CN111457038A - Brake mechanism and brake device - Google Patents

Abstract

The invention discloses a device for providing braking force required by rotary, linear or curvilinear motion by deforming an elastic element, which is characterized in that a braking mechanism is arranged at the core of the device. The brake mechanism comprises a first part for providing drive and a second part for receiving drive and driven, and at least one of the first part and the second part comprises a deformable part. When the movement of the second member is prevented, the first member and the second member move oppositely relative to each other, the deformable member deforms, and the second member reduces the tendency of the first member to move inertially. The invention has the beneficial effects that: (1) on the premise of providing safe braking, the abrasion condition of parts is obviously reduced, the service life of components is prolonged, and dust is reduced; (2) the service life of the braking device is long, and the change of the pause force caused by the abrasion of the parts after long-term use is small; (3) the brake force can be more consistent, and the consistency and the reliability of the equipment can be improved.

Description

Brake mechanism and brake device

Technical Field

The invention relates to a braking device, in particular to a braking device with a safety protection function, and belongs to the technical field of robots.

Background

Patent application No. 201580011890.9 discloses a brake device for a robot joint that utilizes an electromagnet mounted directly on the PCB to move a ratchet into engagement with an annular member mounted on the motor shaft in the event of a power failure. The annular member (friction ring) can rotate relative to the motor shaft, but there is a high friction between the annular member and the motor shaft. This ensures a controlled suspension of the joint, but does not suddenly suspend the joint resulting in overloading the robotic arm. The O-ring securely fitted between the motor shaft and the annular member (friction ring) ensures friction between the annular member and the motor shaft.

The disadvantages of the invention are shown in the following aspects:

(1) the pause force of the motor shaft is provided purely by friction, and higher pressure is required to be provided to realize higher friction; the friction element is easy to wear, and after repeated suspension for a long time, the friction element is easy to wear, dust and the like are generated due to wear, and the surrounding circuit board and mechanical transmission parts are damaged.

(2) The pressure can be reduced due to long-term abrasion, so that the friction force is reduced, the pause capability of a motor shaft is influenced, and the system safety is damaged.

(3) The motor shaft needs proper pause force when being paused, and is unsafe when being too small, and is easy to damage a transmission system when being too large. The mechanism of friction is complicated, and the material, the contact surface condition and the mutual pressure of both the friction members determine the magnitude of the friction force, and it is not easy to control the magnitude of the friction force in actual operation.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the existing robot joint braking device has poor durability and poor safety and reliability.

In order to solve the technical problem, the invention provides a device for providing braking force required by rotary, linear or curvilinear motion through deformation of an elastic element, which is particularly suitable for braking a robot joint. The technical scheme is as follows:

in a first aspect of the invention, there is provided a brake mechanism comprising a first member for providing drive and a second member for receiving drive and for receiving drive, at least one of the first and second members comprising a deformable member; the brake mechanism has a first working state and a second working state;

wherein the deformable member is configured to:

when the brake mechanism is in a first working state, the deformable part is in an initial shape, the first part drives the second part to move together in the same direction, and the first part and the second part are kept relatively static;

when the brake mechanism is in the second working state, the first component and the second component move oppositely and relatively, the deformable component deforms, and the second component weakens the inertial movement tendency of the first component.

In some embodiments, the first component comprises a first type of projection and the second component comprises a second type of projection, at least one of the first type of projection and the second type of projection being a deformable component;

when the braking mechanism is in a first working state, the first type of convex part is in contact transmission with the second type of convex part;

when the brake mechanism is in the second operating condition, the deformable member is deformed so that the second type of projection passes over the first type of projection.

In some embodiments, the first component body is annular and the second component body is annular, the first component being located within the ring of the second component.

In some embodiments, the first type of boss includes a first resilient tooth and the second type of boss includes a first rigid tooth, the first rigid tooth being in meshing engagement with the first resilient tooth.

In some embodiments, the plurality of first elastic teeth are distributed on the outer circumferential surface of the first component, the plurality of groups of first rigid teeth are uniformly arranged on the inner circumferential surface of the first component, and each group of first rigid teeth comprises one or more first rigid teeth.

