CN102371589A - Magnetic control type mechanical arm joint brake having outage self-locking function - Google Patents
Magnetic control type mechanical arm joint brake having outage self-locking function Download PDFInfo
- Publication number
- CN102371589A CN102371589A CN2010102525824A CN201010252582A CN102371589A CN 102371589 A CN102371589 A CN 102371589A CN 2010102525824 A CN2010102525824 A CN 2010102525824A CN 201010252582 A CN201010252582 A CN 201010252582A CN 102371589 A CN102371589 A CN 102371589A
- Authority
- CN
- China
- Prior art keywords
- mover
- internal layer
- skin
- stator
- arm joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to a magnetic control type mechanical arm joint brake having an outage self-locking function, which comprises an inner-layer stator, an inner-layer rotor, an outer-layer rotor, an outer-layer stator and a fixing shaft, wherein the inner-layer rotor, the outer-layer rotor and the outer-layer stator are respectively provided with a plurality of permanent magnets; the fixing shaft simultaneously passes through the inner-layer stator, the inner-layer rotor, the outer-layer rotor and the outer-layer stator, thereby forming a coaxial configuration; and the inner-layer rotor rotates relative to the inner-layer stator for providing a power output of the brake. Accordingly, by utilizing a mutually attracted cogging effect of the permanent magnets of the outer-layer rotor and the outer-layer stator, the brake can be automatically switched to a high-cogging torque state during outage, thereby generating a higher locking power to lock the rotating state of the inner-layer rotor.
Description
Technical field
The present invention relates to a kind of robotic arm joint immobilization device, relate in particular to a kind of magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock.
Background technology
In 1984, ISO/TC184/SC2/WG1 once defined robot: " but robot is the machinery of program, is carrying out the problem that comprises operation or shift action under the control automatically ".General industry has manipulator (manipulator) and memory storage per capita with machine, and memory storage can be variable order control device or permanent order control device.So, robot just can see signal off through memory storage so that the manipulator of robot carry out variously move, rotation or relevant action such as flexible.In addition, in 1994, explain that then robot should comprise manipulator (manipulator), brake (actuator) and soft, hardware system among the ISO8373 " industrial robot operation vocabulary ".
The research and development of robot core technology are the important development directions of advanced countries such as Europe, U.S.A, day always.Past robot development is mainly industrial robot arm (industrial robot) and machine control system, in recent years towards intellectuality and diversified development.The transmission mechanism of tradition anthropomorphic robot is main with motor mostly, and the present existing practice has three, is respectively stepper motor, reductor and combines with motor and the high torque (HT) brushless motor.
The kind of stepper motor come to be divided according to structure can be divided into three kinds: permanent magnet (permanent magnet, PM), the VR formula (variable reluctance, VR) and combined type (hybrid).The rotor of permanent magnet stepper motor is to process with permanent magnet, and its characteristic is that coil does not have when excitatory, because rotor itself has magnetic, so still can produce holding torque.The rotor of VR formula stepper motor is to be processed into high permeability material, owing to be to utilize stator coil to produce attraction to make rotor rotation, therefore can't holding torque when coil is not excitatory.In addition, owing to rotor can be raised the efficiency via design, so VR formula stepper motor can provide bigger torque.The stepping angle of VR formula stepper motor generally is 15 degree, and applying to usually needs on big torque and the pinpoint toolroom machine.The combined type stepper motor is the projection electrode that many gear-like are set in rotor periphery structurally, axially also installs permanent magnet at it simultaneously, can be considered the zoarium of permanent magnet and VR formula, so title is the combined type stepper motor.The combined type stepper motor has possessed the advantage of permanent magnet stepper motor and VR formula stepper motor simultaneously, therefore possesses the characteristic of pinpoint accuracy and high torque (HT).The stepping angle of combined type stepper motor is less, generally between 1.8 degree～3.6 degree.Though adopt that stepper motor has that system architecture is simple, rotating speed and digital pulse wave frequency be directly proportional, control easily; Need not position feedback, price low (because of need not position sensing apparatus), be prone to combine and non-carbonate slip ring etc. with computer or digital machine; Reliability is high; Life-span mainly receives the characteristics of bearing restriction, and efficient is low, step-out, CF are prone to produce under resonance and the high capacity shortcoming that reliability is relatively poor down easily at a high speed or under the high torque (HT) but also have.
Utilizing reductor to combine with motor is framework the most general on the robot application.General reductor must have minimum back clearance in very high axially reaching under the radial load, can high input speed be converted into lower output speed and transmit big output torque.Reductor needs easy mounting on motor, and keeps accurate contraposition, guarantees that the system noise and the vibration that produce are minimum.Generally speaking; This reductor combines framework to have the high torsion occasion of the low speed of being applicable to motor, motor can design in high efficiency region, control easily; Can adopt simple and easy FEEDBACK CONTROL, be prone to combine with computer or digital machine and can use brushless motor; The tool high reliability, the life-span mainly receives the characteristics of bearing restriction, but adopt the disappearance of this framework to have system architecture to be difficult for flat thinning, stationkeeping ability is subject to reducing gear; And mechanism often need safeguard, system architecture complicated, and the higher and external big factory of reductor cost grasps key technology.
Brushless motor adopts Nd-Fe-B magnet (NdFeB), has that volume is little, high power and a high torsion density feature, adds non-carbonate design, can reduce advantages such as electromagnetic interference and system's maintenance.But on robot application, especially under the high torque (HT) design premises, adopt that the disappearance of this framework has that required motor volume is excessive, that electric current is prone to too high derive problems of excessive heat and motor operations efficient is on the low side etc.
Braking braking braking
Summary of the invention
Technical problem to be solved by this invention is; A kind of magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock is provided, and a commentaries on classics effect of utilizing permanent magnet to inhale mutually provides said brake to be in high start and stop torque state; Produce bigger locking strength; And can be when outage, the said brake that automaticallyes switch is in high start and stop torque state, produces bigger locking strength to pin the rotary state of this internal layer mover.
In order to achieve the above object, the present invention provides a kind of magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock, and this brake comprises an internal layer stator, an internal layer mover, an outer mover, an outer stator and a fixed axis.This internal layer stator comprises the unshakable in one's determination and winding of winding on this iron core.This internal layer mover is socketed on this internal layer stator outer diameter, and this internal layer mover is crisscross arranged by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material and forms.This skin mover is socketed on this internal layer mover external diameter, and this skin mover is crisscross arranged by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material and forms.This skin stator is socketed on this internal layer mover external diameter, and splices with this skin mover, and this skin stator is crisscross arranged by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material and forms.This fixed axis is arranged in this internal layer stator.
This brake also comprises an outer mover loam cake, an internal layer mover loam cake, an internal layer mover lower cover and an outer stator lower cover.Housing on this skin mover is should outer mover, and should skin mover upper cover top surface be provided with a U type opening slot.This internal layer mover loam cake is covered in a side of this internal layer mover, and this internal layer mover upper cover top surface is provided with a projection.This internal layer mover lower cover is covered in the opposite side of this internal layer mover.This skin stator lower cover is should outer stator.Wherein, this projection of this internal layer mover loam cake wears this U type opening slot of this skin mover loam cake, and rotates through this internal layer mover and to drive this projection and in this U type opening slot, rotate, to determine the rotational travel of said brake.In addition, be covered with one first center drilling on this internal layer mover, be covered with one second center drilling under this internal layer mover.
This brake also comprises a clutch shaft bearing and one second bearing.This clutch shaft bearing build-in is in this first center drilling, and this fixed axis is located in this clutch shaft bearing.This second bearing build-in is in this second center drilling, and this fixed axis is located in this second bearing.
Whereby; Effect of the present invention is, a commentaries on classics effect of utilizing this skin mover and these a plurality of permanent magnets of this skin stator to inhale mutually, and can be when outage; The said brake that automaticallyes switch is in high start and stop torque state, produces bigger locking strength to pin the rotary state of this internal layer mover.
Describe the present invention below in conjunction with accompanying drawing and specific embodiment, but not as to qualification of the present invention.
Description of drawings
The explosive view of Fig. 1 the present invention one magnet controlled robotic arm joint immobilization device;
The profile of this magnet controlled robotic arm joint immobilization device of Fig. 2 the present invention;
One outer mover of this magnet controlled robotic arm joint immobilization device of Fig. 3 A the present invention is with respect to the constitutional diagram of an outer stator operation before not rotating;
This skin mover of this magnet controlled robotic arm joint immobilization device of Fig. 3 B the present invention is 7.5 constitutional diagrams when spending with respect to this skin stator operation in the anglec of rotation;
This skin mover of this magnet controlled robotic arm joint immobilization device of Fig. 3 C the present invention is 15 constitutional diagrams when spending with respect to this skin stator operation in the anglec of rotation;
This skin mover rotation back of this magnet controlled robotic arm joint immobilization device of Fig. 3 D the present invention produces the oscillogram of pinning torque;
The constitutional diagram of this magnet controlled robotic arm joint immobilization device of Fig. 4 the present invention;
This internal layer stator core pattern of this magnet controlled robotic arm joint immobilization device of Fig. 5 A the present invention and first embodiment of method for winding;
This internal layer stator core pattern of this magnet controlled robotic arm joint immobilization device of Fig. 5 B the present invention and second embodiment of method for winding; And
This internal layer stator core pattern of this magnet controlled robotic arm joint immobilization device of Fig. 5 C the present invention and the 3rd embodiment of method for winding.
Wherein, Reference numeral
100 magnet controlled robotic arm joint immobilization devices
10 internal layer stators
102 iron cores
104 windings
20 internal layer movers
202 internal layer mover loam cakes
2022 projections
204 internal layer mover lower covers
206 clutch shaft bearings
208 second bearings
30 outer movers
302 outer mover loam cakes
3022 U type opening slots
40 outer stators
402 outer stator lower covers
50 fixed axis
θ curl angle
Cv1 first curve
Cv2 second curve
Cv3 the 3rd curve
The specific embodiment
Now relevant technology contents of the present invention and detailed description cooperate graphic explanation following:
See also explosive view and profile that Fig. 1 and Fig. 2 are respectively the present invention's one magnet controlled robotic arm joint immobilization device.This magnet controlled robotic arm joint immobilization device 100 mainly comprises an internal layer stator 10, an internal layer mover 20, one outer mover 30, one an outer stator 40 and a fixed axis 50.
This internal layer stator 10 comprises an iron core 102 and the winding 104 of winding on this iron core.And this internal layer stator 10 is multipole winding stator structure.This internal layer mover 20 is socketed on this internal layer stator 10 external diameters, and be crisscross arranged forms this internal layer mover 20 with a plurality of ferrous metal materials (not indicating) by a plurality of N utmost point permanent magnets (not indicating), a plurality of S utmost point permanent magnet (not indicating).Wherein, Being crisscross arranged of this internal layer mover 20 is meant each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement in regular turn; That is; Each this N utmost point permanent magnet and each this S utmost point permanent magnet make these a plurality of N utmost point permanent magnets, these a plurality of S utmost point permanent magnets form circular repeated arrangement in regular turn with these a plurality of ferrous metal materials in abutting connection with this ferrous metal material.
