CN-117206649-B - Brake release and brake device of arc welding robot

Abstract

The invention discloses a brake releasing and contracting device of an arc welding robot, which relates to the technical field of robots and comprises a collision sensor, a main control chip, a rotating shaft brake releasing switch and a brake contracting switch, wherein the output end of the collision sensor outputs a low level when an arc welding robot gun collides, the output end of the collision sensor outputs a high level when the arc welding robot gun does not collide, the input end of the main control chip is connected with a starting end, a middle end and a tail end manual switch, the output end of the collision sensor and the switch, and the output end of the main control chip rotates the rotating shaft brake releasing switch. When collision faults occur in the automatic operation process of the arc welding robot, the brake of the tail end brake is automatically released, the robot can be removed from an interference area at any time for maintenance, and the servo origin is ensured not to be lost in the rotation process of each shaft.

Inventors

• ZHU ZHENGBIN
• GUAN HONGYAN
• YANG WEI
• ZHENG WEI
• TANG JUN
• WU GANG
• DUAN ZHIHUA
• ZENG WEN
• WANG ZHEN
• CHENG FEI
• SU JIGUANG

Assignees

• 中车长江车辆有限公司

Dates

Publication Date

20260505

Application Date

20231017

Claims (10)

1. 1. The utility model provides a release brake band-type brake device of arc welding robot which characterized in that, release brake band-type brake device includes: the collision sensor is used for detecting whether the arc welding robot welding gun collides or not, when the arc welding robot welding gun collides, the output end of the collision sensor outputs a low-level signal, and when the arc welding robot welding gun does not collide, the output end of the collision sensor outputs a high-level signal; the input end of the main control chip is connected with the output end of the collision sensor; The main control chip is connected with and controls the tail end rotating shaft brake release switch, the tail end rotating shaft brake release switch is connected with and controls the tail end brake, and when the arc welding robot welding gun collides, the main control chip controls the tail end brake to release the robot brake through the tail end rotating shaft brake release switch; The collision sensor comprises a collision switch and a pull-down resistor, wherein the collision switch is a normally closed switch, one end of the collision switch is connected with a power supply, the other end of the collision switch is connected with the main control chip and one end of the pull-down resistor, and the other end of the pull-down resistor is grounded; When the arc welding robot welding gun collides, the collision switch is disconnected, and the main control chip acquires a low-level signal through the pull-down resistor; when the welding gun of the arc welding robot does not collide, the collision switch is closed, and the main control chip acquires a high-level signal through the collision switch; The collision sensor further comprises a pressure detection circuit, a signal amplification circuit and a control circuit, wherein the pressure detection circuit is used for converting a pressure signal generated when the arc welding robot welding gun collides into a pressure electric signal to be output, the signal amplification circuit is used for amplifying the pressure electric signal and inputting the amplified pressure electric signal into the control circuit, and the control circuit is used for controlling the collision switch to be opened or closed according to the pressure electric signal; the signal amplifying circuit comprises an operational amplifier, a first resistor and a second resistor, wherein the non-inverting input end of the operational amplifier receives the pressure electric signal through the first resistor, the inverting input end of the operational amplifier is grounded through the second resistor, and the output end of the operational amplifier outputs the amplified pressure electric signal; The control circuit comprises a signal processing unit, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, an NPN triode and a relay coil, wherein the input end of the signal processing unit is connected with the output end of the operational amplifier through the third resistor, the output end of the signal processing unit is connected with one end of the fourth resistor, the other end of the fourth resistor is connected with the base electrode of the NPN triode and one end of the fifth resistor, the other end of the fifth resistor is grounded, the collector electrode of the NPN triode is connected with one end of the relay coil, the other end of the relay coil is connected with one end of the sixth resistor, the other end of the sixth resistor is connected with a power supply, and the emitter electrode of the NPN triode is grounded.
2. 2. A brake release and band-type brake device according to claim 1, wherein the signal amplifying circuit further comprises a feedback resistor, and the output end of the operational amplifier is connected to the inverting input end of the operational amplifier through the feedback resistor.
3. 3. A brake release and band-type brake device according to claim 1, wherein the control circuit further comprises a seventh resistor and a capacitor, one end of the seventh resistor is connected to one end of the capacitor and the input end of the signal processing unit, and the other end of the seventh resistor and the other end of the capacitor are grounded.
4. 4. A brake release and band-type brake device according to claim 1, wherein the control circuit further comprises a diode, a cathode of the diode is connected to the other end of the relay coil and one end of the sixth resistor, and an anode of the diode is connected to one end of the relay coil and a collector of the NPN triode.
5. 5. A brake release band-type brake apparatus according to claim 1, wherein the crash sensor further comprises a manual test switch, the manual test switch being in series with the crash switch.
6. 6. The brake release device of claim 1, further comprising a tail end manual switch, a middle end rotary shaft brake release switch, a middle end brake, an initial end manual switch, an initial end rotary shaft brake release switch, an initial end brake and a switch, wherein the main control chip is respectively connected with one end of the tail end manual switch, one end of the middle end manual switch, one end of the initial end manual switch, one end of the switch, a control end of the initial end rotary shaft brake release switch, a control end of the middle end rotary shaft brake release switch, the other end of the tail end manual switch, the other end of the middle end manual switch, the other end of the initial end manual switch and the other end of the switch are all connected with a power supply, the tail end manual switch is used for controlling the tail end rotary shaft brake release switch through the main control chip, the initial end manual switch is used for controlling the initial end rotary shaft brake release switch through the main control chip, the initial end rotary shaft brake release switch is connected with the main control chip, and the brake release mode is controlled through the main control chip.
7. 7. A brake release and band-type brake device according to claim 6, further comprising an enabling switch, wherein one end of the enabling switch is connected to the input end of the main control chip, and the other end of the enabling switch is connected to a power supply; When the automatic control mode is adopted and the enabling switch is closed, the tail end brake releases the band-type brake when the arc welding robot welding gun collides; And when the automatic control mode is adopted and the enabling switch is disconnected, the tail end brake band-type brake is adopted when the arc welding robot welding gun collides.
8. 8. A brake release and band-type brake device according to claim 6, wherein the initial end rotating shaft brake release switch, the middle end rotating shaft brake release switch and the tail end rotating shaft brake release switch are relays; the relay K1 is used for controlling the on-off of the tail end brake and the fire wire; The relay K2 is used for controlling the on-off of the middle-end brake and the fire wire; the relay K3 is used for controlling the on-off of the initial end brake and the fire wire.
9. 9. A brake release and band-type brake device according to claim 8, further comprising a relay K4, wherein the relay K4 is configured to control the initial end brake, the middle end brake and the final end brake to be simultaneously connected to and disconnected from the zero line.
10. 10. An unbuckled brake apparatus as defined in claim 9, wherein, When the initial end brake is required to be electrified to loosen the band-type brake, the relay K3 and the relay K4 are controlled to be electrified; When the middle-end brake is required to be powered on to loosen the band-type brake, the relay K2 and the relay K4 are controlled to be powered on; when the tail end brake is required to be powered on to release the band-type brake, the relay K1 and the relay K4 are controlled to be powered on.

