CN110625642A - Mechanical arm joint brake system and control method thereof - Google Patents
Mechanical arm joint brake system and control method thereof Download PDFInfo
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- CN110625642A CN110625642A CN201910819258.7A CN201910819258A CN110625642A CN 110625642 A CN110625642 A CN 110625642A CN 201910819258 A CN201910819258 A CN 201910819258A CN 110625642 A CN110625642 A CN 110625642A
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- joint
- brake ring
- electromagnetic coil
- motor rotor
- locking
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- 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
Abstract
The invention discloses a mechanical arm joint brake system and a control method thereof, belongs to the technical field of mechanical arm braking, and solves the problem. A mechanical arm joint band-type brake system comprises a joint end cover, a connecting screw, an iron core, a brake ring, a permanent magnet, an electromagnetic coil and a plurality of compression springs; the joint end cover is coaxially mounted with the motor stator through a connecting screw, and the iron core is fixedly connected with the joint end cover through spigot coaxiality; an electromagnetic coil is wound at one end, far away from the joint end cover, of the iron core, the permanent magnet is of a cylindrical structure and is coaxial with the iron core, and the permanent magnet is fixedly connected with the brake ring; one end of each compression spring is annular and is uniformly arranged on the joint end cover, and the other end of each compression spring is in contact with the motor rotor; the inner surface of the motor rotor and the outer surface of the brake ring are both annular conical surfaces; the automatic braking device realizes timely conversion from braking to a free state, avoids braking delay and reduces the length of a mechanical arm joint.
Description
Technical Field
The invention relates to the technical field of mechanical arm braking, in particular to a mechanical arm joint band-type brake system and a control method thereof.
Background
When the industrial mechanical arm is in failure or is shut down and loses power, all joints can fall under the action of gravity, so that the mechanical arm is collided and damaged, a braking technology is needed, all joints of the mechanical arm can be braked in time when losing power, braking torque can be rapidly relieved when the mechanical arm is electrified, and the joints can rotate freely.
The joint band-type brake is mature and applied in the industrial field at present, the main forms are two, namely, a friction force braking type friction plate, under the power loss state, a metal friction plate is tightly pressed with the axial end face of a motor rotor under the action of a spring force, at the moment, the friction torque acting on the motor rotor is balanced with the gravity torque, and the mechanical arm achieves the braking effect; under the power-on state, electromagnetic force generated by the electromagnetic coil acts on the friction plate, the friction plate overcomes the elastic force of the spring and is separated from the motor rotor, the motor rotor can rotate freely, the other type is a clamping groove braking type, the motor rotor is connected with a circular brake disc, a plurality of clamping grooves are uniformly distributed on the brake disc along the circumference, under the power-off state, the electromagnet is pushed out and clamped in the clamping grooves to brake joints, and under the power-on state, the electromagnet is recovered, and the motor rotor rotates freely. However, in the first form, the electromagnetic coil is in a power-on state for a long time in the operation process of the mechanical arm, so that the temperature of the joint rises, the difficulty of joint heat dissipation design is increased, meanwhile, the magnetic field generated by the electromagnetic coil can interfere with the magnetic field of the motor, and the precision and the stability of the structure are reduced; above two kinds of modes, all need add the device that occupies great volume behind the motor, increased the length of arm, seriously influenced the articulated flexibility of arm.
Disclosure of Invention
The invention aims to overcome at least one technical defect and provides a mechanical arm joint internal contracting brake system and a control method thereof.
