CN111283663A - A articulated motor band-type brake system of integration for cooperating robot - Google Patents
A articulated motor band-type brake system of integration for cooperating robot Download PDFInfo
- Publication number
- CN111283663A CN111283663A CN202010147254.1A CN202010147254A CN111283663A CN 111283663 A CN111283663 A CN 111283663A CN 202010147254 A CN202010147254 A CN 202010147254A CN 111283663 A CN111283663 A CN 111283663A
- Authority
- CN
- China
- Prior art keywords
- electromagnet
- power supply
- type brake
- band
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
- H02K7/1021—Magnetically influenced friction brakes
- H02K7/1023—Magnetically influenced friction brakes using electromagnets
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Braking Arrangements (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of a contracting brake system of a cooperative robot, in particular to an integrated articulated motor contracting brake system for the cooperative robot, which comprises the following components: the contracting brake mechanical structure is used for locking the motor and realizing contracting brake action according with the safety regulation requirement of the cooperative robot; the driving circuit is used for driving the band-type brake to work and realizing the band-type brake to act or not, the dual-power driving circuit is designed to meet the action requirements in different states, meanwhile, the brake electromagnet is started by adopting short-time high power supply voltage, the later switching low power supply voltage is continuously supplied for the electromagnet, the high-voltage power supply can enable the electromagnet to generate large thrust to push the electromagnet, and then only the low power supply voltage is needed to be provided to enable the electromagnet to generate a holding force.
Description
Technical Field
The invention relates to the field of a contracting brake system of a cooperative robot, in particular to an integrated articulated motor contracting brake system for the cooperative robot.
Background
Because the cooperative robot adopts the scheme that the frameless motor encoder and the drive circuit are all integrated in the joint, the joint of the cooperative robot is also called an integrated joint, and the band-type brake mode of the motor of the cooperative robot is different from the band-type brake mode of the traditional servo motor. The motor band-type brake system applied to the integrated joint of the cooperative robot is mainly limited by space, hopefully does not occupy joint space as much as possible, and also requires enough strength to ensure the reliability of the band-type brake. In addition, due to the special requirements of the cooperative robot on products, the joint motor is required to be capable of realizing manual release of the internal contracting brake so as to meet the requirement of changing the posture of the robot under special conditions.
Disclosure of Invention
In order to solve the above problems, the present invention proposes a motor band-type brake system for an integrated joint of a cooperative robot.
A motor band brake system for integrated articulation of a cooperative robot, comprising:
the contracting brake mechanical structure is used for locking the motor and realizing contracting brake action according with the safety regulation requirement of the cooperative robot;
and the driving circuit is used for driving the band-type brake to work to realize whether the band-type brake acts or not.
The band-type brake mechanical structure comprises a brake disc fixed on a bearing of the joint driving motor, an electromagnet arranged on a casting of the robot, a stop pin arranged on the electromagnet and used for determining the action of the motor, and a return spring arranged on the stop pin and used for providing return.
The electromagnet adopts a dual-power drive circuit meeting the action requirements in different states, the action starting stage adopts a high-voltage power supply for driving, and the maintenance stage adopts a low-voltage power supply for driving.
The driving circuit comprises a high-voltage power supply circuit and an on-off circuit, wherein the high-voltage power supply circuit and the on-off circuit are used for respectively controlling the on-off of the main loop of the band-type brake; the on-off circuit is realized by controlling the on-off of the transistor through a control signal.
And diodes for realizing device protection are arranged at two ends of the electromagnet coil.
The high-voltage power supply circuit is provided with a high-voltage power supply, a switch S1 arranged on the circuit and an electromagnet anode matched with the electromagnet coil for input.
And the on-off circuit is provided with an electromagnet cathode of the back power supply cathode and a switch S2.
The invention has the beneficial effects that: the dual-power drive circuit design can meet the requirements of actions in different states, meanwhile, the brake electromagnet is started by adopting short-time high power supply voltage, the electromagnet is continuously powered by switching the low power supply voltage, the high-voltage power supply can enable the electromagnet to generate large thrust to push the electromagnet, and then only the low power supply voltage needs to be provided to enable the electromagnet to generate a holding force.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of a reset position of a band-type brake mechanical structure according to the present invention;
FIG. 2 is a schematic structural diagram of an actuation position of a band-type brake mechanical structure according to the present invention;
FIG. 3 is a schematic diagram of a driving circuit according to the present invention;
fig. 4 is a schematic structural diagram of a band-type brake mechanical structure according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 4, a motor band-type brake system for an integrated joint of a cooperative robot includes:
the contracting brake mechanical structure is used for locking the motor and realizing contracting brake action according with the safety regulation requirement of the cooperative robot;
and the driving circuit is used for driving the band-type brake to work to realize whether the band-type brake acts or not.
