CN109605357A - A kind of power-off brake device and robot - Google Patents
A kind of power-off brake device and robot Download PDFInfo
- Publication number
- CN109605357A CN109605357A CN201910006976.2A CN201910006976A CN109605357A CN 109605357 A CN109605357 A CN 109605357A CN 201910006976 A CN201910006976 A CN 201910006976A CN 109605357 A CN109605357 A CN 109605357A
- Authority
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- China
- Prior art keywords
- power
- brake member
- flange
- lock piece
- brake
- 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.)
- Pending
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a kind of power-off brake device and robot, which is equipped with power-off brake device, which includes: flange, and outside is equipped with brake member, and brake member is provided with several locking positions；Lock piece, can be close and separate with respect to brake member, on lock piece have can snap-in lock stop bit locking part；Driving device, be sequentially connected lock piece, for controlling lock piece close to brake member far from brake member, when power is off in energization time control lockmaking stop member.Flange in the present invention can be fixedly connected with the wave producer of harmonic speed reducer, and when normal work, driving device is powered together with robot; it controls lock piece and brake member is detached from; release locking to flange, when power-off, driving device, which controls lock piece, is caught in locking part in locking position close to brake member; mechanical lock is carried out to flange; the wave producer of harmonic speed reducer is locked, safety is higher, and reliability is stronger; be conducive to protect robot in time, it is practical.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of power-off brake device and robot.
Background technique
Robot is to automatically control being commonly called as machine (Robot), wherein the robot being applied in industrial production is known as work
Industry robot is multi-joint manipulator or multivariant installations towards industrial circle, it can execute work automatically, be
A kind of machine of various functions is realized by self power and control ability.
The joint rotation of industrial robot is realized by motor and harmonic speed reducer cooperation, and the output shaft of motor is fixed to be connected
The wave producer of harmonic speed reducer is connect, the steel wheel of harmonic speed reducer is fixed, and flexbile gear connects output shaft, and motor rotation drives wave hair
Raw device squeezes flexbile gear, is allowed to reversely rotate, and realizes the transmission of high-precision, high smoothness.Current industrial robot, power-off are protected
Protection mechanism is programmed protection, i.e., judges that control robot resets or keep original position by program when power is off, there is no the machines of progress
The locking of tool mode, there are some potential safety problemss.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of power-off brake device and the robot using the device, this is disconnected
Electric Braking Devices Using when power is off can mechanically automatically lock, improve safety.
The technical solution adopted by the present invention to solve the technical problems is: a kind of power-off brake device, comprising:
One flange is equipped with brake member on the outside of the flange, and the brake member is provided with several locks around flange axle center
Stop bit；
One lock piece, the lock piece can be close and separate with respect to brake member, and locking can be engaged by having on the lock piece
The locking part of position, the locking part can be caught in locking position internal locking flange when lock piece is close to brake member；
One driving device, the driving device transmission connection lock piece, and in the separate brake of energization time control lockmaking stop member
Vehicle part, when power is off control lock piece are close to brake member.
Preferably, several same circle distributions in locking position.
Preferably, the outside of the flange has a neck being coaxially distributed, and the brake member is installed on the neck.
Preferably, several sliding slots being axially distributed along flange, the brake member are offered on the lateral wall of the neck
It is sheathed on neck and has the slide unit being caught in sliding slot, the neck is provided with pin on the outside of brake member, to pass through pin
Nail locking brake member.
Preferably, several protrusions are distributed in the side of the brake member, form locking position between two adjacent protrusions.
Preferably, the locking part is provided at least two, and formation can be clamped protrusion between two adjacent locking parts
Chamber.
Preferably, the driving device be provided with a relay and one can by relay power adsorb sliding seat, it is described
Driving device corresponds to sliding seat and is provided with resetting-mechanism, and the resetting-mechanism is used for the control sliding seat in relay power-off and replys
In situ, the lock piece is fixedly installed in sliding seat and in sliding seat homing locking part is caught in locking position.