On one hand, the invention provides a mechanical arm joint band-type brake system which comprises a joint end cover, a connecting screw, an iron core, a brake ring, a permanent magnet, an electromagnetic coil and a plurality of compression springs, wherein the connecting screw is arranged on the joint end cover;
the joint end cover is coaxially mounted with the motor stator through a connecting screw, and the iron core is fixedly connected with the joint end cover through spigot coaxiality; an electromagnetic coil is wound at one end, far away from the joint end cover, of the iron core, the permanent magnet is of a cylindrical structure and is coaxial with the iron core, and the permanent magnet is fixedly connected with the brake ring; one end of each compression spring is annular and is uniformly arranged on the joint end cover, and the other end of each compression spring is in contact with the motor rotor; the inner surface of the motor rotor and the outer surface of the brake ring are both annular conical surfaces;
when the electromagnetic coil has no current, the brake ring presses down the motor rotor under the acting force of the compression spring, and the joint motor brakes at the moment; when the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsion force, the repulsion force pushes the brake ring to overcome the elasticity of the compression spring and move towards the joint end cover, the brake ring is separated from the contact with the motor rotor, and the joint enters a free state at the moment; when the joint loses power, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, the counter electromotive force current is led into the electromagnetic coil, the brake ring moves towards the motor rotor end, the brake ring is tightly pressed with the motor rotor, and the joint motor brakes at the moment.
Further, the mechanical arm joint band-type brake system further comprises a plurality of locking springs and locking steel balls, wherein the number of the locking steel balls is the same as that of the locking springs; one end of the locking spring is connected with the joint end cover, and the other end of the locking spring is welded with the locking steel ball; the locking springs are uniformly distributed in the mounting holes of the joint end cover along the circumferential direction, and a half spherical surface of the locking steel ball is positioned on the inner surface of the joint end cover; the brake ring is uniformly distributed with locking holes along the circumference, and the number of the locking holes is the same as that of the locking springs;
when the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsion force, the repulsion force pushes the brake ring to overcome the elasticity of the compression spring and move towards the joint end cover, when the locking groove of the brake ring is aligned with the locking steel ball, the locking steel ball is popped out under the action of the locking spring and clamped into the locking groove, the brake ring is separated from contact with the motor rotor, then the current of the electromagnetic coil is cut off, the holding position of the brake ring is unchanged, and the joint enters a free state;
when the joint is in power failure, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, the counter electromotive force current is led into the electromagnetic coil, the brake ring moves towards the motor rotor end and pushes the locking steel balls out of the locking groove, the brake ring is tightly pressed with the motor rotor, and the joint motor brakes at the moment.
Further, the mechanical arm joint internal contracting brake system further comprises an electromagnetic control circuit, the electromagnetic control circuit is communicated with the motor control circuit, and the electromagnetic control circuit is used for controlling the current flowing direction and the current magnitude of the electromagnetic coil.
Furthermore, the contact outer side surfaces of the brake ring and the motor rotor are both made of metal materials with large friction coefficients, and the contact surfaces of the locking grooves and the locking steel balls are cambered surfaces.
On the other hand, the invention also provides a control method of the mechanical arm joint brake system according to any one of the technical schemes, which comprises a mechanical arm joint brake braking state control method and a mechanical arm joint brake free state control method;
when the electromagnetic coil is not electrified, the brake ring presses down the motor rotor under the acting force of the compression spring, and the joint motor brakes; or when the joint is in power failure, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil, moves towards the motor rotor end, and is tightly pressed with the motor rotor, and the joint motor brakes at the moment;
the control method for the free state of the band-type brake of the mechanical arm joint comprises the following steps of electrifying an electromagnetic coil, generating repulsive force between the electromagnetic coil and a permanent magnet, pushing a brake ring to move towards a joint end cover by the repulsive force to overcome the elastic force of a compression spring, separating the brake ring from a motor rotor, and enabling the joint to enter the free state.
Furthermore, when the joint is in power failure, the motor rotor continues to rotate under the action of inertia and cuts magnetic lines of force to generate counter electromotive force, counter electromotive force current is led into the electromagnetic coil, the brake ring moves towards the motor rotor end, the brake ring is tightly pressed with the motor rotor, and the joint motor brakes at the moment,
when the joint is powered off, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil, moves the brake ring towards the motor rotor end, pushes the locking steel balls out of the locking groove, tightly presses the brake ring and the motor rotor, and brakes the joint motor at the moment;
electrifying an electromagnetic coil, generating repulsive force between the electromagnetic coil and a permanent magnet, pushing a brake ring to move towards a joint end cover by the repulsive force against the elastic force of a compression spring, separating the brake ring from a motor rotor, and enabling a joint to enter a free state at the moment,
the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsive force, the repulsive force pushes the brake ring to overcome the elastic force of the compression spring and move towards the joint end cover, when the locking groove of the brake ring is aligned with the locking steel ball, the locking steel ball is popped out under the action of the locking spring and clamped into the locking groove, the brake ring is separated from the motor rotor, then the current of the electromagnetic coil is cut off, the holding position of the brake ring is unchanged, and the joint enters a free state.