Description

Brake release and brake device of arc welding robot Technical Field The invention relates to the technical field of robots, in particular to a brake releasing and contracting device of an arc welding robot. Background According to the technical scheme, under the conditions that a tail end tool of a robot of the family is collided or an emergency stop unit fails, a servo motor is not opened to brake the brake band-type brake through a demonstrator, and a special device is adopted to manually open and close the motor brake band-type brake through power on each shaft of the robot. When the robot cannot be used in servo because of the damage of an emergency stop unit or other parts of the arc welding robot in the automatic production process, the robot cannot be removed from an area interfering with a workpiece or a motor band-type brake can be released through a demonstrator. With the existing brake release unit-dedicated device, the origin of each moving axis of the robot is lost while the robot is removed from the area interfering with the workpiece, causing secondary failure to the equipment. In the subsequent maintenance process, a great deal of time is spent for finding the origin of the robot, and the teaching confirmation of the whole product is also carried out. The principle of the existing brake release unit special device is that a robot side RM1 (RMP) connector is connected with a six-axis servo amplifier (an interface CRF8 and a CRR 88) in a robot control cabinet, wherein the CRF8 interface is a servo motor encoder line connection port, and the CRR88 interface is a motor brake power connection port. When the robot fails suddenly and cannot move, an external 220V or 380V power supply is adopted to supply power to the special device, meanwhile, the robot side RM1 (RMP) connector is disconnected, and the special device is used for manually powering the motor braking band-type brake, so that each joint of the robot is moved, and the robot is moved out of the interference area. Because the six-axis amplifier of the robot control cabinet is disconnected from the encoder when the robot side RM1 (RMP) connector is disconnected, the servo origin of each moving axis of the robot is lost in the moving process. And the device can be used by means of an external power supply (220V or 380V). Disclosure of Invention The invention aims to provide a brake release and brake device of an arc welding robot, which can automatically release a brake when the robot collides with faults, remove the robot from an interference area at any time for maintenance, greatly improve the production efficiency, ensure that the servo origin of each shaft is not lost, and can be immediately put into use after the maintenance is finished. In order to solve the technical problems, the invention adopts the following technical scheme: The invention discloses a brake release and band-type brake device of an arc welding robot, which relates to the technical field of robots and comprises a collision sensor, a main control chip, a tail end rotating shaft brake release switch and a tail end brake, wherein the collision sensor is used for detecting whether an arc welding robot welding gun collides, when the arc welding robot welding gun collides, the output end of the collision sensor outputs a low-level signal, when the arc welding robot welding gun does not collide, the output end of the collision sensor outputs a high-level signal, the input end of the main control chip is connected with the output end of the collision sensor, the main control chip is connected with the tail end rotating shaft brake release switch and the tail end brake, the tail end rotating shaft brake release switch is connected with the tail end brake, and when the arc welding robot welding gun collides, the main control chip controls the tail end brake to release the brake of the robot through the tail end rotating shaft brake release switch. In some embodiments, the collision sensor comprises a collision switch and a pull-down resistor, the collision switch is a normally closed switch, one end of the collision switch is connected with a power supply, the other end of the collision switch is connected with the main control chip and one end of the pull-down resistor, the other end of the pull-down resistor is grounded, when the arc welding robot welding gun collides, the collision switch is opened, the main control chip collects low-level signals through the pull-down resistor, when the arc welding robot welding gun does not collide, the collision switch is closed, and the main control chip collects high-level signals through the collision switch. In some embodiments, the collision sensor further comprises a pressure detection circuit, a signal amplification circuit and a control circuit, wherein the pressure detection circuit is used for converting a pressure signal generated when the arc welding robot welding gun collides into a pressure electric signal to be output, t