In some embodiments, the first resilient tooth comprises an arcuate tab and the first member is provided with a tapered slot for receiving an end of the arcuate tab.

In some embodiments, the first type of projection includes a second rigid tooth; the second part is provided with a groove on the inner peripheral surface, and the second-type projection comprises an elastic cylinder engaged between the groove and two adjacent second rigid teeth.

In some embodiments, the first type of projection comprises a second resilient tooth and the second type of projection comprises a rigid disc, the sides of the rigid disc engaging between two adjacent second resilient teeth.

In some embodiments, the plurality of second resilient teeth are distributed over the outer peripheral surface of the first member and the plurality of rigid disks are uniformly arranged.

In some embodiments, the first component body is a first disc shape, and the first type projections are disposed on a first surface of the first component and arranged in a circular arrangement;

the second part body is in a second disc shape, and the second type of convex parts are arranged on the first surface of the second part and are circularly arranged;

the first surface of the first member opposes the first surface of the second member and engages the first-type projections with the second-type projections.

In some embodiments, the first component body is elongated and the second component body is elongated.

In a second aspect of the present invention, there is provided a brake apparatus including:

the braking mechanism described hereinbefore; and, the following components:

the rotating shaft is fixedly connected with the first component;

the brake ring is fixedly connected with the second part; the brake band has a brake rod extending outwards;

a brake including a telescoping member configured to: when the telescopic member is retracted, the brake lever can pass through the brake; when the telescopic member is extended, the brake lever is blocked by the telescopic member.

In some embodiments, the head of the shaft is polygonal, the first member has a hole identical to the polygonal shape, and the first member is tightly fitted over the head of the shaft.

In some embodiments, the head of the shaft is provided with a mounting groove, and the first member is provided with a mounting tooth which is inserted into the mounting groove to tightly couple the first member to the head of the shaft.

The invention has the beneficial effects that:

(1) on the premise of providing safe braking, the abrasion condition of parts is obviously reduced, the service life of components is prolonged, and dust is reduced;

(2) the service life of the braking device is long, and the change of the pause force caused by the abrasion of the parts after long-term use is small;

(3) the brake force can be more consistent, and the consistency and the reliability of the equipment can be improved.

Drawings

Fig. 1 is a schematic view of a brake device in embodiment 1 of the invention;

fig. 2 is a schematic view of a brake mechanism in embodiment 1 of the invention;

FIG. 3 is a schematic view of a braking apparatus in embodiment 2 of the invention;

FIG. 4 is a schematic view of a brake apparatus (after removal of a brake ring) in embodiment 2 of the invention;

FIG. 5 is a schematic view of a brake mechanism in embodiment 2 of the invention;

fig. 6 is a schematic view of a braking apparatus in embodiment 3 of the invention;

FIG. 7 is a schematic view of the braking apparatus in embodiment 3 of the invention from another perspective;

FIG. 8 is a schematic view of a brake mechanism in embodiment 4 of the invention;

fig. 9 is a schematic view of a wave spring coil in accordance with example 5 of the present invention.

The reference numerals in the above figures are as follows:

110 rigid external gear ring

111 rigid tooth

112 connecting hole

120 elastic inner gear ring

121 elastic tooth

122 ring inner hole

130 rotating shaft

131 rotary shaft head

140 brake ring

141 brake lever

150 brake

151 ejection member

210 rigid outer ring

211 groove

212 elastic cylinder

213 connecting hole

220 rigid inner ring

221 inner ring teeth

222 mounting tooth

230 rotating shaft

231 mounting groove

240 brake ring

241 brake lever

310 rigid wafer

320 elastic toothed ring

321 elastic tooth

330 rotating shaft

340 brake ring

341 brake lever

410 rigid outer ring

411 rigid tooth

420 inner ring

421 chute

422 elastic lug

510 inner ring

511 wave spring ring

Detailed Description

Unless otherwise defined, technical or scientific terms used in the claims and the specification of this patent shall have the ordinary meaning as understood by those of ordinary skill in the art to which this patent belongs.

