CN114310862B - Multi-joint robot brake locking management method - Google Patents
Multi-joint robot brake locking management method Download PDFInfo
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- CN114310862B CN114310862B CN202011077780.1A CN202011077780A CN114310862B CN 114310862 B CN114310862 B CN 114310862B CN 202011077780 A CN202011077780 A CN 202011077780A CN 114310862 B CN114310862 B CN 114310862B
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Abstract
The invention relates to a locking management method of a multi-joint robot brake, which is characterized in that the multi-joint robot comprises: a robotic arm and a plurality of joints; the receiving module is used for receiving a shutdown instruction; the determining module is used for determining the shutdown movement trend of the multi-joint robot; and the control module is used for controlling the joint of the multi-joint robot to reversely move in advance by a certain angle according to the shutdown movement trend and then controlling the multi-joint robot to shutdown. The beneficial effects of the invention are as follows: the multi-joint robot has small shutdown displacement and good safety.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a multi-joint robot and a control method thereof.
Background
With the development of society, robots are beginning to be widely used in various fields including home robots, industrial robots, and the like. Industrial robots include a robot arm and a plurality of joints, the joints including a driving motor and a brake, the brake including various types, such as a disc brake, an outer-holding brake, a band brake, a floating brake, etc., and the brake may have different braking gaps when performing a braking operation due to its different configuration. Industrial robots include various types, the environment that uses is also more diversified, for example traditional industrial robot is mainly applicable to manufacturing industry, for example all kinds of production lines, and novel cooperation robot is applicable to more scenes such as manufacturing industry, consumer industry, service industry, and the cooperation robot is the one that requires higher to the security, consequently needs accurate control its motion, avoids bumping, and especially when cooperation robot works in narrow and small space, the danger of bumping is higher, consequently needs the motion beyond the planning of accurate control robot as far as possible, avoids taking place, and increases the security risk of industrial robot operation.
Therefore, it is necessary to design a multi-joint robot which is not easy to cause collision and has good safety and a control method thereof.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a multi-joint robot which is less likely to cause collision and has high safety, and a control method thereof.
The invention adopts the following technical scheme: a multi-joint robot comprising a robotic arm and a plurality of joints, the joints comprising a brake, the multi-joint robot comprising: the receiving module is used for receiving a shutdown instruction; the determining module is used for determining the shutdown movement trend of the multi-joint robot; and the control module is used for controlling the joint of the multi-joint robot to reversely move in advance by a certain angle according to the shutdown movement trend and then controlling the multi-joint robot to shutdown.
Further, the determining module is configured to obtain a gravitational acceleration direction of the multi-joint robot, and determine the shutdown movement trend according to the gravitational acceleration direction.
Further, the determining module is configured to obtain setting information of a user to obtain a gravitational acceleration direction of the multi-joint robot, and determine the shutdown movement trend according to the gravitational acceleration direction.
Further, the determining module determines the shutdown movement trend by acquiring the joint torque when the multi-joint robot is powered on and according to the joint torque when the multi-joint robot is powered on.
Further, the determining module determines the shutdown movement trend by acquiring joint torque of the multi-joint robot when the multi-joint robot is powered on and according to the joint torque and the robot dynamics module when the multi-joint robot is powered on.
Further, the determination module obtains joint torque when the multi-joint robot is powered on according to a joint motor current sensor.
Further, the determination module obtains joint torque when the multi-joint robot is powered on according to a joint torque sensor.
Further, the determination module comprises a gravitational acceleration sensor of the joint.
Further, the control module is used for judging whether each joint of the multi-joint robot needs to execute the reverse pre-movement of the joint.
Further, the brake includes a brake pad and a stop lever, the brake pad edge including a plurality of raised teeth, the stop lever including extended and retracted states, the stop lever contacting the teeth in the extended state to limit rotation of the brake pad. Further, the angle between adjacent teeth is an interdental angle, and the control module controls the multi-joint robot to reversely move in advance by an angle smaller than the interdental angle.
Further, the angle between adjacent teeth is an interdental angle, and the control module controls the articulation of the multi-articulated robot to move reversely and in advance by an angle which is approximately half of the interdental angle.
