TW201726334A - Method for releasing the brake of a robot arm - Google Patents
Method for releasing the brake of a robot arm Download PDFInfo
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- TW201726334A TW201726334A TW105101481A TW105101481A TW201726334A TW 201726334 A TW201726334 A TW 201726334A TW 105101481 A TW105101481 A TW 105101481A TW 105101481 A TW105101481 A TW 105101481A TW 201726334 A TW201726334 A TW 201726334A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
Description
本發明有關一種機器手臂，尤其關於機器手臂從剎車停止轉動中，解除剎車讓機器手臂移動的方法。 The present invention relates to a robotic arm, and more particularly to a method in which a robot arm releases a brake from a brake to stop the rotation of the brake arm.
工廠自動化利用機器手臂自動抓取工件，不斷來回移動進行組裝製造，以提高生產的效率。而來回移動的機器手臂，除了需要驅動模組提供動力外，尚需依賴穩定可靠的剎車，才能將機器手臂停止在預定的位置，以進行精確的作業。 Factory automation uses the robotic arm to automatically grab the workpiece and continuously move back and forth for assembly and manufacturing to improve production efficiency. In addition to the need to provide power to the drive module, the robotic arm that moves back and forth still relies on stable and reliable brakes to stop the robot arm at a predetermined position for precise work.
請參考圖1，為先前技術美國專利US8410732的機器手臂的驅動模組10。先前技術的驅動模組10，利用馬達11驅動轉軸12轉動，經由減速裝置13減速後，輸出動力移動機器手臂。驅動模組10中設置剎車裝置，剎車裝置將棘輪14固定在轉軸12上，並在棘輪14周邊設置電磁閥15，電磁閥15藉由伸縮的擋銷16離合棘輪14，阻擋或釋放棘輪14轉動。驅動模組10另在轉軸12的一端固定編碼器(Encoder)17，偵測馬達11的轉動角度，作為監視及控制馬達11轉動的回饋訊號。 Please refer to FIG. 1 , which is a drive module 10 of a robot arm of the prior art US Pat. No. 8,410,732. In the drive module 10 of the prior art, the motor 11 drives the rotating shaft 12 to rotate, and after decelerating via the speed reducing device 13, the power is output to move the robot arm. A brake device is disposed in the driving module 10. The brake device fixes the ratchet 14 to the rotating shaft 12, and a solenoid valve 15 is disposed around the ratchet 14. The solenoid valve 15 is engaged with the ratchet 14 by the telescopic locking pin 16, and blocks or releases the ratchet 14 to rotate. . The drive module 10 further fixes an encoder 17 at one end of the rotating shaft 12 to detect the rotation angle of the motor 11 as a feedback signal for monitoring and controlling the rotation of the motor 11.
當機器手臂需要移動時，控制電磁閥15縮回擋銷16釋放棘輪14，再以訊號控制馬達11驅動轉軸12轉動，並由編碼器17監視馬達11是否依照訊號需要的角度轉動。當機器手臂需要停止時，驅動模組10進行剎車 作業，啟動電磁閥15伸長擋銷16阻擋棘輪14轉動，產生剎車力矩，抵抗機器手臂本身及乘載工件所形成負載的慣性力，以停止棘輪14固定的轉軸12轉動，進而阻止機器手臂移動，再由編碼器17監視馬達11是否依照訊號停止在需要的角度。 When the robot arm needs to move, the control solenoid valve 15 retracts the stop pin 16 to release the ratchet 14, and then the signal control motor 11 drives the rotary shaft 12 to rotate, and the encoder 17 monitors whether the motor 11 rotates according to the angle required by the signal. When the robot arm needs to stop, the drive module 10 performs braking The operation, the start solenoid valve 15 extends the stop pin 16 to block the rotation of the ratchet 14, generates a braking torque, resists the inertial force of the load formed by the robot itself and the loaded workpiece, and stops the rotation of the rotating shaft 12 fixed by the ratchet 14, thereby preventing the movement of the robot arm. The encoder 17 then monitors whether the motor 11 is stopped at the desired angle in accordance with the signal.
