CN114833835A - Detection method and device for brake release, engineering robot and medium - Google Patents
Detection method and device for brake release, engineering robot and medium Download PDFInfo
- Publication number
- CN114833835A CN114833835A CN202210657980.7A CN202210657980A CN114833835A CN 114833835 A CN114833835 A CN 114833835A CN 202210657980 A CN202210657980 A CN 202210657980A CN 114833835 A CN114833835 A CN 114833835A
- Authority
- CN
- China
- Prior art keywords
- motor
- brake
- brake release
- state
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 72
- 230000002159 abnormal effect Effects 0.000 claims abstract description 58
- 238000000034 method Methods 0.000 claims abstract description 41
- 238000004519 manufacturing process Methods 0.000 claims abstract description 28
- 230000003578 releasing effect Effects 0.000 claims description 29
- 238000003860 storage Methods 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 6
- 238000013024 troubleshooting Methods 0.000 claims description 4
- 230000006866 deterioration Effects 0.000 claims 1
- 230000008030 elimination Effects 0.000 abstract description 8
- 238000003379 elimination reaction Methods 0.000 abstract description 8
- 230000001276 controlling effect Effects 0.000 description 44
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Electric Motors In General (AREA)
- Braking Arrangements (AREA)
Abstract
The embodiment of the invention discloses a method and a device for detecting release of a band-type brake, an engineering robot and a medium, wherein the method for detecting release of the band-type brake comprises the following steps: the output motor band-type brake release instruction is sent to the motor, and the motor is controlled to execute a band-type brake release action; acquiring a contracting brake release state of a motor; judging whether the brake release state is an abnormal brake release state or not; if so, controlling the brake detector to carry out fault removal on the motor, and controlling the motor to complete the brake release action. The detection method provided by the embodiment of the invention obtains and judges the brake release state of the motor, controls the brake detector to carry out fault elimination on the motor based on the brake release state of the motor, namely, the fault judgment on the motor can be realized by controlling the brake detector, and the motor can be ensured to smoothly execute brake release action without replacement, thereby improving the working efficiency of the motor and saving the production cost.
Description
Technical Field
The invention relates to the technical field of motor band-type brakes, in particular to a method and a device for detecting release of a band-type brake, an engineering robot and a medium.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. In a servo system of an engineering robot, a motor with a band-type brake function is usually selected as a driving motor.
However, when the driving motor is applied, the brake release is abnormal, and in the prior art, the production line is stopped and the servo motor is replaced when the brake release of the motor is abnormal, so that the driving motor has the influence of high cost and the like.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting release of a brake, an engineering robot and a medium, so as to improve the working efficiency of a motor and save the production cost.
In a first aspect, an embodiment of the present invention provides a method for detecting a release of a brake, including:
outputting a motor brake release instruction to a motor, and controlling the motor to execute a brake release action;
acquiring a brake release state of the motor;
judging whether the brake release state is an abnormal brake release state or not;
if so, controlling a brake detector to carry out fault removal on the motor, and controlling the motor to complete the brake releasing action.
In a second aspect, an embodiment of the present invention provides a device for detecting release of a brake, including:
the brake release action execution module is used for outputting a motor brake release instruction to the motor and controlling the motor to execute brake release action;
the brake release state acquisition module is used for acquiring the brake release state of the motor;
the brake release abnormal state judging module is used for judging whether the brake release state is the brake release abnormal state or not;
and the fault removal module is used for controlling the band-type brake detector to carry out fault removal on the motor and controlling the motor to complete the release action of the band-type brake.
In a third aspect, an embodiment of the present invention provides an engineering robot, where the engineering robot includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for detecting a release of a brake according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for detecting a release of a brake according to any one of the first aspect.
The embodiment of the invention provides a method for detecting the release of a band-type brake, which comprises the steps of firstly outputting a motor band-type brake release instruction to a motor and controlling the motor to execute a band-type brake release action; then acquiring the release state of the internal contracting brake of the motor; judging whether the release state of the band-type brake is an abnormal release state of the band-type brake; if so, controlling the brake detector to carry out fault removal on the motor, and controlling the motor to complete the brake release action. According to the embodiment of the invention, the contracting brake release state of the motor is obtained and judged, the contracting brake detector is controlled to carry out fault elimination on the motor based on the contracting brake release state of the motor, namely, the fault judgment on the motor can be realized by controlling the contracting brake detector, the motor can be ensured to smoothly execute contracting brake release action under the condition of not replacing the motor, the working efficiency of the motor is improved, and the production cost is saved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic flow chart of a method for detecting a brake release according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another motor according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for detecting a brake release according to a second embodiment of the present invention;
fig. 5 is a schematic flow chart of a method for detecting a brake release according to a third embodiment of the present invention;
fig. 6 is a schematic flow chart of a method for detecting a brake release according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a detection device for brake release according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an engineering robot according to a sixth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be fully described by the detailed description with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without inventive efforts fall within the scope of the present invention.