A kind of robot is equipped with the power-off brake device of above structure.
Further, which has a harmonic speed reducer, and the harmonic speed reducer includes being fixed on input shaft end
The wave producer at end, the steel wheel with the flexbile gear of wave producer cooperation and with flexbile gear cooperation, the flange sleeve are set on the input shaft
And it is fixedly connected with wave producer, the lock piece is located at one end that flange deviates from harmonic speed reducer.
The beneficial effects of the present invention are: flange can be fixedly connected with the wave producer of harmonic speed reducer, to realize that power-off is stopped
Vehicle device is docked with harmonic speed reducer, and in normal work, driving device is powered together with robot, to control lock piece
It being detached from brake member, releases the locking to flange, the motor and harmonic speed reducer of the joint can work normally, when power is off,
Driving device, which controls lock piece, is caught in locking part in locking position close to brake member, carries out mechanical lock to flange, thus
The wave producer of harmonic speed reducer is locked, safety is higher, and reliability is stronger, is conducive to protect robot, practicability in time
By force.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is the assembling schematic diagram of brake member in the present invention；
Fig. 2 is the structural schematic diagram of flange in the present invention；
Fig. 3 is the structural schematic diagram of brake member in the present invention；
Fig. 4 is the overall structure diagram of power-off brake device in the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.Therefore, below to the reality of the invention provided in the accompanying drawings
The detailed description for applying example is not intended to limit the range of claimed invention, but is merely representative of selected implementation of the invention
Example.
Referring to Fig.1~Fig. 4, the present invention disclose a kind of power-off brake device, comprising:
One flange 1, the outside of the flange 1 are equipped with brake member 2, and the brake member 2 is provided with several around 1 axle center of flange
A locking position；
One lock piece 3, the lock piece 3 can be close with respect to brake member 2 and separate, and having on the lock piece 3 can engage
The locking part of locking position, the locking part can be caught in locking position internal locking flange 1 when lock piece 3 is close to brake member 2；
One driving device, the driving device transmission connection lock piece 3, and for separate in energization time control lockmaking stop member 3
Brake member 2, when power is off control lock piece 3 are close to brake member 2.
As shown, the first preferred embodiment as locking position in the present embodiment, the side of the brake member 2 is uniform
Several protrusions 201 are distributed with, locking position are formed between two adjacent protrusions 201, to be formed uniformly in the side of brake member 2
And with multiple locking positions of circle distribution.The specific structure of the protrusion 201, size can be empty with actual installation according to actual needs
Between size set, therefore not to repeat here.It is compatible with the brake member 2, in order to enhance the reliability of locking, the locking
It is provided with the locking part of at least two with the cooperation of locking position on part 3, and is formed between two adjacent locking parts suitable with protrusion 201
The chamber matched, so that protrusion 201 is also connected in the chamber while locking part is clamped locking position.
As the second preferred embodiment of the locking position, multiple locking positions, multiple locking positions point are provided on brake member 2
It is distributed on multiple circumference, and is distributed at least two on each circumference.The locking position is recess or hole location, the lock on lock piece 3
Conjunction portion is correspondingly arranged as protrusion or column.
It is caught in locking position in time for the ease of locking part, the width of locking part can be arranged to the width for being less than locking position
Degree can also set flaring shape structure and/or by locking part close to brake member 2 close to one end of lock piece 3 for locking position
One end is set as pyramidal structure, to be carried out when lock piece 3 is close to brake member 2 by flaring shape structure and/or pyramidal structure
Pre-determined bit.
As shown, the brake member 2 in the present embodiment uses split-type design, in order to realize the installation of brake member 2, this reality
The flange 1 applied in example is provided with the neck 102 that one is coaxially distributed and the structure for forming hubbed flange 1 in outside, the axis on flange 1
Hole 103 passes through the neck 102, offers several sliding slots 101 being axially distributed along flange 1 on the lateral wall of the neck 102,
Several sliding slots 101 are uniformly distributed along 1 axle center of flange, and the outboard end of sliding slot 101 is open and is arranged, and the brake member 2 is annulus
Structure, circle ring inner wall have the slide unit 202 being adapted to sliding slot 101, and brake member 2 is pushed into sliding slot 101 from the end of sliding slot 101
Tail end, then be fixedly installed on flange 1 by the fixed retaining of pin.The brake member 2 of such setting can pass through multiple slide units
202 cooperate with sliding slot 101 to disperse the torque during locking, reduce the intensity requirement to material, structure, being conducive to extend makes
With the service life, the degree of reliability of locking is improved.
Preferably, the driving device be provided with a relay 4 and one can be powered absorption by relay 4 sliding seat, institute
It states driving device and corresponds to sliding seat and be provided with resetting-mechanism, the resetting-mechanism is used to control sliding seat when relay 4 powers off
Homing, the lock piece 3 are fixedly installed in sliding seat and make locking part be caught in locking in sliding seat homing
In position.Specifically, the sliding seat is made of iron material, so as to adsorb when relay 4 is powered.The resetting-mechanism can be to set
The spring being placed between sliding seat and relay 4, or be set to the tension spring that sliding seat deviates from 4 one end of relay.In this way,
It can effectively realize that the driving device is powered by relay 4 and unlock, power off the function of locking, and structure is simple, at low cost, just
In production.In addition, the lock piece 3 in the present embodiment can be cirque structure similar with brake member 2, it is also possible to be only located at
The unsymmetric structure of 1 axle center side of flange, specific structure can be set according to actual installation bulk.
The present invention further discloses a kind of robot, is equipped with the power-off brake device of above structure.Specifically, the machine
Device people has a harmonic speed reducer and a motor, and the harmonic speed reducer includes being fixed on the input shaft of a motor (to be fixed on electricity
The rotation axis of machine and the input shaft for forming harmonic speed reducer) end wave producer, with the flexbile gear of wave producer cooperation and with it is soft
The steel wheel of cooperation is taken turns, the flange 1 is sheathed on the input shaft and is fixedly connected wave producer, and the lock piece 3 is located at flange 1
Away from one end of harmonic speed reducer.
Working mechanism of the power-off brake device in robot are as follows: when robot is powered, relay 4, which is powered, adsorbs lock
Stop member 3, releases the locking of flange 1, and motor can the rotation of normal driving wave producer.In robot power-off, relay 4 is powered off,
Lock piece 3 under the action of resetting-mechanism homing and locking part is caught in locking position, lock flange 1 so that and method
The wave producer and be locked with wave producer relatively fixed input axis that orchid 1 is fixed, prevent unusual fluctuation.
In conclusion the flange 1 of the power-off brake device can be fixedly connected with the wave producer of harmonic speed reducer, to realize
Power-off brake device is docked with harmonic speed reducer, and in normal work, driving device is powered together with robot, to control
Lock piece 3 and brake member 2 are detached from, and release the locking to flange 1, and the motor and harmonic speed reducer of the joint can work normally,
When power is off, driving device, which controls lock piece 3, is caught in locking part in locking position close to brake member 2, carries out machinery to flange 1
Formula locking, to lock the wave producer of harmonic speed reducer, safety is higher, and reliability is stronger, is conducive to timely protection machine
Device people, it is practical.
Since a robot is generally configured with multiple cradle heads, can be pacified by each cradle head of motor control
It fills a power-off brake device and carries out mechanical lock.
And the connection of above-mentioned harmonic speed reducer and motor is only one kind of type of attachment, in addition to this, harmonic speed reducer
It can also be configured individual input shaft, the rotation axis of motor docked by the input shaft.
Above-described embodiment is preferred embodiment of the invention, and the present invention can also have other embodiments, such as by brake member 2 one
It is body formed on flange 1.Those skilled in the art can also make on the premise of without prejudice to spirit of the invention equivalent variations or
Replacement, these equivalent variation or replacement are all contained in range set by the claim of this application.