As used in this specification and the appended claims, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. In the description of the present invention, "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. In the description of this patent, unless otherwise indicated, "a plurality" means two or more. The word "comprising" or "having", and the like, means that the element or item appearing before "comprises" or "having" covers the element or item listed after "comprising" or "having" and its equivalent, but does not exclude other elements or items.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Example 1

Fig. 1 is a schematic view of a braking device provided in the present embodiment, and fig. 2 is a schematic view of a braking structure thereof. The braking device is composed of a braking mechanism, a rotating shaft 130 and a brake 150. The brake mechanism is fixed to the shaft 130, and the brake 150 is an electromagnetic brake including a telescopic member 151. The brake mechanism has a brake lever 141 that cooperates with the telescopic member 151.

The braking mechanism shown in fig. 2 is mainly composed of two parts: a rigid outer toothed ring 110 and a resilient inner toothed ring 120, both of which are circular rings. The spindle head 131 has a polygonal protrusion, which is illustrated as a regular octagon. An inner ring hole 122 which is also in a regular octagon shape is formed in the elastic inner gear ring 120, and the elastic inner gear ring 120 is sleeved on the rotating shaft head 131 through the inner ring hole 122. For tight installation, the size of the octagonal hole of the elastic inner gear ring 120 may be slightly smaller than that of the octagonal protrusion of the rotating shaft head 131, and the elastic inner gear ring 120 is tightly wrapped on the octagonal protrusion by the elasticity of the elastic material. Of course, this polygon is not limited to a regular octagon, but may be other polygons, such as a regular hexagon. The resilient inner ring gear 120 is made of a wear-resistant resilient material, such as rubber or silicone. The outer peripheral surface of the elastic inner ring gear 120 is covered with elastic teeth 121, the top surfaces of the elastic teeth 121 are continuous, and a wavy surface ring is formed on the outer peripheral surface of the elastic inner ring gear 120.

The rigid external gear ring 110 has a simple structure, and has rigid teeth 111 on its inner circumferential surface, and the shape of the rigid teeth 111 matches the shape of the elastic teeth 121 to mesh together. In the present embodiment, the plurality of rigid teeth 111 are distributed at three positions on the inner peripheral surface of the rigid outer ring gear 110, which are three equal divisions of a circle, and two rigid teeth 111 are provided at each position. The rigid tooth mounting positions may be set more or less, and the rigid teeth at each position may be increased or decreased, as desired. For example, four rigid tooth mounting positions are set, one for each position. The rigid outer ring gear 110 is machined from a common metallic material, such as aluminum alloy, steel, and the like.

The main body of the braking ring 140 is also a circular ring, and three braking rods 141 extend outwards from the circular ring, and the braking rods 141 are in three equal parts of the circle. The length of the brake lever 141 is determined by the structure and the installation position of the brake 150. When the telescopic member 151 is retracted, the head of the brake lever 141 can smoothly pass through the brake 150; when the telescopic part 151 is extended, the head of the brake lever 141 is blocked. The brake ring 140 and the brake lever 141 are made of an impact-resistant high-strength metal material. The brake ring 140 is fixed to the rigid outer ring 110 by means of screws through the coupling holes 112, which facilitates the replacement of brake bars 141 of different lengths. If necessary, the rigid outer toothed ring, the brake ring and the brake lever can be integrated into one component.

The operation of the braking structure in the present embodiment is explained in detail below.