The band-type brake mechanical structure comprises a brake disc 4 fixed on a bearing of a joint driving motor, an electromagnet 2 installed on a casting of the robot, a stop pin 1 arranged on the electromagnet 2 and used for determining the action of the motor, and a return spring 3 arranged on the stop pin 1 and used for providing return.
If the brake system does not act, namely the electromagnet 2 does not act, the stop pin 1 is acted by the force of the return spring 3 and is in a reset position, and at the moment, the brake disc 4 cannot pass through the stop pin, namely the motor is in a locking state; when the brake system acts, namely the electromagnet 2 acts, at the moment, the electromagnet 2 overcomes the force of the return spring 3 to push the stop pin 1 to an acting position and maintain the position, and at the moment, the brake disc 4 can pass through the brake position, namely the brake is opened.
Band-type brake mechanical structure satisfy the function of the manual release band-type brake among the robot safety requirement for GB 11291 industrial environment, and this mechanical structure can realize that the band-type brake of no driving source is opened, this function can be used for under the extreme environment, the user need change the robot gesture, but the condition of no driving source, the safety in utilization of cooperation robot has been guaranteed, the user only needs manually to press the push rod of electro-magnet 2, will keep off round pin 1 and push to the action position, and maintain and to realize opening of band-type brake, manual release push rod fender round pin 1 resets and the band-type brake locks to die promptly.
The electromagnet 2 adopts a dual-power drive circuit meeting the action requirements in different states, a high-voltage power supply is adopted for driving in the action starting stage, and a low-voltage power supply is adopted for driving in the maintenance stage.
The dual-power drive circuit design can meet the requirements of actions in different states, meanwhile, the brake electromagnet is started by adopting short-time high power supply voltage, the electromagnet is continuously powered by switching the low power supply voltage, the high-voltage power supply can enable the electromagnet to generate large thrust to push the electromagnet, and then only the low power supply voltage needs to be provided to enable the electromagnet to generate a holding force.
In the action starting stage of the electromagnet 2 opened by the motor band-type brake, a push rod of the electromagnet 2 needs to quickly push the stop pin 1 to overcome the reset spring 3 to do work, the electromagnet 2 is required to have larger output power, in the maintaining stage after the band-type brake is opened, the electromagnet 2 only needs to maintain the stop pin 1 at the action position, the requirement on the output power is reduced at the moment, and therefore the action starting stage is driven by a high-voltage power supply, and the maintaining stage is driven by a low-voltage power supply.
The driving circuit comprises a high-voltage power supply circuit and an on-off circuit, wherein the high-voltage power supply circuit and the on-off circuit are used for respectively controlling the on-off of the main loop of the band-type brake; the on-off circuit is realized by controlling the on-off of the transistor through a control signal.
And diodes for realizing device protection are arranged at two ends of the electromagnet coil.
The electromagnet 2 is powered by a double-power supply in a cross mode, the high-voltage power supply improves the quick response of a brake loop, the low-voltage power supply meets the requirement of keeping the brake on, the service life of the device can be prolonged, and the power consumption of the device can be reduced.
The high-voltage power supply circuit is provided with a high-voltage power supply, a switch S1 arranged on the circuit and an electromagnet anode matched with the electromagnet coil for input.
And the on-off circuit is provided with an electromagnet cathode of the back power supply cathode and a switch S2.
The positive pole of the electromagnet is BREAKP, and the negative pole of the electromagnet is BREAKN.
The test verifies that the structure is reliable, the size is small, the braking requirement of the cooperative robot in an emergency state is met, and the size is small and meets the requirement of the integrated joint on space.