Example one
Fig. 1 is a schematic flow diagram of a method for detecting a release of a brake according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a motor according to an embodiment of the present invention, and fig. 3 is a schematic structural diagram of another motor according to an embodiment of the present invention, referring to fig. 1 to fig. 3, this embodiment is applicable to detecting a release of a brake of a motor, and the method may be implemented by a device for detecting a release of a brake according to an embodiment of the present invention, where the device may be implemented by software and/or hardware, and the device may be integrated with an apparatus that may further provide a device for detecting a release of a brake, where the method specifically includes the following steps:
and S110, outputting a motor brake release instruction to the motor, and controlling the motor to execute a brake release action.
The motor acquires a relevant instruction sent by the control module and controls the motor to execute a relevant action based on the relevant instruction. Specifically, the control module can be a control cabinet, the control cabinet is formed by assembling switch equipment, a measuring instrument, protective electrical equipment and auxiliary equipment in a closed or semi-closed metal cabinet or on a screen according to the electrical wiring requirement, the arrangement of the control cabinet meets the requirement of normal operation of a power system, the control module is convenient to overhaul, and the safety of a person and surrounding equipment is not endangered. In normal operation, the circuit can be switched on or off by means of a manual or automatic switch. When the fault or abnormal operation occurs, the circuit is cut off or an alarm is given by the aid of the protective electric appliance. The measuring instrument can display various parameters in operation, and can also adjust some electrical parameters to prompt or send out signals for deviation from normal working state. It is commonly used in various power generation, distribution and transformation substations. The embodiment of the invention does not specifically limit the control cabinet.
Further, when the control module sends out a motor brake release instruction, the motor executes a brake release action after receiving the motor brake release instruction. Specifically, referring to fig. 2 and 3, the motor 100 includes an inner plate 110, an outer plate 120, a brake disc 130, and an electromagnetic coil 140, and when the motor 100 is powered on, that is, when a voltage is present, referring to fig. 3, the electromagnetic coil is powered on and separates the inner plate 110 from the electromagnetic coil 140 against a pulling force, the inner plate 110 is attached to the brake disc 130, the motor 110 operates normally, and a brake gap L1 exists. When the motor 100 is powered off, that is, there is no voltage, referring to fig. 2, the motor 100 is powered off, the internal plate 110 is separated from the brake disc 130, the brake disc 130 brakes and pushes the internal plate 110 against the electromagnetic coil 140, and the motor 10 is braked and stops rotating.
And S120, acquiring the release state of the internal contracting brake of the motor.
Specifically, when the control module, that is, the control cabinet, sends out a motor contracting brake release instruction, the motor may have different contracting brake release states, for example, the motor normally executes a contracting brake release action and the electrode abnormally executes a contracting brake release action. Whether the motor or the control module is abnormal or not is further judged by acquiring the release state of the motor brake, so that the safety and the reliability of the motor brake are ensured, the working efficiency of the motor is improved, and the production cost is saved.
S130, judging whether the brake release state is the abnormal brake release state.
Specifically, whether the motor normally executes the brake releasing action is judged based on the acquired brake releasing state of the electrode, if the motor normally executes the brake releasing action, the current state is judged to be the normal state of the brake releasing based on the brake releasing state of the motor, and S140 is executed to control the motor to complete the brake releasing action. And if the motor abnormally executes the brake release action, judging that the current state is the abnormal brake release state based on the brake release state of the motor, executing S150, controlling the brake detector to carry out fault elimination on the motor, and controlling the motor to complete the brake release action. Furthermore, different instructions are executed by judging different releasing states of the motor, so that the safety and the reliability of the motor brake are better guaranteed, the working efficiency of the motor is improved, and the production cost is saved.
And S140, controlling the motor to complete the brake releasing action.
Specifically, when it is determined that the brake release state of the motor is not the abnormal brake release state, that is, the motor is not abnormal, and the motor normally acquires the motor brake release command, the motor is controlled to normally complete the brake release action, that is, the state of the motor is switched from the brake release state to the release guarantee state, as shown in fig. 2 and 3.