The shaft 130 is connected to a motor, and a driving force is transmitted from the motor to the elastic inner ring gear 120 by the shaft 130. If only the braking mechanism of fig. 2 is analyzed, the elastic inner ring gear 120 can be considered as a driving member, and the rigid outer ring gear 110 is a driven member. The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission operating state, because the rigid teeth 111 are engaged with the elastic teeth 121, the elastic inner ring gear 120 drives the rigid outer ring gear 110 to rotate in the same direction, for example, counterclockwise, and the rotational angular speeds of the elastic inner ring gear 120 and the rigid outer ring gear 110 are the same, i.e., they are relatively stationary. This driving force is relatively small and the elastic teeth 121 are not substantially deformed. When the rigid external gear ring 110 is blocked by external force, the braking mechanism enters a braking working state, and at the moment, the elastic internal gear ring 120 keeps the original movement or movement inertia trend and continues to move anticlockwise. The elastic teeth 121 are subjected to a great force to generate compression deformation, so that the rigid teeth 111 pass through the original elastic tooth engagement position and slide to the next elastic tooth engagement position or positions in the clockwise direction, and the 'tooth jumping' occurs. In this process, the rotational kinetic energy of the elastic inner ring gear 120 is gradually converted into thermal energy generated by the deformation and friction between the rigid teeth and the elastic teeth.

The shape of the elastic teeth and the rigid teeth, the meshing depth of the elastic teeth and the rigid teeth, the number of meshing teeth, the elasticity of the elastic material and other factors jointly determine the resistance to be overcome by the deformation of the elastic teeth. Different resistance forces, i.e. braking forces, can be obtained by designing for the above various factors.

In the braking component of the embodiment, the positions of the elastic teeth and the rigid teeth can be interchanged. For example, elastic teeth are provided on the inner peripheral surface of the outer ring gear, and rigid teeth are provided on the outer peripheral surface of the inner ring gear. Elastic teeth can be arranged on the inner circumferential surface of the outer gear ring and the outer circumferential surface of the inner gear ring.

The operation of the braking device will be described in further detail below with reference to the brake and the brake lever.

The braking device provided by the embodiment is designed based on the elastic deformation element (the elastic tooth 121) and is started by using an electromagnetic switch. The braking device has two working states, and the switching of different working states is realized through the electromagnet and the reset spring. One is a power-up mode: when the motor is normally operated, the electromagnet is powered on, and at the moment, the electromagnet pushes the telescopic component 151 to make the brake lever 141 open, so that the motor rotating shaft 130 normally rotates. The other is a power-down mode: when an emergency occurs, the electromagnet is powered off, and the thrust of the electromagnet disappears; the retractable member 151 is spring-biased, and the brake lever 141 is blocked by the retractable member 151, so that the motor shaft 130 tends to rotate the brake ring 140 relatively. Because the rotating shaft 130 has a large kinetic energy, the impact between the rigid outer ring gear 110 and the elastic inner ring gear 120 is large, the elastic teeth 121 are extruded and deformed by a large impact force, and the rigid teeth 111 pass over the elastic teeth 121 which are originally meshed with the rigid teeth, so that tooth skipping is realized. The motor shaft 130 needs to overcome this elastic deformation force during the reverse rotation with respect to the brake ring 140, and the kinetic energy and the inertial rotation tendency of the shaft 130 gradually decrease until the rotation is completely stopped. This way of providing a reaction force by the deforming member allows the motor shaft 130 to go through a stopping process without causing damage to the drive train due to a large impact caused by a sudden stop.

Example 2

Fig. 3 is a schematic view of the braking device according to the present embodiment, fig. 4 is a schematic view of the braking device with the braking ring 240 removed, and fig. 5 is a schematic view of a braking mechanism in the braking device. The braking device comprises a braking mechanism, a rotating shaft 230 and a brake (not shown in the figure), wherein the braking mechanism is fixed on the rotating shaft 230.

The braking mechanism of the present embodiment is mainly composed of a rigid outer ring 210, a rigid inner ring 220, and a plurality of elastic cylinders 212 therebetween. Rigid outer ring 210 and rigid inner ring 220 are both circular rings. The inner circumferential surface of rigid outer ring 210 has a plurality of grooves 211, the groove surfaces of which are cylindrical surfaces having the same diameter as that of elastic cylinder 212. The outer peripheral surface of the rigid inner ring 220 is provided with a plurality of inner ring teeth 221, the number of the inner ring teeth 221 is equal to the number of the grooves 211, and the upper surfaces of the inner ring teeth 221 form a ring of wavy surface. Each elastic cylinder 212 is engaged in a recess between the recess 211 and the adjacent inner ring tooth 221. The number of the grooves 211, the elastic cylinders 212 and the inner ring teeth 221 can be increased or decreased according to the needs, but the number is not less than three groups and is distributed at equal intervals. The rigid outer ring 210 and the rigid inner ring 220 are machined from a common metal material, such as aluminum alloy, steel, etc. The elastic cylinder 212 is made of an abrasion-resistant elastic material, such as rubber and silicone.