Further, the control method of the mechanical arm joint band-type brake system further comprises the step of controlling the current flow direction and the current magnitude of the electromagnetic coil through the electromagnetic control circuit so as to electrify the electromagnetic coil and enable the electromagnetic coil and the permanent magnet to generate repulsion force.
Compared with the prior art, the invention has the beneficial effects that: the iron core is coaxially installed with the motor stator through the joint end cover through a connecting screw, and the iron core is fixedly connected with the joint end cover through spigot coaxiality; an electromagnetic coil is wound at one end, far away from the joint end cover, of the iron core, the permanent magnet is of a cylindrical structure and is coaxial with the iron core, and the permanent magnet is fixedly connected with the brake ring; one end of each compression spring is annular and is uniformly arranged on the joint end cover, and the other end of each compression spring is in contact with the motor rotor; when the electromagnetic coil has no current, the brake ring presses down the motor rotor under the acting force of the compression spring, and the joint motor brakes at the moment; when the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsion force, the repulsion force pushes the brake ring to overcome the elasticity of the compression spring and move beyond the joint end cover, the brake ring is separated from the contact with the motor rotor, and the joint enters a free state at the moment; when the joint loses power, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, and introduces counter electromotive force current into the electromagnetic coil, the brake ring moves towards the motor rotor end, the brake ring is tightly pressed with the motor rotor, and the joint motor brakes at the moment; the automatic braking device realizes timely conversion from braking to a free state, avoids braking delay and reduces the length of a mechanical arm joint.
Drawings
FIG. 1 is an axial cross-sectional view of a brake of an articulated brake according to an embodiment of the invention;
FIG. 2 is an axial cross-sectional view of a brake of the joint brake according to an embodiment of the invention;
FIG. 3 is a perspective view of an articulating end cap according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a brake ring according to an embodiment of the present invention;
fig. 5 is a partially enlarged view of the surfaces of the brake ring and the motor mover according to the embodiment of the present invention.
Reference numerals: 1-a motor mover; 2-a motor stator; 21-a chute; 3-a connecting screw; 4-knuckle end caps; 5-a locking spring; 6-locking steel balls; 7-a locking groove; 8-iron core; 9-a brake ring; 10-a compression spring; 11-glue; 12-a permanent magnet; 13-electromagnetic coil.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The embodiment of the invention provides a mechanical arm joint band-type brake system which comprises a joint end cover 4, a connecting screw 3, an iron core 8, a brake ring 9, a permanent magnet 12, an electromagnetic coil 13 and a plurality of compression springs 10, wherein the iron core 8 is arranged on the joint end cover;
the joint end cover 4 is coaxially mounted with the motor stator 2 through a connecting screw 3, and the iron core 8 is fixedly connected with the joint end cover 4 through spigot coaxiality; an electromagnetic coil 13 is wound on one end, far away from the joint end cover 4, of the iron core 8, the permanent magnet 12 is of a cylindrical structure and is coaxial with the iron core 8, and the permanent magnet 12 is fixedly connected with the brake ring 9; one end of each compression spring 10 is annular and is uniformly arranged on the joint end cover 4, and the other end of each compression spring is in contact with the motor rotor 1; the inner surface of the motor rotor 1 and the outer surface of the brake ring 9 are both annular conical surfaces;
when the electromagnetic coil 13 has no current, the brake ring 9 presses the motor rotor 1 under the acting force of the compression spring 10, and the joint motor brakes at the moment; when the electromagnetic coil 13 is electrified, the electromagnetic coil 13 and the permanent magnet 12 generate repulsion force, the repulsion force pushes the brake ring 9 to overcome the elasticity of the compression spring 10 and exceed the joint end cover 4 to move, the brake ring 9 is separated from the contact with the motor rotor 1, and at the moment, the joint enters a free state; when the joint is in power failure, the motor rotor 1 continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, the counter electromotive force current is led into the electromagnetic coil 13, the brake ring 9 moves towards the end of the motor rotor 1, the brake ring 9 is tightly pressed with the motor rotor 1, and the joint motor brakes at the moment.