The use method of the invention comprises the following steps: when the cooperative robot needs to open the contracting brake during movement, control SIGNALs SIGNAL1 and SIGNAL2 in a contracting brake driving circuit output high levels, switches S1 and S2 are respectively conducted, after S1 is conducted, a high-voltage power supply is input into a coil of an electromagnet 2 through S1 and BREAKP, and then returns to the negative pole of the power supply through BREAKN and S2, at the moment, the electromagnet 2 is electrified to act, a push rod of the electromagnet 2 pushes a blocking pin 1 to overcome the resistance of a return spring 3, the blocking pin 1 moves downwards, a push pin 1 is pushed to an acting position, at the moment, a brake disc 4 can smoothly pass through the position where the blocking pin 1 is located, namely, the contracting brake of a shutdown motor is opened;
when the contracting brake of the joint motor is opened, a control SIGNAL SIGNAL1 in the contracting brake driving circuit outputs a low level, S1 is cut off immediately, a high-voltage power supply is cut off, a power supply circuit of the electromagnet 2 is provided by a low-voltage power supply, the low-voltage power supply is input into a coil of the electromagnet 2 through BREAKP, and then the low-voltage power supply returns to a negative electrode of the power supply through BREAKN and S2, a push rod of the electromagnet 2 pushes a stop pin 1 to an action position, and the stop pin 1 is maintained at the position by the low-voltage power supply, namely the contracting brake is opened and maintained;
when the contracting brake of the joint motor needs to be cut off, a control SIGNAL SIGNAL2 in the contracting brake driving circuit outputs a low level, S2 is cut off immediately, the main circuit of the contracting brake is cut off, the push rod and the stop pin 1 of the electromagnet 2 are pushed to the reset position by the reset spring 3 due to power loss of the electromagnet 2, when the contracting brake of the joint motor of the cooperative robot needs to be manually released, a user only needs to manually press the push rod of the electromagnet 2 to push the stop pin 1 to the action position, the opening of the contracting brake can be maintained, and the stop pin 1 of the manual release push rod is reset, namely the contracting brake is locked.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An articulated motor band-type brake system of integration for cooperation robot which characterized in that: the method comprises the following steps:
the contracting brake mechanical structure is used for locking the motor and realizing contracting brake action according with the safety regulation requirement of the cooperative robot;
and the driving circuit is used for driving the band-type brake to work to realize whether the band-type brake acts or not.
2. The motor band-type brake system for the integrated joint of the cooperative robot according to claim 1, characterized in that: the band-type brake mechanical structure comprises a brake disc (4) fixed on a bearing of a joint driving motor, an electromagnet (2) installed on a casting of the robot, a stop pin (1) arranged on the electromagnet (2) and used for determining the action of the motor, and a return spring (3) arranged on the stop pin (1) and used for providing reset.
3. The motor band-type brake system for the integrated joint of the cooperative robot according to claim 2, characterized in that: the electromagnet (2) adopts a dual-power drive circuit meeting the action requirements in different states, a high-voltage power supply is adopted for driving in the action starting stage, and a low-voltage power supply is adopted for driving in the maintenance stage.
4. The motor band-type brake system for the integrated joint of the cooperative robot according to claim 1, characterized in that: the driving circuit comprises a high-voltage power supply circuit and an on-off circuit, wherein the high-voltage power supply circuit and the on-off circuit are used for respectively controlling the on-off of the main loop of the band-type brake; the on-off circuit is realized by controlling the on-off of the transistor through a control signal.
5. The motor band-type brake system for the integrated joint of the cooperative robot according to claim 4, characterized in that: and diodes for realizing device protection are arranged at two ends of the electromagnet coil.
6. The motor band-type brake system for the integrated joint of the cooperative robot according to claim 4, characterized in that: the high-voltage power supply circuit is provided with a high-voltage power supply, a switch S1 arranged on the circuit and an electromagnet anode matched with the electromagnet coil for input.
7. The motor band-type brake system for the integrated joint of the cooperative robot according to claim 4, characterized in that: and the on-off circuit is provided with an electromagnet cathode of the back power supply cathode and a switch S2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010147254.1A CN111283663A (en) | 2020-03-05 | 2020-03-05 | A articulated motor band-type brake system of integration for cooperating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010147254.1A CN111283663A (en) | 2020-03-05 | 2020-03-05 | A articulated motor band-type brake system of integration for cooperating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111283663A true CN111283663A (en) | 2020-06-16 |
Family
ID=71030152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010147254.1A Pending CN111283663A (en) | 2020-03-05 | 2020-03-05 | A articulated motor band-type brake system of integration for cooperating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111283663A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123337A (en) * | 2020-09-22 | 2020-12-25 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
