CN112659177A - Stopper and robot arm - Google Patents
Stopper and robot arm Download PDFInfo
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- CN112659177A CN112659177A CN202011439742.6A CN202011439742A CN112659177A CN 112659177 A CN112659177 A CN 112659177A CN 202011439742 A CN202011439742 A CN 202011439742A CN 112659177 A CN112659177 A CN 112659177A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides a brake and a robot arm. Wherein. The brake comprises a stator, a first follow-up brake pad, a second follow-up brake pad, a first fixed brake pad and a second fixed brake pad. Wherein, the stator is fixed to be set up, and first follow-up brake block and the rotatable setting of second follow-up brake block relative to the stator, first fixed brake block and the fixed brake block of second respectively with stator fixed connection. The brake comprises a braking state and a separation state. By applying the technical scheme of the invention, the simultaneous braking of the movable motion driving wheel and the rotary motion driving wheel can be realized, and the braking is directly acted on the movable motion driving wheel and the rotary motion driving wheel, so that the braking reliability can be improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a brake and a robot arm.
Background
Now industrial robot's application is more and more extensive, and industrial robot has also developed many series, and the SCARA robot is a plane joint type robot, compares with general industrial robot, and the SCARA robot motion space is less, has fine flexibility, has high speed, better rigidity and higher precision simultaneously. The automatic sorting machine can accurately complete tasks such as plug-in, sorting and assembling, and has great advantages in industrial production with high requirement speed and low cost.
For the SCARA robot, a general actuator is placed at the tail end of the SCARA robot, and when the robot needs to be braked at the tail end in emergency stop, power failure and the like, the SCARA robot is driven by a belt, and a brake is not arranged at the tail end of the robot, so that inaccurate braking and delayed braking of the belt are easy to occur, and reliable braking cannot be realized. If the three-axis and four-axis of the SCARA robot use the motor of the built-in brake, the height of the motor can be increased, the difficulty of manufacturing the motor is increased, the braking mode of the built-in brake needs two brakes for simultaneously braking the three-axis and the four-axis, or three-axis of vertical movement of a ball screw spline is braked, and the braking is incomplete, so that a good and reliable braking mode is needed.
Specifically, as shown in fig. 1 and 2, the SCARA robot drives the screw rod to move up and down and rotate through the operation of the third motor 10 'and the fourth motor 20'. The transmission mode is as follows: the third motor 10 ' drives the screw nut synchronous belt wheel 13 ' to rotate through a third synchronous belt wheel 11 ' and a third synchronous belt 12 ', the screw nut 14 ' and the screw nut synchronous belt wheel 13 ' are fixed together and rotate along with the screw nut synchronous belt wheel, and the screw nut 15 ' is driven to move up and down through threads; the fourth motor 20 'drives the spline female synchronous pulley 22' to rotate through the transmission of the fourth synchronous belt 21 ', the spline female 23' and the spline female synchronous pulley 22 'are fixed together and rotate along with the spline female synchronous pulley 22', and the screw rod 15 'is driven to rotate through a vertical groove in the screw rod 15'.
As shown in fig. 2, the brake 30 ' is installed in each of the third motor 10 ' and the fourth motor 20 ' by using a built-in brake, which increases the height of the motors and increases the difficulty in manufacturing the motors. Generally, the SCARA robot is required to be compact in structure and small in size, and the main factor influencing the height of the SCARA robot is the height of the motor, so that the height of the SCARA robot can be increased in the mode, and the size miniaturization of the SCARA robot is not facilitated. In addition, the third motor 10 ' and the fourth motor 20 ' are respectively controlled by the two brakes 30 ', so that the control process is more, and the braking reliability is low easily.
