Brake service life testing device and testing method

Abstract

The invention discloses a brake service life testing device and method, a velometer is connected with a motor in a speed measuring manner, the velometer and a tested brake are located at the two end sides of a support respectively, and a one-way running mechanism and an inertia adjusting system are arranged in the support; the axial center of the one-way operation mechanism, the axial center of the inertia adjusting system, the axial center of the detachable replaceable armature installation column, the axial center of the tested brake and the axial center of the motor are located on the same axial center line, and the motor, the velometer and the tested brake are electrically connected with the control system. A tested brake is connected with the support center installation connecting column through the replaceable armature installation column and the detachable replaceable brake installation flange. The detection is executed according to the detection sequence of motor forward rotation, motor low-speed reverse rotation, brake braking and brake loosening, the brake can be effectively and accurately controlled to generate braking without controlling the motor to be powered off in the detection process, the test efficiency is better, and the test is simple and convenient.

Description

Technical Field

[0001] The present invention relates to an articulated robot, and in particular to a brake life testing device and a testing method used in the articulated robot. Background Art

[0002] Usually, when an articulated robot detects an abnormal condition such as a collision during operation, the brake device will be triggered to stop operation to avoid further damage or injury. However, since the existing articulated robots use brushed motors in the brake solution, the speed cannot be accurately controlled. The motor's own rotor inertia needs to be considered when testing and calculating inertia. The motor needs to be powered off before the brake works, and the armature reaction of the motor winding will have a braking effect on the motor itself. At that time, the actual braking work will be less than the set one. Summary of the invention

[0003] In order to solve the problems in existing articulated robots, such as the rotation speed cannot be accurately controlled, the motor's own rotor inertia needs to be considered when testing and calculating inertia, the motor needs to be powered off before the brake works, and the armature reaction of the motor winding will produce a braking effect on the motor itself, so that the actual braking work will be less than the set value, the present invention provides a brake life testing device and testing method that can effectively and accurately control the brake to produce braking without first controlling the motor to power off during detection, has better testing efficiency, and is simple and convenient to test.

[0004] The specific technical solution adopted by the present invention to solve the above technical problems is: a brake life test device, including a motor, a speed meter, a one-way operating mechanism, a bracket, an inertia adjustment system, a detachable and replaceable brake mounting flange, a detachable and replaceable armature mounting column and a brake to be tested, the speed meter is connected to the motor speed measurement and both are located at the two end sides of the bracket with the brake to be tested, the one-way operating mechanism and the inertia adjustment system are arranged in the bracket, and the axial center of the one-way operating mechanism, the inertia adjustment system, the axial center of the detachable and replaceable armature mounting column, the axial center of the brake to be tested and the axial center of the motor are on the same axial center line, the motor, the speed meter and the brake to be tested are electrically connected to the control system respectively, and the brake to be tested is connected to the bracket center mounting connection column through the replaceable armature mounting column and the detachable and replaceable brake mounting flange. During the detection, there is no need to control the motor to be powered off first, and the brake can be effectively and accurately controlled to produce braking, the test efficiency is better, and the test is simple and convenient.

[0005] Preferably, the detachable and replaceable brake mounting flange is arranged at the outer end face of the axial center of the bracket, the brake to be tested is arranged at the outer side face of the detachable and replaceable brake mounting flange, one end of the replaceable armature mounting column is connected to the brake to be tested, and the other end passes through the detachable and replaceable brake mounting flange and is connected to the bracket center mounting connection column. The installation and removal flexibility and convenience of the brake mounting flange are improved, and the installation and removal simplicity and convenience of the brake to be tested are improved.