| CN112571449A (en) * | 2020-12-15 | 2021-03-30 | 埃夫特智能装备股份有限公司 | Novel joint structure of cooperative robot |
| CN113427497A (en) * | 2021-06-25 | 2021-09-24 | 深圳市同川科技有限公司 | Cooperative robot band-type brake control device and control method thereof |
| CN114368009A (en) * | 2022-03-01 | 2022-04-19 | 苏州艾利特机器人有限公司 | Electromagnetic lock mechanism, brake and robot |
| US11731263B2 (en) | 2020-09-22 | 2023-08-22 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201901571U (en) * | 2010-12-22 | 2011-07-20 | 西子奥的斯电梯有限公司 | Double power source brake control system for elevator |
| JP2014020515A (en) * | 2012-07-20 | 2014-02-03 | Yaskawa Electric Corp | Brake device, driving system, and robot |
| CN104626164A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Motor band-type brake control device of industrial robot |
| CN108748274A (en) * | 2018-08-30 | 2018-11-06 | 遨博（北京）智能科技有限公司 | A kind of brake gear, joint of robot arm and robot |
| CN109424678A (en) * | 2017-08-25 | 2019-03-05 | 宝山钢铁股份有限公司 | A kind of electromagnetic brake |
| CN109760035A (en) * | 2019-03-07 | 2019-05-17 | 中科新松有限公司 | Robot Modular Joint redundancy band brake apparatus and its safety detection method |
| CN109822622A (en) * | 2019-03-13 | 2019-05-31 | 上海新松机器人有限公司 | The locking system and robot of joint of mechanical arm |
| CN212666050U (en) * | 2020-03-05 | 2021-03-09 | 埃夫特智能装备股份有限公司 | A articulated motor band-type brake system of integration for cooperating robot |
-
2020
- 2020-03-05 CN CN202010147254.1A patent/CN111283663A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201901571U (en) * | 2010-12-22 | 2011-07-20 | 西子奥的斯电梯有限公司 | Double power source brake control system for elevator |
| JP2014020515A (en) * | 2012-07-20 | 2014-02-03 | Yaskawa Electric Corp | Brake device, driving system, and robot |
| CN104626164A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Motor band-type brake control device of industrial robot |
| CN109424678A (en) * | 2017-08-25 | 2019-03-05 | 宝山钢铁股份有限公司 | A kind of electromagnetic brake |
| CN108748274A (en) * | 2018-08-30 | 2018-11-06 | 遨博（北京）智能科技有限公司 | A kind of brake gear, joint of robot arm and robot |
| CN109760035A (en) * | 2019-03-07 | 2019-05-17 | 中科新松有限公司 | Robot Modular Joint redundancy band brake apparatus and its safety detection method |
| CN109822622A (en) * | 2019-03-13 | 2019-05-31 | 上海新松机器人有限公司 | The locking system and robot of joint of mechanical arm |
| CN212666050U (en) * | 2020-03-05 | 2021-03-09 | 埃夫特智能装备股份有限公司 | A articulated motor band-type brake system of integration for cooperating robot |
Non-Patent Citations (1)
| Title |
|---|
| 杨正泽，李向东: "中国制造2025 高档数控机床和机器人", 山东科学技术出版社, pages: 97 - 99 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123337A (en) * | 2020-09-22 | 2020-12-25 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
| CN112123337B (en) * | 2020-09-22 | 2022-02-22 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
| US11731263B2 (en) | 2020-09-22 | 2023-08-22 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
| CN112571449A (en) * | 2020-12-15 | 2021-03-30 | 埃夫特智能装备股份有限公司 | Novel joint structure of cooperative robot |
| CN113427497A (en) * | 2021-06-25 | 2021-09-24 | 深圳市同川科技有限公司 | Cooperative robot band-type brake control device and control method thereof |
| CN114368009A (en) * | 2022-03-01 | 2022-04-19 | 苏州艾利特机器人有限公司 | Electromagnetic lock mechanism, brake and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111283663A (en) | A articulated motor band-type brake system of integration for cooperating robot | |
| CN109789995B (en) | Electromechanical actuator for actuating a brake of an elevator installation | |
| EP2863404A1 (en) | Rapid tri-state bidirectional switching device | |
| CN212666050U (en) | A articulated motor band-type brake system of integration for cooperating robot | |
| IL180234A (en) | Battery, electrical equipment and a powering method implementing means for short-circuiting the battery | |
| US10157716B2 (en) | Circuit breaking safety lock and dual-power switch | |
| CN203560027U (en) | Engine starting system | |
| CN109131697A (en) | A kind of brake control system and control method for electric vehicle | |
| CN108075563B (en) | Reverse connection braking module of dual power switch control system | |
| CN203787302U (en) | Operating mechanism for high-voltage switch power distribution equipment | |
| CN215093707U (en) | Automatic band-type brake release tool | |
| CN109216060B (en) | PC-level dual-power automatic transfer switch | |
| CN212784879U (en) | Electromagnet device and dual-power automatic transfer switch comprising same | |
| CN103956278A (en) | Operating mechanism for high-voltage switch power distribution device | |
| CN210156281U (en) | Electromagnetic control device | |
| CN103681032B (en) | For the mechanical interlocks of air circuit | |
| CN108819933B (en) | Double-driving-position parking brake control system of engineering machinery | |
| CN212625405U (en) | Micro-power-consumption mechanical bistable contactor | |
| CN216353979U (en) | Speed sensing type electromagnetic relay | |
| CN216180667U (en) | Manual brake release device and robot | |
| CN114899048B (en) | Low-voltage control relay for low-voltage power system | |
| CN214378172U (en) | Isolating switch controller | |
| CN215752412U (en) | Train fault electronic parking brake buffering system and train | |
| CN112706735B (en) | Electromechanical brake, control method thereof and electromechanical brake system | |
| CN218676963U (en) | Energy-saving module of alternating current contactor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |