CN111156269B

CN111156269B - Brake equipment, motion subassembly and automation equipment

Info

Publication number: CN111156269B
Application number: CN201811326119.2A
Authority: CN
Inventors: 孙权; 陈建涛
Original assignee: Robotics Robotics Shenzhen Ltd
Current assignee: Robotics Robotics Shenzhen Ltd
Priority date: 2018-11-08
Filing date: 2018-11-08
Publication date: 2022-07-26
Anticipated expiration: 2038-11-08
Also published as: CN111156269A

Abstract

The invention provides a brake device, a motion assembly and automation equipment. The brake device comprises a first part, a second part, a main control part at least comprising an electromagnetic coil and a permanent magnet; the first part comprises a first magnetic conduction part; the second portion comprises a second magnetic conductive portion; the permanent magnet is arranged on the first magnetic conduction part or the second magnetic conduction part; the first magnetic conduction part or the second magnetic conduction part forms a first gap along the direction of magnetic lines of force generated by cutting the permanent magnet corresponding to the position of the permanent magnet. By adopting the technical scheme of the invention, the sensitivity and the stability of the brake device can be relatively improved under some conditions.

Description

Brake equipment, motion subassembly and automation equipment

Technical Field

The invention relates to the technical field of self-braking devices, in particular to a braking device, a movement assembly and automation equipment.

Background

Existing automation devices include various moving components such as: a mover of a motor (a rotary motion type or a linear motion type), a moving wheel, and the like, and various brake devices have been designed in order to brake moving components.

The existing brake device is disclosed in patent CN101970897, the brake relies on the force of the spring, so that in some cases, when the braking force of the brake needs to be changed, the new spring needs to be replaced, which causes a certain waste.

Disclosure of Invention

The invention aims to provide a brake device, a control method and a motion assembly, which can prolong the service life of the brake device through a simple structure.

A first aspect of the present invention provides a braking device for braking and releasing braking of a first structure and a second structure that move relative to each other, characterized in that the braking device comprises a first portion, a second portion and a movement control portion; the motion control part comprises a main control part at least comprising an electromagnetic coil and a permanent magnet; the first portion comprises a first magnetic conductive portion; the second portion comprises a second magnetic conductive portion;

a second gap exists between the first magnetic conduction part and the second magnetic conduction part;

the permanent magnet is arranged on one of the first magnetic conduction part and the second magnetic conduction part; a first gap is formed in the position, corresponding to the permanent magnet, of the first magnetic conduction part or the second magnetic conduction part where the permanent magnet is located, along the direction of magnetic lines generated by cutting the permanent magnet, so that when the second gap is increased to a certain range, a part of the magnetic lines generated by the permanent magnet forms a self-loop based on the first gap, and therefore the magnetic field acting force generated by the permanent magnet on the other one of the first magnetic conduction part and the second magnetic conduction part can be reduced more quickly; wherein,

the first magnetic conduction part or the second magnetic conduction part where the permanent magnet is located forms a fixed first gap in the direction of cutting the magnetic lines of force generated by the permanent magnet at the position corresponding to the permanent magnet through the following structure: the first magnetic conduction part or the second magnetic conduction part provided with the permanent magnet comprises two parts; the two parts are oppositely arranged and are matched with and contain the permanent magnet, and the first gap is formed between the opposite surfaces of the two parts.

Further, the main control portion includes a first elastic member and an electromagnetic coil;

one of the first portion and the second portion is secured to the first structure; or the other of the first and second portions is secured to the second structure;

the first magnetic conduction part and the second magnetic conduction part are oppositely arranged and form a second gap with adjustable space;

the second portion and the first portion are connected to each other by the first elastic member; and the first elastic member exerts a first elastic force that increases the spacing;

the electromagnetic coil is arranged corresponding to the first magnetic conduction part or the second magnetic conduction part.

Further, when the electromagnetic coil passes through a first transient current, a first magnetic force is formed between the first magnetic conduction part and the second magnetic conduction part, and the distance is reduced by overcoming the first elastic acting force through the first magnetic force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of a third magnetic force generated by the permanent magnet; when the electromagnetic coil passes through a second current which is in a short time and is opposite to the first current, the electromagnetic coil forms a second magnetic force which is opposite to the first magnetic force on the second magnetic conduction part, the second magnetic force and the third magnetic force are offset, and the distance is increased under the action of the first elastic action force.

Further, the main control section includes a solenoid;

one of the first portion and the second portion is secured to the first structure; the other of the first and second portions is secured to the second structure;

the first magnetic conduction part and the second magnetic conduction part are oppositely arranged;

the electromagnetic coil is arranged on the first magnetic conduction part or the second magnetic conduction part.

Further, when the electromagnetic coil passes through a first transient current, a first magnetic force is formed between the first magnetic conduction part and the second magnetic conduction part, and the second part moves towards the first part through the first magnetic force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of a third magnetic force generated by the permanent magnet; when the electromagnetic coil passes through a second current opposite to the first current, the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetic conduction part, and the second magnetic force and the third magnetic force are offset, so that the second part is separated from the first part.

Furthermore, the brake device also comprises a brake structure which is arranged on the first part and/or the second part and corresponds to the first structure or the second structure, and the motion control part controls the relative and opposite motion of the first part and the second part, so that the brake structure is driven to realize the braking or the brake release of the relative motion of the first structure and the second structure.

Further, the brake structure is a brake pad.

Further, the first structure and the second structure move linearly relative to each other; the brake structure comprises a first end and a second end;

the first portion and the second portion are arranged oppositely along the direction of the linear motion;

one of the first portion and the second portion is fixed to at least one end portion of the second structure in the direction of the linear movement;

the brake structure is pivoted with the first part through a pivot; the first end is movably connected with the second part; the second end abuts a side surface of the first structure; the motion control part controls the first part and the second part to move back and forth along the direction to drive the second end to rotate around the pivot, and along with the change of the rotating angle, the friction force between the second end and the side surface is changed to brake and release the brake of the relative motion of the first structure and the second structure.

Further, the first end is movably connected to the second portion by:

one of the first end and the second part is provided with a limiting groove, and the other of the first end and the second part is provided with a limiting block matched with the limiting groove; the limiting block can slide in the limiting groove.