As shown in fig. 4, the head of the rotation shaft 230 is opened with three sets of mounting grooves, each set including three mounting grooves 231. As shown in fig. 5, the inner circumferential surface of the rigid inner ring 220 is provided with three sets of mounting teeth, each set including three mounting teeth 222, which are matched with the mounting grooves 231. The rigid inner ring 220 is inserted into the bottom of the mounting groove 231 from the opening of the mounting groove 231 formed on the end surface of the rotating shaft 230, and the mounting teeth 222 are in interference fit with the mounting groove 231, so that the rigid inner ring 220 is fixed with the rotating shaft 230. The rigid inner ring may also be formed integrally with the shaft, but this obviously increases the manufacturing cost and reduces the ease of maintenance. The brake ring 240 is fixed to the rigid outer ring 210 by means of screws through the coupling holes 213. The three brake levers 241 are respectively installed at trisections of the outer circumference of the brake ring 240.

The operation of the braking structure in the present embodiment is explained in detail below.

The shaft 230 is coupled to a motor, and the driving force is transmitted from the motor to the rigid inner ring 220 by the shaft 230. If the rigid inner ring 220 is considered the driving member, then the rigid outer ring 210 is the driven member. The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission operating state, because the rigid outer ring 210, the elastic cylinder 212 and the rigid inner ring 220 are engaged, the rigid inner ring 220 drives the rigid outer ring 210 to rotate in the same direction, for example, counterclockwise, and the rotational angular speeds of the rigid inner ring 220 and the rigid outer ring 210 are the same, i.e., they are relatively stationary. This driving force is relatively small so that the elastic cylinder 212 is not substantially deformed. When the brake lever 241 is blocked by external force together with the rigid outer ring 210, the brake mechanism enters into the brake operation state, and the rigid inner ring 220 keeps the original movement inertia trend. And because the rigid outer ring 210 is blocked from moving by an external force, the elastic cylinder 212 is subjected to a large force to generate compression deformation, so that the inner ring teeth 221 pass through one or more cylinder positions, namely, the "tooth skipping" occurs. In this process, the rotational kinetic energy of the rigid inner ring 220 is gradually converted into thermal energy generated by deformation and friction.

Example 3

Fig. 6 and 7 are schematic views illustrating the braking device according to the present embodiment. The braking device comprises a braking mechanism, a rotating shaft 330, and a brake (not shown in the figure), wherein the braking mechanism is fixed on the rotating shaft 330.

As shown in fig. 7, the braking mechanism is mainly composed of a rigid disk 310 and an elastic ring gear 320. The elastic teeth 321 are distributed on the periphery of the elastic tooth ring 320 to form a ring of wavy surface, and the side surface of the rigid disk 310 is in contact transmission with the wavy surface. In this example, three rigid disks 310 are provided, each disposed at a trisection of the circle. The elastic gear ring 320 is fixed at the front end of the rotating shaft 330, and the rigid disk 310 is fixed on the brake ring 340. The elastic toothed ring 320 is made of an abrasion-resistant elastic material, such as rubber and silicone rubber. The rigid disk 310 is machined from a common metallic material, such as aluminum alloy, steel, and the like.

The operation of the braking structure in the present embodiment is explained in detail below.