And S150, controlling the brake detector to carry out fault elimination on the motor, and controlling the motor to complete brake release action.
Specifically, when it is determined that the brake release state is the abnormal brake release state, that is, the motor is abnormal, the motor is controlled by the brake detector to remove the fault of the motor, for example, as shown in fig. 3, when the brake gap L1 is too large, the motor obtains a motor brake release instruction, when the voltage obtained by switching on the power supply of the motor is not enough to overcome the guarantee gap L1, the voltage obtained by the motor is increased by the brake detector, so that the motor can normally execute the motor brake release instruction, and the brake release action of the motor is completed. The normal execution of the motor band-type brake is guaranteed, the working efficiency of the motor is improved, and the production cost is saved.
According to the method for detecting the release of the contracting brake, provided by the embodiment of the invention, the contracting brake release state of the motor is obtained and judged, and the contracting brake detector is controlled to carry out fault elimination on the motor based on the contracting brake release state of the motor, so that the fault judgment on the motor can be realized by controlling the contracting brake detector, the motor can be ensured to smoothly execute contracting brake release action without replacement, the working efficiency of the motor is improved, and the production cost is saved.
Example two
Fig. 4 is a schematic flow chart of a method for detecting a brake release according to a second embodiment of the present invention, and referring to fig. 4, the second embodiment of the present invention is refined based on the above-mentioned embodiment, specifically how to control a brake detector to perform fault removal on a motor. In this embodiment, the method specifically includes the following steps:
s210, outputting a motor brake release instruction to the motor, and controlling the motor to execute a brake release action.
And S220, acquiring the release state of the internal contracting brake of the motor.
And S230, judging whether the brake release state is a motor brake release unsuccessful state.
The abnormal state of the release of the band-type brake comprises an unsuccessful state of the release of the band-type brake of the motor, and whether the state of the band-type brake of the motor is the unsuccessful state of the release of the band-type brake of the motor is judged. Specifically, the state that the motor brake release is unsuccessful means that the motor has acquired a motor brake release instruction, and the motor executes a brake release action based on the motor brake release instruction, but the motor cannot normally complete the brake release action due to an abnormal condition. For example, the time for executing the motor brake release action exceeds the normal execution time, or the sound generated by the motor brake release action is abnormal, and the motor brake release action to be executed by the motor is acquired, but the motor brake release action cannot be executed successfully. When the release state of the motor brake is the unsuccessful release state of the motor brake, potential safety hazards exist, the smooth generation cannot be ensured, and the time cost and the like of production are influenced. Different operation instructions are executed by judging whether the brake release state is the unsuccessful motor brake release state, the motor can be guaranteed to smoothly execute the brake release action without replacement, the working efficiency of the motor is improved, and the production cost is saved.
Specifically, when it is determined that the brake release state is not the unsuccessful motor brake release state, S240 is executed to control the motor to complete the brake release operation. And when the brake release state is judged to be the unsuccessful motor brake release state, S250 is executed, the brake detector is controlled to increase the input voltage of the motor, and the motor is controlled to complete the brake release action.
And S240, controlling the motor to complete the brake releasing action.
And S250, controlling the brake detector to increase the input voltage of the motor, and controlling the motor to complete the brake release action.
Specifically, when the input voltage of the motor is equal to the release voltage of the motor, the motor can smoothly complete the brake release operation, and as shown in fig. 3, the release voltage of the motor is a voltage that satisfies the requirement of releasing the inner plate 110 and the electromagnetic coil 140 under the brake gap L1. When the motor is abnormal in abrasion, the band-type brake gap can be enlarged, the input voltage of the motor is increased by controlling the band-type brake detector until the release voltage of the motor under the current band-type brake gap is reached, namely, the input voltage of the motor is increased to increase the power, and the motor is controlled to complete the release action of the band-type brake. Illustratively, when the conventional motor is abnormal, the time required for replacing the motor by suspending the production line is longer, for example, 100 minutes, but according to the detection method provided by the embodiment of the invention, the input voltage of the motor is increased by the band-type brake detector, the motor is controlled to complete the release action of the band-type brake, only 10 minutes are required, the motor can be ensured to normally operate under the safe condition, the working efficiency of the motor is improved, and the production cost is saved.
And S260, controlling the motor to replace or maintain the motor after the motor finishes production work.