Further, the first structure and the second structure move linearly relative to each other;

the brake structure is arranged on one of the first part and the second part through a second elastic piece;

the other one of the first part and the second part is provided with a pushing part corresponding to the brake structure;

one of the first side wall and the first side wall of the first structure form a containing groove for containing the brake structure; the accommodating groove at least comprises a first accommodating part and a second accommodating part which are communicated with each other along the linear motion direction;

the brake structure is movably accommodated in the first accommodating part and can be tightly accommodated in the second accommodating part;

the second elastic piece deforms to form a second elastic acting force for pushing the brake structure into the second accommodating part;

the motion control part is used for controlling the first part and the second part to move back and forth relatively, so that the brake structure is driven to move back and forth between the first accommodating part and the second accommodating part.

Further, when the short-time first current is controlled to be supplied to the electromagnetic coil, the first magnetic force overcomes the first elastic acting force, and the brake structure is pushed into the first accommodating part through the pushing part and overcomes the second elastic acting force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of the third magnetic force; when the electromagnetic coil passes the second current for a short time, the second gap is increased under the first elastic acting force; the brake structure is sent into the second accommodating part under the second elastic acting force.

Further, the distance between the first accommodating part and the second accommodating part corresponding to the second side wall of the first side wall is gradually changed from the first side wall to form a slope.

Furthermore, the brake device also comprises a connecting part, and the first part is fixed on the second structure through the connecting part; the second portion is movably sleeved outside the connecting portion through the through hole and reciprocates along a path limited by the connecting portion.

A second aspect of the invention provides a sports assembly including a brake arrangement as claimed in any one of the preceding claims; the motion assembly includes a first structure and a second structure that move relative to each other.

Further, the motion assembly is a motor; the brake device is used for braking the rotor after the motor is powered off; one of the first structure and the second structure is a stator; the other of the first structure and the second structure is a mover.

Further, when the moving assembly is an assembly which mutually rotates, one of the first part and the second part is fixed on or corresponds to at least one end of the first structure; the other one of the first part and the second part is fixed on or arranged corresponding to at least one end of the second structure through a brake structure; or

When the motion components move linearly, the motion components move linearly; one of the first part and the second part is fixed on or corresponds to at least one end of the second structure; the other of the first and second portions is secured to or corresponds to a side of the first structure, either by a braking structure.

A third aspect of the invention provides an automated device comprising at least one motion assembly as described in any of the above.

The braking device, the movement assembly and the automation equipment have the following beneficial effects that:

by adopting the brake device with the structure, the first gap is arranged on the periphery of the permanent magnet, so that the magnetic acting force between the first part and the second part generated by the permanent magnet changes into nonlinear change along with the change of the gap between the first part and the second part, and the brake device is matched with the main control part, and the sensitivity and the stability of the brake device can be relatively improved under some conditions.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a first structural schematic diagram of an embodiment of a brake device provided by the invention.

Fig. 2 is a schematic cross-sectional view of a brake apparatus according to an embodiment of the present invention.

Fig. 3 is a schematic cross-sectional view of a brake apparatus according to a second embodiment of the present invention.

Fig. 4 is a schematic cross-sectional view of a brake apparatus according to a third embodiment of the present invention.

Fig. 5 is a schematic partial second cross-sectional structure diagram of a brake apparatus according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of an embodiment of a moving assembly including a braking device according to the present invention.

Fig. 7 is a graph showing the variation of the magnetic attraction force of the permanent magnet of the brake apparatus according to the present invention with the gap.

Fig. 8 is a magnetic force diagram generated by the permanent magnet when the gap is 0.7 mm.

Fig. 9 is a magnetic force diagram generated by the permanent magnet when the gap is 0.1 mm.

Fig. 10 is a second overall structural schematic diagram of the brake device according to the embodiment of the present invention.

Fig. 11 is a first overall structural schematic diagram of an embodiment of a linear motor including a braking device according to the present invention.

Fig. 12 is a schematic structural diagram of the brake apparatus provided by the present invention with a portion of the first portion removed.

Fig. 13 is a schematic structural diagram of a brake device according to an embodiment of the present invention.

Fig. 14 is a schematic reverse structure diagram of an embodiment of a first portion of the brake device provided by the present invention.

Fig. 15 is a schematic top view of the brake apparatus of the present invention with a first portion removed.

Fig. 16 is a second overall structural schematic diagram of an embodiment of a linear motor including a brake apparatus according to the present invention.

Fig. 17 is a schematic view of an overall structure of an embodiment of a linear motor including a brake apparatus according to the present invention.

Fig. 18 is a schematic structural view of a second portion of the brake device according to the embodiment of the present invention.

Fig. 19 is a first plan view of an embodiment of a linear motor including a brake apparatus according to the present invention.

Fig. 20 is a first cross-sectional structure diagram of the embodiment of the linear motor including the brake apparatus according to the present invention, taken along plane G in the first plan view.

Fig. 21A is a first partially enlarged view of a first cross-sectional structure of the present invention; fig. 21B is a second partially enlarged schematic view of the first cross-sectional structure provided in the present invention.

FIG. 22A is a second top view of an embodiment of a linear motor including a brake apparatus according to the present invention;

fig. 22B is a plan view illustrating a second cross-sectional structure of the embodiment of the linear motor including the brake apparatus according to the present invention, taken along the plane F in the second plan view.

Detailed Description

In order to make the technical solutions of the embodiments of the present invention better understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Fig. 1 is a schematic overall first structural diagram of an embodiment of a brake device provided by the present invention. Fig. 2 is a schematic view of a first cross-sectional structure of an embodiment of the brake apparatus provided in the present invention, wherein the first portion and the second portion are in a state of being close to each other. Fig. 3 is a schematic cross-sectional view of a brake apparatus according to an embodiment of the present invention, wherein the first portion and the second portion are separated from each other.

As shown in fig. 1, 2 or 3, an embodiment of the present invention provides a braking device 10 for braking and releasing braking of a first structure and a second structure that move relatively, the braking device including a first portion 11, a second portion 12, and a movement control portion; the motion control part comprises a main control part 13 at least comprising an electromagnetic coil and a permanent magnet 14; the first portion 11 comprises a first magnetically permeable portion 111; the second portion 12 comprises a second magnetically permeable portion 121; the first portion 11 or the second portion 12 may be entirely formed of only the first magnetic permeable portion 111 or the second magnetic permeable portion 121, or the first portion 11 and the second portion 12 may include other configurations in addition to the first magnetic permeable portion 111 and the second magnetic permeable portion 121.