This skin mover 30 is socketed on this internal layer mover 20 external diameters, and be crisscross arranged forms this skin mover 30 with a plurality of ferrous metal materials (not indicating) by a plurality of N utmost point permanent magnets (not indicating), a plurality of S utmost point permanent magnet (not indicating).Likewise; Being crisscross arranged of this skin mover 30 is meant each this N utmost point permanent magnet and each this S utmost point permanent magnet in abutting connection with this ferrous metal material, makes these a plurality of N utmost point permanent magnets, these a plurality of S utmost point permanent magnets form circular repeated arrangement in regular turn with these a plurality of ferrous metal materials.This skin stator 40 is socketed on this internal layer mover 20 external diameters, and splices with this skin mover 30, and be crisscross arranged forms this skin stator 40 with a plurality of ferrous metal materials (not indicating) by a plurality of N utmost point permanent magnets (not indicating), a plurality of S utmost point permanent magnet (not indicating).Likewise; Being crisscross arranged of this skin stator 40 is meant each this N utmost point permanent magnet and each this S utmost point permanent magnet in abutting connection with this ferrous metal material, makes these a plurality of N utmost point permanent magnets, these a plurality of S utmost point permanent magnets form circular repeated arrangement in regular turn with these a plurality of ferrous metal materials.This fixed axis 50 is arranged in this internal layer stator 10.Therefore, can find out significantly that this internal layer stator 10, this internal layer mover 20, this skin mover 30, this skin stator 40 are worn simultaneously by this fixed axis 50 and form arranged coaxial by the profile of this magnet controlled robotic arm joint immobilization device of Fig. 2.
Cooperation is referring to the constitutional diagram of this magnet controlled robotic arm joint immobilization device of Fig. 4 the present invention.This magnet controlled robotic arm joint immobilization device 100 also comprises an outer mover loam cake 302, an internal layer mover loam cake 202, an internal layer mover lower cover 204 and one outer stator lower cover 402.This skin mover loam cake 302 covers are should outer mover 30, and should be provided with a U type opening slot 3022 by skin mover loam cake 302 end faces.This internal layer mover loam cake 202 is covered in a side (according to present embodiment, this internal layer mover loam cake 202 is covered in the direction of principal axis first half of this internal layer mover 20) of this internal layer mover 20, and these internal layer mover loam cake 202 end faces are provided with a projection 2022.This internal layer mover lower cover 204 is covered in the opposite side (with present embodiment, this internal layer mover lower cover 204 is covered in the direction of principal axis Lower Half of this internal layer mover 20) of this internal layer mover 20.These skin stator lower cover 402 covers are should outer stator 40.Wherein, This projection 2022 of this internal layer mover loam cake 202 wears this U type opening slot 3022 of this skin mover loam cake 302; And rotate through this internal layer mover 20 and to drive this projection 2022 and in this U type opening slot 3022, rotate, to determine the rotational travel of said brake 100.And also this projection 2022 by this internal layer mover loam cake 202 rotates in this U type opening slot 3022, provides these magnet controlled robotic arm joint immobilization device 100 actual power to export.In addition, the rotational travel of this brake 100 how much, can be according to the demand elasticity adjustment of power accessory.And, can limit the handoff angle of this skin stator 40 and this skin mover 30 through of the relative displacement of this skin stator 40 with this skin mover 30.Through designing the ccontaining groove of this internal layer mover, this skin stator and this skin mover, increasing the air gap flux density between this internal layer mover, this skin stator and this skin mover, and improve the torque capacity of this actuator.
In addition, this internal layer mover loam cake 202 is provided with one first center drilling (not indicating), and this internal layer mover lower cover 204 is provided with one second center drilling (not indicating).
This magnet controlled robotic arm joint immobilization device 100 also comprises a clutch shaft bearing 206 and one second bearing 208.These clutch shaft bearing 206 build-ins are in this first center drilling of this internal layer mover loam cake 202, and this fixed axis 50 is located in this clutch shaft bearing 206.In addition, these second bearing, 208 build-ins are in this second center drilling of this internal layer mover lower cover 204, and this fixed axis 50 is located in this second bearing 208.
These magnet controlled robotic arm joint immobilization device 100 more detailed action specifications see also hereinafter.Be located at these winding 104 energization excitations of this internal layer stator 10 through opposing connection; Cut each other in the magnetic field that winding 104 energization excitations of these a plurality of N utmost points that this internal layer mover 20 is crisscross arranged, magnetic field that S utmost point permanent magnet is produced and this internal layer stator 10 are produced; Make this internal layer mover 20 rotate and drive this projection 2022 and in this U type opening slot 3022, rotate; So that this magnet controlled robotic arm joint immobilization device 100 can provide power output to produce displacement.
