Multi-Motor Brake Sequencing for Lower Robot Shaft Peak Load
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Solution Overview
Problem
Existing drive devices with multiple motors face challenges in managing mechanical loads during braking operations, leading to peak load concentrations that can strain the mechanism unit, particularly in robots, where simultaneous activation of braking mechanisms results in excessive loads.
Innovation Solution
A drive device with a first and second motor, each equipped with a braking mechanism, and a brake controller that coordinates the braking operations to initiate the first brake operation before the second, dispersing the peak load by controlling the timing of the braking forces applied by the first and second braking mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple braking mechanisms are activated simultaneously to stop the operation shaft, then the braking effectiveness is improved, but the peak load applied to the mechanism unit increases excessively
Solution Approach 1:
The braking process is segmented into multiple phases with different braking mechanisms activated sequentially. The brake controller divides the braking task among multiple braking mechanisms, activating them at different timings rather than simultaneously, which disperses the peak load while maintaining overall braking effectiveness.
Solution Approach 2:
The brake controller activates braking mechanisms in a predetermined sequence based on their characteristics. By performing preliminary actions in a specific order (some braking mechanisms activated before others), the system optimizes the load distribution and prevents excessive peak loads while achieving reliable braking.
2Loss of time
If multiple braking mechanisms are activated simultaneously, then the stopping distance is reduced, but the mechanical stress on the mechanism unit increases
Solution Approach 1:
The braking system employs dynamic control where the activation timing of each braking mechanism is adjusted based on real-time conditions and pre-set characteristics. The brake controller dynamically manages the engagement sequence to balance stopping distance requirements with mechanical stress limitations.
Solution Approach 2:
The system changes the timing parameter of braking mechanism activation. By adjusting when each braking mechanism engages relative to others, the system optimizes the balance between stopping distance and mechanical stress, preventing excessive peak loads while maintaining effective braking performance.
Data Source
AI summary
A drive device capable of allowing a brake operation of a braking mechanism of the drive device to suppress a mechanical load applied to a mechanism unit (i.e., a robot mechanical section) provided with the drive device. The drive device includes a first braking mechanism provided in a first motor to execute a first brake operation on an operation shaft, a second braking mechanism provided in a second motor to execute a second brake operation on the operation shaft, and a brake controller configured to control the first braking mechanism and the second braking mechanism to allow the first brake operation and the second brake operation to be continuously executed after starting the first brake operation before starting the second brake operation.