The permanent magnet 14 is disposed on the first magnetic conductive part 111 (as shown in fig. 1) or the second magnetic conductive part (not shown); the first magnetic conductive part 111 (as shown in fig. 1) or the second magnetic conductive part forms a first gap 112 along the direction of the magnetic lines of force generated by cutting the permanent magnet corresponding to the position of the permanent magnet 14. It should be noted that the first gap 112 may be disposed at any position of the first magnetic conductive portion 111 corresponding to the magnetic lines of force generated by cutting the permanent magnet 14. The first gap may be perpendicular to the magnetic field lines (as shown in fig. 2 and 3), or may be not perpendicular to the magnetic field lines and may intersect the magnetic field lines at any angle.

It should be noted that the main control unit including at least the electromagnetic coil may be designed to be modified as needed, for example: the structure including the first elastic member and the electromagnetic coil, or including only the electromagnetic coil, etc., which has been developed now or developed in the future, and which has similar functions, will be described in the following embodiments.

The braking device can be used for braking a first structure and a second structure of relative movement of various moving components, such as: the moving component may be a rotating motor (as shown in fig. 1) moving relatively to a rotating motion, a linear motor (as shown in fig. 6, 11 or 16, fig. 6 is a schematic overall structure diagram of an embodiment of the moving component including a brake apparatus provided by the present invention, fig. 11 is a schematic overall structure diagram of an embodiment of the linear motor including a brake apparatus provided by the present invention, and fig. 16 is a schematic overall structure diagram of an embodiment of the linear motor including a brake apparatus provided by the present invention), and so on, which will be further described later. In some embodiments, taking the motor as an example, the first structure may be one of a stator and a mover of the rotary motor or the linear motor, and the second structure may be the other of the stator and the mover of the rotary motor and the linear motor.

Because the first gap 112 is formed, when the distance between the first magnetic conduction part 111 and the second magnetic conduction part 121, which is separated by the second gap 15, is increased, a part of the magnetic lines of force generated by the permanent magnet 14 will form a self-loop, and thus the number of the magnetic line of force loops T will be reduced; as shown in fig. 7, fig. 7 is a graph illustrating an example of a variation of a magnetic attraction force of a permanent magnet of a brake apparatus according to the present invention with a second gap; for the above reasons, the magnetic force lines generated by the permanent magnets exhibit a non-linear variation curve, while the braking force of the main control part 13 generally varies linearly with the variation of the second gap 15 (i.e., the amount of compression deformation), so that the attractive force effect of the permanent magnets is more rapidly reduced when the second gap between the first part and the second part is increased to a certain range by the interaction effect of the permanent magnets and the main control part; and after the second gap is reduced to a certain range, the attraction force generated by the permanent magnet is increased more quickly, so that the sensitivity and the stability of the brake device can be relatively improved by matching with the acting force of the main control part. As shown in fig. 8, fig. 8 is a magnetic force diagram generated by the permanent magnet when the second gap is 0.7 mm; as shown in fig. 9, fig. 9 is a magnetic force diagram generated by the permanent magnet when the second gap is 0.1 mm. From a comparison of fig. 8 and 9, the density of the magnetic field lines generated in fig. 8 is significantly higher than that of fig. 9.

It should be noted that the main control unit may be any structure that includes at least the electromagnetic coil 131 and can control the first and second units to move toward and away from each other together with the permanent magnet 14.

As shown in fig. 2, 3 or 4, in some embodiments, the main control part 13 includes an electromagnetic coil 131 and a first elastic member 132. It should be noted that, the first elastic member may include, but is not limited to: a spring, a leaf spring, or a resilient plunger.

One of the first and second portions is secured to the first structure and the other of the first and second portions is secured to the second structure; in this embodiment, the first portion 11 is fixed to the first structure 21 (as shown in fig. 2 or 3), and the second structure 22 is a member to be braked; and/or the second portion 12 is fixed to the second structure 22 (as shown in fig. 11 or 16), the first structure 21 being illustrated as an example of a member to be braked.

The second portion 12 and the first portion 11 are connected to each other by the first elastic member 132; and the first elastic member 132 is subjected to compressive deformation to apply a first elastic force to the first portion 11 and the second portion 12 to separate the first portion 11 and the second portion 12, i.e., to increase the pitch of the second gap 15.

The first magnetic conduction part and the second magnetic conduction part are oppositely arranged, and the second gap 15 with adjustable distance is formed between the first magnetic conduction part and the second magnetic conduction part, so that a magnetic line loop passing through the first magnetic conduction part and the second magnetic conduction part can be formed.

For convenience of understanding, the main control part including the elastic member and the electromagnetic coil is described in further detail below as an example; continuing with fig. 1, 2 or 3, the first portion 11 may be secured to the first structure 21 at any desired location, such as: such as may be secured to at least one end of the first structure 21.

The second portion 12 is connected to the first portion 11 through the first elastic member 132, and the second portion 12 corresponds to a portion to be braked of the second structure 22; when the brake device 10 is installed on the moving component and the second portion corresponds to the portion to be braked of the second structure, the first elastic member 132 is deformed, and the deformation causes the first elastic member 132 to apply a first elastic acting force to the second portion 12, which is directed to the portion to be braked 22, to the second portion 12, and the first elastic acting force is used as a brake braking force of the first portion 11 to the second structure 22; as the elastic member 131 is deformed by force, the size of the second gap 15 between the first portion 11 and the second portion 12 can be changed. The portion of the second structure 22 to be braked may be at least one end of the second structure 22 (as shown in fig. 1), or a side surface of the second structure 22 (as shown in fig. 6), etc. any position where a braking function can be achieved.

The first magnetic conductive part 111 and the second magnetic conductive part 121 are arranged oppositely along the axial direction; the second gap 15, which is adjustable in size as described above, exists between the first magnetic permeable part 111 and the second magnetic permeable part 121.

The electromagnetic coil 131 is arranged on the first magnetic conductive part 111; in addition, the magnetic conductive member may be disposed on the second magnetic conductive portion (not shown);

the permanent magnet 14 is disposed on the first magnetic conductive portion 111, and a first gap 112 is formed at a position of the first magnetic conductive portion 111 corresponding to the permanent magnet 14 along a direction of a magnetic line generated by cutting the permanent magnet 14.

When the permanent magnet 14 is disposed on the first magnetic conductive part 111, the permanent magnet 14, the first magnetic conductive part 111, and the second magnetic conductive part 121 form a closed loop T, so that a third magnetic force opposite to the elastic force is formed on the second magnetic conductive part 121 to attract the second magnetic conductive part 121. It should be noted that one or more permanent magnets may be provided, and one or more permanent magnets 14 may be provided on the first magnetic conductive part 111 (as shown in fig. 1, 2, or 3) or may be provided on the second magnetic conductive part (not shown).