As shown in fig. 1, is an axial sectional view of the joint brake in a braking state, and as shown in fig. 2, is an axial sectional view of the joint brake in a free state; the joint end cover 4 is coaxially installed with the motor stator 2 through the connecting screw 3, the iron core 8 is fixedly connected with the joint end cover 4 and ensures coaxiality through a spigot, the iron core 8 is made of a high-magnetic-permeability material and can be made into a hollow shaft or a solid shaft according to the joint structure requirement, and an electromagnetic coil 13 is wound at the shaft end of the iron core 8.
The inner surface of the motor rotor 1 and the outer surface of the brake ring 9 are both annular conical surfaces, and when the brake ring 9 presses the motor rotor 1 under the acting force of the compression spring 10, the two are tightly attached.
As shown in fig. 3, a perspective view of the joint end cover 4 is shown, 21 is a sliding groove, is coaxial with the end cover body, is provided with a lubricating groove 21 filled with grease, and is sealed by oil seals at two ends, compression springs 10 are uniformly arranged along the circumference and used for providing thrust for a brake ring 9, locking springs 5 are welded with locking steel balls 6 and uniformly arranged in mounting holes along the circumference, and when the compression springs 10 are in a free state, approximately half of the spherical surface is ensured to be positioned on the inner surface; the brake ring 9 and the joint end cover 4 are coaxially arranged and can be matched with the sliding groove 21 and can freely slide;
the structure of the brake ring 9 is shown in fig. 4, and evenly distributed locking holes 31 are processed along the circumferential direction, and the diameter of each through hole is slightly smaller than that of the locking steel balls 6 in the joint end cover 4. The permanent magnet 12 is bonded with the brake ring 9 through the high temperature resistant glue 11.
As shown in fig. 1, in a contracting brake braking state, when the electromagnetic coil 13 has no current, the brake ring 9 presses the motor rotor 1 under the acting force of the compression spring 10, at the moment, the joint motor brakes, and the locking steel balls 6 and the locking spring 5 are in a compression state; as shown in fig. 2, in order to release the brake, the electromagnetic coil 13 is not energized, the spring 10 is compressed, the locking steel balls 66 are ejected and clamped into the locking holes 31 on the brake ring 9, the brake ring 9 overcomes the elastic force of the spring 10 under the locking force, and maintains the free state, at this time, the outer surface of the brake ring 9 is separated from the inner surface of the motor rotor 1, and a gap exists, as shown in fig. 5, and fig. 5 is a partial enlarged view of the surfaces of the brake ring 9 and the motor rotor 1.
Preferably, the mechanical arm joint band-type brake system further comprises a plurality of locking springs 5 and locking steel balls 6, the number of which is the same as that of the locking springs 5; one end of the locking spring 5 is connected with the joint end cover 4, and the other end of the locking spring is welded with the locking steel ball 6; the locking springs 5 are uniformly distributed in the mounting holes of the joint end cover 4 along the circumferential direction, and a half spherical surface of the locking steel balls 6 is positioned on the inner surface of the joint end cover 4; locking holes are uniformly distributed in the brake ring 9 along the circumference, and the number of the locking holes is the same as that of the locking springs 5;
when the electromagnetic coil 13 is electrified, the electromagnetic coil 13 and the permanent magnet 12 generate repulsive force, the repulsive force pushes the brake ring 9 to overcome the elastic force of the compression spring 10 and move towards the joint end cover 4, when the locking groove 7 of the brake ring 9 is aligned with the locking steel ball 6, the locking steel ball 6 is popped out under the action of the locking spring 5 and clamped into the locking groove 7, the brake ring 9 is separated from the motor rotor 1, then the current of the electromagnetic coil 13 is cut off, the position of the brake ring 9 is kept unchanged at the moment (the locking force and the spring force are kept balanced at the moment), and the joint enters a free state;
when the joint is in power failure, the motor rotor 1 continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, and introduces counter electromotive force current into the electromagnetic coil 13 to generate attraction on the permanent magnet 12, so that the balance relation between locking force and spring force in a free state is broken, the brake ring 9 moves towards the end of the motor rotor 1, the locking steel balls 6 are ejected out of the locking groove 7, the brake ring 9 is tightly pressed with the motor rotor 1, and the joint motor is braked at the moment.
Now, the relation of each component in the concrete implementation is explained, the joint end cover 4 is fixedly connected with the motor stator 2 through the connecting screw 3, the center of the joint end cover 4 is provided with a sliding groove 21, the brake ring 9 can freely slide in the sliding groove 21, the brake ring 9 is an annular metal piece, and the outer surface of the brake ring has a certain taper, the conical surface of the brake ring is matched with the conical surface at the inner side of the motor rotor 1, the inner surface of the brake ring 9 is bonded with the annular magnet through high temperature resistant glue, the electromagnetic coil 13 is wound on the iron core 8, keeping a certain gap with the end face of the magnet, fixedly connecting the iron core 8 with the joint end cover 4, installing a compression spring 10 on the end face of the joint end cover 4, the spring force acts on the end part of the brake ring 9, a plurality of locking springs 5 are uniformly distributed along the circumferential direction, the end parts of the locking springs 5 are respectively connected with locking steel balls 6, and a locking groove 7 which is suitable for the diameter of each locking steel ball 6 is processed on the sliding matching surface of the joint end cover 4 of the brake ring 9; in one specific embodiment, the number of the locking steel balls 6 and the number of the locking springs 5 are respectively 3;
preferably, the mechanical arm joint internal contracting brake system further comprises an electromagnetic control circuit, the electromagnetic control circuit is communicated with the motor control circuit, and the electromagnetic control circuit is used for controlling the current flowing direction and the current magnitude of the electromagnetic coil 13.
Specifically, the electromagnetic control circuit and the motor control circuit are communicated with each other to ensure the logical control relationship between the electromagnetic coil 13 and the motor, and when the motor is electrified, the electromagnetic coil 13 is electrified at the same time to enable the joint to enter a free state; when the motor is not electrified, the electromagnetic coil 13 is in an unpowered state at the same time, so that the braking of the joint is ensured, the gravity moment of the mechanical arm is balanced, and the system is prevented from falling.
Preferably, the contact outer side surfaces of the brake ring 9 and the motor rotor 1 are both made of metal materials with large friction coefficients, and the contact surfaces of the locking grooves 7 and the locking steel balls 6 are cambered surfaces.
It should be noted that the outer contact surface of the brake ring 9 and the motor rotor 1 needs to be made of a metal material with a large friction coefficient, and the surface roughness needs to be improved to increase the friction contact area; because the motor rotor 1 is manufactured by powder bonding, the surface quality is low, the stroke of the brake ring 9 needs to be ensured, and the maximum gap is ensured, so that the rotor rotation is not influenced when the motor rotor is in a free state; the proper compression spring 10 is selected according to the working condition, and when the brake is in a braking state, the thrust provided by the spring to the brake ring 9 can generate enough friction torque; in a free state, the thrust of the spring is not too large and needs to be balanced with the locking force; the contact surface of the locking groove 7 and the locking steel ball 6 needs to be processed into a cambered surface suitable for the diameter of the steel ball so as to ensure surface contact during locking, the inclination of the contact surface needs to be designed, and axial locking component force can be ensured to be balanced with spring force;
in specific implementation, because the electromagnetic coil 13 has short electrifying time, the brake ring 9 can be driven to quickly reach the free position by passing larger current in a short time when the system is transited from the braking state to the free state, and the electrifying time needs to be longer than the time required by the movement of the brake ring 9, taking specific working conditions as the standard; meanwhile, when the joint loses power, if the current generated by the counter electromotive force is insufficient to break the force balance relation of the free state, the current of the electromagnetic coil 13 can be increased by using an external capacitor so as to achieve the purpose of increasing the suction force;
it should be noted that the invention is suitable for the robot joint motor, and the motor rotor of the robot joint motor is of a hollow structure; this is not applicable to conventional motors where the rotor is solid.