The rotating shaft 330 is connected with a motor, the driving force is from the motor, the rotating shaft 330 transmits the driving force to the elastic gear ring 320, and the rigid wafer 310 is a driven part. The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission operation, because the rigid disk 310 is engaged with the elastic ring gear 320, the elastic ring gear 320 drives the rigid disk 310 to rotate in the same direction, and the rigid disk 310 and the elastic ring gear are relatively stationary. This driving force is relatively small, ensuring that the resilient ring gear 320 is substantially undeformed. When the brake bar 341 is blocked by external force, the rigid disc 310 is forcibly stopped, the brake mechanism enters into a brake working state, and at the moment, the elastic toothed ring 320 continues to keep the original movement inertia trend. And because the rigid disc 310 is temporarily forced to stop, the elastic teeth 321 are pressed and deformed by a large force, so that the rigid disc 310 goes over one or more elastic tooth positions, namely, the 'jumping teeth' occurs. In this process, the energy of the rotational kinetic energy of the elastic ring gear 320 is gradually converted into the thermal energy generated by deformation and friction.

Example 4

Fig. 8 is a simplified schematic diagram of the braking mechanism provided in the present embodiment. The braking mechanism is comprised of a rigid outer ring 410, an inner ring 420, and a number of resilient tabs 422 mounted on the inner ring 420. Most of the outer peripheral surface of the inner ring 420 is smooth and has a diagonal groove 421 formed at each of the left and right quarters. The two legs of a resilient tab 422 are inserted into the two inclined slots 421, but not to the bottom, leaving a certain space for movement. The resilient tabs 422 are made of a metal strip, approximately in the shape of a chevron, with a central bulge. When the elastic lug 422 receives the pressing force, the bulge at the middle part is lowered, and the two feet are unfolded to a greater extent and are forced to respectively extend into the bottom depths of the two inclined grooves 421. In this example, four resilient tabs 422 are provided, which can be decreased or increased as desired, but a minimum of three are evenly distributed, which would otherwise cause the inner ring 420 to wobble.

The inner circumference of the rigid outer ring 410 is covered with rigid teeth 411, and the top surfaces of the rigid teeth 411 are continuous to form a ring of wavy surface. The resilient tabs 422 have a central ridge that is shaped to conform to and engage the depressions in the undulating surface. In the alternative, the shape mechanisms of the rigid outer ring and the inner ring are interchanged, namely the elastic picture is arranged on the inner circumferential surface of the rigid outer ring, and the outer circumferential surface of the inner ring is fully distributed with rigid teeth (or elastic teeth) to form a ring of wavy surface.

Other components not shown in the drawings are similar to those in fig. 3. The shaft (not shown) is fixed to the inner ring 420 and the brake lever (not shown) is fixed to the rigid outer ring 410. The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission operating state, because the rigid outer ring 410 is engaged with the inner ring 420, the rigid outer ring 410 drives the inner ring 420 to rotate in the same direction, and the rotational angular speeds of the rigid outer ring 410 and the inner ring 420 are the same, i.e. the rigid outer ring 410 and the inner ring 420 are relatively stationary. This actuation force is relatively small and the resilient tab 422 is substantially undeformed. When the rigid outer ring 410 is blocked by external force, the brake mechanism enters a brake working state, and the inner ring 420 keeps the original movement inertia trend. Due to the wave surface, the elastic tab 422 is forced to deform, the two feet spread, and the middle part rises up, so that the elastic tab 422 can slide over one or more rigid teeth 411, and the 'jumping tooth' occurs. In this process, the rotational kinetic energy of the inner ring 420 is gradually converted into thermal energy generated by deformation and friction. In the alternative, the spindle can also be connected to the outer ring and the brake lever to the inner ring.

The resilient tab 422 in fig. 8 is itself a resilient member that can be forcibly deformed. Instead of elastic tabs, rigid tabs can be used, which are shaped like the elastic tabs 422, also in the form of a sheet of metal with a central bulge, but which cannot deform itself. A spring is additionally installed under the raised portion, and the extension direction of the spring is radial to the inner ring 420. The rigid tab and spring assembly work flow is similar to the flexible tab 422 and need not be described further herein.

Example 5

Fig. 9 is a schematic view of the present embodiment providing a wave spring coil. The wave spring ring 511 is a band made of metal, and a portion of it is fixed to the inner ring 510. The outer ring, not shown in fig. 9, is shaped as the rigid outer ring 110 of fig. 1, with the teeth of the outer ring engaging the wave spring ring 511.

