Bolt type brake test equipment

Abstract

The utility model relates to the collaborative robot field, and provides a bolt type brake test device comprising a torque sensor, an induction switch, a brake module and a motor, the brake module comprises a bolt type solenoid valve and a brake chuck, the motor drives the brake chuck to rotate, the bolt type solenoid valve is switched between a pull-in state and a release state, and the motor drives the brake chuck to rotate. The bolt type electromagnetic valve and the brake chuck are switched between a separation state and a brake state; the bolt type electromagnetic valve is fixedly connected with the torque sensor, and the torque sensor senses the braking torque of the bolt type electromagnetic valve in a braking state; the bolt type electromagnetic valve is electrically connected with the inductive switch, and the inductive switch inducts the braking frequency of the bolt type electromagnetic valve for switching the pull-in state and the release state. According to the utility model, the brake module simulates the brake working condition of the type for testing, the actual brake torque and brake times are visually displayed, the test direction of the brake is realized, and the device is suitable for various bolt brake sizes.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robots, specifically to a pin-type brake testing device. Background Technology

[0002] Traditional industrial robots use clamp brakes. Pin brakes are a more common type of brake in collaborative robots. The world's first collaborative robot was only invented in 2008. Because it's a relatively new technology, there isn't yet standardized testing equipment available for pin brakes compared to clamp brakes. Currently, in the collaborative robot field, pin brakes are mainly installed directly onto the robot joints for testing. This method is costly and cannot be compatible with testing multiple signals because the brake size varies for each joint.

[0003] A search revealed a Chinese utility model patent with patent number CN212872795U, which discloses a load inertia simulation disk and a motor testing device, belonging to the field of motor testing technology. The load inertia simulation disk includes a shell, a mass block, a transmission disk, and a driving component. The shell has a hollow cylindrical structure with insertion holes on its circumferential sidewalls. The mass block slides radially on the outside of the shell. The transmission disk is rotatably disposed inside the shell, with a spiral groove on one side and a first tooth on the other. A protrusion on the mass block engages with the groove. The driving component is inserted radially into the insertion hole, and a second tooth is provided circumferentially on the driving component. A motor testing device includes the load inertia simulation disk, a motor under test, a torque sensor, a speed sensor, and a load motor. This patent primarily uses a driving component to rotate the transmission disk, which in turn drives the cooperating mass block to slide radially on the shell, thereby detecting the motor's load inertia. However, this application falls under a different technical field and is not suitable for torque detection in pin-type brakes. Utility Model Content

[0004] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a pin-type brake testing device.

[0005] According to the present invention, a pin-type brake testing device includes: a torque sensor, an inductive switch, a brake module and a motor. The brake module includes a pin-type solenoid valve and a brake chuck. The motor drives the brake chuck to rotate. The pin-type solenoid valve switches between an engaged state and a released state. The pin-type solenoid valve and the brake chuck switch between a disengaged state and a braking state.

[0006] The pin-type solenoid valve is securely connected to the torque sensor, which senses the braking torque of the pin-type solenoid valve in the braking state.

[0007] The pin-type solenoid valve is electrically connected to the inductive switch, and the inductive switch senses the number of times the pin-type solenoid valve switches between the engaged and released states.

[0008] Preferably, when the pin-type solenoid valve is in the engaged state, the pin-type solenoid valve is not in contact with the brake chuck, and the brake chuck rotates by the drive of the motor.

[0009] When the pin-type solenoid valve is in the released state, the pin-type solenoid valve locks the brake chuck, and the torque sensor senses the braking torque of the pin-type solenoid valve.

[0010] When the pin-type solenoid valve switches from the released state to the engaged state, the inductive switch senses the number of braking cycles.

[0011] Preferably, the brake module further includes a counterweight and a rotating shaft. The counterweight is locked onto the rotating shaft, one end of the rotating shaft is connected to the brake chuck, and the other end of the rotating shaft is connected to the motor via a coupling.

[0012] Preferably, the plug-in solenoid valve is electrically connected to a timer, which controls the plug-in solenoid valve to switch between the engaged and disengaged states.

[0013] When the pin-type solenoid valve is in the engaged state, the pin-type solenoid valve is separated from the brake chuck, and the brake chuck rotates by the drive of the rotating shaft.