Example 2
The embodiment of the invention provides a control method of a mechanical arm joint brake system, which comprises a mechanical arm joint brake braking state control method and a mechanical arm joint brake free state control method;
when the electromagnetic coil 13 is not electrified, the brake ring 9 presses the motor rotor 1 under the acting force of the compression spring 10, and at the moment, the joint motor brakes; or when the joint is out of power, the motor rotor 1 continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil 13, the brake ring 9 moves towards the end of the motor rotor 1, the brake ring 9 is tightly pressed with the motor rotor 1, and the joint motor brakes at the moment;
the control method for the free state of the contracting brake of the mechanical arm joint comprises the following steps of electrifying an electromagnetic coil 13, generating repulsive force between the electromagnetic coil 13 and a permanent magnet 12, pushing a brake ring 9 to move towards a joint end cover 4 by overcoming the elastic force of a compression spring 10 through the repulsive force, separating the brake ring 9 from a motor rotor 1, and enabling the joint to enter the free state.
Preferably, when the joint is in power failure, the motor rotor 1 continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil 13, the brake ring 9 moves towards the end of the motor rotor 1, the brake ring 9 is tightly pressed with the motor rotor 1, at this time, the joint motor brakes,
when the joint is in power failure, the motor rotor 1 continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil 13, the brake ring 9 moves towards the end of the motor rotor 1, pushes the locking steel balls 6 out of the locking grooves 7, and presses the brake ring 9 and the motor rotor 1 tightly, and the joint motor brakes at the moment;
electrifying an electromagnetic coil 13, generating repulsive force between the electromagnetic coil 13 and a permanent magnet 12, pushing a brake ring 9 to move towards a joint end cover 4 by overcoming the elastic force of a compression spring 10, separating the brake ring 9 from the motor rotor 1, and enabling the joint to enter a free state at the moment,
the electromagnetic coil 13 is electrified, the electromagnetic coil 13 and the permanent magnet 12 generate repulsive force, the repulsive force pushes the brake ring 9 to overcome the elastic force of the compression spring 10 and move towards the joint end cover 4, when the locking groove 7 of the brake ring 9 is aligned with the locking steel ball 6, the locking steel ball 6 is popped out under the action of the locking spring 5 and clamped into the locking groove 7, the brake ring 9 is separated from the motor rotor 1, then the current of the electromagnetic coil 13 is cut off, the brake ring 9 keeps the position unchanged at the moment, and the joint enters a free state.
Preferably, the method for controlling the free state of the contracting brake of the mechanical arm joint further comprises the step of controlling the current flow direction and the current magnitude of the electromagnetic coil 13 through an electromagnetic control circuit so as to electrify the electromagnetic coil 13 and enable the electromagnetic coil 13 and the permanent magnet 12 to generate a repulsive force.