Further, the control module is used for judging the relative position of the stop lever and the teeth of the joint, and when the distance between the stop lever and the first contact tooth in the forward movement direction of the brake block is larger than the distance between the stop lever and the first contact tooth in the reverse movement direction of the brake block, the control module controls the joint to reversely move in advance by a certain angle, otherwise, controls the joint not to reversely move in advance.
The invention can also adopt the following technical scheme: a control method of an articulated robot, applicable to any one of the above-described articulated robots, comprising: receiving a shutdown instruction; determining a shutdown movement trend of the multi-joint robot; controlling the joint of the multi-joint robot to reversely move in advance by a certain angle according to the shutdown movement trend; and controlling the multi-joint robot to be powered off.
Further, the control method includes: judging whether each joint of the multi-joint robot needs to execute reverse pre-movement.
Further, the control method includes: and acquiring the gravity acceleration direction of the multi-joint robot, and determining the shutdown movement trend according to the gravity acceleration direction.
Further, the control method includes: and acquiring the gravity acceleration direction of the multi-joint robot through a gravity acceleration sensor of the joint.
Further, the control method includes: judging whether each joint of the multi-joint robot needs to execute the reverse pre-movement of the joint.
Compared with the prior art, the beneficial effects of the specific embodiment of the invention are as follows: before the multi-joint robot executes the shutdown action, the shutdown movement trend of the multi-joint robot is determined, and the reverse pre-movement is executed through the joints, so that the risk of collision caused by large displacement of the multi-joint robot due to the braking clearance of the brake when the robot joint is braked is reduced. Meanwhile, through specific execution logic, the displacement of the shutdown action of the multi-joint robot is smaller.
Drawings
The above-mentioned objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic view of an articulated robot according to one embodiment of the invention
FIG. 2 is a block diagram of an articulated robot according to one embodiment of the invention
FIG. 3 is a schematic illustration of a brake of an articulated robot according to one embodiment of the invention
FIG. 4 is a schematic illustration of a brake braking process according to one embodiment of the invention
FIG. 5 is a schematic view of a braking process of a brake according to another embodiment of the invention
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, a clear and complete description of the solutions according to the embodiments of the present invention will be given below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention provides a multi-joint robot, referring to fig. 1-2, fig. 1 shows a schematic diagram of a multi-joint robot according to an embodiment of the present invention, and fig. 2 shows a block diagram of a multi-joint robot according to an embodiment of the present invention. The multi-joint robot 100 includes a plurality of joints 130, for example, three, five, six joints, etc., and the multi-joint robot 100 having different degrees of freedom with different numbers of joints is a typical multi-joint robot, such as a six-joint cooperative robot as shown in fig. 1, and the cooperative robot is a robot having high safety requirements and thus high safety control requirements. The multi-joint robot 100 protected by the present invention comprises a robot arm 120 and a plurality of joints 130, wherein the robot arm 120 comprises a plurality of robot arm parts, the joints 130 are used for connecting the robot arm parts, the joints can rotate so that the multi-joint robot can have different postures to perform work, the joints 130 comprise brakes for stopping the rotation of the joints 130 and further stopping the movement of the robot, the brakes comprise a plurality of types, and the different types of the brakes can cause different braking gaps when the multi-joint robot performs braking work, namely when the multi-joint robot is shut down, for example, when the joints 130 are powered off, when the brake finally completes braking, the brake can generate displacement to enable the whole robot to generate displacement, so that the robot can collide due to the displacement after being shut down, and the safety of the multi-joint robot is affected. The multi-joint robot 100 provided in this embodiment includes a receiving module 20, configured to receive a shutdown instruction; a determining module 30, configured to determine a shutdown motion trend of the articulated robot; the control module 40 is configured to control the articulation of the multi-articulated robot 100 to reversely move in advance by a certain angle according to the shutdown motion trend, and then control the multi-articulated robot to shutdown. Further, the reverse pre-movement is relative to the shutdown movement direction determined by the determining module 30, i.e. the movement direction determined by the shutdown