然而，當電磁閥15的擋銷16停止機器手臂轉動後，機器手臂的負載，將經由棘輪14作用在電磁閥15伸長的擋銷16上，如乘載工件過大，負載將使棘輪14與擋銷16間形成較大的摩擦力。當機器手臂需要再移動時，控制電磁閥15縮回擋銷16的力量，不足以克服棘輪14與擋銷16間的摩擦力時，擋銷16被棘輪14卡阻，電磁閥15將無法順利縮回擋銷16釋放棘輪14，因而導致驅動模組10無法解除剎車。如在無法解除剎車下，一旦驅動模組10使用更大力量或轉動角度驅動馬達11轉動時，將造成擋銷16或棘輪14彎曲變形，不僅影響機器手臂定位的精準性，甚至造成機器手臂毀損。因此，機器手臂在解除剎車的方法上，仍有間題亟待解決。 However, when the stop pin 16 of the solenoid valve 15 stops the rotation of the robot arm, the load of the robot arm will act on the stopper pin 16 of the solenoid valve 15 extending via the ratchet 14, and if the load is too large, the load will cause the ratchet 14 to block. The pin 16 forms a large frictional force. When the robot arm needs to move again, when the control solenoid valve 15 retracts the force of the stopper pin 16, which is insufficient to overcome the friction between the ratchet 14 and the stopper pin 16, the stopper pin 16 is blocked by the ratchet 14, and the solenoid valve 15 will not be smooth. Retracting the stop pin 16 releases the ratchet 14, thus causing the drive module 10 to fail to release the brake. If the driving module 10 is used to drive the motor 11 to rotate with greater force or rotation angle, the bending of the locking pin 16 or the ratchet 14 will be caused, which not only affects the accuracy of the positioning of the robot arm, but also causes damage to the robot arm. . Therefore, the robot arm still has a problem to solve in the method of releasing the brake.
本發明的目的提供一種機器手臂解除剎車的方法，藉由預設馬達較小的轉動角度，控制馬達在不同的轉動方向轉動，讓傳輸負載的棘輪離開擋銷，以縮回擋銷解除剎車。 The object of the present invention is to provide a method for releasing a brake by a robot arm. By presetting a small rotation angle of the motor, the motor is controlled to rotate in different rotation directions, and the ratchet of the transmission load is moved away from the stopper pin to retract the stopper pin to release the brake.
為了達到前述發明的目的，本發明第一實施例機器手臂解除剎車的方法，進行解除剎車時，預設控制馬達轉動的轉動角度，以預設第一轉動方向及轉動角度轉動馬達，並解除剎車將電磁閥的擋銷縮回，成功解除剎車則結束解除剎車作業，如解除剎車失敗，以預設的第二轉動方向及轉動角度轉動馬達，並解除剎車將電磁閥的擋銷縮回，如解除剎車成功， 結束解除剎車作業。 In order to achieve the object of the foregoing invention, a method for releasing a brake by a robot arm according to a first embodiment of the present invention performs a rotation angle of a preset control motor rotation when the brake is released, and rotates the motor by a preset first rotation direction and a rotation angle, and releases the brake. Retract the stop pin of the solenoid valve, and finally release the brake to terminate the brake operation. If the brake fails, the motor is rotated in the preset second rotation direction and rotation angle, and the brake is released to retract the stop pin of the solenoid valve. Successfully disarmed, End the brake release.
本發明機器手臂的解除剎車係將電磁閥的擋銷縮回，讓擋銷脫離棘輪的轉動路徑。而第一轉動方向與第二轉動方向為相反的轉動方向。其中預設的轉動角度為小角度，讓擋銷與棘輪在安全的彈性變形內。另由編碼器監視馬達轉軸轉動的回饋訊號，檢查未轉動到預設轉動角度時，為剎車解除失敗，而檢查轉動到預設轉動角度時，為剎車解除成功。 The release of the brake arm of the robot arm of the present invention retracts the stopper pin of the solenoid valve to disengage the stopper pin from the rotation path of the ratchet. The first direction of rotation is opposite to the direction of rotation of the second direction of rotation. The preset rotation angle is a small angle, so that the pin and the ratchet are in a safe elastic deformation. In addition, the encoder monitors the feedback signal of the rotation of the motor shaft, and if the brake is not rotated to the preset rotation angle, the brake is unsuccessful, and when the inspection is rotated to the preset rotation angle, the brake is successfully released.