The invention discloses a mechanical arm joint band-type brake system and a control method thereof.A joint end cover 4 is coaxially installed with a motor stator 2 through a connecting screw 3, and an iron core 8 is fixedly connected with the joint end cover 4 through rabbet coaxiality; an electromagnetic coil 13 is wound on one end, far away from the joint end cover 4, of the iron core 8, the permanent magnet 12 is of a cylindrical structure and is coaxial with the iron core 8, and the permanent magnet 12 is fixedly connected with the brake ring 9; one end of each compression spring 10 is annular and is uniformly arranged on the joint end cover 4, and the other end of each compression spring is in contact with the motor rotor 1;
the mechanical arm joint band-type brake system also comprises a plurality of locking springs 5 and locking steel balls 6 with the same number as the locking springs 5; one end of the locking spring 5 is connected with the joint end cover 4, and the other end of the locking spring is welded with the locking steel ball 6; the locking springs 5 are uniformly distributed in the mounting holes of the joint end cover 4 along the circumferential direction, and a half spherical surface of the locking steel balls 6 is positioned on the inner surface of the joint end cover 4; locking holes are uniformly distributed in the brake ring 9 along the circumference, and the number of the locking holes is the same as that of the locking springs 5;
when the electromagnetic coil 13 has no current, the brake ring 9 presses the motor rotor 1 under the acting force of the compression spring 10, and the joint motor brakes; when the electromagnetic coil 13 is electrified, the electromagnetic coil 13 and the permanent magnet 12 generate repulsive force, the repulsive force pushes the brake ring 9 to overcome the elastic force of the compression spring 10 and move towards the joint end cover 4, when the locking groove 7 of the brake ring 9 is aligned with the locking steel ball 6, the locking steel ball 6 is popped out under the action of the locking spring 5 and clamped into the locking groove 7, the brake ring 9 is separated from the motor rotor 1, then the current of the electromagnetic coil 13 is cut off, the position of the brake ring 9 is kept unchanged at the moment (the locking force and the spring force are kept balanced at the moment), and the joint enters a free state;
when the joint is powered off, the motor rotor 1 continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil 13 to generate attraction to the permanent magnet 12, breaks the balance relation between locking force and spring force in a free state, moves the brake ring 9 towards the end of the motor rotor 1, pushes the locking steel balls 6 out of the locking groove 7, and presses the brake ring 9 and the motor rotor 1 tightly, and the joint motor brakes at the moment; the timely conversion from the braking to the free state is realized, the braking delay is avoided, and the length of the mechanical arm joint is reduced; compared with the prior art, the invention only adds one joint end cover 4 on the length of the joint, the length is only 1/4 to 1/6 of the traditional scheme, and convenience is provided for the miniaturization of the joint.
When the electromagnetic coil 13 is electrified, the locking steel balls 6 are popped out under the action of the locking spring 5 and clamped into the locking groove 7, the brake ring 9 is separated from the motor rotor 1, and then the current of the electromagnetic coil 13 is cut off; compared with the prior art, the electromagnetic coil 13 is not in a power-on state for a long time, and the coil is powered off after the steel balls are clamped into the locking groove 7, so that compared with the prior band-type brake which needs to keep the electromagnetic coil 13 powered on in the whole course, the electromagnetic band-type brake has small coil heating value and small electromagnetic interference, and is beneficial to the heat dissipation design of joints; because the inner surface of the motor rotor 1 and the outer surface of the brake ring 9 are both annular conical surfaces, and the brake ring 9 is tightly attached to the motor rotor 1 when the motor rotor 1 is pressed under the action of the compression spring 10, the friction braking mode of the invention is annular conical surface friction braking, and compared with the traditional end surface friction braking, the friction braking mode has the advantages of larger friction area, stronger action positive pressure and better braking effect.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. A mechanical arm joint band-type brake system is characterized by comprising a joint end cover, a connecting screw, an iron core, a brake ring, a permanent magnet, an electromagnetic coil and a plurality of compression springs;
the joint end cover is coaxially mounted with the motor stator through a connecting screw, and the iron core is fixedly connected with the joint end cover through spigot coaxiality; an electromagnetic coil is wound at one end, far away from the joint end cover, of the iron core, the permanent magnet is of a cylindrical structure and is coaxial with the iron core, and the permanent magnet is fixedly connected with the brake ring; one end of each compression spring is annular and is uniformly arranged on the joint end cover, and the other end of each compression spring is in contact with the motor rotor; the inner surface of the motor rotor and the outer surface of the brake ring are both annular conical surfaces;
when the electromagnetic coil has no current, the brake ring presses down the motor rotor under the acting force of the compression spring, and the joint motor brakes at the moment; when the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsion force, the repulsion force pushes the brake ring to overcome the elasticity of the compression spring and move towards the joint end cover, the brake ring is separated from the contact with the motor rotor, and the joint enters a free state at the moment; when the joint loses power, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, the counter electromotive force current is led into the electromagnetic coil, the brake ring moves towards the motor rotor end, the brake ring is tightly pressed with the motor rotor, and the joint motor brakes at the moment.
