore, in order to improve the accuracy of detection, a certain margin can be set. For example, if the characteristic value corresponding to the target moment is less than 0-E, and the characteristic value corresponding to the moment before the target moment is not less than 0-E, the current value at the moment before the target moment is taken as the first peak value; E is the threshold value. Wherein, E is a positive number.

[0083] Generally, the electromagnetic brake coil can reach a stable state after being powered on for several hundred milliseconds or seconds. At this time, the characteristic value should fluctuate within a small range of 0±E. At this time, continue to detect the characteristic value. If the characteristic value is suddenly greater than (0+E), the clutch plate may have jumped unexpectedly. In order to avoid the disturbance caused by voltage fluctuations affecting the detection, a steady-state threshold Th is defined. When the characteristic value is greater than the steady-state threshold Th (Th>0+E), it is considered that the clutch plate of the electromagnetic brake has been released. Among them, the steady-state threshold Th can be set according to the actual application requirements, which is related to the electromagnetic brake model and can be determined based on the test.

[0084] The embodiment of the present invention determines the fault state of the electromagnetic brake based on the first peak value of the electromagnetic brake current, saving manpower and material resources. In addition to being able to detect faults that cannot be attracted due to excessive gaps, it is also possible to detect faults caused by excessive residual gaps due to friction dust accumulation in the air gap. Any situation where the brake fails due to abnormal components can be detected in a timely and accurate manner, thereby improving the safety and reliability of the brake. At the same time, the production equipment does not need to be shut down, and can be detected in real time, thereby improving production efficiency. Moreover, the detection method is not limited to the model of the brake and is universal.

[0085] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0086] The following is an embodiment of the device of the present invention. For details not described in detail therein, reference may be made to the corresponding method embodiment described above.

[0087] Figure 6 The structure diagram of the electromagnetic brake fault detection device provided by the embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown, which is described in detail as follows:

[0088] like Figure 6 As shown, the fault detection device of the electromagnetic brake comprises:

[0089] The parameter acquisition module 21 is used to take the moment when the electromagnetic brake is powered on as the initial moment and acquire the current value flowing through the electromagnetic brake coil obtained by sampling in real time;

[0090] A peak value determination module 22, used to determine whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment;

[0091] A first judgment module 23, used to determine the fault state of the electromagnetic brake according to the first peak value if it exists;

[0092] The second judgment module 24 is used to determine the fault state of the electromagnetic brake as brake failure if it does not exist.

[0093] In a possible implementation, the first determination module 23 may include:

[0094] A threshold determination unit, configured to determine a first current threshold and a second current threshold according to the first peak value; wherein the first current threshold is less than the second current threshold, and the first current threshold is not less than the first peak value;

[0095] The fault state output unit is used to determine the fault state of the electromagnetic brake according to the first current threshold and the second current threshold.

[0096] In a possible implementation manner, the threshold determination unit may be specifically configured to:

[0097] 1. According to the first peak value, the first current threshold is calculated by combining the first formula;

[0098] 2. According to the first peak value, the second current threshold is calculated by combining the second formula;

[0099] The first formula can be:

[0100]

[0101] The second formula can be:

[0102]

[0103] in, is the first current threshold, is the second current threshold, is the first peak, is the first coefficient, is the second coefficient.

[0104] In a possible implementation manner, the fault status output unit may be specifically used for:

[0105] 1. The time corresponding to the first peak is taken as the peak time;

[0106] 2. Determine whether there is a current value greater than a first current threshold value among the current values ​​flowing through the electromagnetic brake coil within a second preset time period starting from the peak moment;

[0107] 3. If it does not exist, the fault state of the electromagnetic brake is determined to be: brake failure;

[0108] 4. If yes, determine whether there is a current value greater than a second current threshold value among the current values ​​flowing through the electromagnetic brake coil within a second preset time period starting from the peak moment;

[0109] 5. If present, the fault state of the electromagnetic brake is determined as follows: the brake is released normally and no maintenance is required;

[0110] 6. If not present, the fault state of the electromagnetic brake is determined to be: the brake is released normally and maintenance is required.

[0111] In a possible implementation, the value of the first coefficient may be 1.05, and the value of the second coefficient may be 1.2.

