CN115701819A - A servo motor brake release device for industrial robots - Google Patents

Abstract

The invention provides a servo motor brake release device for an industrial robot, the servo motor brake release device is connected to a power supply and an industrial robot body, the industrial robot body has a servo motor brake, and the power supply is an industrial robot The main body is connected to an external power supply, and the servo motor brake release device controls the release of the servo motor brake to allow manual movement of the joints of the industrial robot body to remove interference. The servo motor brake release device for industrial robots of the present invention has the following advantages. During the use of industrial robots, the industrial robots can be quickly separated from interference; the solution of the present invention only needs to reserve a connection on the body of each industrial robot Bits or plugs, with the servo motor brake release device of the present invention, it can be connected and used immediately, and disconnected after use, so that one servo motor brake release device can serve multiple industrial robots, saving costs and having a high safety factor.

Description

A servo motor brake release device for industrial robots

technical field

The invention relates to the technical field of industrial robots, in particular to a servo motor brake release device for industrial robots.

Background technique

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power sources and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. Generally speaking, an industrial robot consists of three major parts and six subsystems. The three major parts are the mechanical part, the sensing part and the control part. The six subsystems can be divided into the mechanical structure system, the drive system, the perception system, and the robot-environment interaction system. , human-computer interaction system and control system.

During the use of industrial robots, due to the operator's unfamiliarity with the equipment or improper use, it is easy to cause mechanical interference between the mechanical body of the industrial robot and the peripheral equipment. In this state, if the industrial robot is forced to leave the interference position, the industrial robot will Due to external mechanical interference, the drive unit (servo motor) will be blocked and an overload alarm will be issued. Therefore, it cannot get out of the interference position under its own conditions, and manual intervention is required to help it get out of the interference position. A common manual intervention solution is to configure a small brake release module on the joints of the industrial robot's mechanical body. This module is powered by the internal power supply of the industrial robot's electric control cabinet, and a corresponding number of axis brake releases are configured according to the number of axes of the industrial robot. button. When the industrial robot has mechanical interference with the external equipment for some reason and cannot get out of the interference position, manually open the corresponding servo motor brake through the corresponding axis brake release button on the module, so as to move the corresponding axis joint parts to fasten the industrial robot. Disengage from the interference position to return to a safe operating point.

However, the abnormal state that the industrial robot has mechanical interference with external equipment for some reason and cannot escape the interference position is only an accidental event. Configuring a servo motor brake release module on the mechanical body of each industrial robot has high design costs, waste of resources and the module It must be powered by the internal power supply of the industrial robot electric control cabinet. When in use, the industrial robot electric control cabinet needs to be live-worked, which has potential safety hazards and low safety factors. In view of this situation, there is an urgent need to research and develop a device that has the advantages of low cost, high safety and good portability for the release of the servo motor brake for industrial robots.

Contents of the invention

Aiming at the above-mentioned technical problems, the technical solution of the present invention provides a servo motor brake release device for industrial robots, so as to realize that the industrial robot has mechanical interference with external equipment for some reason and cannot get out of the interference position under its own conditions. break away.

A servo motor brake release device for an industrial robot, the servo motor brake release device is connected to a power supply and an industrial robot body, the industrial robot body has a servo motor brake, and the power supply is an external connection of the industrial robot body power supply, the servo motor brake release device controls the release of the servo motor brake to allow manual movement of the joints of the industrial robot body to remove interference.

In one embodiment, it includes a housing, a brake release control button, a power module and a relay module.

In one embodiment, the housing is provided with a master switch and an indicator light.

In one embodiment, the servo motor brake release device has a connection cable, and the servo motor brake release device is connected to the external power supply and the industrial robot body through the connection cable.

In one embodiment, the end of the connection cable has a plug, the external power supply and the industrial robot body have sockets, and the connection cable is connected to the external power supply and the socket on the industrial robot body. Docking.

In one embodiment, the conductors in the connecting cable are twisted-pair shielded wire structures.

In one embodiment, the connecting cable includes a conductor and an insulator covering the outside of the conductor, a winding tape and a braided shielding layer are arranged outside the insulator, a sheath is arranged outside the braided shielding layer, and the Fillers are arranged between the insulators in the winding tape.

