CN107086721A - A kind of joint of robot jaw brake - Google Patents
A kind of joint of robot jaw brake Download PDFInfo
- Publication number
- CN107086721A CN107086721A CN201710355915.8A CN201710355915A CN107086721A CN 107086721 A CN107086721 A CN 107086721A CN 201710355915 A CN201710355915 A CN 201710355915A CN 107086721 A CN107086721 A CN 107086721A
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- CN
- China
- Prior art keywords
- brake disc
- claw
- motor shaft
- joint
- housing
- 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.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/112—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction clutches in combination with brakes
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Braking Arrangements (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of joint of robot jaw brake, it is related to servomotor field, claw brake disc is fixedly mounted on motor shaft by nut check, position sensor is fixedly connected with the side end face of claw brake disc one using glue, one end of motor shaft is installed with rotor, the other end of motor shaft is provided with bearing, bearing outer ring is arranged on end cap, electromagnet is arranged on end cap inner side end by support, end cap is fixedly connected with the side end face of housing one, case inside is installed with motor stator, housing and is installed with sensor read heads.Claw brake disc and position sensor are carried out integrated design by it, the brake device for electrical machinery and position grating scale for solving traditional form are respectively mounted caused axially longer problem, compact conformation, it is easy for installation, suitable for articulated mechanical arm, in cooperation, robot field has good application prospect and economic benefit.
Description
Technical field：
The present invention relates to a kind of joint of robot jaw brake, belong to servomotor technical field.
Background technology：
With the development of China's manufacturing industry, more and more higher nowadays is required to the braking function of servomotor, especially used
Servomotor on industrial robot joint, its safety issue is increasingly paid attention to by user.
But the axial length of servomotor that now common joint of robot is used is longer, its internal brake device structure
Complexity, the axial space of occupancy is big, and is unfavorable for the flattening design of servomotor.
In view of above-mentioned defect, to found a kind of joint of robot jaw brake, the claw of the brake is stopped
Hull turns into an entirety with position sensor in structure, can have smaller axial dimension, can meet joint of robot
The development trend of servomotor flattening design.
The content of the invention：
In view of the above-mentioned problems, the technical problem to be solved in the present invention is to provide a kind of joint of robot jaw brake.
A kind of joint of robot jaw brake of the present invention, it includes claw brake disc, nut, motor shaft, position
Sensor, rotor, bearing, end cap, electromagnet, housing, motor stator, sensor read heads, claw brake disc pass through nut
It is locked on motor shaft, position sensor is fixedly connected with the side end face of claw brake disc one using glue, motor shaft
One end is installed with rotor, and the other end of motor shaft is provided with bearing, and bearing outer ring is arranged on end cap, electromagnetism Tie Tong
Support is crossed on end cap inner side end, end cap is fixedly connected with the side end face of housing one, and case inside is installed with motor
Sensor read heads are installed with stator, housing.
Preferably, electricity on the braking mechanism that described claw brake disc and electromagnet are constituted, normal condition lower electromagnet
Adhesive, claw brake disc is freely rotatable, in the case of dead electricity, electromagnet release, and iron core, which stretches out, stops that claw brake is spiraled
Turn.
Preferably, being provided with groove on described motor shaft, the clutch stop of claw brake disc endoporus side can be inserted into
The rotation of claw brake disc is prevented in the groove of motor shaft.
Preferably, described position sensor and the end face of claw brake disc side are fixedly connected using glue, this
Both are linked to be after entirety by sample significantly reduces than being installed separately the structure used its overall axial dimension in the past.
Preferably, described position sensor is Circular gratings structure design.
Beneficial effects of the present invention：Claw brake disc and position sensor are carried out integrated design by it, solve tradition
The brake device for electrical machinery of form is respectively mounted caused axially longer problem with position grating scale, and compact conformation is easy for installation,
Suitable for articulated mechanical arm, in cooperation, robot field has good application prospect and economic benefit.
Brief description of the drawings：
For ease of explanation, the present invention is described in detail by following specific implementations and accompanying drawing.
Fig. 1 is structural representation of the invention；
Fig. 2 is sectional view of the invention；
Fig. 3 is claw brake disc structural representation in the present invention；
Fig. 4 is the structural representation of embodiment two；
Fig. 5 is the sectional view of embodiment two；
Fig. 6 is claw brake disc structural representation in embodiment two.
1- claw brake discs；2- nuts；3- motor shafts；4- position sensors；5- rotors；6- bearings；7- end caps；8-
Electromagnet；9- housings；10- motor stators；11- sensor read heads.
Embodiment：
Embodiment one：As shown in Figure 1-Figure 3, present embodiment uses following technical scheme：It includes pawl
Formula brake disc 1, nut 2, motor shaft 3, position sensor 4, rotor 5, bearing 6, end cap 7, electromagnet 8, housing 9, motor
Stator 10, sensor read heads 11, claw brake disc 1 are locked on motor shaft 3 by nut 2, position sensor 4 with
The side end face of claw brake disc 1 one is fixedly connected using glue, and one end of motor shaft 3 is installed with rotor 5, motor shaft 3
The other end is provided with bearing 6, and the outer ring of bearing 6 is arranged on end cap 7, and electromagnet 8 is arranged on the inner side end of end cap 7 by support
On, end cap 7 is fixedly connected with the side end face of housing 9 one, and the inner side of housing 9, which is installed with motor stator 10, housing 9, to be fixedly mounted
There are sensor read heads 11.
Wherein, electricity is inhaled on the braking mechanism that described claw brake disc 1 and electromagnet 8 are constituted, normal condition lower electromagnet
Close, claw brake disc 1 is freely rotatable, in the case of dead electricity, and electromagnet 8 discharges, iron core, which stretches out, stops that claw brake disc 1 revolves
Turn；Groove is provided with described motor shaft 3, the clutch stop of the endoporus side of claw brake disc 1 can be inserted into the groove of motor shaft 3
In prevent the rotation of claw brake disc 3；Described position sensor 4 and the end face of the side of claw brake disc 1 are consolidated using glue
Both, are so linked to be after entirety and are significantly reduced than being installed separately the structure used its overall axial dimension in the past by fixed connection；Institute
The position sensor 4 stated is Circular gratings structure design.
Embodiment two：As Figure 4-Figure 6, the difference of present embodiment and embodiment one
It is：Described position sensor 4 is the design of magnetic grid ring structure, the structure of the claw brake disc 1 in the embodiment with
A kind of structure of claw brake disc 1 of embodiment is otherwise varied, other components and annexation and specific implementation
Mode one is identical.
The operation principle of present embodiment：After electrical power, the drive motor rotor 5 of motor stator 10 rotates, motor
Axle 3 and the synchronous rotary of rotor 5, claw brake disc 1 are locked on motor shaft 3 by nut 2, claw brake disc
1 with the synchronous rotary of motor shaft 3, electric adhesive on normal condition lower electromagnet 8, and claw brake disc 1 is freely rotatable, in the feelings of dead electricity
Under condition, electromagnet 8 discharges, and iron core, which stretches out, stops that claw brake disc 1 rotates, position sensor 4 and the side end face of claw brake disc 1 one
It is glued and carries out synchronous rotary, the sensor read heads 11 on the inner flange face of housing 9 is read when position sensor 4 rotates
The number of winning the confidence.
Claw brake disc and position sensor are carried out integrated design by present embodiment, solve traditional form
Brake device for electrical machinery is respectively mounted caused axially longer problem with position grating scale, and compact conformation is easy for installation, it is adaptable to
Articulated mechanical arm, in cooperation, robot field has good application prospect and economic benefit.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of joint of robot jaw brake, it is characterised in that：It includes claw brake disc (1), nut (2), motor
Axle (3), position sensor (4), rotor (5), bearing (6), end cap (7), electromagnet (8), housing (9), motor stator
(10), sensor read heads (11), claw brake disc (1) is locked on motor shaft (3) by nut (2), and position is passed
Sensor (4) is fixedly connected with the side end face of claw brake disc (1) one using glue, and one end of motor shaft (3) is installed with motor and turned
Sub (5), the other end of motor shaft (3) is provided with bearing (6), and bearing (6) outer ring is arranged on end cap (7), and electromagnet (8) passes through
Support is arranged on end cap (7) inner side end, and end cap (7) is fixedly connected with the side end face of housing (9) one, fixed on the inside of housing (9)
It is provided with motor stator (10), housing (9) and is installed with sensor read heads (11).
2. a kind of joint of robot jaw brake according to claim 1, it is characterised in that：Described motor shaft
(3) preventing claw in groove, the groove of the pluggable motor shaft (3) of clutch stop of claw brake disc (1) endoporus side is provided with
The rotation of formula brake disc (3).
3. a kind of joint of robot jaw brake according to claim 1, it is characterised in that：Described position sensing
Device (4) and the end face of claw brake disc (1) side are fixedly connected using glue.
4. a kind of joint of robot jaw brake according to claim 1, it is characterised in that：Described position sensing
Device (4) is Circular gratings structure design.
5. a kind of joint of robot jaw brake according to claim 1, it is characterised in that：Described position sensing
Device (4) designs for magnetic grid ring structure.
6. a kind of joint of robot jaw brake according to claim 1, it is characterised in that：Its operation principle：
After electrical power, motor stator (10) drive motor rotor (5) rotates, motor shaft (3) and rotor (5) synchronous rotary, pawl
Formula brake disc (1) is locked on motor shaft (3) by nut (2), and claw brake disc (1) is synchronous with motor shaft (3)
Electric adhesive on rotation, normal condition lower electromagnet (8), claw brake disc (1) is freely rotatable, in the case of dead electricity, electromagnetism
Iron (8) discharges, and iron core, which stretches out, stops claw brake disc (1) rotation, position sensor (4) and the side end face of claw brake disc (1) one
It is glued and carries out synchronous rotary, the sensor read heads (11) on housing (9) inner flange face is revolved in position sensor (4)
Signal is read when turning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355915.8A CN107086721B (en) | 2017-05-16 | 2017-05-16 | Claw type brake for robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355915.8A CN107086721B (en) | 2017-05-16 | 2017-05-16 | Claw type brake for robot joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107086721A true CN107086721A (en) | 2017-08-22 |
| CN107086721B CN107086721B (en) | 2023-08-04 |
Family
ID=59608998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710355915.8A Active CN107086721B (en) | 2017-05-16 | 2017-05-16 | Claw type brake for robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107086721B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107516968A (en) * | 2017-09-30 | 2017-12-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of and flexible motor braking mechanism of the co-melting robot of people |
| CN108032330A (en) * | 2018-01-22 | 2018-05-15 | 合肥哈工联合精密传动有限公司 | A kind of compact machines people integral joint module and compact machines people |
| CN108981761A (en) * | 2018-05-28 | 2018-12-11 | 广东工业大学 | A kind of incremental rotary encoder |
| CN112123337A (en) * | 2020-09-22 | 2020-12-25 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4684838A (en) * | 1985-07-26 | 1987-08-04 | Mavilor Systemes S.A. | Electric motor with deformable disk brake |
| DE10109186A1 (en) * | 2001-02-16 | 2002-08-29 | Buhler Motor Gmbh | Actuator drive has electromagnetic coupling between drive motor, position detector at motor output so pinion engaging reduction gear can be coupled to motor shaft when motor operated |
| CN104476561A (en) * | 2014-12-30 | 2015-04-01 | 浙江琦星电子有限公司 | Joint of mechanical arm |
| CN104552329A (en) * | 2014-12-23 | 2015-04-29 | 哈尔滨工业大学深圳研究生院 | Driving and control integrated type intelligent integration joint |
| CN105680621A (en) * | 2016-04-05 | 2016-06-15 | 姜铭 | Hollow torque driving unit |
| CN206790282U (en) * | 2017-05-16 | 2017-12-22 | 王心成 | A kind of joint of robot jaw brake |
-
2017
- 2017-05-16 CN CN201710355915.8A patent/CN107086721B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4684838A (en) * | 1985-07-26 | 1987-08-04 | Mavilor Systemes S.A. | Electric motor with deformable disk brake |
| DE10109186A1 (en) * | 2001-02-16 | 2002-08-29 | Buhler Motor Gmbh | Actuator drive has electromagnetic coupling between drive motor, position detector at motor output so pinion engaging reduction gear can be coupled to motor shaft when motor operated |
| CN104552329A (en) * | 2014-12-23 | 2015-04-29 | 哈尔滨工业大学深圳研究生院 | Driving and control integrated type intelligent integration joint |
| CN104476561A (en) * | 2014-12-30 | 2015-04-01 | 浙江琦星电子有限公司 | Joint of mechanical arm |
| CN105680621A (en) * | 2016-04-05 | 2016-06-15 | 姜铭 | Hollow torque driving unit |
| CN206790282U (en) * | 2017-05-16 | 2017-12-22 | 王心成 | A kind of joint of robot jaw brake |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107516968A (en) * | 2017-09-30 | 2017-12-26 | 江苏集萃智能制造技术研究所有限公司 | A kind of and flexible motor braking mechanism of the co-melting robot of people |
| CN108032330A (en) * | 2018-01-22 | 2018-05-15 | 合肥哈工联合精密传动有限公司 | A kind of compact machines people integral joint module and compact machines people |
| CN108981761A (en) * | 2018-05-28 | 2018-12-11 | 广东工业大学 | A kind of incremental rotary encoder |
| CN108981761B (en) * | 2018-05-28 | 2021-07-02 | 广东工业大学 | Incremental rotary encoder |
| CN112123337A (en) * | 2020-09-22 | 2020-12-25 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107086721B (en) | 2023-08-04 |
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