CN105751237B - A kind of brake apparatus for the joint of robot with gear drive - Google Patents
A kind of brake apparatus for the joint of robot with gear drive Download PDFInfo
- Publication number
- CN105751237B CN105751237B CN201610196243.6A CN201610196243A CN105751237B CN 105751237 B CN105751237 B CN 105751237B CN 201610196243 A CN201610196243 A CN 201610196243A CN 105751237 B CN105751237 B CN 105751237B
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- China
- Prior art keywords
- electromagnet
- robot
- joint
- gear
- brake block
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a kind of brake apparatus for the joint of robot with gear drive, including the electromagnet being braked near transmission gear, brake block and the reset spring being located in joint of robot, wherein, the electromagnet is fixed on the pedestal of joint of robot；The brake block is connected on the push rod of electromagnet；The connection of the pedestal of described reset spring one end and joint of robot, the other end are connect with brake block；When the electromagnet obtains electric, the push rod of electromagnet pushes brake block that the elastic force of reset spring is overcome to leave the tooth socket for being braked transmission gear, when the electromagnet power loss, the reset spring pushes brake block to extend into described be braked in the tooth socket of transmission gear.Brake apparatus of the invention realizes braking using the existing structure of joint of robot, has many advantages, such as that structure is simple, at low cost, position is flexible, light-weight.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of brake apparatus of joint of robot.
Background technique
The General Principle of brake is that a wheel or disk are fixed on the high speed shaft of machine, installs on base and mutually fits therewith
Brake shoe, band or the disk answered, are allowed to generate braking moment under external force.It usually works, that is, wants by failure band-type brake mode
Release brake just must be turned on power supply, and otherwise, each joint cannot generate relative motion.Main purpose is that event occur in power supply
It shields when barrier and inoperative.The disadvantage is that remain powered on makes releasing of brake during operation.Common braking side
Formula has: oil pressure, machinery, air pressure and vacuum servo air pressure, spring energy-storage, exhaust auxiliary braking, engine idling auxiliary braking and
Magnetic turbine retarder etc..
Joint of robot brake generallys use dedicated band-type brake, is electricity loss brake, to guarantee the peace of robot and equipment
Complete and posture maintains.The form of braking is varied, based on disk brake, and with electromagnetic force for main power.It is existing
The brake that some is applied to robot mainly has powerless magnetic brake and piezoelectric ceramics brake etc..And in order to use these
Brake needs a set of additional transmission device toward contact, therefore in the presence of structure is complicated, at high cost, space layout is not flexible, stupid
The problems such as weight.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of for the robot with gear drive
The brake apparatus in joint, the brake apparatus realize braking using the existing structure of joint of robot, the simple, cost with structure
Low, the advantages that position is flexible, light-weight.
The purpose of the present invention is realized by the following technical solution:
A kind of brake apparatus for the joint of robot with gear drive, including the quilt being located in joint of robot
Electromagnet, brake block and reset spring near brake gear, wherein the electromagnet is fixed on joint of robot
On pedestal；The brake block is connected on the push rod of electromagnet；The connection of the pedestal of described reset spring one end and joint of robot,
The other end is connect with brake block；When the electromagnet obtains electric, the push rod promotion brake block of electromagnet overcomes the bullet of reset spring
Power leaves the tooth socket for being braked transmission gear, and when the electromagnet power loss, the reset spring pushes brake block to protrude into
Into the tooth socket for being braked transmission gear.
A preferred embodiment of the invention, wherein be connected on the brake block parallel with the push rod axis of electromagnet
The pedestal of guide post, the joint of robot is equipped with pilot hole, and the guide post is matched in the pilot hole.Using guide post and lead
Guiding role is realized to the cooperation in hole, prevents the twisting of brake block in braking process to promote the reliability of braking.
A preferred embodiment of the invention, wherein the axis of the push rod of the electromagnet is braked transmission gear with described
Axis it is parallel.Brake apparatus of the invention is larger in the size of the axis direction of the push rod of electromagnet, and is braked driving cog
Usually there is biggish space, above-mentioned arrangement can make full use of original sky inside joint of robot on the axis direction of wheel
Between.
A preferred embodiment of the invention, wherein the gear drive in the joint of robot is cone tooth driver
Structure, the transmission gear that is braked is the drive bevel gear in the cone tooth transmission mechanism；The electromagnet is pushing-type electromagnet, should
Electromagnet is set to the small end corresponding position of the drive bevel gear, which is fixed on robot by electromagnet fixed frame and closes
On the pedestal of section；The guide post is set to the big end corresponding position of the drive bevel gear；The reset spring is set to pilot hole
In.