The shaft (not shown) is fixed to the inner ring 510 and the brake lever (not shown) is fixed to the outer ring. The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission working state, because the outer ring teeth are meshed with the wave spring ring 511, the inner ring 510 drives the outer ring to rotate in the same direction, and the rotation angular speeds of the outer ring and the inner ring 510 are the same, namely, the outer ring and the inner ring are relatively static. This driving force is relatively small and the wave spring ring 511 is not substantially deformed. When the brake lever is blocked by an external force, the brake mechanism enters a brake working state, and the inner ring 510 continues to keep the original movement inertia trend. The coils 511 are partially compressed by the outer ring rigid teeth, which slide past the "crest" position of one or more coils 511.

Example 6

In the technical solutions set forth in the above embodiments 1 to 5, the outer ring and the inner ring are located in the same plane, and the rigid teeth and the elastic teeth are radially arranged.

According to the technical scheme in the embodiment, the rigid teeth and the elastic teeth are radially arranged in the axial direction. The braking mechanism comprises two parallel-mounted disks, a driving disk and a driven disk, which can be solid disks or hollow disks. One disk surface is provided with a circle of elastic teeth, and the other disk surface opposite to the disk surface is provided with a plurality of rigid teeth which are meshed with the elastic teeth.

The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission working state, the two disks rotate in the same way because the rigid teeth are meshed with the elastic teeth. The rotational driving force is relatively small and the elastic teeth are not deformed substantially. When the rotation of the driven disk is blocked, the brake mechanism enters a brake working state, and the driving disk keeps the original movement inertia trend. The resilient teeth are forced by the rigid teeth to deform and the rigid teeth slide past one or more resilient tooth positions.

Example 7

The technical solutions described in the above embodiments 1 to 6 are for transmission and braking of rotational motion, and are suitable for most applications. However, the mechanism and the device manufactured by the design concept of the patent can be used for braking not only in the situation of rotary motion, but also in the situation of linear motion and other curvilinear motion tracks.

The following technical scheme can be adopted:

a row of resilient teeth is disposed on the surface of the first member and one or more rows of rigid teeth are disposed on the surface of the second member, the rigid teeth engaging the resilient teeth to form a set of detent mechanisms. The brake mechanism has two operating states: a transmission working state and a brake working state. In the transmission working state, the first component drives the second component to do linear motion, and the first component and the second component keep relatively static. This driving force is relatively small and the resilient teeth are substantially undeformed. When the second component is blocked by external force, the brake mechanism enters into brake working state, at this moment, the first component keeps original movement or movement inertia trend. The elastic teeth are pressed to deform, and the rigid teeth slide through one or more elastic tooth positions to generate tooth jumping. In the process, the energy of the movement of the first component is gradually converted into heat energy generated by deformation and friction between the elastic teeth and the rigid teeth, and the speed is gradually reduced until the stop.

Example 8

In the technical solutions described in embodiments 1 to 7, the movement of the driven member is abnormal, and the braking mechanism performs a braking action on the driving member.

The braking mechanism that this patent provided except using in the braking occasion, can also use in the occasion that needs overload protection. For example, in a normal state, the two components are connected and stationary, either absolutely stationary or relatively stationary in motion. They are connected by rigid teeth and elastic teeth. When the driving force generated by one of the components (the driving component) exceeds the requirement of the driven component, the elastic teeth are forced to deform, and absorb redundant energy to protect the driven component, so that the overload protection effect is achieved, and the whole system can better resist impact, overload and the like.

Compared with the existing robot joint braking device, the braking device provided by the invention has the following advantages:

(1) the braking force is provided by adopting the principle of elastic deformation of materials. During braking, the elastic material is compressed to generate a great reaction force, thereby providing braking force. Meanwhile, under the condition that the surface of the material is smooth, the friction and the abrasion of the material can be obviously reduced, the service life of components is prolonged, and no dust is generated.

(2) Because the abrasion of the material is low, the slight abrasion generated by long-time use has small influence on the deformation resistance of the material, the change of the braking force is small, the expected braking force can be stably maintained for a long time, and the service life of the braking device is greatly prolonged.

