Title:
ROBOT BRAKING ANOMALY DETECTION METHOD AND MULTI-JOINT ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/057730
Kind Code:
A1
Abstract:
A robot braking anomaly detection method and a multi-joint robot (100). The method comprises: setting a rotation center point of a robot (100); before the robot (100) is powered on and is subjected to braking removal and/or after the robot (100) is braked, and before the robot is powered off, applying a current to cause an electric motor to overcome a braking force/torque to rotate, and when the electric motor rotates, controlling the robot (100) to move around the rotation center point; detecting a current at the moment when the electric motor rotates; and comparing the current and a preset parameter, wherein the preset parameter is a current required for causing the rotation of the electric motor when a brake normally brakes, and if the current is less than the preset parameter, determining that braking is anomalous, and outputting an anomaly instruction. The beneficial effects lie in that a robot (100) detects whether there is a braking anomaly, thereby reducing the safety risk of the robot (100), and the displacement of the tail end of the robot (100) is small during the process of detecting an anomaly.
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Inventors:
SUN KAI (CN)
Application Number:
PCT/CN2021/117626
Publication Date:
March 24, 2022
Filing Date:
September 10, 2021
Export Citation:
Assignee:
SUZHOU ELITE ROBOTICS CO LTD (CN)
International Classes:
B25J19/00; B25J19/06; G01L3/26; G01L5/28
Foreign References:
| CN111037605A | 2020-04-21 | |||
| CN105651499A | 2016-06-08 | |||
| US20020069697A1 | 2002-06-13 | |||
| DE102014207072A1 | 2015-10-15 | |||
| JPH06246674A | 1994-09-06 |
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