本發明第二實施例機器手臂解除剎車的方法，在開始進行解除剎車時，設定馬達轉動的第一轉動方向、第二轉動方向及轉動角度，以第一轉動方向及轉動角度轉動馬達，連續以反向的第二轉動方向及轉動角度轉動馬達，解除剎車持續預設一段時間，最後結束解除剎車作業。 In the second embodiment of the present invention, the method for releasing the brake of the machine arm, when starting to release the brake, setting the first rotation direction, the second rotation direction and the rotation angle of the motor rotation, and rotating the motor in the first rotation direction and the rotation angle, continuously Rotating the motor in the reverse second direction of rotation and the angle of rotation, releasing the brake for a predetermined period of time, and finally ending the braking operation.
20‧‧‧轉軸 20‧‧‧ shaft
21‧‧‧棘輪 21‧‧‧ ratchet
22‧‧‧電磁閥 22‧‧‧ solenoid valve
23‧‧‧擋銷 23‧‧‧Distribution
圖1 為先前技術機器手臂的驅動模組的側剖面圖。 1 is a side cross-sectional view of a drive module of a prior art robotic arm.
圖2 為本發明機器手臂在第一轉動方向解除剎車的示意圖。 2 is a schematic view of the robot arm releasing the brake in the first rotation direction according to the present invention.
圖3 為本發明機器手臂在第二轉動方向解除剎車的示意圖。 FIG. 3 is a schematic view of the robot arm releasing the brake in the second rotation direction according to the present invention.
圖4 為本發明第一實施例機器手臂解除剎車的方法的流程圖。 4 is a flow chart showing a method of releasing a brake by a robot arm according to a first embodiment of the present invention.
圖5 為本發明機器手臂在二轉動方向解除剎車的示意圖。 FIG. 5 is a schematic view of the robot arm releasing the brake in the two rotation directions according to the present invention.
圖6 為本發明第二實施例機器手臂解除剎車的方法的流程圖。 6 is a flow chart of a method for releasing a brake by a robot arm according to a second embodiment of the present invention.
有關本發明為達成上述目的，所採用之技術手段及其功效，茲舉較佳實施例，並配合圖式加以說明如下。 The technical means and the efficacies of the present invention for achieving the above objects are as follows, and the preferred embodiments are described below with reference to the drawings.
請同時參閱圖2及圖3，圖2為本發明機器手臂在第一轉動方 向解除剎車的示意圖，圖3為本發明機器手臂在第二轉動方向解除剎車的示意圖。本發明機器手臂的馬達具有一轉軸20，剎車裝置將棘輪21設在轉軸20圓周上，棘輪21逕向伸出轉軸20的圓周。棘輪21的周邊設有一電磁閥22，電磁閥22具有伸縮的擋銷23，擋銷23受電磁閥23的磁力作用，擋銷23伸出時進入棘輪21的轉動路徑，擋銷23縮回時脫離棘輪21的轉動路徑。 Please refer to FIG. 2 and FIG. 3 at the same time. FIG. 2 is the first rotating side of the robot arm of the present invention. FIG. 3 is a schematic view of the brake arm of the present invention for releasing the brake in the second rotation direction. The motor of the robot arm of the present invention has a rotating shaft 20, and the brake device provides the ratchet 21 on the circumference of the rotating shaft 20, and the ratchet 21 radially projects the circumference of the rotating shaft 20. A solenoid valve 22 is disposed around the ratchet 21, and the solenoid valve 22 has a telescopic pin 23. The pin 23 is subjected to the magnetic force of the solenoid valve 23. When the pin 23 is extended, the rotation path of the ratchet 21 is entered. When the pin 23 is retracted. The rotation path of the ratchet 21 is released.