[0006] Preferably, the bracket includes a bracket column, a first end panel of the bracket and a second end panel of the bracket. A plurality of bracket columns are connected at the inner edge position between the first end panel of the bracket and the second end panel of the bracket. A detachable and replaceable brake mounting flange is arranged at the center area of ​​the outer side surface of the first end panel of the bracket. A bracket center mounting connecting column is connected between the centers of the first end panel of the bracket and the second end panel of the bracket. An inertia adjustment system is connected to one end of the bracket center mounting connecting column. A clamping sleeve is arranged at the other end of the bracket center mounting connecting column. The clamping sleeve is used to ensure that the mounted inertia adjustment system does not produce axial movement. A cylindrical groove is arranged inwardly at the center area of ​​the outer side surface of the first end panel of the bracket. A bearing is arranged on the cylindrical groove. The inner circumference of the bearing is connected to the end of the bracket center mounting connecting column. The inner end surface of the second end panel of the bracket has a second end panel groove inwardly recessed. A one-way running mechanism is arranged in the second end panel groove. The bracket structure is simple, flexible and effective. The bracket installation and detection of the motor, speed meter and brake to be tested are simple, reliable, accurate and effective. Different brakes can be installed by replacing the armature mounting column and the brake mounting flange without dismantling the main frame structure; the single braking work and the total braking work of the brake can be changed by adjusting the inertia, rotation speed, number of times, etc.

[0007] Preferably, the bracket center mounting connecting column is provided with a limit slot in the same direction as the length of the bracket center mounting connecting column, and a rotation stopper is provided in the limit slot, and the rotation stopper is used to prevent the inertia adjustment system from rotating, thereby improving the stability and effectiveness of the inertia adjustment system.

[0008] Preferably, the inertia adjustment system includes a bracket center mounting connection column, a clamping sleeve, a stopper and an inertia disc, wherein the bracket center mounting connection column is used as the bracket mounting axis and also as the inertia disc mounting column of the inertia adjustment system, the stopper is used to prevent the inertia disc from rotating on the bracket center mounting connection column, the clamping sleeve is used to ensure that the mounted inertia disc does not produce axial movement, the inertia disc is formed by stacking multiple layers of disc-shaped inertia discs, and the inertia adjustment is achieved by adjusting the number of layers of the installed inertia discs. The adjustment and use stability, reliability and effectiveness of the inertia adjustment system are improved.

[0009] Preferably, the central mounting connection column of the bracket has a connection column base and a connection column body, the outer periphery of the front end of the connection column body is connected to the bearing, and the front end of the connection column body is provided with a mounting connection groove for connecting the detachable and replaceable armature mounting column; the bottom end of the connection column body is connected to the connection column base, and the outer bottom end surface of the connection column base has a plurality of outwardly extending protrusions, and the one-way running mechanism is connected to the second end panel of the bracket constituting the bracket through the outwardly extending protrusions, and the axial center of the second end panel of the bracket has a second end panel groove and a through slot, and the motor shaft is connected to the one-way running mechanism provided in the second end panel groove through the through slot. The installation connection of the central mounting connection column of the bracket is stable, reliable and effective.

[0010] Preferably, the detachable and replaceable armature mounting column comprises a mounting column body and a mounting column split, a limiting card slot is provided at the bottom end of the mounting column body, a mounting column split is provided in the limiting card slot, the mounting column split comprises a cylindrical upper split and a cylindrical lower split, the outer circumference of the cylindrical upper split is larger than the outer circumference of the cylindrical lower split, the length of the cylindrical lower split is larger than the length of the cylindrical upper split, the limiting card slot has an accommodating space for accommodating the cylindrical upper split and the cylindrical lower split, and the cylindrical lower split passes downwardly out of the notch surface at the bottom end of the limiting card slot. The installation and use of the detachable and replaceable armature mounting column is improved to be flexible, reliable and effective.