See also an outer mover that Fig. 3 A to Fig. 3 C is respectively this magnet controlled robotic arm joint immobilization device of the present invention with respect to an outer stator operation before rotation not, to operate in the anglec of rotation be 7.5 when spending and to operate in the anglec of rotation be 15 constitutional diagrams when spending.The block action principle of this magnet controlled robotic arm joint immobilization device of the present invention is that cut each other in these a plurality of N utmost points of being crisscross arranged of these a plurality of N utmost points, S utmost point permanent magnet and this skin stator 40 that utilize this skin mover 30 to be crisscross arranged, the magnetic field that S utmost point permanent magnet is produced, and makes this skin mover 30 this skin stator 40 motionless with respect to static determinacy produce an anglec of rotation θ.According to present embodiment; Fig. 3 C representes and should rotate in a counter-clockwise direction 15 degree (this anglec of rotation θ=15 °) by skin mover 30; Fig. 3 B representes and should rotate in a counter-clockwise direction 7.5 degree (this anglec of rotation θ=7.5 °) by skin mover 30 that Fig. 3 A then representes and should not rotate (this anglec of rotation θ=0 °) by skin mover 30.
In addition, these skin mover loam cake 302 covers are should outer mover 30 is secured to one another with a plurality of pilot pins (position pin); These skin stator lower cover 402 covers are should outer stator 40 is also secured to one another with a plurality of pilot pins.These a plurality of pilot pins of this skin mover loam cake 302 and this skin stator lower cover 402 also form the usefulness of sign; That is when outer mover 30 did not rotate, these a plurality of pilot pins of this skin mover loam cake 302 were to align with these a plurality of pilot pins of this skin stator lower cover 402; Yet when these skin mover 30 rotations, these a plurality of pilot pins form the dislocation state.
When the position of magnetic pole of this skin stator 40 and this skin mover 30 is identical; This skin stator 40 is a closed state with the magnetic circuit that this skin mover 30 is produced; Produce bigger commentaries on classics (cogging) effect, so that utilize this characteristic to make this magnet controlled robotic arm joint immobilization device 100 be in high start and stop torque state, produce bigger locking strength; To pin the rotary state of this internal layer mover 20, therefore can under outage, bear high capacity.When this skin stator 40 is spent electrical angles with the position of magnetic pole skew 180 of this skin mover 30; (that is, be this skin stator 40 and this skin mover 30 of 24 utmost points as far as structure, be 15 degree Space Angle); This skin stator 40 is semi-open state with the magnetic circuit that this skin mover 30 is produced; Produce a less commentaries on classics effect, make this magnet controlled robotic arm joint immobilization device 100 be the low start and stop torque state, can present mobile controllable state.Under this mode of operation; As long as opposing connection is located at these winding 104 energization excitations of this internal layer stator 10; This internal layer mover 20 is rotated and drive this projection 2022 and in this U type opening slot 3022, rotate; So that this magnet controlled robotic arm joint immobilization device 100 can provide power output to produce displacement.