movement direction is a forward direction, and the reverse pre-movement is opposite to the forward direction, specifically, the reverse pre-movement of the joint 130 is a reverse rotation movement. Specifically, the multi-joint robot 100 includes a robot demonstrator (not shown), which can be manipulated by a user to set corresponding working parameters for the multi-joint robot, or control the multi-joint robot to execute corresponding working instructions, the receiving module 20 can receive a shutdown instruction from the user, for example, receive a manipulation of the robot demonstrator by the user to obtain the shutdown instruction, or receive a direct manipulation of the multi-joint robot 100 by the user to obtain the shutdown instruction, or when the multi-joint robot 100 detects a scene that should be shutdown, for example, detects a dangerous scene that needs shutdown, a shutdown instruction can be generated, and the receiving module 20 can receive the shutdown instruction from the multi-joint robot 100 itself. Wherein, the shutdown is to cut off the power supply of the body of the multi-joint robot 100 or cut off the power supply of the joint motor of the multi-joint robot 100. Specifically, the determining module 30 is configured to determine a shutdown movement trend of the multi-joint robot 100, that is, when the multi-joint robot 100 receives a shutdown instruction and is about to perform a shutdown action, a braking gap may exist in the braking of the brake, that is, when the multi-joint robot 100 is shutdown, a certain movement range exists in the brake, and the multi-joint robot 100 may be able to generate a certain movement accordingly, and the determining module 30 is configured to determine the movement trend, for example, the movement trend may be that the body of the multi-joint robot 100 will fall, that is, the determining module 30 is configured to determine that the shutdown movement trend of the multi-joint robot 100 is that the robot will fall a certain distance. In one embodiment, the determining module 30 is configured to obtain a gravitational acceleration direction of the articulated robot 100, and to determine the shutdown movement trend according to the gravitational acceleration direction. For example, the gravitational acceleration direction is downward, and the shutdown motion trend is that the robot will drop a certain distance. Wherein in one embodiment, the direction of the gravitational acceleration, that is, the direction of the gravitational acceleration with respect to the multi-joint robot 100, is different when the installation posture of the multi-joint robot 100 is different, for example, the multi-joint robot 100 includes a base 110, in a normal state, the multi-joint robot 100 is vertically installed, that is, the base 110 is installed downward, in which case the direction of the gravitational acceleration is downward with respect to the installation direction of the multi-joint robot, or the multi-joint robot 100 may be installed upside down, that is, the base 110 is installed upward, in which case the direction of the gravitational acceleration is upward, i.e. the gravitational acceleration is upward relative to the direction of the articulated robot 100, the determination module 30 determines the shutdown movement trend based on the gravitational acceleration direction. In one embodiment, determining the shutdown movement trend of the multi-joint robot 100 includes determining the movement trend of each joint of the multi-joint robot 100, for example, when the direction of gravitational acceleration is vertically downward relative to the robot, i.e., determining the rotation direction trend of each joint when the multi-joint robot 100 is shutdown, and the determining module 30 is configured to determine the shutdown movement trend of a joint according to the direction of gravitational velocity. Specifically, when the installation positions of the multi-joint robot 100 are different, the gravity acceleration is different with respect to the installation direction of the robot, and the shutdown movement trend determined by the determining module 30 is different. Specifically, the control module 40 is configured to control the articulation of the multi-articulated robot 100 to reversely and pre-move by a certain angle according to the shutdown motion trend, for example, if it is known that the articulation 130 will rotate clockwise according to the known articulation trend, then the articulation 130 is controlled to reversely and pre-move by a certain angle, that is, the articulation 130 is controlled to rotate counterclockwise by a certain distance, and vice versa, that is, according to the shutdown motion trend determined by the determining module 30, the corresponding articulation 130 is controlled to reversely and pre-move by a certain angle, then when the multi-articulated robot 100 performs shutdown, the articulation 130 moves by a certain angle according to the shutdown motion trend, the reverse pre-movement can at least partially offset the shutdown displacement of the articulated robot 100 caused by the shutdown movement trend of the joint 130, so that the shutdown displacement of the articulated robot 100 is smaller, thereby reducing the possibility of collision and improving the working safety of the articulated robot 100.
