The idea and principle of the overall design of the handling robot

① Momentary stop in special circumstances and the need to take safety measures

② In case of power outage, prevent the moving parts from sliding down and damaging other devices.

Mechanical brake:

Mechanical brakes include spiral automatic loading brakes, disc brakes, shoe brakes and electromagnetic brakes, etc. The most typical one is the electromagnetic brake.

Servo motors are often used in the robot's drive system. The characteristics of the servo motor itself determine that the electromagnetic brake is an indispensable component. In principle, this brake is a disc brake that uses spring force to brake. The brake is opened only when the excitation current passes through the coil. At this time, the brake has no braking effect. When the excitation current in the coil is disconnected, it is in a normally closed state under the action of the spring force. Therefore, this brake is called a non-excitation action electromagnetic brake. Because this brake is often used in safety braking situations, it is also called a safety brake.

Electric brake

The motor is a device that converts electrical energy into mechanical energy. Conversely, it also has the function of generating electricity by converting rotational mechanical energy into electrical energy. In other words, the servo motor is an energy conversion device that can convert electrical energy into mechanical energy and can also achieve the purpose of braking through the reverse process. However, for various types of motors such as DC motors, synchronous motors and induction motors, appropriate braking circuits must be used respectively.

3. Control mechanism

The core of building a robot platform is to establish the robot's control system. First of all, you need to select and platform. The control system hardware platform has a great impact on the openness, implementation method and development workload of the system. Generally, the commonly used control system hardware platform should meet the following requirements: the hardware system is based on a standard bus structure and is scalable; the hardware structure has the necessary real-time computing capabilities; the hardware system is modular, which is convenient for adding or changing various and special computers, etc.; low cost. So far, the hardware platform of general robot control systems can be roughly divided into two categories: systems based on the VME bus (Versamodel Eurocard is the first generation of 32-bit industrial open standard bus launched by Motorola in 1981) and systems based on the PC bus. In recent years, with the rapid development of PC performance, reliability has been greatly improved, but the price has been greatly reduced. The control system with PC as the core has been widely accepted in the field of robot control.

Editor: Huang Fei