當機器手臂剎車時，控制電磁閥22伸出擋銷23，使擋銷23進入棘輪21的轉動路徑阻擋棘輪21移動，產生剎車力矩，抵抗機器手臂負載L產生的慣性力，停止棘輪21固定的轉軸20轉動，進而阻止機器手臂移動。而停止機器手臂轉動後，機器手臂的負載L，經由棘輪21作用在電磁閥22伸長的擋銷23上。當機器手臂需要再移動時，必須先解除剎車。解除剎車時，控制電磁閥22縮回擋銷23，讓擋銷23脫離棘輪21的轉動路徑，不會卡阻棘輪21轉動，才能控制馬達自由轉動轉軸20。 When the robot arm brakes, the control solenoid valve 22 extends out of the stop pin 23, so that the rotation path of the stop pin 23 into the ratchet 21 blocks the ratchet 21 from moving, generates a braking torque, resists the inertial force generated by the load L of the robot, and stops the ratchet 21 from being fixed. The shaft 20 rotates, thereby preventing the robot arm from moving. After the robot arm is stopped, the load L of the robot arm acts on the stopper pin 23 of the solenoid valve 22 which is extended via the ratchet 21. When the robot arm needs to move again, the brake must be released first. When the brake is released, the control solenoid valve 22 retracts the stopper pin 23, and the stopper pin 23 is disengaged from the rotation path of the ratchet 21, and the rotation of the ratchet 21 is not blocked, so that the motor can be freely rotated by the rotation shaft 20.
由於機器手臂的負載L隨抓取工件的大小而變，而負載L作用的方向也隨機器手臂停留的位置改變，因此解除剎車時不僅無法獲知負載L大小及作用方向，且即使控制電磁閥22縮回擋銷23，也無法確保是否能克服摩擦力，成功縮回擋銷23。因此，圖2中，本發明首先預設馬達轉動的第一轉動方向R1、第二轉動方向R2、及轉動角度θ。預設的第一轉動方向R1可為順時鐘轉動或逆時鐘轉動。第二轉動方向R2則與第一轉動方向R1為相反的轉動方向。而該轉動角度θ較小，即使在擋銷23阻檔棘輪21的錯誤轉動下，仍使擋銷23與棘輪21在安全的彈性變形內。 Since the load L of the robot arm changes with the size of the workpiece to be grasped, and the direction in which the load L acts also changes the position of the arm of the randomizer, the magnitude of the load L and the direction of action are not known even when the brake is released, and even if the solenoid valve 22 is controlled Retracting the stopper pin 23 also does not ensure whether the frictional force can be overcome and the stopper pin 23 is successfully retracted. Therefore, in Fig. 2, the present invention first presets the first rotational direction R1, the second rotational direction R2, and the rotational angle θ of the motor rotation. The preset first rotational direction R1 may be clockwise or counterclockwise. The second rotational direction R2 is opposite to the first rotational direction R1. Further, the rotation angle θ is small, and the stopper pin 23 and the ratchet 21 are in a safe elastic deformation even when the stopper pin 23 blocks the erroneous rotation of the ratchet 21.
在進行解除剎車時，本發明以預設第一轉動方向R1及轉動角度θ轉動馬達，本實施例以第一轉動方向R1為逆時鐘轉動舉例說明，並控 制電磁閥22縮回擋銷23。由於預設的轉動方向錯誤，第一轉動方向R1驅動轉軸20帶動棘輪21，受擋銷23阻擋，棘輪21擠壓固定不動的電磁閥22的擋銷23，無法轉動到預設的轉動角度θ，且讓棘輪21與擋銷23產生彈性變形(如虛線所示)。在擠壓下，棘輪21與擋銷23間的摩擦力更大，棘輪21卡阻擋銷23的力量更強，電磁閥22無法順利縮回擋銷23，藉由編碼器(請參圖1)監視轉軸20未轉動到預設轉動角度θ的回饋訊號，加以檢查擋銷23未縮回，而判斷剎車解除失敗。 When the brake is released, the present invention rotates the motor by presetting the first rotation direction R1 and the rotation angle θ. In this embodiment, the first rotation direction R1 is an example of counterclockwise rotation, and the control is performed. The solenoid valve 22 retracts the stop pin 23. Because the preset rotation direction is wrong, the first rotation direction R1 drives the rotation shaft 20 to drive the ratchet 21, and is blocked by the stopper pin 23. The ratchet 21 presses the stopper pin 23 of the stationary electromagnetic valve 22, and cannot rotate to a preset rotation angle θ. And the ratchet 21 and the stopper pin 23 are elastically deformed (as indicated by a broken line). Under the squeezing, the friction between the ratchet 21 and the stop pin 23 is greater, the ratchet 21 is more strong in blocking the pin 23, and the solenoid valve 22 cannot smoothly retract the stop pin 23, by means of the encoder (see Fig. 1). The feedback signal that the rotating shaft 20 is not rotated to the preset rotation angle θ is monitored, and it is checked that the stopper pin 23 is not retracted, and it is judged that the brake is released.