Furthermore, even if the motor is abnormal in the generation process, the motor can normally run, the working efficiency of the motor is improved, and the production cost is saved. But in order to further ensure the smooth proceeding of the subsequent generation and improve the safety and stability of the working procedure, the motor is replaced or maintained after the motor is controlled to complete the generation work, the safety and stability of the working procedure are further ensured, the working efficiency of the motor is ensured, and the production cost is saved.
In conclusion, the motor is controlled to complete the brake release action by controlling the brake detector to increase the input voltage of the motor, so that the motor is ensured to normally run under the safe condition, the working efficiency of the motor is improved, and the production cost is saved. And the motor is replaced or maintained after the motor finishes production work, so that the safety and stability of the working procedure are further ensured.
EXAMPLE III
Fig. 5 is a schematic flow chart of a method for detecting a brake release according to a third embodiment of the present invention, and referring to fig. 5, the third embodiment of the present invention is refined on the basis of the above embodiments, specifically how to control a brake detector to perform fault removal on a motor is refined. In this embodiment, the method specifically includes the following steps:
and S310, outputting a motor brake release instruction to the motor, and controlling the motor to execute a brake release action.
And S320, acquiring the release state of the internal contracting brake of the motor.
S330, judging whether the brake releasing state is a motor brake releasing non-proceeding state.
The abnormal state of the brake release further comprises a motor brake release non-proceeding state, and whether the brake state of the motor is the motor brake release non-proceeding state or not is judged. Specifically, the motor brake release non-proceeding state refers to a state that the motor does not perform a brake release action, that is, the motor does not acquire a motor brake release instruction, and then the control module, that is, the control cabinet, does not transmit the motor brake release instruction to the motor. For example, the control module, that is, the control cabinet, is abnormal, and for example, the control device in the control module is abnormal or is not subjected to regular maintenance, and the like.
When the release state of the motor brake is the motor brake release non-proceeding state, whether the brake release abnormal state of the motor is based on the control module, namely the command of the control cabinet is not transmitted can be accurately judged through the subsequent judgment process, and the reason that the brake release state of the motor is abnormal is further accurately judged by the brake detection method provided by the embodiment. In particular, the method comprises the following steps of,
and when the brake release state is judged not to be the brake release non-proceeding state of the motor, S340 is executed to control the motor to complete the brake release action. And when the brake release state is judged to be the state that the motor brake release is not carried out, S250 is executed, and the brake detector is controlled to increase the input voltage of the motor. The input voltage of the motor is adjusted through the brake detector, and whether the motor is in a state that the brake release of the motor is not carried out is judged, because the motor is abnormal due to self abrasion or the control module does not output a motor brake release instruction to the motor.
And S340, controlling the motor to complete the brake releasing action.
And S350, controlling the band-type brake detector to increase the input voltage of the motor.
And S360, judging whether the brake release state is an abnormal brake release state.
Specifically, the input voltage of the motor is increased through the brake detector, namely the power of the motor is increased, and whether the abnormal brake release state of the motor is caused by the abrasion of the motor and the overlarge brake gap is detected. And if the current brake state of the motor is not the abnormal brake release state by controlling the brake detector to increase the input voltage of the motor, S340 is executed to control the motor to complete the brake release action. If the input voltage of the motor is increased through the brake detector, and the brake state of the motor is still the abnormal brake release state, it is proved that the control module, namely the control cabinet, is abnormal, the motor does not receive the motor brake release instruction, namely S370 is executed, and the reason that the abnormal brake release state is the reason that the motor brake release instruction is not output to the motor is determined.
In summary, after the input voltage of the motor is increased by controlling the brake detector, whether the brake release state is the abnormal brake release state is judged, the reason for the abnormal brake release state can be determined, and the accuracy and reliability of the brake release detection method provided by the embodiment of the invention are improved.
Example four
Fig. 6 is a schematic flow chart of a method for detecting a brake release according to a fourth embodiment of the present invention, and referring to fig. 6, the fourth embodiment is refined on the basis of the above embodiments, specifically how to refine how to pre-detect a motor. In this embodiment, the method specifically includes the following steps:
and S410, controlling a band-type brake detector to pre-detect whether the motor is normal.
In order to ensure the normal use of the motor during production, the motor can be pre-detected before being put into production and use, whether the motor can normally execute a brake release action or not is judged, and if the brake release action is normally executed, the motor is free of abnormal conditions and can be normally put into use; if the contracting brake releasing action can not be normally executed, the abnormal condition of the motor is indicated, the motor can be maintained or replaced, the condition of influencing production cannot exist, and the production cost is saved from the source.
