Title:
INDUSTRIAL ROBOT, BRAKE, AND STATE MONITORING METHOD
Document Type and Number:
WIPO Patent Application WO/2022/143450
Kind Code:
A1
Abstract:
An industrial robot (10), a brake, and a state monitoring method. The industrial robot (10) comprises: a connecting rod (1) and a joint (2). The joint (2) comprises a drive motor (21) and a brake. The brake comprises: a brake member (24), a blocking member (22), and an electromagnet (23). The electromagnet (23) comprises an iron core (231) and a coil. The iron core (231) is in an attachment position or a release position on the basis of a power-on or a power-off state of the coil. The blocking member (22) is in a retracted state or an extended state on the basis of the position of the iron core (231). When the brake enters a braking state, the blocking member (22) is in an extended state to be fitted to the brake member (24) to limit the rotation of the brake member (24). The industrial robot (10) comprises: a signal acquisition module used for applying an excitation pulse to the electromagnet (23) to obtain an inductance of the electromagnet (23); and a signal processing module used for determining the position of the iron core (231) according to the inductance of the electromagnet (23), and determining whether the brake works normally.
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Inventors:
ZHANG XIAOCHUAN (CN)
SUN KAI (CN)
SUN KAI (CN)
Application Number:
PCT/CN2021/141152
Publication Date:
July 07, 2022
Filing Date:
December 24, 2021
Export Citation:
Assignee:
SUZHOU ELITE ROBOT CO LTD (CN)
International Classes:
B25J9/00; B25J9/10; B25J9/12; B25J19/06
Foreign References:
| CN110410438A | 2019-11-05 | |||
| CN110726435A | 2020-01-24 | |||
| CN105110116A | 2015-12-02 | |||
| CN110118949A | 2019-08-13 | |||
| US20090216372A1 | 2009-08-27 | |||
| CN103954844A | 2014-07-30 |
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