[0112] In a possible implementation, the peak value determination module 22 may include:

[0113] An initialization unit, used to use the initial time as the initial value of the target time;

[0114] A current sequence generating unit, used to obtain a preset number of current values ​​before a target time, a preset number of current values ​​after the target time, and the current value at the target time, and arrange them in order from front to back in time to form a current sequence;

[0115] An eigenvalue calculation unit is used to perform one-dimensional convolution calculation on the current sequence to obtain the eigenvalue corresponding to the target time;

[0116] A peak output unit, used to take the current value at the moment before the target moment as the first peak value if the characteristic value corresponding to the target moment is less than 0 and the characteristic value corresponding to the moment before the target moment is not less than 0;

[0117] A loop unit, for otherwise, taking the moment after the current target moment as the new target moment, and jumping to the step of obtaining a preset number of current values ​​before the target moment, a preset number of current values ​​after the target moment, and the current value at the target moment, and arranging them in order from front to back in time to form a current sequence to continue to execute;

[0118] Among them, the convolution kernel of one-dimensional convolution calculation is: .

[0119] In a possible implementation, the calculation formula for one-dimensional convolution calculation may be:

[0120]

[0121] in, For the target moment, is the eigenvalue corresponding to the target moment, is the current value at the target time, is the preset quantity, is the sampling interval.

[0122] Figure 7 Schematic diagram of the detection terminal 3 provided in the embodiment of the present invention. Figure 7 As shown, the detection terminal 3 of this embodiment includes: a processor 30 and a memory 31. The memory 31 is used to store a computer program 32, and the processor 30 is used to call and run the computer program 32 stored in the memory 31 to perform the steps in the above-mentioned electromagnetic brake fault detection method embodiments, such as Figure 3 Alternatively, the processor 30 is used to call and run the computer program 32 stored in the memory 31 to implement the functions of each module / unit in the above-mentioned device embodiments, such as Figure 6 The functions of modules 21 to 24 are shown.

[0123] Exemplarily, the computer program 32 may be divided into one or more modules / units, one or more modules / units are stored in the memory 31 and executed by the processor 30 to implement the present invention. One or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 32 in the detection terminal 3. For example, the computer program 32 may be divided into Figure 6 Modules / units 21 to 24 are shown.

[0124] The detection terminal 3 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The detection terminal 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will appreciate that Figure 7 It is only an example of the detection terminal 3 and does not constitute a limitation on the detection terminal 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal may also include input and output devices, network access devices, buses, etc.

[0125] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0126] The memory 31 may be an internal storage unit of the detection terminal 3, such as a hard disk or memory of the detection terminal 3. The memory 31 may also be an external storage device of the detection terminal 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the detection terminal 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the detection terminal 3. The memory 31 is used to store computer programs and other programs and data required by the terminal. The memory 31 may also be used to temporarily store data that has been output or is to be output.

[0127] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0128] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0129] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0130] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0131] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0132] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0133] If the integrated module / unit 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 present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. Computer-readable media can include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0134] Corresponding to the above embodiment, the embodiment of the present invention further provides an operation data collection device, including the detection terminal 3 and the data storage device provided in the above embodiment;

[0135] The data storage device is used to collect and store data of the electromagnetic brake operation process (for example, the current value flowing through the electromagnetic brake coil) and store it, and the detection terminal 3 is used to perform fault detection.

[0136] refer to Figure 8 The detection terminal 3 and the data storage device are encapsulated in the housing to form an operation data collection device, which has multiple interfaces; the operation data collection device is connected to the coil circuit of the brake through the interface; the operation data collection device can also be connected to the speed sensor through the interface, the speed sensor is installed near the friction disk of the brake, and records the speed of the friction disk; the operation data collection device can also be connected to the inertial sensor through the interface, the inertial sensor is installed near the friction disk of the brake, and records the movement state and posture of the brake during the braking process;

[0137] Furthermore, the operation data collection device is also provided with a backup power supply to ensure that the braking process data can be recorded even when the power is cut off and emergency braking occurs. The operation data collection device can also communicate with the host computer to upload the collected electromagnetic brake operation process data and fault detection results.