[0011] Another invention object of the present invention application is to provide a brake life test method, comprising sequentially performing the following test steps: A1. The connection structure of the brake life test device according to any one of claims 1 to 7 is installed and connected to form a brake life test device; A2. Import the parameters that need to be tested into the DR control system. The parameters to be tested include additional inertia, target speed of the inertia disc and number of controller braking times. The additional inertia is also the inertia of the inertia disc. A3. After receiving the imported parameter detection requirements, the control system issues a command to set the motor speed GZ, controls the motor to rotate forward, and feeds back the real-time speed FZ to the control system; A4. After the control system receives the real-time speed feedback and determines that the motor is rotating at the specified speed, it issues a command to control the motor to reverse at low speed, and sets the motor low-speed reverse speed GZF, while feeding back the real-time speed FZ to the control system; A5. After the control system receives the feedback of the real-time reverse speed and determines that the motor is reversing at a low speed, the control system sets the braking voltage GD and issues a command to control the brake; A6. After the brake delay reaches the set time T1, the control system removes the brake voltage and issues a command to release the brake; A7. After the brake release delay reaches the set time T2, the control system returns to the loop to execute the above steps A3 to A6.

[0012] Preferably, in the above steps A3 to A6, the motor drives the inertia disk to rotate when it rotates forward, and disconnects from the inertia disk when it rotates reversely, in preparation for applying the brake; when the brake is applied, the kinetic energy of the inertia disk is converted into the braking work of the brake; when the brake is applied, the output torque of the motor will not act on the brake; when the brake is released, a signal is given to the control system that the current cycle ends and the next test cycle can be started.

[0013] The beneficial effects of the present invention are as follows: different brakes can be installed by replacing the armature mounting column and the brake mounting flange without disassembling the main frame structure; the single braking work and the total braking work of the brake can be changed by adjusting the inertia, rotation speed, number of times, etc.; a servo motor drive is adopted, and the rotation speed is accurate; a one-way running mechanism is adopted, and the motor and the pipe discs are disengaged during braking, and the rotor inertia of the motor does not need to be considered when testing and calculating the inertia; the motor can run without power failure, and the test efficiency is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the brake life testing device of the present invention.

[0015] Figure 2 It is a schematic diagram of the principle block diagram of the brake life test method of the present invention.

[0016] Figure 3 It is a three-dimensional structural schematic diagram of the brake life testing device of the present invention.