In one embodiment of the invention, the determining module is configured to determine a shutdown movement trend of the articulated robot; further, the determining module is configured to obtain a gravitational acceleration direction of the multi-joint robot, and determine the shutdown motion trend according to the gravitational acceleration direction, specifically, the determining module may obtain the gravitational acceleration direction of the multi-joint robot in a plurality of manners, for example, the determining module may obtain the gravitational acceleration direction of the multi-joint robot by obtaining setting information of a user, and determine the shutdown motion trend according to the gravitational acceleration direction, or the determining module may include an acceleration sensor, and the determining module may obtain the gravitational acceleration direction of the multi-joint robot and further obtain the shutdown motion trend through the acceleration sensor. Further, the determining module is configured to obtain a joint torque when the multi-joint robot is powered on, determine the shutdown motion trend according to the joint torque when the multi-joint robot is powered on, specifically determine the shutdown motion trend according to the joint torque when the multi-joint robot is powered on and a robot dynamics model, specifically obtain the joint torque when the multi-joint robot is powered on according to a joint motor current sensor, or obtain the joint torque when the multi-joint robot is powered on according to a joint torque sensor. Further, the joint torque during power-on is the torque of the robot or the joint in a static state after the robot is powered on. The power-off movement trend of the multi-joint robot can be known through the joint torque during power-on, namely, the power-off movement trend of the joints after power failure, namely, the rotation trend of the joints can be obtained through the power-on joint torque.
In one embodiment of the present invention, the determining module 30 is configured to determine a shutdown motion trend of the multi-joint robot 100, further, is configured to determine a shutdown motion trend of the joints 130 of the multi-joint robot, further, the determining module 30 is configured to obtain a gravitational acceleration direction of the multi-joint robot, and determine the shutdown motion trend according to the gravitational acceleration direction. Optionally, the determining module 30 includes a gravitational acceleration sensor of a joint, through which a gravitational acceleration direction of the multi-joint robot 100 is obtained. Alternatively, the determining module 30 may obtain the direction of gravitational acceleration entered by the user. Further, the determining module 30 is configured to determine the shutdown movement trend according to the gravitational acceleration direction and in combination with the kinematics and dynamics of the robot.
In one embodiment of the present invention, the control module 40 is configured to determine whether each joint of the multi-joint robot 100 needs to perform a reverse pre-motion of the joint, that is, the multi-joint robot 100 includes a plurality of joints, when the multi-joint robot needs to be powered off, each joint of the multi-joint robot needs to determine whether to perform a reverse pre-motion of the joint according to a specific situation, the control module 40 is configured to determine which joint(s) 130 of the multi-joint robot need to perform a reverse pre-motion, and determine which joint(s) of the multi-joint robot do not need to perform a reverse pre-motion, and the control module 40 is configured to control the multi-joint robot to be powered off after controlling the joint(s) that need to perform a reverse pre-motion by a certain angle according to a determination result of the control module 40. Further, the control module 40 is configured to determine, according to the shutdown motion trend, whether each joint of the multi-joint robot needs to perform a joint reverse pre-motion. That is, the control module 40 is configured to control some or all of the joints of the multi-joint robot to perform inverse pre-motion. In one embodiment of the present invention, the shutdown movement trend includes a direction of the shutdown movement of the multi-joint robot, that is, the control module 40 determines whether each joint 130 needs to perform the reverse pre-movement of the joint according to the direction of the shutdown movement of the multi-joint robot 100, and in one embodiment of the present invention, the shutdown movement trend includes a direction of the shutdown movement of the multi-joint robot 100 and a magnitude of the shutdown movement, that is, a magnitude of the movement of the multi-joint robot and/or the joints 130 of the multi-joint robot in a process from when the multi-joint robot starts to when the multi-joint robot finishes the braking, that is, the control module 40 determines whether each joint performs the reverse pre-movement of the joint according to the direction of the shutdown movement and the magnitude of the shutdown movement of the multi-joint robot 100. By setting the control module 40 to judge the joints needing to execute the reverse pre-movement, the movement of each joint can be controlled in a targeted manner based on the shutdown movement trend, so that the displacement of the multi-joint robot during shutdown is smaller.