Optionally, the brake detector is controlled to input a standard voltage to the motor, wherein the standard voltage is a release voltage of the motor under a normal condition; judging whether the motor executes the brake releasing action under the standard voltage, wherein the number of times that the motor acquires the standard voltage is I1, and the number of times that the motor executes the brake releasing action is I2; if the number of times that the motor acquires the standard voltage is equal to the number of times that the motor executes the brake release action, namely, if I1 is equal to I2, the motor is in a normal state; if the number of times that the motor acquires the standard voltage is larger than the number of times that the motor executes the brake release action, namely I1 is larger than I2, the motor is in a degradation state; if the number of times the motor performs the brake release operation is zero, that is, if I2 is equal to 0, the motor is in an abnormal state.
For example, the motor may be pre-detected by a band-type brake detector. The motor is controlled to input standard voltage for the brake detector, namely the voltage required by the motor to execute brake releasing action under normal conditions is input. The band-type brake detector inputs standard voltage to the motor for multiple times, and the error of the motor to-be-detected result is reduced.
Specifically, when the number of times of the standard voltage acquired by the motor is I1, the number of times of the motor performing the brake release action is I2, and when I1 is equal to I2, it indicates that the motor completes the brake release action at each acquired standard voltage, that is, the motor is in a normal state. When I1 is greater than I2, it indicates that the motor has completed the brake release action under only some conditions under the standard voltage obtained each time, that is, it indicates that the motor is in a degraded state, and in the case that the brake detector further increases the standard voltage, it can be satisfied that the motor has completed the brake release action under the standard voltage obtained each time, for example, the standard voltage of the normal motor is 24V, and only when the brake detector adjusts the voltage to 26V, the motor can normally perform the brake release action each time. When I2 is equal to 0, it indicates that the motor has not finished the brake release action under the standard voltage obtained each time, that is, it indicates that the motor is in an abnormal state, and in the case that the motor is in a degraded state, the brake detector further raises the standard voltage, it may be satisfied that the motor has finished the brake release action under the standard voltage obtained each time, for example, the standard voltage of a normal motor is 24V, and only when the brake detector adjusts the voltage to 28V, the motor may normally execute the brake release action each time. The current state of the motor is judged better through the band-type brake detector, and the accuracy of the band-type brake release detection method is better guaranteed.
And S420, outputting a motor contracting brake release instruction to the motor, and controlling the motor to execute contracting brake release action.
And S430, acquiring the release state of the internal contracting brake of the motor.
S440, judging whether the brake release state is an abnormal brake release state.
S450, controlling the motor to complete the brake releasing action.
And S460, controlling the voltage regulating plate to carry out fault elimination on the motor and controlling the motor to complete the contracting brake releasing action.
Furthermore, the contracting brake detector can adopt a voltage regulating plate, the input voltage of the motor is regulated through the voltage regulating plate, the power of the motor is increased, and the motor is guaranteed to smoothly complete contracting brake releasing action.
In conclusion, in order to ensure the normal use of the motor during production, the motor can be pre-detected before being put into production and use, and if the internal contracting brake releasing action is normally executed, the abnormal condition of the motor does not exist, and the motor can be normally put into use; if the contracting brake releasing action can not be normally executed, the abnormal condition of the motor is indicated, the motor can be maintained or replaced, the condition of influencing production cannot exist, and the production cost is saved from the source.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a device for detecting release of a brake according to a fifth embodiment of the present invention, where the device may be applied to a product having a function of determining a release state of a brake of a motor, where the device may be implemented by software and/or hardware.
As shown in fig. 7, a device 10 for detecting release of a brake includes: the brake release system comprises a brake release action execution module 200, a brake release state acquisition module 300, a brake release abnormal state judgment module 400 and a troubleshooting module 500.
The band-type brake release action execution module 200 is configured to output a motor band-type brake release instruction to the motor, and control the motor to execute a band-type brake release action.
The contracting brake release state acquiring module 300 is configured to acquire a contracting brake release state of the motor.
The contracting brake release abnormal state judging module 400 is configured to judge whether the contracting brake release state is an contracting brake release abnormal state.
And the fault elimination module 500 is used for controlling the band-type brake detector to eliminate faults of the motor and controlling the motor to complete the release action of the band-type brake.