[0017] Figure 4 It is a three-dimensional structural schematic diagram of the brake life test device of the present invention observed from another direction. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0019] Figure 1 , Figure 3 , Figure 4In the illustrated embodiment, a brake life test device comprises a motor 1, a tachometer 2, a unidirectional operating mechanism 3, a bracket 40, an inertia adjustment system, a detachable and replaceable brake mounting flange 6, a detachable and replaceable armature mounting column 7 and a brake to be tested 8. The tachometer 2 is connected to the motor 1 for speed measurement and both are located at the two end sides of the bracket 40 with the brake to be tested 8, respectively. The unidirectional operating mechanism 3 and the inertia adjustment system are arranged in the bracket 40, and the axial centers of the unidirectional operating mechanism 3, the inertia adjustment system, the axial center of the detachable and replaceable armature mounting column 7, the axial center of the brake to be tested 8 and the axial center of the motor 1 are located on the same axial center line. The motor 1, the tachometer 2 and the brake to be tested 8 are electrically connected to the control system, respectively. The brake to be tested is connected to the bracket center mounting connection column 41 through a replaceable armature mounting column and a detachable and replaceable brake mounting flange. The detachable and replaceable brake mounting flange 6 is installed and connected at the outer end face of the axial center of the bracket 40, the brake 8 to be tested is installed and connected at the outer side of the detachable and replaceable brake mounting flange 6, and one end of the replaceable armature mounting column 7 is connected to the brake 8 to be tested, and the other end passes through the detachable and replaceable brake mounting flange 6 and is connected to the bracket center mounting connection column 41. The bracket 40 includes a bracket column 4, a bracket first end panel 44 and a bracket second end panel 45, and a plurality of bracket columns 4 are connected at the inner edge position between the bracket first end panel 44 and the bracket second end panel 45. The detachable and replaceable brake mounting flange 6 is installed and connected at the center area of ​​the outer side face of the bracket first end panel 44, and a bracket center mounting connection column 41 is connected between the centers of the bracket first end panel 44 and the bracket second end panel 45. One end of the bracket center mounting connection column 41 is connected to an inertia adjustment system 5, and the bracket The other end of the central mounting connecting column 41 is connected with a clamping sleeve 42, which is used to ensure that the mounted inertia adjustment system 5 does not produce axial movement. The central area of ​​the outer side surface of the first end panel 44 of the bracket is provided with an inwardly recessed columnar groove, and a bearing 43 is provided on the columnar groove. The bearing 43 adopts a deep groove ball bearing, and the inner circumference of the bearing 43 is connected to the end of the central mounting connecting column 41 of the bracket; the inner end surface of the second end panel 45 of the bracket has an inwardly recessed second end panel groove 451, and the second end panel groove 451 is provided with a one-way running mechanism 3. The central mounting connecting column 41 of the bracket is provided with a limit long groove in the same direction as the length of the central mounting connecting column 41 of the bracket, and a rotation stop limit body 46 is embedded in the limit long groove, and the rotation stop limit body 46 is used to prevent the inertia adjustment system from rotating.The inertia adjustment system includes a bracket center mounting connecting column 41, a clamping sleeve 42, a stopper 46 and an inertia disc 5, wherein the bracket center mounting connecting column 41 is used as the bracket mounting axis and also as the inertia disc 5 mounting column of the inertia adjustment system, the stopper 46 is used to prevent the inertia disc from rotating on the bracket center mounting connecting column, and the clamping sleeve 42 is used to ensure that the mounted inertia disc does not produce axial movement. The inertia disc is composed of multiple layers of disc-shaped inertia discs 5, and the inertia adjustment is achieved by adjusting the number of layers of the installed inertia discs 5. The connecting column 41 installed in the center of the bracket has a connecting column base 412 and a connecting column body 411. The outer periphery of the front end of the connecting column body 411 is connected to the bearing 43, and the front end of the connecting column body is provided with a mounting connecting groove for connecting a detachable and replaceable armature mounting column; the bottom end of the connecting column body is connected to the connecting column base, and the outer bottom end surface of the connecting column base has a plurality of outwardly extending bosses 413. The one-way running mechanism 3 is connected to the second end panel 45 of the bracket constituting the bracket through the outwardly extending bosses 413. The second end panel 45 of the bracket has a second end panel groove 451 and a through slot 452 in the axial center, and the rotating shaft of the motor 1 is connected to the one-way running mechanism 3 arranged in the second end panel groove 451 through the through slot 452. The detachable and replaceable armature mounting column 7 includes a mounting column main body and a mounting column split. A limiting slot is provided at the bottom end of the mounting column main body. A mounting column split is provided in the limiting slot. The mounting column split includes a cylindrical upper split 71 and a cylindrical lower split 72. The outer circumference of the cylindrical upper split 71 is larger than the outer circumference of the cylindrical lower split 72. The length of the cylindrical lower split is larger than the length of the cylindrical upper split. The limiting slot has an accommodating space for accommodating the cylindrical upper split and the cylindrical lower split, and the cylindrical lower split passes downward through the notch surface at the bottom end of the limiting slot.

[0020] When the control system is in use, the following device test control method is executed: 1. Turn on the main switch and the control system resets the cycle execution signal; 2. Turn on the action switch, the control system detects that the cycle executable signal has been reset, and executes the cycle program; 3. The loop program is cycled as follows 3.1 The control system gives the motor driver a target speed, the motor rotates forward, drives the inertia disk to run, and makes the inertia disk reach the specified speed and have the required kinetic energy; 3.2 After the control system detects that the target speed has been reached, it gives the motor driver a low-speed reverse command, and through the action of the one-way running mechanism, it disconnects from the inertia disk to prepare for braking; 3.3 After the control system issues a reverse command and detects the reverse speed, the control system issues a brake command and starts a countdown. The brake performs braking and converts the kinetic energy of the inertia disc into the braking work of the brake; 3.4 When the timing ends, the control system issues a brake release command and resets the cycle executable signal, and the brake is released.