In one embodiment, the connection cable includes multiple twisted-pair shielded wire structures, and the brake release device for the servo motor has multiple brake release control buttons.

In one embodiment, the external power supply is an AC power supply.

The servo motor brake release device for industrial robots of the present invention has the following advantages. During the use of industrial robots, it realizes the rapid separation of industrial robots from mechanical interference with external equipment due to some reasons and cannot break away from the interference position under its own conditions. , so that the industrial robot can be quickly put into production again; different from the traditional design that configures a servo motor brake release module on each industrial robot body, the solution of the present invention only needs to reserve a connection on each industrial robot body Bit or plug, with the servo motor brake release device of the present invention, it can be connected and used immediately, and it can be disconnected when it is used up, so that one servo motor brake release device can serve multiple industrial robots, saving costs and having a high safety factor; Adopt independent power supply, no need to quote power from the industrial robot electric control cabinet, external accessories that can be used in conjunction with industrial robots, only used when needed, miniaturized design, good portability.

Description of drawings

Hereinafter, the present invention will be described in more detail based on the embodiments with reference to the accompanying drawings.

Fig. 1 is the structural representation of the servomotor brake releasing device that the present invention is used for industrial robot;

Fig. 2 is a schematic diagram of the connection structure of the servo motor brake release device for industrial robots, industrial robots and external power supplies according to the present invention;

Fig. 3 is a cross-sectional schematic diagram of the connecting cable used in the servo motor brake release device of the industrial robot according to the present invention.

In the figures, the same parts are given the same reference numerals. The figures are not drawn to scale.

Reference signs are: servo motor brake release device-10; industrial robot body-20; external power supply-30; servo motor brake-21; conductor-31; insulator-32; filler-33; wrapping tape-34; Braided Shield - 35; Sheath - 36.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 1, the servo motor brake release device 10 for industrial robots is connected to the power supply and the industrial robot body 20 respectively, and the power supply is preferably an external power supply 30 relative to the industrial robot body 20, such as for industrial robots. The servo motor brake release device 10 is connected to the power supply and the industrial robot body 20 through wires. When the industrial robot body 20 interferes with external mechanical devices, the servo motor brake release device 10 for the industrial robot is connected to the industrial robot body 20. Simultaneously brake releasing device 10 connects external power supply 30, the servomotor brake releasing device 10 that is used for industrial robot controls the action of servomotor brake 21 in industrial robot body 20, thereby the release of industrial robot body 20, allows industrial robot body 20 The connection between the driving unit and the action parts is released, and then the industrial robot body 20 is manually operated to make it out of interference.

As shown in Figures 1 and 2, the servo motor brake release device 10 for industrial robots includes a housing, a master switch and a power indicator light, a brake release control button and an indicator light, connecting cables, a power supply module and a relay module . Wherein, the end of the connecting cable of the servo motor brake release device 10 used for industrial robots connected to the external power supply 30 has a plug so as to be connected to the external power supply 30 .

As shown in Figure 3, it is a schematic diagram of the cross-sectional structure of the connecting cable used for the servo motor brake release device 10 of the industrial robot. The device 10 is connected to the plug provided on the industrial robot body 20, and the circuit control logic structure controls each joint on the industrial robot body 20 according to the control logic of the external power supply 30, power module, button switch, relay module and servo motor brake 21 actions. The servo motor brake 21 acts, so that each joint of the industrial robot can move correspondingly under human control, so as to remove the interference of each joint on the industrial robot body 20 .

The above connection cable includes a conductor 31, the outer side of the conductor 31 is coated with an insulator 32, the insulator 32 is provided with a wrapping tape 34 and a braided shielding layer 35, the braided shielding layer 35 is provided with a sheath 36, and the insulator 32 in the wrapping tape 34 is A filler 33 is provided. In the figure, the connection cable includes 6 sets of insulated twisted-pair shielded wire structures, corresponding to 6 brake release buttons on the servo motor brake release device 10 used in industrial robots.