As shown in fig. 2, the electromagnetic coil 14 is disposed on the first magnetic conductive part 111, and when a first short current is applied to the electromagnetic coil 14, the electromagnetic coil 131 forms a first magnetic force opposite to the elastic force and greater than the first elastic force on the second magnetic conductive part 121, and attracts the second part 12 to move toward the first part 11 against the elastic force; when the first short current disappears, the second part continues to remain attracted to the first part under the action of the third magnetic force, so that the second part releases the brake on the second structure 22; as shown in fig. 3, when the electromagnetic coil 131 passes a second current opposite to the first current, the electromagnetic coil 131 forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive part 121, and the second magnetic force and the third magnetic force are cancelled, so that the second component 12 moves toward the second structure 22 under the action of the first elastic force until the second structure 22 is braked again.

It should be noted that the first elastic member, the permanent magnet and the electromagnetic coil may be arranged in a transverse side-by-side manner (as shown in fig. 2 or 3) or in a longitudinal overlapping manner (as shown in fig. 4).

Because the first gap is formed, when the distance of the second gap separated by the first magnetic conduction part and the second magnetic conduction part is increased, a part of magnetic lines of force generated by the permanent magnet form a self-loop, and the number of the magnetic line of force loops T is reduced; as shown in fig. 7, fig. 7 is a graph showing the variation of the magnetic attraction force of the permanent magnet of the brake apparatus according to the present invention with the gap; for the above reasons, the magnetic force lines generated by the permanent magnet present a non-linear variation curve, while the braking force of the elastic member generally varies linearly with the gap variation (i.e., the amount of compression deformation), so that the attractive force effect generated by the permanent magnet is more rapidly reduced when the second gap between the first portion and the second portion increases to a certain range by the interaction effect of the permanent magnet and the elastic member; and when the second gap is reduced to a certain range, the attraction force generated by the permanent magnet is increased more quickly, so that the sensitivity and the stability of the brake device can be relatively improved by matching with the elastic acting force. As shown in fig. 8 or 9, the density of magnetic lines generated in fig. 8 is significantly higher than that of fig. 9 according to a comparison of fig. 8 and 9.

In some embodiments, there is provided a method of controlling a brake apparatus as described in the above embodiments, the method including:

s211, acquiring a trigger signal of a brake device; the trigger signal can be generated by interaction through presetting an interaction button; or execute a preset program, such as: after the linear motor is powered on and started (the powered signal is the trigger signal), step S212 is executed to release the braking; or after the linear motor is powered off (the short-time electric signal is the trigger signal), step S213 is executed to implement braking.

S212, when the trigger signal is a brake release signal, energizing the electromagnetic coil with the first transient current to form a first magnetic force, which is opposite to the braking force and greater than the braking force, on the second magnetic conductive portion, so that the second member moves toward the first member against the first elastic acting force; when the first short current disappears, the second part is kept in an attraction state with the first part under the action of the third magnetic force, so that the second part releases the braking of the to-be-braked member.

S213, when the trigger signal is a brake signal, applying a second short current to the electromagnetic coil, so that the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive portion, and the second magnetic force and the third magnetic force are cancelled; the second portion brakes the member to be braked under the first elastic force.

As shown in fig. 5, fig. 5 is a schematic partial second cross-sectional structure diagram of a brake device according to an embodiment of the present invention. In some embodiments, the main control portion 13 may include only the solenoid 131.

One of the first and second portions is secured to the first structure and the other of the first and second portions is secured to the second structure. The first portion 11 of this embodiment is secured to the first structure 21; the second portion 12 is fixed to the second structure 22 for further details;

the first magnetic conductive part 111 and the second magnetic conductive part 121 are oppositely arranged;

the electromagnetic coil 131 is disposed on the first magnetic conductive part 111 or the second magnetic conductive part 121.

When the electromagnetic coil 131 passes a first short current, a first magnetic force is formed between the first magnetic conductive part 111 and the second magnetic conductive part 121, and the second part 12 moves towards the first part 11 by the first magnetic force; when the first current disappears, the first magnetic conductive part 111 and the second magnetic conductive part 121 continue to maintain the attraction state under the third magnetic force generated by the permanent magnet 14; when the electromagnetic coil 131 passes a second current opposite to the first current, the electromagnetic coil 131 forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive part 121, and the second magnetic force and the third magnetic force cancel each other out, so that the second part is separated from the first part.

In some embodiments, the braking device 10 further includes a braking structure disposed on the first portion and/or the second portion, and the motion control portion controls the first portion 11 and the second portion 12 to move relatively and oppositely, so as to drive the braking structure to brake or brake the relative rotational motion or linear motion of the first structure 21 and the second structure 22. For the sake of easy understanding, the following is a further detailed description taking the specific structure of the partial braking structure as an example, but it should be noted that the braking structure is not limited to the following embodiments.

In some embodiments, the braking device 10 includes a braking structure fixed on the surface of the second portion 12 corresponding to the portion to be braked, and the braking structure 15 may be designed into any structure as required, such as: as shown in fig. 1, 2 or 3, the brake structure 15 can be a brake pad 15, and the brake pad 15 is disposed corresponding to the end of the second structure 22 (as shown in fig. 1, 2 or 3) or the first structure, or corresponding to the side of the second structure 22 or the first structure (as shown in fig. 6). In some embodiments, in order to better realize braking, a braking structure at least corresponding to the surface of the mover can be made of a material with a large friction coefficient; in addition, the brake structure can also adopt the structural design integrated with the magnetic conduction part, namely, the brake part also adopts magnetic conduction materials.

Fig. 10 is a second overall structural schematic diagram of the brake device according to the embodiment of the present invention. Fig. 11 is a first overall structural schematic diagram of an embodiment of a linear motor including a braking device according to the present invention.

As shown in fig. 10 or 11, in some embodiments, the brake structure 15 includes a first end 151 and a second end 152; the first portion 11 or the second portion 12 is fixed to the first structure 21 or the second structure 22, and the second portion 12 is fixed to the second structure 22 in the present embodiment as an example. The second portion 12 is secured to an end of the second structure 22.

The first structure and the second structure can be any structures which move linearly relatively, such as: the linear motor comprises a stator and a rotor, a piston and a piston rod of a cylinder, and two arbitrary structures which can move relatively on a lathe.