[0021] Figure 1 , Figure 2 , Figure 3 , Figure 4 In the embodiment shown, a brake life test method includes sequentially performing the following test steps: A1. Install and connect the connection structure of the brake life test device according to Example 1 to form a brake life test device; A2. Import the parameters that need to be tested into the control system. The parameters to be tested include additional inertia, target speed of the inertia disc and number of controller braking times. Additional inertia is also the inertia of the inertia disc. A3. After receiving the imported parameter detection requirements, the control system issues a command to set the motor speed, controls the motor to rotate forward, and feeds back the real-time speed to the control system; A4. After the control system receives the real-time speed feedback and determines that the motor is rotating at the specified speed, it issues a command to control the motor to reverse at a low speed, sets the motor's low-speed reverse speed, and feeds back the real-time speed to the control system; A5. After the control system receives the feedback of the real-time reverse speed and determines that the motor is reversing at a low speed, the control system sets the braking voltage and issues a command to control the braking; A6. After the brake delay reaches the set time, the control system removes the brake voltage and issues a command to release the brake; A7. After the brake release delay reaches the set time, the control system returns to the loop to execute the above steps A3 to A6.

[0022] In the above steps A3 to A6, the motor drives the inertia disk to rotate when it rotates forward, and disconnects from the inertia disk when it rotates reversely, in preparation for the execution of the brake; when the brake is applied, the kinetic energy of the inertia disk is converted into the braking work of the brake; when the brake is applied, the output torque of the motor will not act on the brake; when the brake is released, a signal is given to the control system that the current cycle ends and the next test cycle can be started. Others are the same as in Example 1.

Claims

1. A brake life test device, characterized in that: The invention comprises a motor, a tachometer, a unidirectional operating mechanism, a bracket, an inertia adjustment system, a detachable and replaceable brake mounting flange, a detachable and replaceable armature mounting column and a brake to be measured. The tachometer is connected to the motor for speed measurement and is respectively located at two end sides of the bracket with the brake to be measured. The unidirectional operating mechanism and the inertia adjustment system are arranged in the bracket. The axial centers of the unidirectional operating mechanism, the inertia adjustment system, the axial center of the detachable and replaceable armature mounting column, the axial center of the brake to be measured and the axial center of the motor are located on the same axial center line. The motor, the tachometer and the brake to be measured are respectively electrically connected to the control system. The brake to be measured is connected to the central mounting connection column of the bracket through the replaceable armature mounting column and the detachable and replaceable brake mounting flange.

2. The brake life test device according to claim 1, characterized in that: The removable and replaceable brake mounting flange is arranged at the outer end face of the axial center of the bracket, the brake to be tested is arranged at the outer side face of the removable and replaceable brake mounting flange, one end of the replaceable armature mounting column is connected to the brake to be tested and the other end passes through the removable and replaceable brake mounting flange and is connected to the center mounting connecting column of the bracket.

3. The brake life test device according to claim 1, characterized in that: The bracket includes a bracket column, a first end panel of the bracket and a second end panel of the bracket. A plurality of bracket columns are connected at the inner edge position between the first end panel of the bracket and the second end panel of the bracket. A detachable and replaceable brake mounting flange is arranged at the central area of ​​the outer side surface of the first end panel of the bracket. A bracket central mounting connecting column is connected between the centers of the first end panel of the bracket and the second end panel of the bracket. An inertia adjustment system is connected to one end of the bracket central mounting connecting column. A clamping sleeve is arranged at the other end of the bracket central mounting connecting column. The clamping sleeve is used to ensure that the mounted inertia adjustment system does not produce axial movement. An inwardly recessed columnar groove is provided at the central area of ​​the outer side surface of the first end panel of the bracket. A bearing is arranged on the columnar groove. The inner circumferential surface of the bearing is connected to the end head of the bracket central mounting connecting column. The inner end surface of the second end panel of the bracket has an inwardly recessed second end panel groove. A one-way running mechanism is arranged in the second end panel groove.

