Method and apparatus for the braking of manipulator shaft group

Method and apparatus for the braking of manipulator shaft group

  • CN 104,369,190 B
  • Filed: 07/28/2014
  • Issued: 10/18/2019
  • Est. Priority Date: 07/26/2013
  • Status: Active Grant
First Claim
Patent Images

1. method of the one kind for braking the manipulator shaft group at least one driven member (1), has follow steps:

  • Apply brake force on the driven member by brake (5.1-5.4);

    AndAccording to dynamic parameter (T) control action relevant to brake force of the driven member in the driving on the driven memberDriving force (the T of device (4.1-4.4)M) and/or brake force (TB),Wherein, the dynamic parameter is power and/or torque (T),And wherein, driving force and/or brake force during braking the driven member, andThe driving force and/or brake force are controlled according to the dynamic model of the manipulator shaft group, and/or power sensing is providedDevice, the force snesor are effectively connect with driven member,The driving force and/or brake force are controlled according to the difference between the dynamic parameter and preset boundary value, wherein such asBoundary value described in fruit is exceeded, then by the driving force (TM) react on the brake force (TB), and reduce the brake force(TB) and/or torque (T).

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