[0014] When the pin-type solenoid valve is in the released state, the pin-type solenoid valve and the brake chuck are in the braking state, and the brake chuck engages the pin-type solenoid valve.

[0015] Preferably, the motor pulse is connected to the driver, and the driver is connected to the power supply;

[0016] The driver is equipped with a direction control port, which is connected to the motor via a line electrical signal. The motor is controlled by the line electrical signal to switch between forward and reverse rotation.

[0017] Preferably, the brake module is provided with a protective cover on its upper side, the protective cover is slidably connected to the fixed base, the fixed base is respectively provided on both sides of the rotating shaft, and the protective cover is provided with a handle;

[0018] The protective cover slides between the first and second positions of the fixed base. When the protective cover is in the first position, the brake chuck is located outside the protective cover; when the protective cover is in the second position, the brake chuck is located inside the protective cover.

[0019] Preferably, it also includes a brake torque display and a counter, wherein the brake torque display is connected to the torque sensor signal and the counter is connected to the inductive switch signal.

[0020] Preferably, it also includes a slide rail module, which includes a slide rail, a slider, a mounting base, a first support plate, and a second support plate. A matching slider is slidably connected to the slide rail, and a mounting base is installed on the slider. The first support plate is connected to one side of the mounting base, and the second support plate is fixed to the other side of the mounting base. A torque sensor is installed on the first support plate, and an inductive switch is installed on the second support plate.

[0021] Preferably, the torque sensor is connected to the mounting plate via a bearing. The mounting plate has mounting holes, and a pin-type solenoid valve is installed in the mounting holes. The pin-type solenoid valve is configured to correspond with the inductive switch.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) This application simulates the braking conditions of this type by using a braking module, and displays the actual braking torque intuitively by using a torque sensor and a brake torque display.

[0024] (2) This application accurately detects the number of braking times by connecting the induction switch and the plug-in solenoid valve, and displays the result intuitively through a counter, which is more accurate and user-friendly.

[0025] (3) This application uses a driver to control the motor with pulses and direction, thus realizing the test direction of the brake. It is a multi-purpose machine, and the protective cover effectively improves safety.

[0026] (4) This application replaces the counterweights based on the inertia of the motor rotor in the joint module of the collaborative robot, expands the braking test range, and adapts to various pin brake sizes. Attached Figure Description

[0027] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0028] Figure 1 This is a schematic diagram of the structure of this utility model;

[0029] Figure 2 This is a partial structural diagram of the present invention;

[0030] Figure 3 This is a schematic diagram showing the connection between the pin-type solenoid valve and the brake chuck of this utility model.

[0031] The diagram shows: torque sensor 1, inductive switch 2, brake module 3, pin-type solenoid valve 31, brake chuck 32, protective cover 4, counterweight 40, rotating shaft 41, brake torque display 5, counter 6, motor 7, timer 8, slide rail module 9, driver 10, power supply 11, and power switch 12. Detailed Implementation

[0032] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0033] Example 1

[0034] According to the present invention, a pin-type brake testing device is provided, such as... Figure 1-3 The system includes: a torque sensor 1, a sensing switch 2, a brake module 3, a brake torque display 5, a counter 6, a motor 7, a timer 8, a slide rail module 9, a driver 10, a power supply 11, and a power switch 12. The torque sensor 1, sensing switch 2, and the pin-type solenoid valve 31 on the brake module 3 are respectively connected to the slide rail module 9. The torque sensor 1 is securely connected to the pin-type solenoid valve 31, and the sensing switch 2 is electrically connected to the pin-type solenoid valve 31. The power supply 11 provides power to all components, and the power switch 12 controls the on / off state of the power supply 11. The power supply 11 is connected to the driver 10, which pulses to the motor 7. The driver 10 has a direction control port, which is connected to the motor 7 via a line electrical signal. The motor 7 is controlled by the line electrical signal to switch between forward and reverse rotation. The brake torque display 5 transmits and displays the brake torque sensed by the torque sensor 1, and the counter 6 displays the number of braking cycles sensed by the sensing switch 2.

