Robot Brake Control for Predicting Torque Loss and Posture Collapse
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Worn-out braking units in robotic mechanisms can lead to insufficient torque, causing the posture of robots to collapse due to inadequate braking, which existing control systems fail to predict and prevent effectively.
Innovation Solution
A control apparatus with driving and braking means, including a control unit that manages a braking release period to maintain and change the rotation position of a robot, and an abnormality determination unit that calculates and predicts insufficient braking torque by analyzing the attraction time and command time, notifying users and stopping the mechanism when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the braking unit is used continuously to maintain robot posture, then the braking torque decreases due to wear, but the robot posture stability is compromised
Solution Approach 1:
The control apparatus performs preliminary detection of braking unit wear by monitoring attraction time and calculating braking torque before actual posture collapse occurs. This allows proactive replacement of the braking unit while it is still functional, preventing the contradiction between continuous use and torque degradation.
2Reliability
If the braking unit is monitored continuously to detect wear, then insufficient braking torque can be predicted, but the system complexity increases
Solution Approach 1:
The control apparatus uses feedback from the attraction time measurement to calculate braking torque and detect wear. The system continuously monitors the time required to attract the armature to the rotor, compares it against thresholds, and adjusts control actions accordingly, enabling reliable wear detection through a relatively simple feedback mechanism.
3Measurement precision
If the attraction time is measured to calculate braking torque, then wear detection becomes possible, but the measurement precision requirements increase
Solution Approach 1:
The system monitors changes in attraction time as a parameter that correlates with braking unit wear. By tracking the variation of this parameter over time and comparing it against predetermined thresholds, the system can detect wear and calculate braking torque without requiring extremely high measurement precision at any single moment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Effectively prevents robotic posture collapse by predicting and addressing insufficient braking torque, ensuring the robot's stability and safety by notifying users and stopping the mechanism when abnormal conditions are detected.
Implementation Method 1
a braking unit that brakes the actuator; the braking unit includes an electromagnetic coil and an armature that is attracted by the electromagnetic coil
Data Source
AI summary
A control apparatus includes driving means for rotationally driving a predetermined mechanism, braking means for braking the driving means by pressing a pressing unit against a rotation unit of the driving means, and control means for, in order to change rotation position of the predetermined mechanism, controlling the driving means in a braking release period in which the pressing unit is returned to a predetermined position to temporarily maintain the rotation position of the predetermined mechanism, and then driving the predetermined mechanism to thereby change the rotation position. The control apparatus performs at least one of notification to the user, braking of the predetermined mechanism, and stopping of the driving means when a command time for the driving means at the time of temporarily maintaining the rotation position of the predetermined mechanism is longer than or equal to a predetermined time.