圖3中，在第一轉動方向解除剎車失敗下，本發明緊接著以預設第二轉動方向R2及轉動角度θ轉動馬達，本實施例以第二轉動方向R2為順時鐘轉動舉例說明。並控制電磁閥22縮回擋銷23。由於第二轉動方向R2驅動轉軸20帶動棘輪21，未受電磁閥22的擋銷23阻擋，轉軸20順利轉動到轉動角度θ，讓棘輪21離開擋銷23(如虛線所示)。擋銷23未受負載L作用下，棘輪21不會卡阻擋銷23，電磁閥22可順利縮回擋銷23，並藉由編碼器監視轉軸20轉動到轉動角度θ的回饋訊號，加以檢查擋銷23已縮回，判斷成功解除剎車。由於轉動方向僅有順時鐘與逆時鐘轉動兩方向，在本發明第一轉動方向R1與第二轉動方向R2依序兩方向轉動下，必定有一轉動方向使棘輪21離開擋銷23，而能確保成功解除剎車。 In FIG. 3, in the first rotation direction, when the brake is released, the present invention rotates the motor in the preset second rotation direction R2 and the rotation angle θ. This embodiment is exemplified by the clockwise rotation in the second rotation direction R2. And the solenoid valve 22 is controlled to retract the stopper pin 23. Since the second rotation direction R2 drives the rotation shaft 20 to drive the ratchet 21, which is not blocked by the stopper pin 23 of the solenoid valve 22, the rotation shaft 20 is smoothly rotated to the rotation angle θ, and the ratchet 21 is moved away from the stopper pin 23 (as indicated by a broken line). When the stopper pin 23 is not subjected to the load L, the ratchet 21 does not block the pin 23, the solenoid valve 22 can smoothly retract the stopper pin 23, and the encoder monitors the feedback signal of the rotation shaft 20 to the rotation angle θ, and checks the block. The pin 23 has been retracted and it is judged that the brake is successfully released. Since the rotation direction is only two directions of clockwise and counterclockwise rotation, in the first rotation direction R1 and the second rotation direction R2 of the present invention, in the two directions, there is a rotation direction for the ratchet 21 to move away from the stopper pin 23, thereby ensuring Successfully released the brakes.
如圖4所示，為本發明第一實施例機器手臂解除剎車的方法的流程圖。本發明機器手臂解除剎車的方法的詳細步驟說明如下：步驟S1，開始進行解除剎車；在步驟S2，本發明設定馬達轉動的第一轉動方向、第二轉動方向、及轉動角度；步驟S3，以第一轉動方向為預設的馬達轉動方向；步驟S4，以預設轉動方向及轉動角度轉動馬達；步驟S5，並解除剎車， 以控制電磁閥縮回擋銷；步驟S6，檢查解除剎車是否成功？如解除剎車失敗，即控制電磁閥無法縮回擋銷，則進入步驟S7，改變預設第二轉動方向為馬達轉動方向，回至步驟S4，繼續以預設的轉動方向及轉動角度轉動馬達。步驟S6如果解除剎車成功，即控制電磁閥順利縮回擋銷，則進入步驟S8，結束解除剎車作業。 As shown in FIG. 4, it is a flowchart of a method for releasing a brake of a robot arm according to a first embodiment of the present invention. The detailed steps of the method for releasing the brake of the robot arm of the present invention are as follows: in step S1, the braking is started; in step S2, the first rotation direction, the second rotation direction, and the rotation angle of the motor rotation are set; in step S3, The first rotation direction is a preset motor rotation direction; in step S4, the motor is rotated in a preset rotation direction and a rotation angle; in step S5, the brake is released, To control the solenoid valve to retract the stop pin; in step S6, check whether the brake is successfully released? If the brake is unsuccessful, that is, the control solenoid valve cannot retract the stop pin, the process proceeds to step S7, the preset second rotation direction is changed to the motor rotation direction, and the process returns to step S4 to continue rotating the motor with the preset rotation direction and the rotation angle. If the brake is successfully released, that is, if the control solenoid valve is smoothly retracted, the process proceeds to step S8, and the brake release operation is terminated.