4. The brake life test device according to claim 3, characterized in that: The bracket center mounting connecting column is provided with a limiting long groove in the same direction as the length of the bracket center mounting connecting column, and a rotation-stopping limiting body is provided in the limiting long groove, and the rotation-stopping limiting body is used to prevent the inertia adjustment system from rotating.

5. The brake life test device according to claim 1, 3 or 4, characterized in that: The inertia adjustment system includes a bracket center mounting connecting column, a clamping sleeve, a stopper and an inertia disk, wherein the bracket center mounting connecting column serves as the bracket mounting axis and also serves as the inertia disk mounting column of the inertia adjustment system, the stopper is used to prevent the inertia disk from rotating on the bracket center mounting connecting column, the clamping sleeve is used to ensure that the mounted inertia disk does not produce axial movement, the inertia disk is formed by stacking multiple layers of disc-shaped inertia disks, and the inertia adjustment is achieved by adjusting the number of layers of the installed inertia disks.

6. The brake life test device according to claim 3 or 4, characterized in that: The central mounting connecting column of the bracket comprises a connecting column base and a connecting column body, the outer periphery of the front end of the connecting column body is connected to the bearing, and the front end of the connecting column body is provided with an installation connecting groove for connecting a detachable and replaceable armature mounting column; the bottom end of the connecting column body is connected to the connecting column base, and the outer bottom end surface of the connecting column base has a plurality of outwardly extending protrusions, and the one-way running mechanism is connected to the second end panel of the bracket constituting the bracket through the outwardly extending protrusions, and the axial center of the second end panel of the bracket has a second end panel groove and a through slot, and the motor shaft is connected to the one-way running mechanism arranged in the groove of the second end panel through the through slot.

7. The brake life test device according to claim 1, characterized in that: The detachable and replaceable armature mounting column comprises a mounting column body and a mounting column split, a limiting slot is provided at the bottom end of the mounting column body, a mounting column split is provided in the limiting slot, the mounting column split comprises a cylindrical upper split and a cylindrical lower split, the outer circumference of the cylindrical upper split is greater than the outer circumference of the cylindrical lower split, the length of the cylindrical lower split is greater than the length of the cylindrical upper split, the limiting slot has an accommodating space for accommodating the cylindrical upper split and the cylindrical lower split, and the cylindrical lower split passes downwardly through the notch surface at the bottom end of the limiting slot.

8. A brake life test method, characterized in that The test steps are as follows: A1. The connection structure of the brake life test device according to any one of claims 1 to 7 is installed and connected to form a brake life test device; A2. Import the parameters that need to be tested into the control system. The parameters to be tested include additional inertia, target speed of the inertia disc and number of controller braking times. Additional inertia is also the inertia of the inertia disc. A3. After receiving the imported parameter detection requirements, the control system issues a command to set the motor speed, controls the motor to rotate forward, and feeds back the real-time speed to the control system; A4. After the control system receives the real-time speed feedback and determines that the motor is rotating at the specified speed, it issues a command to control the motor to reverse at a low speed, sets the motor's low-speed reverse speed, and feeds back the real-time speed to the control system; A5. After the control system receives the feedback of the real-time reverse speed and determines that the motor is reversing at a low speed, the control system sets the braking voltage and issues a command to control the brake; A6. After the brake delay reaches the set time, the control system removes the brake voltage and issues a command to release the brake; A7. After the brake release delay reaches the set time, the control system returns to the loop to execute the above steps A3 to A6.

9. The brake life test method according to claim 8, characterized in that: In the above steps A3 to A6, the motor drives the inertia disk to rotate when it rotates forward, and disconnects from the inertia disk when it rotates reversely, in preparation for brake application; when the brake is applied, the kinetic energy of the inertia disk is converted into the braking work of the brake; when the brake is applied, the output torque of the motor will not act on the brake; when the brake is released, a signal is given to the control system that the current cycle ends and the next test cycle can be started.

Images