It should be noted that the braking device may include one braking structure or a plurality of braking structures, as shown in fig. 10, when the first structure and the second structure are a cylinder and a rod which are matched with each other, a plurality of braking structures may be provided. The shape of brake structure can be designed into wantonly as required, and in some embodiments, the brake structure is at the butt face that corresponds the side of second structure, for guaranteeing with the good contact of brake structure, reduces the wearing and tearing among the relative motion process, can design into the arcwall face.

Fig. 12 is a schematic structural diagram of an embodiment of the braking device provided by the invention with a part of the structure of the first portion removed. Fig. 13 is a schematic structural diagram of a brake device according to an embodiment of the present invention in partial cross section. Fig. 14 is a schematic reverse structure diagram of an embodiment of a first part of a brake device provided by the present invention. Fig. 15 is a schematic top view of the brake apparatus of the present invention with a first portion removed.

As shown in fig. 12-15, the brake structure 15 is pivotally connected to the second portion 12 via a pivot 153; the first end 151 is movably connected to the first portion 11, and the movement control portion controls the first portion 11 and the second portion 12 to reciprocate along the axial direction X, so as to drive the second end 152 to rotate clockwise or counterclockwise around the pivot 153. Specifically, since the first end 151 is movably connected to the first portion 11, when the first portion 11 drives the brake structure 15 to axially reciprocate relative to the second portion 12, since the brake structure 15 is pivotally connected to the second portion 12, the position of the first end 151 relative to the first portion 11 changes, and therefore the first end 151 needs to be movably connected to the first portion 11, so that when the first portion and the second portion relatively move or move oppositely, the second end 152 rotates clockwise or counterclockwise around the pivot 153; the second end 152 abuts against a side surface of the first structure 21 and is in frictional contact with the first structure 21, and frictional force of different magnitudes is generated between the second end 152 and the first structure 21 according to the rotation angle, so as to brake or release the relative movement of the first structure and the second structure.

Specifically, as shown in fig. 10, in some embodiments, the first portion 11 is pivotally connected to the middle portion or a position near the middle portion of the brake structure 15 via a pivot 153. In addition, the first portion may be pivotally connected to the second portion at any position near the first end and the second end by a pivot.

It should be noted that the control of the axial movement between the first portion 11 and the second portion 12 can be achieved in various ways, such as: the axial X-direction movement and the opposite movement between the two are controlled by a driving structure (such as a motor, a hydraulic drive, a pneumatic drive and the like); or the axial movement of the elastic part and the driving structure is controlled in a mode of combining the elastic part and the driving structure; or the axial movement of the first magnetic attraction piece and the second magnetic attraction piece can be controlled by a combined structure of the elastic piece, the second magnetic attraction piece and the electromagnet (the following embodiment will be further detailed).

As shown in fig. 12-15, in some embodiments, the braking structure 15 is pivotally connected to the second portion 21 via a pivot 153, which can be implemented as follows: the first part 11 is provided with a shaft seat 113 protruding from the first part 11, shaft holes are arranged at two sides of the shaft seat 113, and a pivot 153 of the brake structure 15 is arranged in the shaft holes, so that the brake structure 15 is pivoted with the shaft seat 111; alternatively, instead of providing the axle seat, a groove for accommodating the braking structure 15 may be formed in the first portion, axle holes may be formed at positions corresponding to the pivot axles on both sides of the groove, and the braking structure may be disposed in the groove and the pivot axles may be installed in the axle holes (not shown), so that the braking structure 15 is pivotally connected to the first portion 11 through the pivot axles 153; or any other structure which can meet the requirement that the brake structure and the first part are pivoted through the pivot.

Taking the first structure as an example of the mover of the linear motor, after the linear motor is powered off, the mover may still move relative to the stator due to the influence of gravity or other acting forces, and therefore a braking device needs to be used for braking the mover. The second end is abutted with the rotor; when the second end 152 is controlled to rotate to an angle close to being perpendicular to the mover 21, the frictional resistance generated between the second end 152 and the mover 21 is larger, so that the magnitude of the frictional resistance generated between the second end 152 and the mover 21 can be controlled by controlling the rotation of the second end 152 of the brake structure 15 around the pivot 153, and when the frictional resistance reaches or exceeds the acting force applied to the mover to move the mover, the brake on the mover can be realized; when the second end is controlled to rotate reversely and rotates to an angle far away from the angle perpendicular to the rotor, the frictional resistance generated between the second end and the rotor can be reduced, and when the frictional resistance is smaller than the acting force applied to the rotor to enable the rotor to move, the brake on the rotor is released.

As shown in fig. 12-15, it should be noted that the movable connection of the first end 151 to the first portion 11 can be realized by any structure; like this, when first portion drives the axial reciprocating motion of brake block relative second portion, because the brake structure pin joint is in the second portion, the relative first position of first end changes like this, consequently needs the first portion of mobilizable connection of first end to satisfy when first portion and second portion relative motion and opposite movement, first end is around pivot clockwise or anticlockwise rotation.

In some embodiments, the movable connection of the first end 151 to the second portion 12 can be achieved by:

one of the first end 151 and the second portion 12 is provided with a limiting groove 154, and the other of the first end 151 and the second portion 12 is provided with a limiting block 155 matched with the limiting groove 154; the stopper 155 is slidable in the stopper groove 154.

As shown in fig. 12 to 15, according to the above embodiment, the braking device 10 includes a first portion 11, a second portion 12, and a motion control portion for controlling the relative and opposite motion of the first portion 11 and the second portion 12, wherein the first portion is provided with a first magnetic conductive portion 111, and the second portion 12 is provided with a second magnetic conductive portion 121; in some embodiments, the motion control part includes a main control part including at least an electromagnetic coil and a permanent magnet 14, the permanent magnet 14 is mounted on the second magnetic conductive part 121, and a first gap 112 is formed on the second magnetic conductive part 121 corresponding to the position of the permanent magnet 14; in some embodiments, the main control portion includes a solenoid 131 and a resilient member 132. For other relevant descriptions of the motion control part, refer to the above embodiments, and are not repeated herein.

By adopting the technical scheme of the embodiment of the invention, the structure of the brake device is simplified, and the mass of the brake device is reduced; and then simplified linear electric motor's structure, alleviateed linear electric motor's quality.