2. The mechanical arm joint brake system according to claim 1, further comprising a plurality of locking springs and locking steel balls with the same number as the locking springs; one end of the locking spring is connected with the joint end cover, and the other end of the locking spring is welded with the locking steel ball; the locking springs are uniformly distributed in the mounting holes of the joint end cover along the circumferential direction, and a half spherical surface of the locking steel ball is positioned on the inner surface of the joint end cover; the brake ring is uniformly distributed with locking holes along the circumference, and the number of the locking holes is the same as that of the locking springs;
when the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsion force, the repulsion force pushes the brake ring to overcome the elasticity of the compression spring and move towards the joint end cover, when the locking groove of the brake ring is aligned with the locking steel ball, the locking steel ball is popped out under the action of the locking spring and clamped into the locking groove, the brake ring is separated from contact with the motor rotor, then the current of the electromagnetic coil is cut off, the holding position of the brake ring is unchanged, and the joint enters a free state;
when the joint is in power failure, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, the counter electromotive force current is led into the electromagnetic coil, the brake ring moves towards the motor rotor end and pushes the locking steel balls out of the locking groove, the brake ring is tightly pressed with the motor rotor, and the joint motor brakes at the moment.
3. The mechanical arm joint brake system according to claim 2, further comprising an electromagnetic control circuit, wherein the electromagnetic control circuit is in communication with the motor control circuit, and the electromagnetic control circuit is configured to control a current flow direction and a current magnitude of the electromagnetic coil.
4. The mechanical arm joint brake system according to claim 3, wherein the contact outer side surfaces of the brake ring and the motor rotor are both made of metal materials with large friction coefficients, and the contact surfaces of the locking grooves and the locking steel balls are cambered surfaces.
5. A control method of a mechanical arm joint brake system according to any one of claims 1 to 4, characterized by comprising a mechanical arm joint brake braking state control method and a mechanical arm joint brake free state control method;
when the electromagnetic coil is not electrified, the brake ring presses down the motor rotor under the acting force of the compression spring, and the joint motor brakes; or when the joint is in power failure, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil, moves towards the motor rotor end, and is tightly pressed with the motor rotor, and the joint motor brakes at the moment;
the control method for the free state of the band-type brake of the mechanical arm joint comprises the following steps of electrifying an electromagnetic coil, generating repulsive force between the electromagnetic coil and a permanent magnet, pushing a brake ring to move towards a joint end cover by the repulsive force to overcome the elastic force of a compression spring, separating the brake ring from a motor rotor, and enabling the joint to enter the free state.
6. The method for controlling the mechanical arm joint band-type brake system according to claim 5, wherein when the joint is powered off, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil, moves towards the motor rotor end, and presses the brake ring and the motor rotor tightly, and the joint motor brakes at the moment,
when the joint is powered off, the motor rotor continues to rotate under the action of inertia, cuts magnetic lines of force to generate counter electromotive force, introduces counter electromotive force current into the electromagnetic coil, moves the brake ring towards the motor rotor end, pushes the locking steel balls out of the locking groove, tightly presses the brake ring and the motor rotor, and brakes the joint motor at the moment;
electrifying an electromagnetic coil, generating repulsive force between the electromagnetic coil and a permanent magnet, pushing a brake ring to move towards a joint end cover by the repulsive force against the elastic force of a compression spring, separating the brake ring from a motor rotor, and enabling a joint to enter a free state at the moment,
the electromagnetic coil is electrified, the electromagnetic coil and the permanent magnet generate repulsive force, the repulsive force pushes the brake ring to overcome the elastic force of the compression spring and move towards the joint end cover, when the locking groove of the brake ring is aligned with the locking steel ball, the locking steel ball is popped out under the action of the locking spring and clamped into the locking groove, the brake ring is separated from the motor rotor, then the current of the electromagnetic coil is cut off, the holding position of the brake ring is unchanged, and the joint enters a free state.
7. The method for controlling the mechanical arm joint brake according to claim 6, further comprising controlling the current flow direction and magnitude of the electromagnetic coil through an electromagnetic control circuit so as to electrify the electromagnetic coil and enable the electromagnetic coil and the permanent magnet to generate a repulsive force.
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