The multi-joint robot 100 protected by the present invention includes a plurality of joints 130, the joints 130 including a brake, the multi-joint robot 100 being operated by a solenoid valve 13 to extend or retract due to the difference in the angle of joint rotation during the start to end of the shutdown operation, the different types of brakes being different in displacement during the braking, the present invention preferably includes a brake including a plurality of protruding teeth 11 and a brake, the brake 130 including a motor and a brake, the motor providing the power of the joint movement, the brake including a brake pad 10 and a bar 12, the bar 12 being mounted to a motor shaft 14 of the motor and being rotatable following the rotation of the motor shaft 14, the bar 12 being actuated by the solenoid valve 13 to extend or retract, the bar 12 being capable of blocking the rotation of the brake pad 10 when the bar 12 is in the extended state, the brake pad 10 edge including a plurality of protruding teeth 11 contacting the brake pad 11 to limit the rotation of the joint 130 by the bar 11. Conventionally, when the multi-joint robot 100 receives a shutdown command, the brake needs to perform a braking operation to stop the rotation of the joint 130, thereby controlling the multi-joint robot 100 to shutdown and brake. In the present invention, when the multi-joint robot receives the shutdown command, the determining module 30 determines the shutdown movement trend of each joint of the multi-joint robot, that is, determines the movement trend of the joint when the brake brakes the joint, and the control module 40 controls the joint of the multi-joint robot to reversely move in advance by a certain angle, and then controls the multi-joint robot to shutdown, when the multi-joint robot 100 shuts down, the movement trend of the joint 130 is consistent with the shutdown movement trend determined by the determining module 30, and the reverse pre-movement of the joint makes the displacement of the joint smaller during the braking, that is, at least partially counteracts the displacement during the braking of the joint.
The control module 40 controls the joints of the multi-joint robot 100 to reversely move in advance by a certain angle, specifically, the certain angle is a preset angle, or the certain angle is obtained by the multi-joint robot 100 according to calculation. As described above, the brake includes a brake pad 10 and a bar 12, the brake pad 10 including a plurality of raised teeth 11, see fig. 4. The angle between adjacent teeth is an interdental angle, and the control module 40 controls the articulation of the multi-articulated robot 100 to move in reverse in advance by an angle smaller than the interdental angle, i.e., the control module 40 controls the articulation 130 of the multi-articulated robot to move in reverse in advance by a smaller angle, i.e., an angle smaller than the interdental angle, so as to reduce the braking distance of the multi-articulated robot. Further, the control module 40 controls the angle of the inverse pre-movement of the joints 130 of the multi-joint robot to be approximately half of the interdental angle, when the inverse pre-movement angle of the joints is controlled to be 1/2 of the interdental angle, the multi-joint robot can achieve better control effect even if the inverse pre-movement of each joint is not judged, by controlling the inverse pre-movement of the joints of the multi-joint robot to be approximately half of the interdental angle, if the distance of the blocking bar is small (less than the distance corresponding to 1/2 of the interdental angle) in the extended state during braking, after inversely rotating half of the interdental angle, the blocking bar is still in contact with the blocked teeth to finish braking when braking is finally completed; if the gear distance of the stop lever is about to block in the extending state (the distance corresponding to the 1/2 tooth space angle) when the stop lever is braked, after the joint is controlled to reversely move in advance by 1/2 tooth space angle, the stop lever is blocked with the other tooth which is close to the stop lever, and finally the displacement of the brake is smaller when the brake is braked, but in actual implementation, the smaller fluctuation of the data does not cause the effect to be obviously influenced, so that when the reversely pre-moved angle of the joint is approximately half of the tooth space angle, the control effect is better, and the reversely pre-moved of the 1/2 tooth space angle is executed on all joints, the braking displacement of the multi-joint robot is certainly reduced, and the displacement of the multi-joint robot is not increased.