如圖5所示，為本發明機器手臂在連續二轉動方向解除剎車的示意圖。由前述實施例可知，棘輪21會在第一轉動方向或第二轉動方向的其中之一離開擋銷23或減少擋銷23的摩擦力，使電磁閥22順利縮回擋銷23解除剎車。因此，本發明也可利用設定的轉動角度θ及連續不同轉動方向R，控制馬達來回轉動轉軸20，讓機器手臂的慣性在機器手臂來回擺動中產生抖動，帶動棘輪21離開擋銷23或減少擋銷23的摩擦力。本發明並在抖動中控制電磁閥22持續解除剎車一段時間，讓電磁閥22在抖動中順利縮回擋銷23，以成功解除剎車，進而簡化前述實施例在檢查擋銷23是否縮回的作業時間。同理，本發明亦可在控制馬達來回轉動轉軸20前，控制電磁閥22持續解除剎車一段時間，以待馬達來回轉動機器手臂來回擺動中產生抖動，進行解除剎車。 As shown in FIG. 5, it is a schematic diagram of the robot arm of the present invention releasing the brake in the continuous two rotation directions. As can be seen from the foregoing embodiment, the ratchet 21 will move away from the stop pin 23 or reduce the frictional force of the stop pin 23 in one of the first rotational direction or the second rotational direction, so that the solenoid valve 22 smoothly retracts the stop pin 23 to release the brake. Therefore, the present invention can also control the rotation of the rotating shaft 20 by using the set rotation angle θ and the continuous different rotation directions R, so that the inertia of the robot arm generates a vibration in the back and forth of the robot arm, and the ratchet 21 is driven to move away from the stop pin 23 or reduce the block. The friction of the pin 23. In the present invention, the solenoid valve 22 is controlled to continuously release the brake for a period of time during the shaking, so that the solenoid valve 22 smoothly retracts the stopper pin 23 during the shaking to successfully release the brake, thereby simplifying the operation of checking whether the stopper pin 23 is retracted in the foregoing embodiment. time. Similarly, the present invention can also control the solenoid valve 22 to continuously release the brake for a certain period of time before controlling the motor to rotate the rotating shaft 20 back and forth, so that the motor can be shaken back and forth when the motor rotates back and forth to perform the braking.
如圖6所示，為本發明第二實施例機器手臂解除剎車的方法的流程圖。本發明第二實施例機器手臂解除剎車的方法的詳細步驟說明如下：步驟T1，開始進行解除剎車；在步驟T2，本發明設定馬達轉動的第一轉動方向、第二轉動方向及轉動角度；步驟T3，以第一轉動方向及轉動角度轉動馬達；步驟T4，連續以反向的第二轉動方向及轉動角度轉動馬達；步驟T5，預設一段時間持續解除剎車；進入步驟T6，結束解除剎車作業。 FIG. 6 is a flow chart showing a method for releasing a brake of a robot arm according to a second embodiment of the present invention. The detailed steps of the method for releasing the brake of the robot arm according to the second embodiment of the present invention are as follows: step T1, starting to cancel the brake; in step T2, the present invention sets the first rotation direction, the second rotation direction and the rotation angle of the motor rotation; T3, the motor is rotated in the first rotation direction and the rotation angle; in step T4, the motor is continuously rotated in the reverse second rotation direction and the rotation angle; in step T5, the brake is continuously released for a preset period; the process proceeds to step T6, and the brake operation is terminated. .