[0035] The brake module 3 includes a pin-type solenoid valve 31, a brake chuck 32, a protective cover 4, a counterweight 40, and a rotating shaft 41. The torque sensor 1 is connected to a mounting plate via a bearing. The mounting plate has mounting holes on which a pin-type solenoid valve 31 is installed. The pin-type solenoid valve 31 is correspondingly positioned with the inductive switch 2, and is located within the sensing range of the inductive switch 2. The pin-type solenoid valve 31 is electrically connected to a timer 8. The timer 8 controls the pin-type solenoid valve 31 to switch between an engaged and disengaged state, and senses the number of braking cycles during the switching between the engaged and disengaged states via the inductive switch 2. When the pin-type solenoid valve 31 is in the engaged state, the pin-type solenoid valve 31 is in the disengaged state from the brake chuck 32. The motor 7 drives the rotating shaft 41 to rotate, and the rotating shaft 41 drives the brake chuck 32 to rotate. When the pin-type solenoid valve 31 is in the released state, the pin-type solenoid valve 31 locks the brake chuck 32 to achieve braking. The torque sensor 1 senses the braking torque of the pin-type solenoid valve 31.

[0036] The counterweight 40 consists of two C-shaped metal blocks, which are screwed onto the rotating shaft 41. One end of the rotating shaft 41 is connected to the brake chuck 32 mounted on the support, and the other end drives the motor 7 via a coupling. The moment of inertia of the counterweight 40 is equal to the moment of inertia of the motor rotor inside the collaborative robot's joint module. The formula for calculating the torque and moment of inertia of the brake chuck 32 is: T = Jβ, where J is the moment of inertia and β is the angular acceleration. The counterweight 40 and the rotating shaft 41 provide the inertia, and the motor 7 provides the angular acceleration, thus simulating the braking torque.

[0037] The upper side of the brake module 3 is provided with a protective cover 4, which is slidably connected to the fixed base. The fixed base is respectively located on both sides of the rotating shaft 41. The protective cover 4 is provided with a handle. The protective cover 4 is limited to sliding between the first position and the second position of the fixed base. When one end of the protective cover 4 is in the first position, the brake chuck 32 is located outside the protective cover 4. When one end of the protective cover 4 is in the second position, the brake chuck 32 is located inside the protective cover 4.

[0038] The slide rail module 9 is fixed with a torque sensor 1, a sensor switch 2, and a pin-type solenoid valve 31 connected to the brake module 3. The slide rail module 9 is used for quick position switching; when replacing the brake, the parts fixed on the slide rail can be moved as a whole, making it easy to quickly free up space; after replacement, it is easy to quickly reset. The slide rail module 9 includes a slide rail, a slider, a mounting base, a first support plate, and a second support plate. A matching slider is slidably connected to the slide rail 9. A mounting base is installed on the slider. The first support plate is connected to one side of the mounting base, and the second support plate is fixed to the other side of the mounting base. The torque sensor 1 is installed on the first support plate, and the sensor switch 2 is installed on the second support plate, with the sensor switch 2 located above the torque sensor 1 on the plane.

[0039] More specifically, both the torque sensor 1 and the inductive switch 2 are existing technologies. The inductive switch 2 remains stationary. During braking, the inductive switch 2 senses each movement of the pin-type solenoid valve 31. The principle of the inductive switch 2 is based on the interaction between the power switch and the sensing element. When an object moves into the sensing range of the inductive element, the inductive element detects the change in the magnetic field, converts it into a voltage signal, and then transmits it to the switch, thereby triggering it to open.

[0040] Working principle: The testing method includes the following specific steps:

[0041] S1. Select a counterweight 40 with the same inertia as the motor rotor inside the joint of the collaborative robot, fasten the matching counterweight 40 to the rotating shaft 41 with screws, and install the brake chuck 32 onto the support.

[0042] S2. Power supply 11 is turned on by power switch 12. Driver 10 controls the rotation direction of motor 7. Motor 7 drives rotating shaft 41 to rotate. Rotating shaft 41 drives brake chuck 32 to rotate.

[0043] S3, the time-continuing electrical appliance 8 controls the pin-type solenoid valve 31 to release within a specified time. When the pin-type solenoid valve 31 is released, it engages with the brake chuck 32, and the brake chuck 32 achieves braking. The torque sensor 1 senses the braking torque of the pin-type solenoid valve 31 and transmits it to the brake torque display 5 for intuitive display of the braking torque.

[0044] S4. When the pin-type solenoid valve 31 switches from the released state to the engaged state, the induction switch 2 senses the number of braking times of the pin-type solenoid valve 31 and transmits it to the counter 6 for intuitive display of the number of braking times.