In one embodiment of the present invention, the control module 40 is configured to determine the relative position of the bar 12 and the tooth 11 of the joint, and control the joint to move reversely by a predetermined angle when the distance between the bar 12 and the first contact tooth 111 is greater than the distance between the bar and the first contact tooth 112 in the reverse direction of movement. Referring to fig. 4, fig. 4 is a schematic diagram illustrating a braking process of a joint brake of the multi-joint robot 100 when the multi-joint robot is turned off according to an embodiment of the present invention, wherein fig. 4a is a schematic diagram illustrating a start of braking, fig. 4b is a schematic diagram illustrating a reverse pre-movement of a joint, and fig. 4c is a schematic diagram illustrating a completion of braking of the brake. Illustratively, assuming that the shutdown motion trend determined by the determination module 30 is clockwise for each joint, the forward motion direction of the brake is clockwise and the reverse motion direction of the brake is counterclockwise. As shown in fig. 4a, the distance between the stop lever and the first contact tooth 111 in the forward direction of motion is greater than the distance between the stop lever and the first contact tooth 112 in the reverse direction of motion when the brake brakes, the joint is controlled to reversely move in advance by a certain angle to reach the state shown in fig. 4b, namely, the stop lever is controlled to rotate anticlockwise by a certain angle to reach the state shown in fig. 4b, after the joint is reversely moved in advance, the multi-joint robot 100 is controlled to shut down, the joint is displaced by gravity to a certain extent, the brake moves, the final state is shown in fig. 4c, namely, the stop lever of the joint is finally contacted with the first contact tooth 112 in the reverse direction of motion to limit the rotation of the joint, at the moment, the stop lever of the brake blocks the rotation of the brake pad, at the moment, the stop lever is prevented from changing anticlockwise when the brake is completed, the displacement of the brake is reduced, namely, the joint robot in this embodiment moves fully, the movement of the joint is determined to be clockwise, the movement of the joint is determined, the movement is completed, the stop lever is stopped by a certain distance when the movement is completed, the opposite direction is performed, the stop lever moves in the reverse direction, and the movement direction is at least one direction, the contact distance is determined to be opposite to the first contact tooth, and the movement is completed, and the movement is opposite direction, and the movement of the stop lever is completed, and the movement is in the opposite direction, and the movement of the joint is completed. The control module 40 determines and controls the joint to perform reverse pre-movement, so that the displacement of the joint is small when the multi-joint robot 100 is shut down. For example, in fig. 4, if the reverse pre-movement is not performed, the stop lever needs to abut against the tooth 1, since a certain distance of reverse pre-movement is performed, the brake abuts against the tooth 2 when braking is completed, and the displacement of the brake during braking is significantly reduced.
In another embodiment of the invention, in contrast to this, fig. 5, 5a and 5b show schematic diagrams of the brake braking and the braking completed, respectively, when the distance of the bar from the first contact tooth 111 in the forward direction of movement is smaller than the distance of the bar from the first contact tooth 112 in the reverse direction of movement, i.e. the braking distance of the brake in the current position for braking is smaller, the joint is controlled not to perform the reverse pre-movement, in which case the schematic diagrams of the brake braking completed refer to fig. 5b, i.e. the bar of the joint is finally in contact with the first contact tooth 111 in the forward direction of movement to limit the rotation of the joint. In this case, the joint does not need to perform a reverse pre-movement, and the braking displacement of the joint is relatively small. Meanwhile, the above-mentioned method can also be adopted, the control joint is firstly reversely rotated to approximately half of the interdental angle, and the braking displacement of the joint is still unchanged at the moment, namely, the braking displacement of the joint is not increased due to the fact that the reverse pre-movement is performed.
Wherein the above mentioned brake's bar has an extended state and a retracted state, and is capable of contacting with the teeth to limit its rotation when the bar is in the extended state, and when judging the distance between the bar and the teeth, judging the distance between the bar and the teeth on the assumption that the bar is extended based on the current time, namely, on the assumption that the multi-joint robot does not perform the reverse pre-movement, judging the position of the bar in the extended state, and judging the distance between the bar and the teeth on the basis of the position to perform the corresponding action, namely, the bar is not actually in the extended state but only the position of the bar in the predicted extended state.
The beneficial effects of the above preferred embodiments are: the multi-joint robot controls the joint to execute reverse pre-motion to at least partially offset the displacement generated by the robot in the braking process by determining the shutdown motion trend during shutdown, so that the displacement in the braking process of the robot is smaller, collision is not easy to occur, and the joint robot is good in safety.
The present invention also provides a control method of the multi-joint robot 100, which is applicable to the multi-joint robot described in any one of the above, the control method comprising: receiving a shutdown instruction; determining a shutdown movement trend of the multi-joint robot; controlling the joint of the multi-joint robot to reversely move in advance by a certain angle according to the shutdown movement trend; and controlling the multi-joint robot to be powered off.