Cooperation is referring to the oscillogram of Fig. 3 D by this skin mover rotation back institute generation pinning torque of this magnet controlled robotic arm joint immobilization device of the present invention.Abscissa is represented this internal layer mover 20 anglecs of rotation among the figure; And the pinning level of torque that on behalf of this skin mover, ordinate produced; And on behalf of this magnet controlled robotic arm joint immobilization device 100, three curves shown in the figure operate in not (the first curve C v1) before the rotation respectively, operated in the anglec of rotation is 7.5 when spending (the second curve C v2) and to operate in the anglec of rotation be the 15 pinning torque variation diagrams of (the 3rd curve C v3) when spending.Can obviously find out by Fig. 3 D; When the position of magnetic pole of this skin stator 40 and this skin mover 30 is identical (should skin mover 30 operate in rotation with respect to this skin stator 40 before); Can know that by this first curve C v1 magnet controlled robotic arm joint immobilization device 100 is in high start and stop torque state, and torque capacity can reach about 30 Newton meter (n.m.)s (N-m).Relatively; When the position of magnetic pole skew 180 degree electrical angles of this skin stator 40 and this skin mover 30 (should skin mover 30 operating in the anglec of rotation with respect to this skin stator 40 is 15 when spending); Can know that by the 3rd curve C v3 magnet controlled robotic arm joint immobilization device 100 is in the low start and stop torque state, and torque capacity only reaches about 5 Newton meter (n.m.)s (N-m).In addition; If when the position of magnetic pole of this skin stator 40 and this skin mover 30 squints when 0 degree is between 180 degree electrical angles; With this example; Be to be 7.5 when spending, can know that by this second curve C v2 magnet controlled robotic arm joint immobilization device 100 is between high start and stop torque and the low start and stop torque state, and torque capacity reach about 20 Newton meter (n.m.)s (N-m) for this skin mover 30 operates in the anglec of rotation with respect to this skin stator 40.
See also Fig. 5 A to Fig. 5 C and be respectively this internal layer stator core pattern of this magnet controlled robotic arm joint immobilization device of the present invention and three kinds of embodiment of method for winding.This internal layer stator 10 to this magnet controlled robotic arm joint immobilization device 100 is designed to different patterns, so that feasible pattern unshakable in one's determination and method for winding to be provided.By the change of magnetic structure,, motor is satisfied simultaneously be prone to brake and high demand of pinning torque (holding torque) to remedy defective born on motor magnetic circuit and the structure.
In brief, this magnet controlled robotic arm joint immobilization device 100 and organization's integration provided by the present invention are adopted with modularized design, and make this magnet controlled robotic arm joint immobilization device 100 have the function of cutting off self-lock (auto-locking).When outage; Change (cogging) effect through what these magnet controlled robotic arm joint immobilization device 100 internal magnets were inhaled mutually; Make the robotic arm joint present locking-in state (holding status); Do not receive load effect to produce displacement, but whole these magnet controlled robotic arm joint immobilization device 100 miniaturization ands and possess the demand of high self-locking torsion.
In sum, cording of the present invention has following advantage:
1, this brake has low speed superelevation torsion ability, can carry out the switching of height/low start and stop torque, during outage, can present stationary state because of high start and stop torque makes this brake, but the power and energy saving effect;
2, but this brake thinning design need not any reducing gear, effectively improves the long-pending and cost of traditional braking body, and, because of no reducing gear, so maintenance cost is lower;
3, during system cut-off, because of this brake can automatically switch to the high torque mode of pinning, promptly pin automatically, this can increase security of system and reliability is high;
4, can adopt simple and easy FEEDBACK CONTROL and can realize this brake is controlled easily.
Certainly; The present invention also can have other various embodiments; Under the situation that does not deviate from spirit of the present invention and essence thereof; Those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (10)
1. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock is characterized in that, comprises:
One internal layer stator comprises the unshakable in one's determination and winding of winding on this iron core;
One internal layer mover is socketed on this internal layer stator outer diameter, and this internal layer mover is crisscross arranged by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material and forms;
One outer mover is socketed on this internal layer mover external diameter, and this skin mover is crisscross arranged by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material and forms;
One outer stator is socketed on this internal layer mover external diameter, and splices with this skin mover, and this skin stator is crisscross arranged by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material and forms; And
One fixed axis is arranged in this internal layer stator;
Whereby, a commentaries on classics effect of utilizing this skin mover and these a plurality of permanent magnets of this skin stator to inhale mutually, and can be when outage, the said brake that automaticallyes switch is in high start and stop torque state, produces bigger locking strength to pin the rotary state of this internal layer mover.
2. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1 is characterized in that, this magnet controlled robotic arm joint immobilization device also comprises:
One outer mover loam cake, cover be should outer mover, and should skin mover upper cover top surface be provided with a U type opening slot;
One internal layer mover loam cake be covered in a side of this internal layer mover, and this internal layer mover upper cover top surface is provided with a projection;
One internal layer mover lower cover is covered in the opposite side of this internal layer mover; And
One outer stator lower cover, cover is should outer stator;
Wherein, this projection of this internal layer mover loam cake wears this U type opening slot of this skin mover loam cake, and rotates through this internal layer mover and to drive this projection and in this U type opening slot, rotate, to determine the rotational travel of said brake.
3. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1; It is characterized in that; Be covered with one first center drilling on this internal layer mover; And said magnet controlled robotic arm joint immobilization device also comprises a clutch shaft bearing, and this clutch shaft bearing build-in is in this first center drilling, and this fixed axis is located in this clutch shaft bearing.
4. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1; It is characterized in that; Be covered with one second center drilling under this internal layer mover; And said magnet controlled robotic arm joint immobilization device also comprises one second bearing, and this second bearing build-in is in this second center drilling, and this fixed axis is located in this second bearing.
5. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1 is characterized in that this internal layer stator is multipole winding stator structure.
6. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1; It is characterized in that being crisscross arranged of this internal layer mover is each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement in regular turn.
7. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1; It is characterized in that being crisscross arranged of this skin mover is each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement in regular turn.
8. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1; It is characterized in that being crisscross arranged of this skin stator is each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement in regular turn.
9. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1 is characterized in that, through the relative displacement of this skin stator and this skin mover, can limit the handoff angle of this skin stator and this skin mover.
10. the magnet controlled robotic arm joint immobilization device with the function of cutting off self-lock according to claim 1; It is characterized in that; Through designing the ccontaining groove of this internal layer mover, this skin stator and this skin mover; Increasing the air gap flux density between this internal layer mover, this skin stator and this skin mover, and improve the torque capacity of this actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010252582 CN102371589B (en) | 2010-08-13 | 2010-08-13 | Magnetic control type mechanical arm joint brake having outage self-locking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010252582 CN102371589B (en) | 2010-08-13 | 2010-08-13 | Magnetic control type mechanical arm joint brake having outage self-locking function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102371589A true CN102371589A (en) | 2012-03-14 |
| CN102371589B CN102371589B (en) | 2013-12-18 |
Family
ID=45791108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010252582 Expired - Fee Related CN102371589B (en) | 2010-08-13 | 2010-08-13 | Magnetic control type mechanical arm joint brake having outage self-locking function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102371589B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199527A (en) * | 2018-01-31 | 2018-06-22 | 湖北环电磁装备工程技术有限公司 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63162176A (en) * | 1986-12-24 | 1988-07-05 | フアナツク株式会社 | First arm structure of horizontal joint type robot |
| JPH0670590A (en) * | 1991-09-18 | 1994-03-11 | Newport News Shipbuilding & Dry Dock Co | Electrically-driven propulsion motor for ship |
| JPH06121518A (en) * | 1982-06-04 | 1994-04-28 | Nsk Corp | Motor for high-torque robot |
| US5783893A (en) * | 1995-10-20 | 1998-07-21 | Newport News Shipbuilding And Dry Dock Company | Multiple stator, single shaft electric machine |