It should be noted that, in some embodiments, when the second structure 22 is the first cylinder 11 forming an axial through hole, the first structure 21 is the rod 21; the rod 21 passes through the through hole. In this case, the first and

second portions

11 and 12 may be second cylindrical bodies; the second cylinder body is matched with the first cylinder body and fixed at the end part of the first cylinder body.

The first and second cylindrical bodies may have any shape as needed, and may be polygonal cylinders such as a cylinder, a square cylinder, and a triangular cylinder.

The shape of the cross section of the rod body is matched with the shape of the cross section of the penetrating part formed in the first cylinder body, so that the rod body just penetrates through the penetrating part, and a gap is formed between the outer wall of the rod shape and the inner wall of the cylinder body to form a magnetic gap; in some preferred embodiments, the cross-section of the rod is preferably polygonal (e.g., rectangular), which facilitates the processing of the second magnetic attraction piece and facilitates the insertion of the second magnetic attraction piece into the groove.

In some embodiments, when the second cylinder is a polygonal cylinder, as shown in fig. 10, for example, a square cylinder, at least one of four corners of the second cylinder (4 corners, as shown in fig. 10) is provided with a corresponding brake structure, and so on.

Further, in some embodiments, the solenoid 131 of the motion control portion may be a unitary structure surrounding the barrel.

Fig. 16 is a third schematic overall structure diagram of the brake device according to the embodiment of the invention. Fig. 17 is a schematic view of an overall structure of an embodiment of a linear motor including a brake apparatus according to the present invention. Fig. 18 is a schematic structural diagram of a second portion of the brake device according to the embodiment of the present invention. Fig. 19 is a first plan view of an embodiment of a linear motor including a brake apparatus according to the present invention. Fig. 20 is a first cross-sectional view of the embodiment of the linear motor including a brake apparatus according to the present invention, taken along plane G.

In other embodiments, as shown in fig. 16-20, the first portion 11 and the second portion 12 reciprocate relative to one another in a linear direction of motion.

The first portion 11 and the second portion 12 are disposed opposite to each other, the first portion 11 is provided with a first magnetic conductive portion 111, and the second portion 12 is provided with a second magnetic conductive portion 121.

The brake structure 15 can be disposed on the first portion 11 or can be disposed on the second portion (not shown) through the second elastic member 133; the second resilient member 133 and the brake structure 15 cooperate such that when the brake structure 15 is located in the receiving cavity as described in the following embodiments, the second resilient member 133 is compressed and deformed to apply a second resilient force 133 to the brake structure 15, and the second resilient force 133 pushes the brake structure from the first receiving portion 1611 into the second receiving portion 1612 and blocks the brake structure in the second receiving portion 1612.

The position of the first portion 11 corresponding to the brake structure 15 forms a receiving groove for receiving the brake structure 15 together with the first side wall 211 of the first structure 21 along the moving direction; in addition, the accommodating groove may also be disposed on the second portion (not shown).

As shown in fig. 21A or 21B, the accommodating groove at least includes a first accommodating portion 1611 and a second accommodating portion 1612 that are connected to each other, the first accommodating portion 1611 movably accommodates the braking structure 15, that is, the braking structure 15 has a gap in the first accommodating portion, so that when the first structure 21 moves, when the braking structure 15 is accommodated in the first accommodating portion 1611, the first accommodating portion does not obstruct the first side wall 211 of the first structure 21, and thus the braking function is not performed; the second accommodating portion 1612 can be tightly and tightly accommodated in the brake structure 15 to be tightly clamped with the first side wall, the clamping acting force can increase the friction force between the brake structure and the first side wall, so that when the first structure 21 moves, the friction force generated between the brake structure 15 and the first side wall 211 is increased due to the fact that the brake structure 15 is tightly clamped with the first side wall 211 of the first structure 21, and when the friction force applied to the first structure 21 is greater than or equal to the acting force for moving the first structure and/or the second structure and is opposite to the external force, the first structure and the second structure stop moving relative to each other.

It should be noted that the brake structure 15 may have any structural shape, such as: a sphere (as shown in fig. 21B), which may be a sphere or an ellipsoid; the cylinder forms a cambered surface corresponding to the first side wall; a second side wall corresponding to the accommodating groove and opposite to the first side wall forms an arc surface or an inclined surface; or polyhedrons, etc. Preferably, a ball, a cylinder, a curved surface or a slope, etc., the braking structure can move more smoothly between the first portion and the second portion.

As shown in fig. 21A or 21B, in some embodiments, the first accommodating portion 1611 and the second accommodating portion 1612 form a slope with a distance decreasing from the first accommodating portion to the second accommodating portion corresponding to the second side wall of the first side wall 211, so that when the braking structure 15 is located in the first accommodating portion 1611 and the second accommodating portion 1612, the slope is engaged with the first side wall, so that the braking structure 15 is movably located in the first accommodating portion 1611 and clamped in the second accommodating portion 1612. Then, as the brake structure 15 moves towards the bottom of the first accommodating part until the second accommodating part 1612, the acting force between the brake structure and the first side wall is larger, so that the corresponding friction force is also larger, until the friction force is greater than or equal to the acting force of the motion received by the second structure, the brake structure performs a braking function. Thus, after braking, the braking structure is controlled to move to the second accommodating portion 1612, when the second structure is acted to move towards the bottom of the second accommodating portion 1612, under the action of the friction force between the contact surface of the second structure and the braking structure, the braking structure 15 continues to move towards the bottom of the second accommodating portion 1612 along with the first structure 21, and because the second side wall forms an inclined surface, the distance from the second side wall to the first side wall is narrower towards the bottom, the friction force applied by the braking structure to the first structure is larger until the friction force is larger than or equal to the action force (such as self gravity action) which is acted on the first structure to move the first structure, and the braking effect is exerted on the first structure 21.

The motion controller is configured to control the first portion 11 and the second portion 12 to move back and forth relatively, so as to drive the brake structure 15 to move toward the first accommodating portion 1611 or the second accommodating portion 1612.

The brake device adopting the structure simplifies the structure of the brake device; therefore, the mass of the brake device is reduced under certain conditions, the structure of the linear motor is simplified, and the mass of the linear motor is reduced.

In some embodiments, the motion control part may include a main control part and a permanent magnet 14, and in some embodiments, as shown in fig. 22B, the permanent magnet 14 is embedded in the bottom of the second magnetic conductive part 211 (which may save space), and may be disposed at any desired position; the main control unit includes a solenoid 131 and a first elastic member 132.

