Band-type brake detection device and method applied to industrial robot

Abstract

The invention relates to the technical field of industrial robots, in particular to a band-type brake detection device and method applied to an industrial robot, and the device comprises a one-out-of-six data selector, a filter, a one-to-six data distributor and a time sequence control unit. According to the band-type brake current detection method, the first band-type brake current detection is carried out, the first detection completion signal is sent out after the first band-type brake detection is completed to start the second band-type brake current detection, and the rest can be done in the same way to complete the sequential detection of the six band-type brake currents, so that six current detection modules do not need to be used through the sequential detection of the six band-type brake currents; the motor band-type brake state is detected by adopting a current detection mode, so that whether the band-type brake is broken or not can be judged, potential problems and risks can be eliminated according to the magnitude of the current, and the technical problem that erroneous judgment is easy to occur when the band-type brake state is detected by adopting voltage is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and particularly to a brake detection device and method applied to industrial robots. Background Art

[0002] As a joint axis of an industrial robot, motors with brakes are widely used. The opening and closing of the brake are usually achieved by the driver controlling a 24V voltage through a MOS transistor (Metal-Oxide-Semiconductor Field-Effect Transistor).

[0003] In the actual production process, there are cases where the brake cable is poorly connected or broken, which can easily cause the motor to operate in an abnormal locked-rotor state. Therefore, it is necessary to detect the state of the brake. The common detection method for the state of the brake is to detect the voltage, that is, to detect whether the voltage across the DS terminals of the MOS transistor is 24V or 0V to determine whether the brake is open or closed.

[0004] However, the above method of detecting whether the voltage across the DS terminals of the MOS transistor is 24V or 0V can only determine the switching state of the MOS transistor, but the switching state of the MOS transistor is not equivalent to the switching state of the brake. For example, misjudgment will occur when the brake cable is not connected, so the accurate detection of the state of the brake cannot be achieved.

[0005] Based on the disadvantages of the voltage detection method, this patent proposes a current detection method for detecting the brake current of a six-axis robot. The current detection result is a digital quantity, which can not only be used to determine whether the brake is disconnected, but also can eliminate potential problems and risks according to the current magnitude, and has the advantages of fast detection speed, low software resource consumption, and high detection accuracy. Summary of the Invention

[0006] The purpose of the present invention is to provide a brake detection device and method applied to industrial robots, which solves the technical problem that the existing method of detecting whether the voltage across the DS terminals of the MOS transistor is 24V or 0V can only determine the switching state of the MOS transistor, but the switching state of the MOS transistor is not equivalent to the switching state of the brake. For example, misjudgment will occur when the brake cable is not connected, so the accurate detection of the state of the brake cannot be achieved.

[0007] To achieve the above object, in a first aspect, the present invention provides a brake detection device for an industrial robot, including a six-to-one data selector, a filter, a pair of six-data distributors, and a timing control unit. The six-to-one data selector, the filter, and the pair of six-data distributors are connected in sequence, and the timing control unit is connected to the six-to-one data selector, the filter, and the pair of six-data distributors respectively;

[0008] The six-to-one data selector is configured to select one of the six input signals as the output and output this signal to the filter;

[0009] The filter is configured to perform current detection on the received signal to obtain a specific current value and output this current value to the pair of six-data distributors;

[0010] The pair of six-data distributors is configured to determine which corresponding path to output the received current value according to which path signal detection is effective currently;

[0011] The timing control unit is configured to control the start sequence of the six input signals input to the six-to-one data selector.

[0012] Wherein, the filter is a sinc3 filter.

[0013] Wherein, the filter is composed of three cascaded integrators, downsampling, and three cascaded differentiators.

[0014] Wherein, the downsampling rate of the filter is 1 / 256.

[0015] Wherein, the brake detection device for an industrial robot further includes a register, and the register is connected to the pair of six-data distributors for storing the detected current value result.

[0016] Wherein, the number of the registers is six, and the current value results obtained from each path of input signals are respectively stored in the corresponding one of the registers.