Specifically, when the industrial robot has mechanical interference with external equipment for some reason during use and cannot leave the interference position under its own conditions, for safety reasons, the worker first powers off the industrial robot electric control cabinet, and then follows the diagram The connection logic shown in 2 connects the servo motor brake release device 10 for industrial robots of the present invention with the industrial robot body 20, and connects the servo motor brake release device 10 for industrial robots of the present invention after confirming that it is correct. AC 220V power supply, then turn on the power switch, and the power indicator light is on to indicate that the servo motor brake release device 10 power supply for industrial robots is connected. Workers move the corresponding joints according to the interference of the industrial robot. For example, one person can be responsible for operating the button of the servo motor brake release device 10 for the industrial robot, and one or more people are responsible for moving the corresponding joints of the industrial robot, so that the industrial robot is safe, Quickly return to safe production position. Thus, the servo motor brake release device 10 for industrial robots of the present invention unlocks the locked servo motor, and then relies on artificial force to push the corresponding mechanical joints of the robot to move forward and reverse, so that the robot can be separated from the brake. interference zone.

After the industrial robot got back to the safe production position, the power switch on the servomotor brake release device 10 for the industrial robot of the present invention disconnected the power supply of the device of the present invention and disconnected the AC 220V power supply synchronously, unplugged and industrial robot The main body 20 is connected to the plug, and then the power supply of the industrial robot electric control cabinet is turned on, and it can be operated normally after the system startup is completed. Other industrial robots with the same type of failure can be operated sequentially according to the above method, so that one servo motor brake release device 10 for industrial robots of the present invention can serve multiple industrial robots and save costs.

The servo motor brake release device 10 for industrial robots of the present invention adopts an external miniaturized and portable structure, and utilizes an external independent power supply to control the release of the servo motor brake 21 for industrial robots, so that the industrial robot can be quickly released from the The collision interference area is released, so that it can be put into production life again quickly and efficiently. Different from the traditional design that configures a servo motor brake 21 release module on the mechanical body of each industrial robot, the solution of the present invention only needs to reserve a connection position or plug on each industrial robot body 20, and the industrial robot body 20 is connected to the servo motor. The motor brake release device 10 can be connected and used immediately, and can be disconnected after use, so that one servo motor brake release device 10 can serve multiple industrial robots and save costs. At the same time, due to the power supply design independent of the industrial robot electric control cabinet, the industrial robot can be operated when the industrial robot electric control cabinet is powered off, which greatly improves the safety of workers' work.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for parts thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (9)

1. A servo motor brake release device for industrial robots, characterized in that, the servo motor brake release device is connected to a power supply and an industrial robot body, the industrial robot body has a servo motor brake, and the power supply It is the external power supply of the industrial robot body, and the servo motor brake release device controls the release of the servo motor brake to allow manual movement of the joints of the industrial robot body to remove interference. 2. The servo motor brake release device for industrial robots according to claim 1, characterized in that it comprises a housing, a brake release control button, a power module and a relay module. 3. The servo motor brake release device for industrial robots according to claim 2, wherein a master control switch and an indicator light are arranged on the housing. 4. The servomotor brake release device for industrial robots according to any one of claims 1 and 2, wherein the servomotor brake release device has a connecting cable, and the servomotor brake The release device is connected with the external power supply and the industrial robot body through the connecting cable. 5. The servo motor brake release device for industrial robots according to claim 4, wherein the end of the connecting cable has a plug, the external power supply and the industrial robot body have a socket, The connection cable is plugged into the external power supply and the socket on the industrial robot body. 6 . The servo motor brake release device for industrial robots according to claim 4 , wherein the conductors in the connecting cables are twisted-pair shielded wire structures. 7 . 7. The servo motor brake release device for industrial robots according to claim 6, wherein the connecting cable includes a conductor and an insulator coated on the outside of the conductor, and the insulator is provided with a winding A tape and a braided shielding layer, a sheath is arranged outside the braided shielding layer, and a filler is arranged between the insulators inside the winding tape. 8. The servomotor brake release device for industrial robots according to claim 4, wherein the connecting cables include multiple sets of twisted-pair shielded wire structures, and the servomotor brake release device has multiple Brake release control button. 9. The servo motor brake release device for industrial robots according to any one of claims 1 or 2, wherein the external power supply is an AC power supply.

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