[0138] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A fault detection method for an electromagnetic brake, characterized in that: include: Taking the moment when the electromagnetic brake is powered on as the initial moment, acquiring the sampled current value flowing through the electromagnetic brake coil in real time; Determining whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment; If it exists, determining the fault state of the electromagnetic brake according to the first peak value; If not, the fault state of the electromagnetic brake is determined to be: brake failure; Determining the fault state of the electromagnetic brake according to the first peak value includes: Determine a first current threshold and a second current threshold according to the first peak value; wherein the first current threshold is less than the second current threshold, and the first current threshold is not less than the first peak value; determining a fault state of the electromagnetic brake according to the first current threshold and the second current threshold; The determining the first current threshold and the second current threshold according to the first peak value includes: The first current threshold is calculated based on the first peak value and the first formula; The second current threshold is calculated based on the first peak value and the second formula; The first formula is: The second formula is: in, is the first current threshold, is the second current threshold, is the first peak, is the first coefficient, is the second coefficient.

2. The electromagnetic brake fault detection method according to claim 1, characterized in that: The determining the fault state of the electromagnetic brake according to the first current threshold and the second current threshold includes: Taking the time corresponding to the first peak as the peak time; Determining whether there is a current value greater than the first current threshold value among the current values ​​flowing through the electromagnetic brake coil within a second preset time period starting from the peak moment; If not, the fault state of the electromagnetic brake is determined to be: brake failure; If yes, determining whether there is a current value greater than the second current threshold value among the current values ​​flowing through the electromagnetic brake coil within a second preset time period starting from the peak moment; If it exists, it is determined that the fault state of the electromagnetic brake is: the brake is released normally and no maintenance is required; If not, it is determined that the fault state of the electromagnetic brake is: the brake is released normally and maintenance is required.

3. The electromagnetic brake fault detection method according to claim 1, characterized in that: The value of the first coefficient is 1.05, and the value of the second coefficient is 1.

2.

4. The electromagnetic brake fault detection method according to any one of claims 1 to 3, characterized in that: The determining whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment includes: Taking the initial time as the initial value of the target time; Obtaining a preset number of current values ​​before the target moment, a preset number of current values ​​after the target moment, and the current value at the target moment, and arranging them in chronological order from front to back to form a current sequence; Performing a one-dimensional convolution calculation on the current sequence to obtain a characteristic value corresponding to the target time; If the characteristic value corresponding to the target moment is less than 0, and the characteristic value corresponding to the moment before the target moment is not less than 0, the current value at the moment before the target moment is taken as the first peak value; Otherwise, the moment after the current target moment is taken as the new target moment, and the process jumps to the step of obtaining the preset number of current values ​​before the target moment, the preset number of current values ​​after the target moment, and the current value at the target moment, and arranging them in order from front to back in time to form a current sequence and continues to execute; Among them, the convolution kernel of the one-dimensional convolution calculation is: .

5. The electromagnetic brake fault detection method according to claim 4, characterized in that: The calculation formula for the one-dimensional convolution calculation is: in, is the target time, is the characteristic value corresponding to the target moment, is the current value at the target moment, is the preset number, is the sampling interval.

6. A fault detection device for an electromagnetic brake, characterized in that: include: A parameter acquisition module, used to take the moment when the electromagnetic brake is powered on as the initial moment, and acquire the current value flowing through the electromagnetic brake coil obtained by sampling in real time; A peak value determination module, used to determine whether there is a first peak value in the current value flowing through the electromagnetic brake coil within a first preset time period starting from the initial moment; a first judgment module, configured to determine a fault state of the electromagnetic brake according to the first peak value if present; A second judgment module is used to determine that the fault state of the electromagnetic brake is: brake failure if it does not exist; The first judgment module includes: A threshold determination unit, configured to determine a first current threshold and a second current threshold according to the first peak value; wherein the first current threshold is smaller than the second current threshold, and the first current threshold is not smaller than the first peak value; a fault state output unit, configured to determine a fault state of the electromagnetic brake according to the first current threshold and the second current threshold; The threshold determination unit is specifically used to: calculate the first current threshold according to the first peak value in combination with a first formula; calculate the second current threshold according to the first peak value in combination with a second formula; The first formula is: The second formula is: in, is the first current threshold, is the second current threshold, is the first peak, is the first coefficient, is the second coefficient.

7. A detection terminal, characterized in that: It comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the steps of the electromagnetic brake fault detection method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the electromagnetic brake fault detection method as described in any one of claims 1 to 5 are implemented.

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