(3) Through reasonable material selection, elastic deformation tooth shape design, meshing tooth number selection and the like, the counterforce generated by deformation can be controlled and adjusted accurately, namely the braking force is large and small, and the brake device is suitable for braking motor shafts of different specifications and models. Therefore, more uniform braking force can be provided, and the consistency and the reliability of the robot equipment are improved.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (14)

1. A brake mechanism comprising a first member providing drive and a second member receiving said drive and being driven,

at least one of the first and second parts comprises a deformable part;

the brake mechanism has a first working state and a second working state;

wherein the deformable member is configured to:

when the brake mechanism is in the first working state, the deformable part is in an initial shape, the first part drives the second part to move together in the same direction, and the first part and the second part are kept relatively static;

when the brake mechanism is in the second working state, the first component and the second component perform opposite relative movement, the deformable component deforms, and the second component weakens the inertial movement tendency of the first component.

2. A brake mechanism according to claim 1,

the first member comprises a first type of projection, the second member comprises a second type of projection, and at least one of the first type of projection and the second type of projection is a deformable member;

when the braking mechanism is in the first working state, the first type of lug boss is in contact transmission with the second type of lug boss;

when the braking mechanism is in the second operating state, the deformable member is deformed so that the second-type projection passes over the first-type projection.

3. A brake mechanism according to claim 2, wherein the first member body is annular and the second member body is annular, the first member being located within the annulus of the second member.

4. A brake mechanism according to claim 3, wherein the first type of projection comprises a first resilient tooth and the second type of projection comprises a first rigid tooth, the first rigid tooth engaging the first resilient tooth.

5. The brake mechanism according to claim 4, wherein a plurality of said first elastic teeth are distributed over the outer circumferential surface of said first member, a plurality of said first rigid teeth are uniformly arranged on the inner circumferential surface of said first member, and each said first rigid tooth includes one or more said first rigid teeth.

6. A brake mechanism according to claim 4, wherein the first resilient tooth comprises an arcuate tab and the first member is provided with a tapered slot for receiving an end of the tab.

7. A brake mechanism according to claim 3, wherein the first type of projection comprises a second rigid tooth; the second component is provided with a groove on the inner peripheral surface, and the second-type convex part comprises an elastic cylinder which is engaged between the groove and two adjacent second rigid teeth.

8. A brake mechanism according to claim 3, wherein said first type of projection comprises a second resilient tooth and said second type of projection comprises a rigid disc having a side surface thereof engaging two adjacent second resilient teeth.

9. The brake mechanism of claim 8, wherein a plurality of said second resilient teeth are disposed about the outer periphery of said first member, and a plurality of said rigid disks are disposed about the same axis.

10. A brake mechanism according to claim 2, wherein the body of the first member is a first disc, the first type projections being provided on a first surface of the first member and arranged in a circular arrangement;

the second part body is in a second disc shape, and the second type of convex parts are arranged on the first surface of the second part and are circularly arranged;

the first surface of the first member opposes the first surface of the second member and engages the first-type projections with the second-type projections.

11. A brake mechanism according to claim 2, wherein the first body member is elongate and the second body member is elongate.

12. A brake apparatus, comprising:

a brake mechanism according to any one of claims 3 to 10; and, the following components:

the rotating shaft is fixedly connected with the first component;

a brake ring fixedly connected with the second component; the brake band is provided with a brake rod extending outwards;

a brake comprising a telescoping member configured to: the brake bar is capable of passing through the brake when the telescoping member is retracted; when the telescopic member is extended, the brake lever is blocked by the telescopic member.

13. A brake rigging according to claim 12, wherein the head of the shaft is polygonal and the first member has the same aperture as the polygonal shape, the first member fitting closely over the head of the shaft.

14. A brake rigging according to claim 12, wherein the head portion of the shaft is provided with a mounting groove, and the first member is provided with a mounting tooth which is fitted into the mounting groove to tightly couple the first member to the head portion of the shaft.

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