因此本發明機器手臂解除剎車的方法，就可藉由設定較小的轉動角度，控制馬達依序或連續在不同的轉動方向轉動預設的轉動角度，在其中的一轉動方向或抖動中讓棘輪離開擋銷，並控制電磁閥縮回擋銷，避免棘輪卡阻擋銷，使電磁閥順利縮回擋銷，達到成功解除剎車的目的。 Therefore, in the method for releasing the brake of the robot arm of the present invention, the motor can be controlled to rotate the preset rotation angle sequentially or continuously in different rotation directions by setting a small rotation angle, and the ratchet is made in one of the rotation directions or the shaking. Leave the stop pin and control the solenoid valve to retract the stop pin to prevent the ratchet card from blocking the pin, so that the solenoid valve can be smoothly retracted to the stop pin to achieve the purpose of successfully releasing the brake.
以上所述者，僅為用以方便說明本發明之較佳實施例，本發明之範圍不限於該等較佳實施例，凡依本發明所做的任何變更，於不脫離本發明之精神下，皆屬本發明申請專利之範圍。 The above is only a preferred embodiment for facilitating the description of the present invention, and the scope of the present invention is not limited to the preferred embodiments, and any changes made in accordance with the present invention may be made without departing from the spirit of the present invention. All of them are within the scope of the patent application of the present invention.
20‧‧‧轉軸 20‧‧‧ shaft
21‧‧‧棘輪 21‧‧‧ ratchet
22‧‧‧電磁閥 22‧‧‧ solenoid valve
23‧‧‧擋銷 23‧‧‧Distribution
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| Application Number | Priority Date | Filing Date | Title |
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| TW105101481A TWI684502B (en) | 2016-01-18 | 2016-01-18 | Method for releasing the brake of a robot arm |
| CN201611175963.0A CN106976081B (en) | 2016-01-18 | 2016-12-19 | Method for releasing brake by mechanical arm |
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| TW105101481A TWI684502B (en) | 2016-01-18 | 2016-01-18 | Method for releasing the brake of a robot arm |
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| TW201726334A true TW201726334A (en) | 2017-08-01 |
| TWI684502B TWI684502B (en) | 2020-02-11 |
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| TWI825851B (en) * | 2022-07-15 | 2023-12-11 | 直得科技股份有限公司 | Method for precisely releasing brake of mechanical arm |
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| CN109808790A (en) * | 2019-02-15 | 2019-05-28 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
| CN110043581A (en) * | 2019-05-07 | 2019-07-23 | 深圳市众为创造科技有限公司 | A kind of band-type brake |
| CN111590546B (en) * | 2020-05-15 | 2021-11-02 | 配天机器人技术有限公司 | Robot band-type brake releasing method, robot and device with storage function |
| CN114248260B (en) * | 2020-09-21 | 2024-05-24 | 苏州艾利特机器人有限公司 | Multi-joint robot brake release management method |
| CN114248261B (en) * | 2020-09-24 | 2024-05-24 | 苏州艾利特机器人有限公司 | Redundant degree-of-freedom robot brake release management method |
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| CN100488734C (en) * | 2003-10-10 | 2009-05-20 | 三菱电机株式会社 | Robot controlling device |
| DK1996376T3 (en) * | 2006-03-03 | 2016-08-29 | Universal Robots As | Programmable robot and user interface |
| DE102008041866B3 (en) * | 2008-09-08 | 2010-04-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for checking a brake of a robot |
| JP2015000466A (en) * | 2013-06-18 | 2015-01-05 | セイコーエプソン株式会社 | Electromagnetic brake state determination method, robot and robot control device |
| ITRM20130638A1 (en) * | 2013-11-19 | 2015-05-20 | By Dental S R L | METHOD OF CONTROL OF AN ENDODONTIC INSTRUMENT FOR CHANNEL TREATMENTS |
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| TWI825851B (en) * | 2022-07-15 | 2023-12-11 | 直得科技股份有限公司 | Method for precisely releasing brake of mechanical arm |
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| CN106976081A (en) | 2017-07-25 |
| CN106976081B (en) | 2020-12-01 |
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