As shown in fig. 22B, the electromagnetic coil 131 is disposed corresponding to the second magnetic permeable portion 121, and the second magnetic permeable portion 121 corresponds to the first magnetic permeable portion 111.

When the electromagnetic coil 131 is energized, the second magnetic conductive part 121 may generate a magnetic field, so as to attract the first magnetic conductive part 111, so that the two parts may move relatively.

The brake structure 15 is fixed on the first portion 11 through the second elastic member 133; when the brake structure 15 is located in the accommodating groove, the second elastic member 133 is compressed and deformed to form a second elastic acting force, and the brake structure 15 is pushed to be clamped with the second accommodating portion 1612 by the second elastic acting force; the second elastic member 133 may be a spring, a spring sheet, an elastic plunger, or any other structure with similar functions.

The first elastic member 132 is disposed between the first portion 11 and the second portion 12, and the first elastic member 132 is compressively deformed to form a first elastic force that separates the first portion 11 and the second portion 12 from each other (increases the pitch of the second gap).

The second part 12 comprises a pushing structure 123 arranged corresponding to the other end of the brake structure 15;

when the electromagnetic coil 131 is de-energized, the brake structure 15 pushes the brake structure 15 into the second accommodating portion 1612 under the second elastic force of the second elastic member 133; when the electromagnetic coil 131 is energized, the magnetic force formed by the first and second magnetic conductive parts overcomes the second elastic acting force to push the brake structure 15 from the second accommodating portion 1612 into the first accommodating portion 1611 through the pushing structure 123.

FIG. 22A is a second top view of an embodiment of a linear motor including a brake apparatus in accordance with the present invention; fig. 22B is a plan view illustrating a second cross-sectional structure of the embodiment of the linear motor including the brake apparatus according to the present invention, taken along the plane F in the second plan view.

As shown in fig. 22A or 22B, in some embodiments, the braking device further includes a connecting portion 139, and the first portion 11 is fixed to the second structure 21 through the connecting portion 139; the second portion 12 includes a through hole, and the second portion 12 is movably sleeved outside the connecting portion 139 through the through hole and reciprocates along a path defined by the connecting portion 139.

Specifically, in some embodiments, the control method of the braking device may include the following processes:

s311, acquiring a trigger signal; the trigger signal can be generated by interaction through presetting an interaction button; or execute preset programs, such as: after the linear motor is powered on and started (the powered signal is the trigger signal), step S312 is executed to release the braking; or after the linear motor is powered off (the short-time electric signal is the trigger signal), step S313 is executed to implement braking.

S312, when the trigger signal is a brake release signal, controlling to supply a first current to the electromagnetic coil 131, and the second magnetic conductive portion generates a magnetic field to attract the first magnetic conductive portion to overcome the first elastic force of the first elastic member, and the brake structure is pushed into the first accommodating portion through the pushing portion to overcome the second elastic force of the second elastic member, so as to release the brake.

S313, when the trigger signal is a braking signal, controlling to cut off the first current from the electromagnetic coil 131, and separating the first portion and the second portion under the first elastic acting force; the brake structure pushes the brake structure into the second accommodating part under the second elastic acting force of the second elastic piece so as to realize the braking.

second portions

In some embodiments, when the second cylinder is a polygonal cylinder, as shown in fig. 18, or a square cylinder for example, at least one of four corners of the second cylinder (4 corners, respectively, as shown in fig. 18) is provided with a corresponding brake structure, and so on.

Further, in some embodiments, the solenoid 131 of the motion control portion may be a unitary structure around the barrel.

Fig. 6 is a schematic overall structural diagram of an embodiment of a moving assembly including a braking device according to the present invention. In some embodiments, the present invention also provides a moving assembly 20 including the brake apparatus 10 of the above embodiment, the driving assembly including a first structure and a second structure that move relative to each other, such as: first and second structures that move linearly (as shown in fig. 6, 10 or 16) or rotationally (as shown in fig. 1) relative to each other, in some cases the first structure being fixedly disposed relative to each other and the second structure being movable relative to the first structure (or vice versa), or both the first and second structures being movable relative to each other. The moving components that move or are likely to move relative to each other are braked by a braking device.

It should be noted that the motion assembly may be, but is not limited to: motors (linear or rotary), guide rail and slider assemblies, cylinder and piston structures for pneumatic presses, bicycle tires and bodies, and the like.

In some embodiments, the braking device is generally applied after the driving system loses driving force, such as: after the motor is powered off, the rotor of the motor is worried about to continue moving due to the influence of acting force such as inertia or self gravity, and the like, so that the brake device is adopted to prevent the rotor from continuing moving.

In some embodiments, when the kinematic assembly is a mutually rotationally kinematic assembly, one of the first and second portions is fixed to or corresponds with at least one end of the first structure; the other one of the first part and the second part is fixed on or arranged corresponding to at least one end of the second structure through a brake structure; or

When the motion components move linearly, the motion components move linearly; one of the first part and the second part is fixed on or corresponds to at least one end of the second structure; the other of the first part and the second part is fixed on or corresponds to the side surface of the first structure through a brake structure

Such as: taking the example of a rotating electrical machine as shown in fig. 1, 2 or 3, in some embodiments, the braking device 10 can fix the first portion 11 to at least one end of the first structure 21; the second portion 12 or the brake structure 15 is disposed corresponding to at least one end of the second structure 22, and the second portion 12 or the second portion 12 is controlled to drive the brake structure 15 to move back and forth, so as to control the braking or releasing of the second structure 22.

As also shown in fig. 10 or 16, the braking device is fixed to at least one end of the second structure 22 by one of the second portion 12 and the first portion 11, and the other of the second portion 12 and the first portion 11 corresponds to a side of the first structure by the braking structure.

As shown in fig. 6, the braking device is fixed to at least one end of the first structure 21 through one of the second portion 12 and the first portion 11, and the other of the second portion 12 and the first portion 11 is fixed to a side surface of the second structure 22.

For the related description of the braking device, refer to the above embodiments, and the description is not repeated herein.

In some embodiments, the present disclosure also provides an automated apparatus comprising at least one drive assembly as described in the above embodiments. It should be noted that the automation device may include: a robot; automated equipment for various functions, which may include: transportation equipment (such as a linear motor applied to a subway or a magnetic levitation train); precision instruments (e.g., drawing instruments, medical devices, aerospace instruments, etc.); conveying equipment (such as an elevator); an acceleration device (e.g., a launch device); living equipment (such as electric sliding doors, electric opening and closing curtains) and the like. Among them, the robot can be regarded as a high-level automation device.

