CN105751237A - Braking device for robot joint with gear transmission mechanism - Google Patents
Braking device for robot joint with gear transmission mechanism Download PDFInfo
- Publication number
- CN105751237A CN105751237A CN201610196243.6A CN201610196243A CN105751237A CN 105751237 A CN105751237 A CN 105751237A CN 201610196243 A CN201610196243 A CN 201610196243A CN 105751237 A CN105751237 A CN 105751237A
- Authority
- CN
- China
- Prior art keywords
- electric magnet
- robot
- joint
- gear
- brake block
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/20—Electric or magnetic using electromagnets
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a braking device for a robot joint with a gear transmission mechanism. The braking device comprises an electromagnet, a brake block and a reset spring, wherein the electromagnet, the brake block and the reset spring are arranged nearby a braked transmission gear in a robot joint, the electromagnet is fixed on a base of the robot joint, the brake block is connected to a push rod of the electromagnet, one end of the reset spring is connected with the base of the robot joint, and the other end of the reset spring is connected with the brake block. When the electromagnet is energized, the push rod of the electromagnet pushes the brake block to overcome elasticity of the reset spring and further to be away from a tooth space of the braked transmission gear; when the electromagnet is de-energized, the reset spring pushes the brake block to extend into the tooth space of the braked transmission gear. The braking device for the robot joint with the gear transmission mechanism achieves braking with the help of an existing structure of the robot joint and has the advantages of simple structure, low cost, flexibility in arrangement positions, light weight and the like.
Description
Technical field
The present invention relates to robotics, be specifically related to the brake unit of a kind of joint of robot.
Background technology
The General Principle of brake is to fix a wheel or dish on the high speed shaft of machine, installs the brake shoe, band or the dish that adapt with it, under external force so as to produce braking moment on support.Usually working by inefficacy band-type brake mode, namely want release brake to be necessary for switching on power, otherwise, each joint can not produce relative motion.Its main purpose is to shield when power failure and inoperative.Its shortcoming is to remain powered on during operation to make releasing of brake.Conventional mode of braking has: oil pressure, machinery, air pressure and vacuum servo air pressure, spring energy-storage, aerofluxus auxiliary braking, engine idle auxiliary braking and magnetic turbine retarder etc..
Joint of robot brake generally adopts special band-type brake, is electricity loss brake, maintains with the safety and attitude ensureing robot and equipment.The form of braking is varied, based on disk brake, and with electromagnetic force for main power.The existing brake being applied to robot mainly has powerless magnetic brake and piezoelectric ceramics brake etc..And in order to use these brakes, also tend to need a set of extra actuating device, therefore there is the problems such as structure complexity, cost is high, space layout is dumb, heavy.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, a kind of brake unit for the joint of robot with gear drive is provided, this brake unit utilizes the existing structure of joint of robot to realize braking, has simple in construction, cost is low, position is flexible, the advantage such as lightweight.
The purpose of the present invention is realized by following technical scheme:
A kind of brake unit for the joint of robot with gear drive, is braked the electric magnet near travelling gear, brake block and back-moving spring including being located in joint of robot, and wherein, described electric magnet is fixed on the pedestal of joint of robot；Described brake block is connected on the push rod of electric magnet；Described back-moving spring one end is connected with the pedestal of joint of robot, and the other end is connected with brake block；When described electric magnet obtains electric, the push rod of electric magnet promote brake block overcome the elastic force of back-moving spring leave described in be braked the teeth groove of travelling gear, when described electric magnet dead electricity, described back-moving spring promote brake block extend into described in be braked in the teeth groove of travelling gear.
One preferred version of the present invention, wherein, described brake block is connected to the guide pillar parallel with the push rod axis of electric magnet, and the pedestal of described joint of robot is provided with pilot hole, and described guide pillar is matched with in described pilot hole.The cooperation utilizing guide pillar and pilot hole realizes guide effect, prevents the twisting of brake block to promote the reliability of braking in braking procedure.
One preferred version of the present invention, wherein, the axis of the push rod of described electric magnet is parallel with the described axis being braked travelling gear.The brake unit of the present invention is axis direction larger in size of the push rod of electric magnet, and is braked on the axis direction of travelling gear and is generally of bigger space, and above-mentioned arrangement can make full use of the internal original space of joint of robot.
One preferred version of the present invention, wherein, the gear drive in described joint of robot is cone tooth drive mechanism, described in be braked travelling gear be the drive bevel gear in this cone tooth drive mechanism；Described electric magnet is pushing-type electric magnet, and this electric magnet is arranged at the small end corresponding position of described drive bevel gear, and this electric magnet is fixed on the pedestal of joint of robot by electric magnet fixed mount；What described guide pillar was arranged at described drive bevel gear holds greatly corresponding position；Described back-moving spring is arranged in pilot hole.
One preferred version of this, wherein, the gear drive in described joint of robot is cylindrical gear drive, described in be braked travelling gear be the driven cylindrical gear in this cylindrical gear drive；Described electric magnet is pull-type electric magnet, and this electric magnet and described guide pillar may be contained within the same side of described driven cylindrical gear axis direction, and this electric magnet is fixed on the pedestal of joint of robot by electric magnet fixed mount；Described guide pillar one end is connected with the push rod of electric magnet, and the other end is connected with brake block, and this guide pillar is from bottom to top through the pilot hole of the pedestal being arranged on joint of robot, and described back-moving spring is enclosed within described guide pillar.
The operation principle of the brake unit of the present invention is: when joint of robot is under normal duty, electric magnet is in obtain electricity condition, push rod and brake block in electric magnet overcome the elastic force of back-moving spring that brake block maintains the position leaving the teeth groove being braked travelling gear, and now the gear drive in joint of robot can run well；When joint of robot is in halted state or must brake due to other reasons, electric magnet dead electricity, brake block extend in the teeth groove being braked travelling gear under the promotion of back-moving spring so that the gear drive in joint of robot cannot rotate and realize braking.
The present invention compared with prior art has following beneficial effect:
1, utilize to constitute with the gear in the joint of robot of gear drive and be braked object, thus enormously simplify the structure of brake unit, reduce volume, there is the advantages such as cost is low, position is flexible, lightweight.
2, the teeth groove in travelling gear has and is circumferentially uniformly distributed and compact arranged feature, the present invention utilizes this construction features of gear, only need to be braked gear tooth slot be arranged around can realize braking easily out of and into the brake block of teeth groove, structure is ingenious, and braking is reliable.
Accompanying drawing explanation
Fig. 1-Fig. 3 is the structural representation of first detailed description of the invention of the brake unit for the joint of robot with gear drive of the present invention, wherein, Fig. 1 is the schematic diagram being in on-position, and Fig. 2 is the A-A sectional view of Fig. 1, and Fig. 3 is the schematic diagram being in non-brake state.
Fig. 4 and Fig. 5 is the structural representation of second detailed description of the invention of the brake unit for the joint of robot with gear drive of the present invention, and wherein, Fig. 4 is the schematic diagram being in on-position, and Fig. 5 is the schematic diagram being in non-brake state.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
Referring to Fig. 1-Fig. 3, being used for in the brake unit of the joint of robot of gear drive of the present embodiment, gear drive in described joint of robot is cone tooth drive mechanism, drive bevel gear 106 in this cone tooth drive mechanism is connected with servomotor 101, and it is connected on the pedestal 104 of joint of robot by angular contact ball bearing 102, driven wheel of differential 109 is connected with harmonic speed reducer assembly 111, and harmonic speed reducer assembly 111 is connected with joint output 110；Described drive bevel gear 106 composition is braked travelling gear.
Referring to Fig. 1-Fig. 3, described brake unit includes being located at and is braked the electric magnet near travelling gear, brake block 112 and back-moving spring 103 in joint of robot, and wherein, described electric magnet is fixed on the pedestal 104 of joint of robot；Described brake block 112 is connected on the push rod of electric magnet；Described back-moving spring 103 one end is connected with the pedestal 104 of joint of robot, and the other end is connected with brake block 112；When described electric magnet obtains electric, the push rod of electric magnet promote brake block 112 overcome the elastic force of back-moving spring 103 leave described in be braked the teeth groove of travelling gear, when described electric magnet dead electricity, described back-moving spring 103 promote brake block 112 extend into described in be braked in the teeth groove of travelling gear.
Referring to Fig. 1-Fig. 3, further, described brake block 112 being connected to the guide pillar 105 parallel with the push rod axis of electric magnet, the pedestal 104 of described joint of robot is provided with pilot hole, and described guide pillar 105 is matched with in described pilot hole.The cooperation utilizing guide pillar 105 and pilot hole realizes guide effect, prevents the twisting of brake block 112 to promote the reliability of braking in braking procedure.
Referring to Fig. 1-Fig. 3, the axis of the push rod of described electric magnet is parallel with the described axis being braked travelling gear.The brake unit of the present invention is axis direction larger in size of the push rod of electric magnet, and is braked on the axis direction of travelling gear and is generally of bigger space, and above-mentioned arrangement can make full use of the internal original space of joint of robot.
Referring to Fig. 1-Fig. 3, described electric magnet is pushing-type electric magnet 107, and this electric magnet is arranged at the small end corresponding position of described drive bevel gear 106, and this electric magnet is fixed on the pedestal 104 of joint of robot by electric magnet fixed mount 108；What described guide pillar 105 was arranged at described drive bevel gear 106 holds greatly corresponding position；Described back-moving spring 103 is arranged in pilot hole.
The work process of the brake unit of the present embodiment is: referring to Fig. 1 and Fig. 2, when joint of robot is under normal duty, electric magnet is in obtain electricity condition, push rod in electric magnet is maintained to push down on and does well, thus overcoming the elastic force of back-moving spring 103 that brake block 112 maintains the position leaving the teeth groove being braked travelling gear, now the gear drive in joint of robot can run well；Referring to Fig. 3, when joint of robot is in halted state or must brake due to other reasons, robot controls electric magnet dead electricity, brake block 112 extend in the teeth groove being braked travelling gear under the promotion of back-moving spring 103 so that the gear drive in joint of robot cannot rotate and realize braking.
Embodiment 2
Referring to Fig. 4 and Fig. 5, in the present embodiment, gear drive in described joint of robot is cylindrical gear drive, active roller gear 204 in this cylindrical gear drive is connected with servomotor 201, driven cylindrical gear 205 is connected with harmonic speed reducer assembly 211, and harmonic speed reducer assembly 211 is connected with joint output 212；Described driven cylindrical gear 205 composition is braked travelling gear.
Referring to Fig. 4 and Fig. 5, described electric magnet is the same side that pull-type electric magnet 203, this electric magnet and guide pillar 206 may be contained within described driven cylindrical gear 205 axis direction, and this electric magnet is fixed on the pedestal 210 of joint of robot by electric magnet fixed mount 202；Described guide pillar 206 one end is connected with the push rod of electric magnet, and the other end is connected with brake block 208 by fixing nut 209, and this guide pillar 206 is from bottom to top through the pilot hole of the pedestal 210 being arranged on joint of robot, and described back-moving spring 207 is enclosed within described guide pillar 206.
The work process of the brake unit of the present embodiment is: referring to Fig. 4, when joint of robot is under normal duty, electric magnet is in obtain electricity condition, push rod in electric magnet is maintained at the state that retracts downwards, thus overcoming the elastic force of back-moving spring 207 that brake block 208 maintains the position leaving the teeth groove being braked travelling gear, now the gear drive in joint of robot can run well；Referring to Fig. 5, when joint of robot is in halted state or must brake due to other reasons, robot controls electric magnet dead electricity, brake block 208 extend in the teeth groove being braked travelling gear under the promotion of back-moving spring 207 so that the gear drive in joint of robot cannot rotate and realize braking.
The present embodiment other embodiments other than the above are implemented with reference to embodiment 1.
Above-mentioned for the present invention preferably embodiment; but embodiments of the present invention are not by the restriction of foregoing; the change made under other any spirit without departing from the present invention and principle, modification, replacement, combination, simplification; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (5)
1. the brake unit for the joint of robot with gear drive, it is characterized in that, being braked the electric magnet near travelling gear, brake block and back-moving spring including being located in joint of robot, wherein, described electric magnet is fixed on the pedestal of joint of robot；Described brake block is connected on the push rod of electric magnet；Described back-moving spring one end is connected with the pedestal of joint of robot, and the other end is connected with brake block；When described electric magnet obtains electric, the push rod of electric magnet promote brake block overcome the elastic force of back-moving spring leave described in be braked the teeth groove of travelling gear, when described electric magnet dead electricity, described back-moving spring promote brake block extend into described in be braked in the teeth groove of travelling gear.
2. the brake unit for the joint of robot with gear drive according to claim 1, it is characterized in that, being connected to the guide pillar parallel with the push rod axis of electric magnet on described brake block, the pedestal of joint of robot is provided with pilot hole, and described guide pillar is matched with in described pilot hole.
3. the brake unit for the joint of robot with gear drive according to claim 2, it is characterised in that the axis of the push rod of described electric magnet is parallel with the described axis being braked travelling gear.
4. the brake unit for the joint of robot with gear drive according to claim 3, it is characterized in that, gear drive in described joint of robot is cone tooth drive mechanism, described in be braked travelling gear be the drive bevel gear in this cone tooth drive mechanism；Described electric magnet is pushing-type electric magnet, and this electric magnet is arranged at the small end corresponding position of described drive bevel gear, and this electric magnet is fixed on the pedestal of joint of robot by electric magnet fixed mount；What described guide pillar was arranged at described drive bevel gear holds greatly corresponding position；Described back-moving spring is arranged in pilot hole.
5. the brake unit for the joint of robot with gear drive according to claim 3, it is characterized in that, gear drive in described joint of robot is cylindrical gear drive, described in be braked travelling gear be the driven cylindrical gear in this cylindrical gear drive；Described electric magnet is pull-type electric magnet, and this electric magnet and described guide pillar may be contained within the same side of described driven cylindrical gear axis direction, and this electric magnet is fixed on the pedestal of joint of robot by electric magnet fixed mount；Described guide pillar one end is connected with the push rod of electric magnet, and the other end is connected with brake block, and this guide pillar is from bottom to top through the pilot hole of the pedestal being arranged on joint of robot, and described back-moving spring is enclosed within described guide pillar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610196243.6A CN105751237B (en) | 2016-03-30 | 2016-03-30 | A kind of brake apparatus for the joint of robot with gear drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610196243.6A CN105751237B (en) | 2016-03-30 | 2016-03-30 | A kind of brake apparatus for the joint of robot with gear drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105751237A true CN105751237A (en) | 2016-07-13 |
| CN105751237B CN105751237B (en) | 2019-04-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610196243.6A Active CN105751237B (en) | 2016-03-30 | 2016-03-30 | A kind of brake apparatus for the joint of robot with gear drive |
Country Status (1)
| Country | Link |
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| CN (1) | CN105751237B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538515A (en) * | 2016-12-30 | 2018-01-05 | 天津晨富科技有限公司 | A kind of cradle head of industrial robot |
| CN110067832A (en) * | 2019-05-05 | 2019-07-30 | 广东工业大学 | A kind of piezoelectric ceramic actuator pre-tightening apparatus |
| EP3733470A1 (en) * | 2019-03-28 | 2020-11-04 | Arrival Limited | Emergency braking system for a mobile robot |
| CN112389133A (en) * | 2020-11-17 | 2021-02-23 | 杭州重力脚轮科技有限公司 | Self-locking caster |
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| US4606695A (en) * | 1984-05-18 | 1986-08-19 | Kurt Manufacturing Company, Inc. | Multiple axis robot arm |
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| CN102350705A (en) * | 2011-08-01 | 2012-02-15 | 山东康泰实业有限公司 | Rotary joint locking device |
| CN202468785U (en) * | 2012-02-14 | 2012-10-03 | 上海务进消防安全设备有限公司 | Braking device for fire fighting robot |
| CN202512983U (en) * | 2012-03-21 | 2012-10-31 | 宁波兴茂电子科技有限公司 | Electromagnet for spragging gear |
| CN203979116U (en) * | 2014-07-08 | 2014-12-03 | 厦门理工学院 | A kind of universal joint and the universal regulated table that uses this universal joint |
| CN104476561A (en) * | 2014-12-30 | 2015-04-01 | 浙江琦星电子有限公司 | Joint of mechanical arm |
| CN104647396A (en) * | 2015-02-11 | 2015-05-27 | 清华大学深圳研究生院 | Modular space manipulator joint capable of being used for rapid reconstruction and manipulator |
| CN105023342A (en) * | 2015-06-30 | 2015-11-04 | 新达通科技股份有限公司 | Gear drive control device in storage device of CRS (Cash Recycling System) |
| CN205630672U (en) * | 2016-03-30 | 2016-10-12 | 广东工业大学 | A arresting gear for taking gear drive's robot joint |
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2016
- 2016-03-30 CN CN201610196243.6A patent/CN105751237B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4606695A (en) * | 1984-05-18 | 1986-08-19 | Kurt Manufacturing Company, Inc. | Multiple axis robot arm |
| CN2083918U (en) * | 1991-02-06 | 1991-09-04 | 江苏省伤残人康复中心 | Electric elbow joint |
| DE19750420A1 (en) * | 1997-11-14 | 1999-05-20 | Bayerische Motoren Werke Ag | Electrically actuated brake for a motor vehicle |
| CN2410196Y (en) * | 2000-02-22 | 2000-12-13 | 刘长春 | Automatic parking braking device for car |
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| CN102350705A (en) * | 2011-08-01 | 2012-02-15 | 山东康泰实业有限公司 | Rotary joint locking device |
| CN202468785U (en) * | 2012-02-14 | 2012-10-03 | 上海务进消防安全设备有限公司 | Braking device for fire fighting robot |
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| CN203979116U (en) * | 2014-07-08 | 2014-12-03 | 厦门理工学院 | A kind of universal joint and the universal regulated table that uses this universal joint |
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| CN104647396A (en) * | 2015-02-11 | 2015-05-27 | 清华大学深圳研究生院 | Modular space manipulator joint capable of being used for rapid reconstruction and manipulator |
| CN105023342A (en) * | 2015-06-30 | 2015-11-04 | 新达通科技股份有限公司 | Gear drive control device in storage device of CRS (Cash Recycling System) |
| CN205630672U (en) * | 2016-03-30 | 2016-10-12 | 广东工业大学 | A arresting gear for taking gear drive's robot joint |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107538515A (en) * | 2016-12-30 | 2018-01-05 | 天津晨富科技有限公司 | A kind of cradle head of industrial robot |
| EP3733470A1 (en) * | 2019-03-28 | 2020-11-04 | Arrival Limited | Emergency braking system for a mobile robot |
| CN110067832A (en) * | 2019-05-05 | 2019-07-30 | 广东工业大学 | A kind of piezoelectric ceramic actuator pre-tightening apparatus |
| CN110067832B (en) * | 2019-05-05 | 2022-04-19 | 广东工业大学 | Pre-tightening device for piezoelectric ceramic driver |
| CN112389133A (en) * | 2020-11-17 | 2021-02-23 | 杭州重力脚轮科技有限公司 | Self-locking caster |
| CN112389133B (en) * | 2020-11-17 | 2022-03-15 | 杭州重力脚轮科技有限公司 | Self-locking caster |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105751237B (en) | 2019-04-19 |
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