Specifically, determining the shutdown motion trend of the multi-joint robot includes determining a body motion trend of the multi-joint robot when the multi-joint robot is shutdown, or determining the shutdown motion trend of the multi-joint robot includes determining a motion trend of each joint of the multi-joint robot, that is, a rotation trend direction of each joint, when the multi-joint robot is shutdown. Further, the control method includes: and acquiring the gravity acceleration direction of the multi-joint robot, and determining the shutdown movement trend according to the gravity acceleration direction. Further, the control method includes: and acquiring the gravity acceleration direction of the multi-joint robot through a gravity acceleration sensor of the joint. Further, the control method includes: judging whether each joint of the multi-joint robot needs to execute reverse pre-movement or not, namely controlling a plurality of joints to execute reverse pre-movement when judging that the multi-joint robot needs to execute a plurality of joints of reverse pre-movement. Wherein the reverse direction is a direction opposite to a direction of the movement determined based on the shutdown movement trend, wherein the reverse pre-movement of the joint is a reverse rotational movement. The specific implementation details of the control method are the same as those described above, and will not be repeated here.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. A multi-joint robot for implementing a method of brake lock management, comprising a robotic arm and a plurality of joints, the joints comprising a brake, the multi-joint robot comprising:
The receiving module is used for receiving a shutdown instruction;
the determining module is used for determining the shutdown movement trend of the multi-joint robot;
The control module is used for controlling the joint of the multi-joint robot to reversely move in advance by a certain angle according to the shutdown movement trend and then controlling the multi-joint robot to shutdown;
the determining module is used for obtaining the gravity acceleration direction of the multi-joint robot and determining the shutdown movement trend according to the gravity acceleration direction;
The brake includes a brake pad having a rim including a plurality of raised teeth and a stop lever including extended and retracted states, the stop lever contacting the teeth in the extended state to limit rotation of the brake pad; the control module is used for judging the relative position of the stop lever and the teeth of the joint, and when the distance between the stop lever and the first contact tooth in the forward movement direction of the brake block is larger than the distance between the stop lever and the first contact tooth in the reverse movement direction of the brake block, the control module controls the joint to reversely move in advance by a certain angle, otherwise, controls the joint not to reversely move in advance.
2. The multi-joint robot of claim 1, wherein the determination module comprises a gravitational acceleration sensor of a joint.
3. The multi-joint robot of claim 1, wherein the control module is configured to determine whether each joint of the multi-joint robot is required to perform a reverse joint pre-motion.
4. The multi-joint robot of claim 1, wherein the angle between adjacent teeth is an interdental angle, and wherein the control module controls the multi-joint robot to move in reverse in advance by an angle less than the interdental angle.
5. The multi-joint robot of claim 1, wherein the angle between adjacent teeth is an interdental angle, and wherein the control module controls the articulation of the multi-joint robot to move in reverse in advance by an angle that is approximately half the interdental angle.
6. A control method of an articulated robot for brake lock management, adapted to the articulated robot according to any one of claims 1 to 5, comprising:
Receiving a shutdown instruction;
Determining a shutdown movement trend of the multi-joint robot;
controlling the joint of the multi-joint robot to reversely move in advance by a certain angle according to the shutdown movement trend;
And controlling the multi-joint robot to be powered off.
7. The control method according to claim 6, characterized in that the control method includes: judging whether each joint of the multi-joint robot needs to execute reverse pre-movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011077780.1A CN114310862B (en) | 2020-10-10 | 2020-10-10 | Multi-joint robot brake locking management method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011077780.1A CN114310862B (en) | 2020-10-10 | 2020-10-10 | Multi-joint robot brake locking management method |
Publications (2)
| Publication Number | Publication Date |
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| CN114310862A CN114310862A (en) | 2022-04-12 |
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| CN104608127A (en) * | 2013-11-05 | 2015-05-13 | 库卡实验仪器有限公司 | Method for programming sequences of movements of a redundant industrial robot and associated industrial robot |
| CN104526716A (en) * | 2014-12-17 | 2015-04-22 | 上海交通大学 | Energy storage and energy saving type gravity balancing device for industrial robot |
| CN108972626A (en) * | 2018-08-22 | 2018-12-11 | 珠海格力电器股份有限公司 | A kind of gravitational compensation method, device, storage medium and robot |
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