[0045] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0046] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A pin-type brake testing device, characterized in that, include: The system includes a torque sensor (1), a sensor switch (2), a brake module (3), and a motor (7). The brake module (3) includes a pin-type solenoid valve (31) and a brake chuck (32). The motor (7) drives the brake chuck (32) to rotate. The pin-type solenoid valve (31) switches between an engaged state and a released state. The pin-type solenoid valve (31) and the brake chuck (32) switch between a disengaged state and a braking state. The pin-type solenoid valve (31) is fastened to the torque sensor (1), and the torque sensor (1) senses the braking torque of the pin-type solenoid valve (31) in the braking state; The pin-type solenoid valve (31) is electrically connected to the inductive switch (2), and the inductive switch (2) senses the number of times the pin-type solenoid valve (31) switches between the engaged and released states.

2. The pin-type brake testing device according to claim 1, characterized in that, When the pin-type solenoid valve (31) is in the energized state, the pin-type solenoid valve (31) is not in contact with the brake chuck (32), and the brake chuck (32) rotates under the drive of the motor (7); When the pin-type solenoid valve (31) is in the released state, the pin-type solenoid valve (31) locks the brake chuck (32), and the torque sensor (1) senses the braking torque of the pin-type solenoid valve (31). When the pin-type solenoid valve (31) switches from the released state to the engaged state, the inductive switch (2) senses the number of braking cycles.

3. The pin-type brake testing device according to claim 1, characterized in that, The brake module (3) also includes a counterweight (40) and a rotating shaft (41). The counterweight (40) is locked onto the rotating shaft (41). One end of the rotating shaft (41) is connected to the brake chuck (32), and the other end of the rotating shaft (41) is connected to the motor (7) via a coupling.

4. The pin-type brake testing device according to claim 3, characterized in that, The pin-type solenoid valve (31) is electrically connected to the time relay (8), and the time relay (8) controls the pin-type solenoid valve (31) to switch between the engaged state and the released state. When the pin-type solenoid valve (31) is in the engaged state, the pin-type solenoid valve (31) is in the disengaged state from the brake chuck (32), and the brake chuck (32) rotates under the drive of the rotating shaft (41); When the pin-type solenoid valve (31) is in the released state, the pin-type solenoid valve (31) and the brake chuck (32) are in the braking state, and the brake chuck (32) engages the pin-type solenoid valve (31).

5. The pin-type brake testing device according to claim 1, characterized in that, The motor (7) is pulse-connected to the driver (10), and the driver (10) is connected to the power supply (11); The driver (10) is provided with a direction control port, which is connected to the motor (7) via a line electrical signal. The motor (7) is controlled by the line electrical signal to switch between forward and reverse rotation.

6. The pin-type brake testing device according to claim 3, characterized in that, The brake module (3) is provided with a protective cover (4) on its upper side. The protective cover (4) is slidably connected to the fixed seat. The fixed seat is respectively located on both sides of the rotating shaft (41). The protective cover (4) is provided with a handle. The protective cover (4) is limited to sliding between the first position and the second position of the fixed seat. When the protective cover (4) is in the first position, the brake chuck (32) is located outside the protective cover (4); when the protective cover (4) is in the second position, the brake chuck (32) is located inside the protective cover (4).

7. The pin-type brake testing device according to claim 1, characterized in that, It also includes a brake torque display (5) and a counter (6), wherein the brake torque display (5) is signal-connected to the torque sensor (1) and the counter (6) is signal-connected to the inductive switch (2).

8. The pin-type brake testing device according to claim 1, characterized in that, It also includes a slide rail module (9), which includes a slide rail, a slider, a mounting base, a first support plate and a second support plate. The slider is slidably connected to the slide rail module (9), and the mounting base is installed on the slider. The first support plate is connected to one side of the mounting base, and the second support plate is fixed to the other side of the mounting base. The torque sensor (1) is installed on the first support plate, and the inductive switch (2) is installed on the second support plate.

9. The pin-type brake testing device according to claim 1, characterized in that, The torque sensor (1) is connected to the mounting plate via a bearing. The mounting plate has mounting holes, and a pin-type solenoid valve (31) is installed in the mounting holes. The pin-type solenoid valve (31) is correspondingly set with the inductive switch (2).

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