For the related description of the driving assembly, reference is made to the above embodiments, and the description is not repeated here.

When an element is referred to as being "secured to" or "fixedly connected to" another element, it can be directly on the other element or intervening elements may be present, also pre-formed as one piece with the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The term "and/or" in this document is only one kind of association relation describing the associated object, and means that three kinds of relations may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The terms "first," "second," "third," and the like in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or robot that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not expressly listed or inherent to such process, method, system, article, or robot.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention, as will be understood by those skilled in the art.

The brake device, the moving component and the automation equipment provided by the embodiment of the present invention are described in detail above, but the above description of the embodiment is only used to help understanding the method and the core idea of the present invention, and should not be construed as limiting the present invention. Those skilled in the art should appreciate that various changes and substitutions can be easily made within the technical scope of the present disclosure by considering the idea of the present invention.

Claims

1. A brake device for braking and releasing braking of a first structure and a second structure which move relatively, characterized in that the brake device comprises a first part, a second part and a movement control part; the motion control part comprises a main control part at least comprising an electromagnetic coil and a permanent magnet; the first part comprises a first magnetic conduction part; the second portion comprises a second magnetic conductive portion;

the permanent magnet is arranged on one of the first magnetic conduction part and the second magnetic conduction part; the first magnetic conduction part or the second magnetic conduction part where the permanent magnet is located forms a first gap along the direction of magnetic lines generated by cutting the permanent magnet at the position corresponding to the permanent magnet, so that when the second gap is increased to a certain range, a part of the magnetic lines generated by the permanent magnet form a self-loop based on the first gap, and the acting force of the permanent magnet on the magnetic field generated by the other one of the first magnetic conduction part and the second magnetic conduction part is reduced more quickly; wherein,

the first magnetic conduction part or the second magnetic conduction part where the permanent magnet is located forms a fixed first gap along the direction of magnetic lines generated by cutting the permanent magnet at the position corresponding to the permanent magnet, and the fixed first gap is realized through the following structure:

the first magnetic conduction part or the second magnetic conduction part provided with the permanent magnet comprises two parts; the two parts are oppositely arranged and matched with and contain the permanent magnet, and the first gap is formed between the opposite surfaces of the two parts.

2. The brake apparatus according to claim 1, wherein the main control portion includes a first elastic member and an electromagnetic coil;

3. A brake apparatus according to claim 2, wherein when a first transient current is applied to said electromagnetic coil, a first magnetic force is generated between said first magnetically permeable portion and said second magnetically permeable portion, and said spacing is reduced by said first magnetic force against said first resilient force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of a third magnetic force generated by the permanent magnet; when the electromagnetic coil passes through a second current which is in a short time and is opposite to the first current, the electromagnetic coil forms a second magnetic force which is opposite to the first magnetic force on the second magnetic conduction part, the second magnetic force and the third magnetic force are offset, and the distance is increased under the action of the first elastic action force.

4. The brake apparatus according to claim 1, wherein the main control portion includes a solenoid;

5. The brake apparatus as claimed in claim 4, wherein when a first short current is applied to said electromagnetic coil, a first magnetic force is formed between said first magnetically conductive part and said second magnetically conductive part, and said second part is moved toward said first part by said first magnetic force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of a third magnetic force generated by the permanent magnet; when the electromagnetic coil passes through a second current opposite to the first current, the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetic conduction part, and the second magnetic force and the third magnetic force are offset, so that the second part is separated from the first part.

6. The braking device according to any one of claims 1 to 3, further comprising a braking structure disposed on the first portion and/or the second portion corresponding to the first structure or the second structure, wherein the motion control portion controls the first portion and the second portion to move relatively and oppositely, so as to drive the braking structure to brake or brake the relative motion of the first structure and the second structure.

7. The brake apparatus of claim 6, wherein the brake structure is a brake pad.

8. The brake apparatus of claim 6, wherein said first structure and said second structure move linearly relative to each other; the brake structure comprises a first end and a second end;

the first part and the second part are oppositely arranged along the direction of the linear motion;

the brake structure is pivoted with the first part through a pivot; the first end is movably connected with the second part; the second end abuts a side surface of the first structure; the motion control part controls the first part and the second part to move back and forth along the direction, the second end is driven to rotate around the pivot, and the friction force between the second end and the side surface is changed along with the change of the rotating angle, so that the relative motion of the first structure and the second structure is braked and released.

9. The brake apparatus of claim 8, wherein the movable connection of the first end to the second portion is achieved by:

10. The brake apparatus of claim 6, wherein said first structure and said second structure move linearly relative to each other;

11. The brake apparatus as claimed in claim 10, wherein when the first current is controlled to be applied to the electromagnetic coil for a short time, the first magnetic force pushes the brake structure into the first accommodating portion through the pushing portion against the first elastic force against the second elastic force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of the third magnetic force; when the electromagnetic coil passes the second current for a short time, the second gap is increased under the first elastic acting force; the brake structure is sent into the second accommodating part under the second elastic acting force.

12. The brake apparatus according to claim 10 or 11, wherein the first receiving portion and the second receiving portion are formed at a gradually changing distance from the first side wall corresponding to the second side wall of the first side wall to form a slope.

13. A brake arrangement according to claim 10 or 11, further comprising a connecting portion by which the first portion is secured to the second structure; the second portion is movably sleeved outside the connecting portion through the through hole and reciprocates along a path limited by the connecting portion.

14. A moving assembly, characterized in that it comprises a braking device according to any one of claims 1 to 13; the motion assembly includes a first structure and a second structure that move relative to each other.

15. The motion assembly of claim 14, wherein when the motion assembly is a motor; one of the first structure and the second structure is a stator; the other of the first structure and the second structure is a mover; and the brake device is used for braking the rotor after the motor is powered off.

16. A sports assembly according to claim 14 or 15, wherein when the sports assembly is a mutually rotary sports assembly, one of the first and second portions is fixed to or corresponds with at least one end of the first structure; the other one of the first part and the second part is fixed on or arranged corresponding to at least one end of the second structure through a brake structure; or

When the moving components are components which move linearly with each other; one of the first part and the second part is fixed on or corresponds to at least one end of the second structure; the other of the first and second portions is secured to or corresponds to a side of the first structure, either by a braking structure.

17. An automated device, characterized in that it comprises at least one movement assembly according to any one of claims 14 to 16.