In the embodiment of the invention, in the detection device for the release of the band-type brake, firstly, a band-type brake release action execution module is used for receiving a motor band-type brake release instruction sent by a control module and controlling a motor to execute a band-type brake release action; the contracting brake release state acquisition module is used for acquiring the contracting brake release state of the motor; the contracting brake release abnormal state judging module is used for judging whether the contracting brake release state is the contracting brake release abnormal state or not; and finally, the fault elimination module is used for controlling the band-type brake detector to eliminate faults of the motor and controlling the motor to complete the release action of the band-type brake. The motor-based band-type brake release state control band-type brake detector carries out troubleshooting to the motor, can realize carrying out the judgement of trouble to the motor through controlling the band-type brake detector promptly to guarantee that the motor can carry out the band-type brake release action under the condition of not changing enough smoothly, promote the work efficiency of motor, practice thrift the cost of production.
EXAMPLE six
Fig. 8 is a schematic structural diagram of an engineering robot according to a sixth embodiment of the present invention, and as shown in fig. 8, the engineering robot according to the embodiment of the present invention includes: one or more processors 41 and storage 42; the processor 41 in the device may be one or more, and fig. 8 illustrates one processor 41 as an example; storage 42 is used to store one or more programs; the one or more programs are executed by the one or more processors 41, so that the one or more processors 41 implement the method for detecting a brake release according to any one of the embodiments of the present invention.
The processor 41, the storage means 42, the input means 43 and the output means 44 in the device may be connected by a bus or other means, as exemplified by the bus connection in fig. 8.
The storage device 42 in the apparatus is used as a computer-readable storage medium, and can be used to store one or more programs, which may be software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a method for detecting a release of a brake (for example, the device 10 for detecting a release of a brake shown in fig. 7 includes a brake release action execution module 200, a brake release state acquisition module 300, a brake release abnormal state determination module 400, and a troubleshooting module 500). The processor 41 executes various functional applications and data processing of the terminal device by running software programs, instructions and modules stored in the storage device 42, that is, the method for detecting release of the brake in the above method embodiment is implemented.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the device, and the like. Further, the storage 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 42 may further include memory located remotely from processor 41, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 44 may include a display device such as a display screen.
And, when the one or more programs included in the above-described apparatus are executed by the one or more processors 41, the programs perform the following operations: the output motor band-type brake release instruction is sent to the motor, and the motor is controlled to execute a band-type brake release action; acquiring a brake release state of the motor; judging whether the brake release state is an abnormal brake release state or not; if so, controlling the brake detector to carry out fault removal on the motor, and controlling the motor to complete the brake release action.
EXAMPLE seven
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is used, when executed by a processor, to perform a method for detecting a release of a brake, where the method includes: the output motor band-type brake release instruction is sent to the motor, and the motor is controlled to execute a band-type brake release action; acquiring a brake release state of the motor; judging whether the brake release state is an abnormal brake release state or not; if so, controlling the brake detector to carry out fault removal on the motor, and controlling the motor to complete the brake release action.
Optionally, the program may be further configured to, when executed by the processor, perform a method for detecting release of a brake according to any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for detecting release of a brake is characterized by comprising the following steps:
outputting a motor brake release instruction to a motor, and controlling the motor to execute a brake release action;
acquiring a brake release state of the motor;
judging whether the brake release state is an abnormal brake release state or not;
if yes, controlling a band-type brake detector to carry out fault removal on the motor, and controlling the motor to complete the release action of the band-type brake.
2. The detection method according to claim 1,
judging whether the brake release state is an abnormal brake release state or not, including:
judging whether the brake release state is a motor brake release unsuccessful state or not;
and if so, controlling the band-type brake detector to increase the input voltage of the motor and controlling the motor to complete the release action of the band-type brake.
3. The method for detecting according to claim 2, wherein after controlling the motor to complete the brake release action, the method further comprises:
and controlling the motor to replace or maintain the motor after the motor finishes production work.
4. The detection method according to claim 1,
judging whether the brake release state is an abnormal brake release state or not, including:
judging whether the brake release state is a motor brake release non-proceeding state or not;
if so, controlling the band-type brake detector to increase the input voltage of the motor;
judging whether the brake release state is an abnormal brake release state or not;
if so, determining that the reason for the abnormal brake release state is that the motor brake release instruction is not output to the motor.
5. The detection method according to claim 1, wherein before outputting a motor brake release command to the motor and controlling the motor to perform a brake release action, the method further comprises:
and controlling the band-type brake detector to detect whether the motor is normal or not.