One preferred embodiment of this hair, wherein the gear drive in the joint of robot is column gear transmission
Mechanism, the transmission gear that is braked is the driven cylindrical gear in the cylindrical gear drive；The electromagnet is pull-type
Electromagnet, the electromagnet and the guide post are all set in the same side of the driven cylindrical gear axis direction, the electromagnetism Tie Tong
Electromagnet fixed frame is crossed to be fixed on the pedestal of joint of robot；The connection of the push rod of described guide post one end and electromagnet, the other end
It is connect with brake block, which passes through the pilot hole that the pedestal of joint of robot is arranged in, the reseting spring sleeve from bottom to top
On the guide post.
The working principle of brake apparatus of the invention are as follows: when joint of robot is under normal working condition, electromagnet
In electricity condition, push rod and brake block in electromagnet overcome the elastic force of reset spring to maintain to leave brake block and be braked
The position of the tooth socket of transmission gear, the gear drive in joint of robot can run well at this time；Work as joint of robot
When must brake in halted state or due to other reasons, electromagnet power loss, brake block protrudes under the promotion of reset spring
Into the tooth socket for being braked transmission gear, so that the gear drive in joint of robot can not rotate and realize braking.
The present invention have compared with prior art it is below the utility model has the advantages that
1, it is braked object using the gear composition in the joint of robot with gear drive, to enormously simplify
The structure of brake apparatus, reduces volume, has many advantages, such as that at low cost, position is flexible, light-weight.
2, the tooth socket in transmission gear has the characteristics that circumferentially to be uniformly distributed and close-packed arrays, the present invention utilize
This design feature of gear, only need to be braked near gear tooth slot setting can be out of and into the brake block of tooth socket
Convenient to realize braking, clever structure, braking is reliably.
Detailed description of the invention
Fig. 1-Fig. 3 is that first of the brake apparatus for the joint of robot with gear drive of the invention is specific
The structural schematic diagram of embodiment, wherein Fig. 1 is the schematic diagram in on-position, and Fig. 2 is the A-A cross-sectional view of Fig. 1, and Fig. 3 is
Schematic diagram in non-brake state.
Fig. 4 and Fig. 5 is second tool of the brake apparatus for the joint of robot with gear drive of the invention
The structural schematic diagram of body embodiment, wherein Fig. 4 is the schematic diagram in on-position, and Fig. 5 is showing in non-brake state
It is intended to.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1
Referring to figures 1-3, described in the brake apparatus for the joint of robot with gear drive of the present embodiment
Gear drive in joint of robot is cone tooth transmission mechanism, the drive bevel gear 106 in the cone tooth transmission mechanism with watch
The connection of motor 101 is taken, and is connected on the pedestal 104 of joint of robot by angular contact ball bearing 102, driven wheel of differential 109
It is connect with harmonic reduction device assembly 111, harmonic reduction device assembly 111 is connected with joint output 110；The drive bevel gear
106 compositions are braked transmission gear.
Referring to figures 1-3, the brake apparatus includes the electricity being braked near transmission gear being located in joint of robot
Magnet, brake block 112 and reset spring 103, wherein the electromagnet is fixed on the pedestal 104 of joint of robot；It is described
Brake block 112 is connected on the push rod of electromagnet；The connection of the pedestal 104 of described 103 one end of reset spring and joint of robot, separately
One end is connect with brake block 112；When the electromagnet obtains electric, the push rod of electromagnet pushes brake block 112 to overcome reset spring
103 elastic force leaves the tooth socket for being braked transmission gear, and when the electromagnet power loss, the reset spring 103 is pushed
Brake block 112 extend into described be braked in the tooth socket of transmission gear.
Referring to figures 1-3, further, it is connected on the brake block 112 and the push rod axis of electromagnet is parallel leads
The pedestal 104 of column 105, the joint of robot is equipped with pilot hole, and the guide post 105 is matched in the pilot hole.It utilizes
Guiding role is realized in the cooperation of guide post 105 and pilot hole, prevents the twisting of brake block 112 to promote braking in braking process
Reliability.
Referring to figures 1-3, the axis of the push rod of the electromagnet is parallel with the axis for being braked transmission gear.This hair
Bright brake apparatus is larger in the size of the axis direction of the push rod of electromagnet, and is braked on the axis direction of transmission gear and leads to
Often with there is biggish space, above-mentioned arrangement can make full use of original space inside joint of robot.
Referring to figures 1-3, the electromagnet is pushing-type electromagnet 107, which is set to the drive bevel gear 106
Small end corresponding position, which is fixed on the pedestal 104 of joint of robot by electromagnet fixed frame 108；The guide post
105 are set to the big end corresponding position of the drive bevel gear 106；The reset spring 103 is set in pilot hole.
The course of work of the brake apparatus of the present embodiment is: referring to Fig. 1 and Fig. 2, when joint of robot is in normal work
Make under state, electromagnet is in obtain electricity condition, and the push rod in electromagnet, which is maintained to push down on, to do well, to overcome reset spring
Brake block 112 is maintained the position for leaving the tooth socket for being braked transmission gear by 103 elastic force, at this time the tooth in joint of robot
Wheel drive mechanism can run well；Referring to Fig. 3, when joint of robot is in halted state or since other reasons must be braked
When, robot controls electromagnet power loss, and brake block 112 extend under the promotion of reset spring 103 and is braked transmission gear
In tooth socket, so that the gear drive in joint of robot can not rotate and realize braking.
Embodiment 2
Referring to fig. 4 and Fig. 5, in the present embodiment, the gear drive in the joint of robot is column gear transmission
Mechanism, the active roller gear 204 in the cylindrical gear drive are connect with servo motor 201, driven cylindrical gear 205 with
Harmonic reduction device assembly 211 connects, and harmonic reduction device assembly 211 is connected with joint output 212；The driven cylindrical gear
205 compositions are braked transmission gear.
Referring to fig. 4 and Fig. 5, the electromagnet are pull-type electromagnet 203, and the electromagnet and guide post 206 are all set in described
The same side of 205 axis direction of driven cylindrical gear, the electromagnet are fixed on joint of robot by electromagnet fixed frame 202
On pedestal 210；The connection of the push rod of described 206 one end of guide post and electromagnet, the other end pass through fixture nut 209 and brake block 208
Connection, the guide post 206 pass through the pilot hole that the pedestal 210 of joint of robot is arranged in, 207 sets of the reset spring from bottom to top
On the guide post 206.
The course of work of the brake apparatus of the present embodiment is: referring to fig. 4, when joint of robot is in normal working condition
Under, electromagnet is in obtain electricity condition, and the push rod in electromagnet, which is maintained at, retracts state downwards, to overcome reset spring 207
Brake block 208 is maintained the position for leaving the tooth socket for being braked transmission gear by elastic force, and the gear in joint of robot passes at this time
Motivation structure can run well；Referring to Fig. 5, when joint of robot is in halted state or must be braked due to other reasons,
Robot controls electromagnet power loss, and brake block 208 extend into the tooth socket for being braked transmission gear under the promotion of reset spring 207
In, so that the gear drive in joint of robot can not rotate and realize braking.
The present embodiment other embodiments other than the above are implemented referring to embodiment 1.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content,
His any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, should be
The substitute mode of effect, is included within the scope of the present invention.
Claims (1)
1. a kind of brake apparatus for the joint of robot with gear drive, which is characterized in that including being located at robot
The electromagnet being braked near transmission gear, brake block and reset spring in joint, wherein the electromagnet is fixed on machine
On the pedestal of device person joint, the axis of the push rod of the electromagnet is parallel with the axis for being braked transmission gear；The braking
Block is connected on the push rod of electromagnet, and the guide post parallel with the push rod axis of electromagnet is connected on the brake block, and robot closes
The pedestal of section is equipped with pilot hole, and the guide post is matched in the pilot hole；Described reset spring one end and joint of robot
Pedestal connection, the other end connect with brake block；
Gear drive in the joint of robot is cone tooth transmission mechanism, and the transmission gear that is braked is cone tooth biography
Drive bevel gear in motivation structure；The electromagnet is pushing-type electromagnet, which is set to the small of the drive bevel gear
Corresponding position is held, which is fixed on the pedestal of joint of robot by electromagnet fixed frame；The guide post is set to described
The big end corresponding position of drive bevel gear；The reset spring is set in pilot hole；
When the electromagnet obtains electric, the push rod of electromagnet pushes brake block that the elastic force of reset spring is overcome to leave the initiative taper
The tooth socket of gear, when the electromagnet power loss, the reset spring promotion brake block extend into the tooth of the drive bevel gear
In slot.
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 CN105751237A (en) | 2016-07-13 |
| CN105751237B true CN105751237B (en) | 2019-04-19 |
Family
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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 |
|---|---|
| CN (1) | CN105751237B (en) |
Families Citing this family (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 |
| GB2582620B (en) * | 2019-03-28 | 2021-04-21 | Arrival Ltd | Emergency braking system for a mobile robot |
| CN110067832B (en) * | 2019-05-05 | 2022-04-19 | 广东工业大学 | Pre-tightening device for piezoelectric ceramic driver |
| CN112389133B (en) * | 2020-11-17 | 2022-03-15 | 杭州重力脚轮科技有限公司 | Self-locking caster |
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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 |
| 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) |
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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 |
| CN201012544Y (en) * | 2007-01-31 | 2008-01-30 | 上海灵波机电科技有限公司 | Urgent-stopping mechanism |
| 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 |
| CN104476561B (en) * | 2014-12-30 | 2016-08-24 | 浙江琦星电子有限公司 | A kind of joint of mechanical arm |
| CN104647396B (en) * | 2015-02-11 | 2016-07-20 | 清华大学深圳研究生院 | Can be used for the modular space joint of mechanical arm of quick reconfiguration and mechanical arm |
| 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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- 2016-03-30 CN CN201610196243.6A patent/CN105751237B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350705A (en) * | 2011-08-01 | 2012-02-15 | 山东康泰实业有限公司 | Rotary joint locking device |
| 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) |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105751237A (en) | 2016-07-13 |
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