[0017] In a second aspect, the present invention further provides a brake detection method for an industrial robot, including the following steps:

[0018] First, send a first path brake current detection start signal to perform the first path brake current detection;

[0019] After the first path current detection is completed, assign the detection result to the first path brake current register and start the second path brake current detection;

[0020] The detection of the second path of current is completed, and the detection result is assigned to the second brake current register and the detection of the third brake current is started;

[0021] The detection of the third path of current is completed, and the detection result is assigned to the third brake current register and the detection of the fourth brake current is started;

[0022] The detection of the fourth path of current is completed, and the detection result is assigned to the fourth brake current register and the detection of the fifth brake current is started;

[0023] The detection of the fifth path of current is completed, and the detection result is assigned to the fifth brake current register and the detection of the sixth brake current is started;

[0024] The detection of the sixth path of current is completed, and the detection result is assigned to the sixth brake current register and the detection of the first brake current in the second round is started;

[0025] Repeat the above detection process to make the whole detection process loop and detect continuously, so as to realize the real-time detection of the motor brake state of the industrial robot.

[0026] A brake detection device and method applied to an industrial robot according to the present invention. The present invention adopts a pipeline working mode. After the start signal of the first path of detection is sent out, the detection of the first brake current is carried out. After the detection of the first brake is completed and the first detection completion signal is sent out to start the second brake current detection, and so on, the detection of the six paths of brake currents is completed in sequence. By detecting the six paths of brake currents in sequence, six current detection modules are not needed, thus reducing the occupation of logic resources. By adopting the current detection method to detect the brake state of the motor of the industrial robot, it can not only be used to judge whether the brake is disconnected, but also eliminate potential problems and risks according to the magnitude of the current, and solves the technical problem that the brake state of the existing motor is prone to misjudgment when voltage detection is adopted. Brief Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0028] Figure 1 It is the detection framework diagram of the brake detection device applied to the industrial robot in the first embodiment of the present invention.

[0029] Figure 2 It is the detection timing diagram of the brake detection device applied to the industrial robot in the first embodiment of the present invention.

[0030] Figure 3 It is the structural schematic diagram of the filter of the brake detection device applied to the industrial robot in the first embodiment of the present invention.

[0031] Figure 4 It is a flowchart of the brake detection method for industrial robots in the second embodiment of the present invention.

[0032] In the figure: 101 - six - to - one data selector, 102 - filter, 103 - one - to - six data distributor, 104 - timing control unit, 105 - register. Specific implementation mode

[0033] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0034] The first embodiment:

[0035] Please refer to Figures 1 to 3 , in which Figure 1 is the detection framework diagram of the brake detection device for industrial robots in the first embodiment of the present invention, Figure 2 is the detection timing diagram of the brake detection device for industrial robots in the first embodiment of the present invention, Figure 3 is the structural schematic diagram of the filter 102 of the brake detection device for industrial robots in the first embodiment of the present invention. The present invention provides a brake detection device for industrial robots, including a six - to - one data selector 101, a filter 102, a one - to - six data distributor 103, a timing control unit 104, and a register 105.

[0036] In this embodiment, the present invention adopts a pipelined working mode. After the first - path detection start signal is sent out, the first - path brake current is detected. After the first - path brake detection is completed and the first - path detection completion signal is sent out to start the second - path brake current detection, and so on, the six - path brake currents are sequentially detected. By sequentially detecting the six - path brake currents, six current detection modules are not required, thereby reducing the occupation of logic resources. By using the current detection method to detect the brake state of the motor of the industrial robot, it can not only be used to judge whether the brake is disconnected, but also can eliminate potential problems and risks according to the magnitude of the current, solving the technical problem that the existing brake state of the motor is prone to misjudgment when using voltage detection.

[0037] Among them, the six - to - one data selector 101, the filter 102, and the one - to - six data distributor 103 are connected in sequence, and the timing control unit 104 is respectively connected to the six - to - one data selector 101, the filter 102, and the one - to - six data distributor 103;

[0038] The six-to-one data selector 101 is used to select one of the six input signals as the output and output this signal to the filter 102;

[0039] The filter 102 is used to perform current detection on the received signal to obtain a specific current value and output this current value to the one-to-six data distributor 103;

[0040] The one-to-six data distributor 103 is used to determine which corresponding path to output the received current value according to which path signal detection is effective currently;

[0041] The timing control unit 104 is used to control the start sequence of the six input signals input to the six-to-one data selector 101.

[0042] Secondly, the filter 102 is a sinc3 filter 102. The filter 102 is composed of three cascaded integrators, downsampling, and three cascaded differentiators. The downsampling rate of the filter 102 is 1 / 256.

[0043] At the same time, the input pin (CLK) of the clock signal of the filter 102 is the detection clock, and the frequency is 20M.

[0044] In addition, the register 105 is connected to the one-to-six data distributor 103 and is used to store the detected current value result. The number of the registers 105 is six, and the current value result obtained from each input signal is respectively stored in the corresponding one of the registers 105.

[0045] Finally, the current detection time for one input signal is 38.4 microseconds, and the current detection time for each round (six channels) of input signals is 230.4 microseconds.

[0046] When using a brake detection device for an industrial robot according to this embodiment, one of the six input signals is selected by the six-to-one data selector 101 as the output and output to the filter 102. After receiving this signal, the filter 102 can detect the current of the received signal to obtain a specific current value and output this current value to the one-to-six data distributor 103. Then, the one-to-six data distributor 103 can determine which register 105 of the corresponding path to output the received current value according to which path signal detection is effective, and store the detected current value result in the register 105. At this time, the timing control unit 104 can control the start sequence of the six input signals input to the six-to-one data selector 101, so that the pipeline working mode can be adopted. After the first detection start signal is sent, the first brake current detection is performed. After the first brake detection is completed and the first detection completion signal is sent to start the second brake current detection, and so on, the six-way brake current detections are completed in sequence.

[0047] The specific detection process is as follows: First, send the start signal for the first brake current detection to perform the first brake current detection. After the first current detection is completed, assign the detection result to the first brake current register 105 and start the second brake current detection. After the second current detection is completed, assign the detection result to the second brake current register 105 and start the third brake current detection. After the third current detection is completed, assign the detection result to the third brake current register 105 and start the fourth brake current detection. After the fourth current detection is completed, assign the detection result to the fourth brake current register 105 and start the fifth brake current detection. After the fifth current detection is completed, assign the detection result to the fifth brake current register 105 and start the sixth brake current detection. After the sixth current detection is completed, assign the detection result to the sixth brake current register 105 and start the first brake current detection in the second round. Repeat the above detection process to make the whole detection process cycle and detect continuously to realize the real-time detection of the motor brake state of the industrial robot. The detection time for each path is 38.4 microseconds, and the detection time for each round is 230.4 microseconds, that is, the update period of each path brake current is 230.4 microseconds, and the bit width is 24 bits.

[0048] In summary, the present invention adopts a pipelined working mode. After the start signal of the first-channel detection is sent, the first-channel brake current detection is carried out. After the first-channel brake detection is completed and the first-channel detection completion signal is sent to start the second-channel brake current detection, and so on, the sequential detection of the six-channel brake currents is completed. By sequentially detecting the six-channel brake currents, six current detection modules are not required, thereby reducing the occupation of logic resources. By adopting the current detection method to detect the brake state of the motor of the industrial robot, it can not only be used to judge whether the brake wire is broken, but also eliminate potential problems and risks according to the magnitude of the current, solving the technical problem that the brake state of the existing motor is prone to misjudgment when voltage detection is used.

[0049] Second Embodiment:

[0050] Based on the first embodiment, please refer to Figure 4 , Figure 4 which is the flowchart of the brake detection method applied to an industrial robot according to the second embodiment of the present invention. The present invention also provides a brake detection method applied to an industrial robot, including the following steps:

[0051] S101. First, send a start signal for the first-channel brake current detection and perform the first-channel brake current detection;

[0052] S102. After the first-channel current detection is completed, assign the detection result to the first-channel brake current register 105 and start the second-channel brake current detection;

[0053] S103. After the second-channel current detection is completed, assign the detection result to the second-channel brake current register 105 and start the third-channel brake current detection;

[0054] S104. After the third-channel current detection is completed, assign the detection result to the third-channel brake current register 105 and start the fourth-channel brake current detection;

[0055] S105. After the fourth-channel current detection is completed, assign the detection result to the fourth-channel brake current register 105 and start the fifth-channel brake current detection;

[0056] S106. After the fifth-channel current detection is completed, assign the detection result to the fifth-channel brake current register 105 and start the sixth-channel brake current detection;

[0057] S107. After the sixth-channel current detection is completed, assign the detection result to the sixth-channel brake current register 105 and start the first-channel brake current detection in the second round;

[0058] S108. Repeat the above detection process to make the whole detection process loop and detect continuously, realizing the real-time detection of the brake state of the motor of the industrial robot.

[0059] When using a brake detection method for an industrial robot according to this embodiment, by adopting a pipeline working mode, after the first detection start signal is sent, the first brake current detection is carried out. After the first brake detection is completed and the first detection completion signal is sent to start the second brake current detection, and so on, so that the sequential detection of six-way brake current can be completed. During the whole detection process, six current detection modules are not needed (when six current detection modules are used, a relatively large amount of logic resources of logic devices are occupied. Assuming that the resource amount occupied by one current detection module is N logic units, then the resource amount occupied by six current detection modules is 6 times the logic resources occupied by one current detection module, that is, 6*N). Furthermore, the occupation of logic resources is reduced. After optimization, its resource occupation amount is about N, and with the increase of the detection channels, the FPGA resource usage does not increase significantly. In this way, it can be conveniently extended to the detection of brake current with the number of channels greater than six, and the whole detection process takes less time. The current refresh period for each channel is 230.4 microseconds, and the current accuracy digit is as high as 24 bits.

[0060] What is disclosed above is only one or more preferred embodiments of the present application, and the scope of rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A brake detection device applied to an industrial robot, characterized in that it includes a six-to-one data selector, a filter, a pair of six-to-one data distributors, and a timing control unit. The six-to-one data selector, the filter, and the pair of six-to-one data distributors are connected in sequence, and the timing control unit is respectively connected to the six-to-one data selector, the filter, and the pair of six-to-one data distributors; the six-to-one data selector is used to select one of the six input signals as the output and output this signal to the filter; the filter is used to perform current detection on the received signal to obtain a specific current value and output this current value to the pair of six-to-one data distributors; the pair of six-to-one data distributors is used to decide which corresponding path to output the received current value according to which path signal detection is effective currently; the timing control unit is used to control the start sequence of the six input signals input to the six-to-one data selector.

2. The brake detection device applied to an industrial robot according to claim 1, characterized in that the filter is a sinc3 filter.

3. The brake detection device applied to an industrial robot according to claim 2, characterized in that the filter is composed of three cascaded integrators, downsampling, and three cascaded differentiators.

4. The brake detection device applied to an industrial robot according to claim 3, characterized in that the downsampling rate of the filter is 1 / 256.

5. The brake detection device applied to an industrial robot according to claim 1, characterized in that the brake detection device applied to an industrial robot further includes a register, and the register is connected to the pair of six-to-one data distributors for storing the detected current value result.

6. The brake detection device applied to an industrial robot according to claim 5, characterized in that the number of the registers is six, and the current value results obtained from each path of input signals are respectively stored in the corresponding one of the registers.

7. A brake detection method applied to an industrial robot, which is applied to the brake detection device for an industrial robot described in any one of claims 1 to 6, characterized in that, It includes the following steps: First, send a first path brake current detection start signal to perform the first path brake current detection; After the first path current detection is completed, assign the detection result to the first path brake current register and start the second path brake current detection; After the second path current detection is completed, assign the detection result to the second path brake current register and start the third path brake current detection; After the third path current detection is completed, assign the detection result to the third path brake current register and start the fourth path brake current detection; After the fourth path current detection is completed, assign the detection result to the fourth path brake current register and start the fifth path brake current detection; After the fifth path current detection is completed, assign the detection result to the fifth path brake current register and start the sixth path brake current detection; After the sixth path current detection is completed, assign the detection result to the sixth path brake current register and start the first path brake current detection of the second round; Repeat the above detection process to make the whole detection process cycle and detect continuously, so as to realize the real-time detection of the motor brake state of the industrial robot.

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