6. The detection method according to claim 5, wherein controlling the brake detector to pre-detect whether the motor is normal comprises:
controlling the band-type brake detector to input a standard voltage to the motor, wherein the standard voltage is the release voltage of the motor under the normal condition;
judging whether the motor executes the brake releasing action under the standard voltage, wherein the number of times that the motor acquires the standard voltage is I1, and the number of times that the motor executes the brake releasing action is I2;
if the number of times that the motor acquires the standard voltage and the number of times that the motor executes the brake releasing action are met, if I1 is I2, the motor is in a normal state;
if the number of times that the motor acquires the standard voltage and the number of times that the motor executes the brake releasing action are met, and I1 is greater than I2, the motor is in a deterioration state;
and if the frequency of executing the brake releasing action by the motor is zero, the motor is in an abnormal state.
7. The detection method according to claim 1, wherein the band-type brake detector is a voltage regulation plate;
the control band-type brake detector is right the motor carries out troubleshooting, include:
and the control voltage adjusting plate carries out fault removal on the motor and controls the motor to complete the brake releasing action.
8. A detection device for brake release is characterized by comprising:
the brake release action execution module is used for outputting a motor brake release instruction to the motor and controlling the motor to execute brake release action;
the brake release state acquisition module is used for acquiring the brake release state of the motor;
the brake release abnormal state judging module is used for judging whether the brake release state is the brake release abnormal state or not;
and the fault removal module is used for controlling the band-type brake detector to carry out fault removal on the motor and controlling the motor to complete the release action of the band-type brake.
9. An engineering robot, characterized in that the engineering robot comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of detecting a brake release according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method for detecting a brake release according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210657980.7A CN114833835B (en) | 2022-06-10 | 2022-06-10 | Band-type brake release detection method and device, engineering robot and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210657980.7A CN114833835B (en) | 2022-06-10 | 2022-06-10 | Band-type brake release detection method and device, engineering robot and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114833835A true CN114833835A (en) | 2022-08-02 |
| CN114833835B CN114833835B (en) | 2024-03-29 |
Family
ID=82574057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210657980.7A Active CN114833835B (en) | 2022-06-10 | 2022-06-10 | Band-type brake release detection method and device, engineering robot and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114833835B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH106267A (en) * | 1996-06-20 | 1998-01-13 | Tokico Ltd | Industrial robot |
| CN108167356A (en) * | 2017-12-26 | 2018-06-15 | 北京金风科创风电设备有限公司 | State detection circuit and state detection method for electromagnetic brake |
| CN108406783A (en) * | 2018-06-01 | 2018-08-17 | 珠海格力电器股份有限公司 | Industrial robot multi-joint band-type brake release integrated control circuit |
| CN110077983A (en) * | 2019-05-16 | 2019-08-02 | 南通中尧特雷卡电梯产品有限公司 | A kind of motor declutches tool |
| CN110116948A (en) * | 2019-06-17 | 2019-08-13 | 福建省特种设备检验研究院 | A kind of brake troubles monitoring device and its monitoring method |
| CN110498312A (en) * | 2019-08-21 | 2019-11-26 | 日立电梯（中国）有限公司 | A kind of pre- diagnostic method and its device of elevator internal contracting brake |
| CN110888357A (en) * | 2019-11-22 | 2020-03-17 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN111204631A (en) * | 2020-01-21 | 2020-05-29 | 日立楼宇技术（广州）有限公司 | Elevator brake follow current control method, device, equipment and medium |
| CN112147507A (en) * | 2020-08-17 | 2020-12-29 | 清能德创电气技术（北京）有限公司 | Motor brake state detection method and system based on closed-loop control |
| CN112276939A (en) * | 2020-09-16 | 2021-01-29 | 珠海格力电器股份有限公司 | Robot control device and method and robot |
| CN112630654A (en) * | 2020-12-11 | 2021-04-09 | 广东博智林机器人有限公司 | Band-type brake detection system and method |
| CN113176500A (en) * | 2021-05-26 | 2021-07-27 | 深圳众城卓越科技有限公司 | Motor band-type brake online diagnosis and analysis device and working method thereof |
| CN113427497A (en) * | 2021-06-25 | 2021-09-24 | 深圳市同川科技有限公司 | Cooperative robot band-type brake control device and control method thereof |