Claims (9)
1. a kind of power-off brake device characterized by comprising
One flange is equipped with brake member on the outside of the flange, and the brake member is provided with several locking positions around flange axle center；
One lock piece, the lock piece can be close and separate with respect to brake member, and having on the lock piece can snap-in lock stop bit
Locking part, the locking part can be caught in locking position internal locking flange when lock piece is close to brake member；
One driving device, the driving device are sequentially connected lock piece, and for energization time control lockmaking stop member far from brake member,
Control lock piece is close to brake member when power is off.
2. a kind of power-off brake device as described in claim 1, which is characterized in that several locking positions are the same as circumference point
Cloth.
3. a kind of power-off brake device as described in claim 1, which is characterized in that the outside of the flange has one coaxial point
The neck of cloth, the brake member are installed on the neck.
4. a kind of power-off brake device as claimed in claim 3, which is characterized in that if being offered on the lateral wall of the neck
The sliding slot that dry item is axially distributed along flange, the brake member are sheathed on neck and have the slide unit being caught in sliding slot, the neck
Portion is provided with pin on the outside of brake member, to lock brake member by pin.
5. a kind of power-off brake device as claimed in claim 3, which is characterized in that the side of the brake member is distributed with several
Protrusion forms locking position between two adjacent protrusions.
6. a kind of power-off brake device as claimed in claim 5, which is characterized in that the locking part is provided at least two,
And the chamber that can be clamped protrusion is formed between two adjacent locking parts.
7. a kind of power-off brake device as described in claim 1, which is characterized in that the driving device is provided with a relay
The sliding seat that can be adsorbed by relay power with one, the driving device correspond to sliding seat and are provided with resetting-mechanism, the reset
Mechanism is used to control sliding seat homing in relay power-off, and the lock piece is fixedly installed in sliding seat and in activity
When seat homing locking part is caught in locking position.
8. a kind of robot, which is characterized in that be equipped with the described in any item power-off brake devices of claim 1 to 7.
9. a kind of robot as claimed in claim 8, which is characterized in that have a harmonic speed reducer, the harmonic speed reducer
Wave producer including being fixed on an input shaft end, the steel wheel with the flexbile gear of wave producer cooperation and with flexbile gear cooperation, it is described
Flange sleeve is set on the input shaft and is fixedly connected wave producer, and the lock piece is located at one that flange deviates from harmonic speed reducer
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910006976.2A CN109605357A (en) | 2019-01-04 | 2019-01-04 | A kind of power-off brake device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910006976.2A CN109605357A (en) | 2019-01-04 | 2019-01-04 | A kind of power-off brake device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605357A true CN109605357A (en) | 2019-04-12 |
Family
ID=66016045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910006976.2A Pending CN109605357A (en) | 2019-01-04 | 2019-01-04 | A kind of power-off brake device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605357A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111997427A (en) * | 2020-09-05 | 2020-11-27 | 李晓丽 | Electric vehicle anti-occupation device |
| CN112594272A (en) * | 2020-12-09 | 2021-04-02 | 衡阳泰豪通信车辆有限公司 | Mechanical locking device of equipment |
| CN112754358A (en) * | 2020-12-31 | 2021-05-07 | 科沃斯商用机器人有限公司 | Base system of self-moving equipment and self-moving equipment |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111997427A (en) * | 2020-09-05 | 2020-11-27 | 李晓丽 | Electric vehicle anti-occupation device |
| CN112594272A (en) * | 2020-12-09 | 2021-04-02 | 衡阳泰豪通信车辆有限公司 | Mechanical locking device of equipment |
| CN112754358A (en) * | 2020-12-31 | 2021-05-07 | 科沃斯商用机器人有限公司 | Base system of self-moving equipment and self-moving equipment |
| CN112754358B (en) * | 2020-12-31 | 2023-02-17 | 科沃斯商用机器人有限公司 | Base system of self-moving equipment and self-moving equipment |
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