| JP2003061326A (en) * | 2001-08-08 | 2003-02-28 | Matsushita Electric Ind Co Ltd | Vernier-type brushless motor |
| US20030201686A1 (en) * | 2002-04-30 | 2003-10-30 | Fujitsu General Limited | Induction motor |
| CN101000446A (en) * | 2006-01-12 | 2007-07-18 | 尼司卡股份有限公司 | Magnet rotor and electromagnetically-driving device using the same, and optical apparatus with light quantity-control device |
| DE102008004019A1 (en) * | 2007-01-31 | 2008-08-07 | Denso Corp., Kariya | Jochaufbau for the stator of a starter motor |
| US20090045765A1 (en) * | 2007-08-17 | 2009-02-19 | Kura Laboratory Corporation | Field controllable rotating electric machine system with magnetic excitation part |
| US20090200882A1 (en) * | 2008-02-12 | 2009-08-13 | Elberto Berdut-Teruel | Orbital hybrid magnetic electronic engine and generator |
-
2010
- 2010-08-13 CN CN 201010252582 patent/CN102371589B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06121518A (en) * | 1982-06-04 | 1994-04-28 | Nsk Corp | Motor for high-torque robot |
| JPS63162176A (en) * | 1986-12-24 | 1988-07-05 | フアナツク株式会社 | First arm structure of horizontal joint type robot |
| JPH0670590A (en) * | 1991-09-18 | 1994-03-11 | Newport News Shipbuilding & Dry Dock Co | Electrically-driven propulsion motor for ship |
| US5783893A (en) * | 1995-10-20 | 1998-07-21 | Newport News Shipbuilding And Dry Dock Company | Multiple stator, single shaft electric machine |
| JP2003061326A (en) * | 2001-08-08 | 2003-02-28 | Matsushita Electric Ind Co Ltd | Vernier-type brushless motor |
| US20030201686A1 (en) * | 2002-04-30 | 2003-10-30 | Fujitsu General Limited | Induction motor |
| CN101000446A (en) * | 2006-01-12 | 2007-07-18 | 尼司卡股份有限公司 | Magnet rotor and electromagnetically-driving device using the same, and optical apparatus with light quantity-control device |
| DE102008004019A1 (en) * | 2007-01-31 | 2008-08-07 | Denso Corp., Kariya | Jochaufbau for the stator of a starter motor |
| US20090045765A1 (en) * | 2007-08-17 | 2009-02-19 | Kura Laboratory Corporation | Field controllable rotating electric machine system with magnetic excitation part |
| US20090200882A1 (en) * | 2008-02-12 | 2009-08-13 | Elberto Berdut-Teruel | Orbital hybrid magnetic electronic engine and generator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199527A (en) * | 2018-01-31 | 2018-06-22 | 湖北环电磁装备工程技术有限公司 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102371589B (en) | 2013-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4132008B2 (en) | Electric motor or generator | |
| US7960888B2 (en) | Electric motor with field weakening | |
| TWI413347B (en) | Magnetic-controlled actuator with auto-locking function for joints of manipulate arm | |
| JP2009072009A (en) | Permanent magnet rotating machine | |
| JP5621794B2 (en) | Magnetic modulation type multi-axis motor | |
| WO2011096134A1 (en) | Rotating electric machine | |
| CN108418368B (en) | Double-rotor hybrid excitation permanent magnet synchronous motor and method thereof | |
| CN1996718A (en) | A rotating electrical machine with a transmission and a driving apparatus using the same | |
| CN108574386A (en) | A kind of novel magneticfocusing disc type electric machine | |
| CN105471212A (en) | Rotation linear permanent magnetism motor | |
| JP4484922B2 (en) | Electric motor or generator | |
| JP4350147B2 (en) | Electric motor or generator | |
| JP2016524448A (en) | Reduction of bearing force in electric machines | |
| CN102371589B (en) | Magnetic control type mechanical arm joint brake having outage self-locking function | |
| WO2006019058A1 (en) | Variable magnetoresistive generator | |
| Zhang et al. | Analysis and comparison of axial flux PM synchronous motor and induction motor | |
| EP3688864B1 (en) | Variable reluctance actuator | |
| Sattarov | The Controllable Eddy Current Brakes with Permanent Magnets: Basic Concept | |
| US20100026103A1 (en) | Driving or power generating multiple phase electric machine | |
| JP2004222492A (en) | Rotary machines of three dimensional stator structure | |
| Zhang et al. | Comparison of axial flux PM synchronous motor and induction motor by mathematical and finite element analysis | |
| JP5055412B2 (en) | Magnetically controlled manipulating arm joint actuator with auto-lock function at power failure | |
| EP2422936B1 (en) | Magnetic-controlled actuator with auto-locking function for joints of manipulation arm | |
| CN102064658A (en) | Brushless DC motor with high sinusoidal air gap magnetic density and low power consumption | |
| JP2008199879A (en) | Electric motor, and dynamo-electric generator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20180813 |