| CN113427520A (en) * | 2021-06-25 | 2021-09-24 | 深圳市同川科技有限公司 | Band-type brake releasing method, device, equipment and storage medium of cooperative robot |
| CN113955642A (en) * | 2021-09-24 | 2022-01-21 | 广东省特种设备检测研究院珠海检测院 | Abnormal power-loss fault protection method for motor stator of crane hoisting mechanism |
-
2022
- 2022-06-10 CN CN202210657980.7A patent/CN114833835B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH106267A (en) * | 1996-06-20 | 1998-01-13 | Tokico Ltd | Industrial robot |
| CN108167356A (en) * | 2017-12-26 | 2018-06-15 | 北京金风科创风电设备有限公司 | State detection circuit and state detection method for electromagnetic brake |
| CN108406783A (en) * | 2018-06-01 | 2018-08-17 | 珠海格力电器股份有限公司 | Industrial robot multi-joint band-type brake release integrated control circuit |
| CN110077983A (en) * | 2019-05-16 | 2019-08-02 | 南通中尧特雷卡电梯产品有限公司 | A kind of motor declutches tool |
| CN110116948A (en) * | 2019-06-17 | 2019-08-13 | 福建省特种设备检验研究院 | A kind of brake troubles monitoring device and its monitoring method |
| CN110498312A (en) * | 2019-08-21 | 2019-11-26 | 日立电梯（中国）有限公司 | A kind of pre- diagnostic method and its device of elevator internal contracting brake |
| CN110888357A (en) * | 2019-11-22 | 2020-03-17 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN111204631A (en) * | 2020-01-21 | 2020-05-29 | 日立楼宇技术（广州）有限公司 | Elevator brake follow current control method, device, equipment and medium |
| CN112147507A (en) * | 2020-08-17 | 2020-12-29 | 清能德创电气技术（北京）有限公司 | Motor brake state detection method and system based on closed-loop control |
| CN112276939A (en) * | 2020-09-16 | 2021-01-29 | 珠海格力电器股份有限公司 | Robot control device and method and robot |
| CN112630654A (en) * | 2020-12-11 | 2021-04-09 | 广东博智林机器人有限公司 | Band-type brake detection system and method |
| CN113176500A (en) * | 2021-05-26 | 2021-07-27 | 深圳众城卓越科技有限公司 | Motor band-type brake online diagnosis and analysis device and working method thereof |
| CN113427497A (en) * | 2021-06-25 | 2021-09-24 | 深圳市同川科技有限公司 | Cooperative robot band-type brake control device and control method thereof |
| CN113427520A (en) * | 2021-06-25 | 2021-09-24 | 深圳市同川科技有限公司 | Band-type brake releasing method, device, equipment and storage medium of cooperative robot |
| CN113955642A (en) * | 2021-09-24 | 2022-01-21 | 广东省特种设备检测研究院珠海检测院 | Abnormal power-loss fault protection method for motor stator of crane hoisting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114833835B (en) | 2024-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR20220125227A (en) | Autonomous driving control system, control method and equipment | |
| CN112653230B (en) | Robot battery protection method, apparatus, electronic device and storage medium | |
| CN103227662B (en) | A kind of electric power communication device safety detection method based on mode control and system | |
| US8923992B2 (en) | Safety extension base and control method thereof | |
| US20160254666A1 (en) | Adaptive microgrid control | |
| CN111017756A (en) | Distributed tower crane electric control system, equipment and storage medium for fault online diagnosis | |
| JP2017011907A (en) | Power measurement device, power management system, and power management method | |
| CN110262362B (en) | AGV working temperature monitoring method, system and device | |
| CN114833835A (en) | Detection method and device for brake release, engineering robot and medium | |
| CN107229323A (en) | Power control method and electronic equipment | |
| CN113765111B (en) | SVG fault analysis system | |
| CN115333046A (en) | Self-adjusting protection method for motor | |
| KR20230098431A (en) | System for supplying emergency power to any load in blackout situation | |
| US20160342184A1 (en) | Machine tool | |
| CN104407571A (en) | Transformation method for explosive machining using numerical control machine tool | |
| CN115060998A (en) | Method, device, equipment and medium for determining power utilization abnormity of power transmission line | |
| US11460910B2 (en) | Systems and methods for mitigating power failover | |
| CN110501999B (en) | Online fault protection method for electric transmission rack test system of real-time control bus | |
| KR102232965B1 (en) | System and method for autonomous operation of microgrids in emergency situation | |
| CN113857935B (en) | Method and device for adaptively processing motor base and monitoring vibration of vertical feeding shaft | |
| CN116125868A (en) | Safety protection method of motion control system and motion control system | |
| RU2711355C1 (en) | Method of integrated control of electrical systems using an electrical network computer | |
| US20240079871A1 (en) | Power management device | |
| JP6463294B2 (en) | Control data rewriting system | |
| TW202349150A (en) | Plant operation support system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |