CN107086721B - Claw type brake for robot joint - Google Patents
Claw type brake for robot joint Download PDFInfo
- Publication number
- CN107086721B CN107086721B CN201710355915.8A CN201710355915A CN107086721B CN 107086721 B CN107086721 B CN 107086721B CN 201710355915 A CN201710355915 A CN 201710355915A CN 107086721 B CN107086721 B CN 107086721B
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- CN
- China
- Prior art keywords
- brake disc
- claw
- motor
- position sensor
- motor shaft
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- 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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- 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
Abstract
The invention discloses a claw brake for a robot joint, which relates to the field of servo motors, wherein a claw brake disc is fixedly arranged on a motor shaft through a nut lock, a position sensor is fixedly connected with one side end surface of the claw brake disc through glue, one end of the motor shaft is fixedly provided with a motor rotor, the other end of the motor shaft is provided with a bearing, an outer ring of the bearing is arranged on an end cover, an electromagnet is arranged on the inner side end surface of the end cover through a bracket, the end cover is fixedly connected with one side end surface of a shell, a motor stator is fixedly arranged on the inner side of the shell, and a sensor reading head is fixedly arranged in the shell. The claw type brake disc and the position sensor are integrally designed, the problem of long axial direction caused by the fact that a traditional motor brake device and a position grating ruler are respectively installed is solved, the structure is compact, the installation is convenient, the claw type brake disc and the position sensor are suitable for joint mechanical arms, and the claw type brake disc and the position sensor have good application prospect and economic benefit in the field of cooperative robots.
Description
Technical field:
the invention relates to a claw brake for a robot joint, and belongs to the technical field of servo motors.
The background technology is as follows:
with the development of the manufacturing industry in China, the requirements on the braking function of a servo motor are higher and higher nowadays, and particularly, the safety problem of the servo motor used on an industrial robot joint is more and more paid attention to by users.
However, the axial length of a servo motor used by the conventional robot joint is long, the internal brake device is complex in structure, the occupied axial space is large, and the flattening design of the servo motor is not facilitated.
In view of the above-mentioned drawbacks, it is desirable to create a claw brake for a robot joint, in which the claw brake disc and the position sensor are structurally integrated, so that the claw brake disc and the position sensor have smaller axial dimensions, and can meet the development trend of flattened design of the servo motor of the robot joint.
The invention comprises the following steps:
the invention aims to solve the technical problem of providing a claw brake for a robot joint.
The invention relates to a claw brake for a robot joint, which comprises a claw brake disc, a nut, a motor shaft, a position sensor, a motor rotor, a bearing, an end cover, an electromagnet, a shell, a motor stator and a sensor reading head.
Preferably, the brake mechanism formed by the claw brake disc and the electromagnet is powered on and attracted under normal conditions, the claw brake disc can freely rotate, and under the condition of power failure, the electromagnet is released, and the iron core stretches out to stop the claw brake disc from rotating.
Preferably, a groove is formed in the motor shaft, and a stop claw on the side face of the inner hole of the claw-type brake disc can be inserted into the groove of the motor shaft to prevent the claw-type brake disc from rotating.
Preferably, the position sensor is fixedly connected with the end face of one side of the claw brake disc by adopting glue, so that the integral axial size of the position sensor and the claw brake disc is obviously reduced compared with that of a structure which is separately installed in the past after the position sensor and the claw brake disc are integrally connected.
Preferably, the position sensor is designed as a circular grating structure.
The invention has the beneficial effects that: the claw type brake disc and the position sensor are integrally designed, the problem of long axial direction caused by the fact that a traditional motor brake device and a position grating ruler are respectively installed is solved, the structure is compact, the installation is convenient, the claw type brake disc and the position sensor are suitable for joint mechanical arms, and the claw type brake disc and the position sensor have good application prospect and economic benefit in the field of cooperative robots.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a schematic view of a claw brake disc structure according to the present invention;
fig. 4 is a schematic structural diagram of a second embodiment;
FIG. 5 is a cross-sectional view of a second embodiment;
fig. 6 is a schematic structural diagram of a claw brake disc in a second embodiment.
1-claw brake disc; 2-a nut; 3-a motor shaft; a 4-position sensor; 5-a motor rotor; 6-bearing; 7-end caps; 8-an electromagnet; 9-a housing; 10-a motor stator; 11-sensor read head.
The specific embodiment is as follows:
the first embodiment is as follows: as shown in fig. 1-3, the present embodiment adopts the following technical scheme: the motor comprises a claw brake disc 1, a nut 2, a motor shaft 3, a position sensor 4, a motor rotor 5, a bearing 6, an end cover 7, an electromagnet 8, a shell 9, a motor stator 10 and a sensor reading head 11, wherein the claw brake disc 1 is fixedly installed on the motor shaft 3 through locking of the nut 2, the position sensor 4 is fixedly connected with one side end face of the claw brake disc 1 through glue, the motor rotor 5 is fixedly installed at one end of the motor shaft 3, the bearing 6 is installed at the other end of the motor shaft 3, an outer ring of the bearing 6 is installed on the end cover 7, the electromagnet 8 is installed on the inner side end face of the end cover 7 through a bracket, the end cover 7 is fixedly connected with one side end face of the shell 9, the motor stator 10 is fixedly installed at the inner side of the shell 9, and the sensor reading head 11 is fixedly installed in the shell 9.
The brake mechanism is formed by the claw brake disc 1 and the electromagnet 8, the electromagnet is electrified and attracted under normal conditions, the claw brake disc 1 can freely rotate, the electromagnet 8 is released under the condition of power failure, and the iron core extends out to stop the claw brake disc 1 to rotate; the motor shaft 3 is provided with a groove, and a stop claw on the side surface of an inner hole of the claw-type brake disc 1 can be inserted into the groove of the motor shaft 3 to prevent the claw-type brake disc 3 from rotating; the position sensor 4 is fixedly connected with the end face of one side of the claw brake disc 1 by adopting glue, so that the integral axial size of the position sensor 4 is obviously reduced compared with that of a structure which is separately installed and used in the past after the position sensor and the claw brake disc are integrally connected; the position sensor 4 is designed into a circular grating structure.
The second embodiment is as follows: as shown in fig. 4 to 6, this embodiment differs from the first embodiment in that: the position sensor 4 is designed to be a magnetic grid ring structure, the structure of the claw brake disc 1 in the specific embodiment is different from that of the claw brake disc 1 in the specific embodiment, and other components and connection relations are the same as those of the first specific embodiment.
The working principle of the specific embodiment is as follows: after the motor is electrified, the motor stator 10 drives the motor rotor 5 to rotate, the motor shaft 3 and the motor rotor 5 synchronously rotate, the claw brake disc 1 is fixedly installed on the motor shaft 3 through the locking of the nut 2, the claw brake disc 1 and the motor shaft 3 synchronously rotate, the electromagnet 8 is electrified and attracted under normal conditions, the claw brake disc 1 can freely rotate, the electromagnet 8 is released under the condition of power failure, the iron core stretches out to block the claw brake disc 1 to rotate, the position sensor 4 is glued with one side end surface of the claw brake disc 1 and synchronously rotates, and the sensor reading head 11 installed on the flange surface on the inner side of the shell 9 reads signals when the position sensor 4 rotates.
According to the embodiment, the claw brake disc and the position sensor are integrally designed, the problem of long axial direction caused by the fact that a traditional motor brake device and a position grating ruler are respectively installed is solved, the structure is compact, the installation is convenient, the claw brake disc and the position sensor are suitable for joint mechanical arms, and the claw brake disc and the position sensor have good application prospect and economic benefit in the field of cooperative robots.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A claw brake for a robot joint, characterized in that: the motor comprises a claw brake disc (1), a nut (2), a motor shaft (3), a position sensor (4), a motor rotor (5), a bearing (6), an end cover (7), an electromagnet (8), a shell (9), a motor stator (10) and a sensor reading head (11), wherein the claw brake disc (1) is fixedly installed on the motor shaft (3) through the locking of the nut (2), the position sensor (4) is fixedly connected with one side end surface of the claw brake disc (1) through glue, the motor rotor (5) is fixedly installed at one end of the motor shaft (3), the bearing (6) is installed at the other end of the motor shaft (3), an outer ring of the bearing (6) is installed on the end cover (7), the electromagnet (8) is installed on the inner side end surface of the end cover (7) through a bracket, the end cover (7) is fixedly connected with one side end surface of the shell (9), the motor stator (10) is fixedly installed on the inner side of the shell (9), and the sensor reading head (11) is fixedly installed in the shell (9).
The motor shaft (3) is provided with a groove, and a stop claw on the side surface of an inner hole of the claw-type brake disc (1) can be inserted into the groove of the motor shaft (3) to prevent the claw-type brake disc (1) from rotating;
the position sensor (4) is fixedly connected with the end face of one side of the claw brake disc (1) by adopting glue;
the position sensor (4) is designed into a circular grating structure or a magnetic grating ring structure.
2. The claw brake for a robot joint according to claim 1, wherein: its working principle is: after the motor is electrified, a motor stator (10) drives a motor rotor (5) to rotate, a motor shaft (3) and the motor rotor (5) synchronously rotate, a claw brake disc (1) is fixedly mounted on the motor shaft (3) through a nut (2) in a locking manner, the claw brake disc (1) and the motor shaft (3) synchronously rotate, an electromagnet (8) is electrified and attracted under normal conditions, the claw brake disc (1) can freely rotate, the electromagnet (8) is released under the condition of power failure, an iron core stretches out to block the claw brake disc (1) to rotate, a position sensor (4) is glued with one side end face of the claw brake disc (1) and synchronously rotates, and a sensor reading head (11) mounted on the flange surface on the inner side of a shell (9) reads signals when the position sensor (4) rotates.
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 CN107086721A (en) | 2017-08-22 |
| CN107086721B true CN107086721B (en) | 2023-08-04 |
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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 |
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| CN (1) | CN107086721B (en) |
Families Citing this family (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 |
| CN108981761B (en) * | 2018-05-28 | 2021-07-02 | 广东工业大学 | Incremental rotary encoder |
| CN112123337B (en) * | 2020-09-22 | 2022-02-22 | 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 |
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| Publication number | Publication date |
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| CN107086721A (en) | 2017-08-22 |
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