As shown in fig. 3, an external brake may be used, that is, a brake 30 ' is installed on the output shaft of the third electric machine 10 ' and the intermediate shaft of the fourth electric machine 20 ', respectively. Alternatively, the brake 30 ' is mounted only on the output shaft of the third motor 10 ', and not on the shaft of the fourth motor 20 '. However, for the SCARA robot, the actuator is placed at the tail end of the SCARA robot, the precision of the robot is reflected by the accurate control of the tail end, when the SCARA robot is suddenly stopped, has power failure and the like, and needs tail end braking, because the SCARA robot is driven by a belt, if a brake is not arranged at the tail end of the robot, the problems that the belt braking is inaccurate, the braking is delayed and reliable braking cannot be realized easily occur, and the accuracy precision of the robot after restarting is influenced.
Disclosure of Invention
The embodiment of the invention provides a brake and a robot arm, and aims to solve the technical problem that the brake reliability of the robot arm is low in the prior art.
An embodiment of the present invention provides a brake including: the stator is fixedly arranged; the first follow-up brake pad and the second follow-up brake pad are rotatably arranged relative to the stator, the first follow-up brake pad is used for connecting a first part to be braked, and the second follow-up brake pad is used for connecting a second part to be braked; the first fixed brake pad and the second fixed brake pad are respectively and fixedly connected with the stator, the first fixed brake pad corresponds to the first follow-up brake pad, and the second fixed brake pad corresponds to the second follow-up brake pad; the brake includes: the brake device comprises a brake state and a separation state, wherein in the brake state, a first follow-up brake pad is attached to a first fixed brake pad, and a second fixed brake pad is attached to a second follow-up brake pad; in the separated state, the first fixed brake pad is separated from the first follow-up brake pad, and the second fixed brake pad is separated from the second follow-up brake pad.
In one embodiment, the brake includes an actuating member for actuating movement of the first follower brake pad relative to the first fixed brake pad and the second follower brake pad relative to the second fixed brake pad.
In one embodiment, the drive member includes a coil disposed on the stator for driving movement of the first armature and the second armature, the first armature driving movement of the first follower brake pad and the second armature driving movement of the second follower brake pad.
In one embodiment, the first fixed brake pad and the second fixed brake pad are located on either side of the stator, the first follow-up brake pad is located between the first fixed brake pad and the stator, the second follow-up brake pad is located between the second fixed brake pad and the stator, the first armature is located between the first follow-up brake pad and the stator, and the second armature is located between the second follow-up brake pad and the stator.
In one embodiment, the driver further comprises a spring mounted on the stator, the spring being in driving connection with the first armature and the second armature, the coil driving the first armature and the second armature to move closer to the stator, the spring driving the first armature and the second armature to move away from the stator.
In one embodiment, the first servo brake pad comprises a first brake pad body and a first connecting portion arranged on the first brake pad body, the second servo brake pad comprises a second brake pad body and a second connecting portion arranged on the second brake pad body, the first connecting portion is used for connecting a first part to be braked, and the second connecting portion is used for connecting a second part to be braked.
In one embodiment, the first and second fixed brake pads are each fixedly coupled to the stator via a coupling member.
The invention also provides a robot arm, which comprises a screw rod, wherein the screw rod is provided with a moving motion driving wheel and a rotating motion driving wheel, the robot arm also comprises a brake, the brake is the brake, and a first follow-up brake block and a second follow-up brake block are respectively connected with the moving motion driving wheel and the rotating motion driving wheel.
In one embodiment, the first service brake pad includes a first brake pad body and a first connecting portion disposed on the first brake pad body, and the second service brake pad includes a second brake pad body and a second connecting portion disposed on the second brake pad body, the first connecting portion being connected to the moving drive wheel and the second connecting portion being connected to the rotating drive wheel.
In one embodiment, the first connection portion is connected to the mobile motion drive wheel by a first plug-in structure and the second connection portion is connected to the rotary motion drive wheel by a second plug-in structure.
In one embodiment, the first plug structure comprises a first connection key structure formed on the moving motion drive wheel and a first key way structure formed on the first connection portion;
the second plug structure includes a second connecting key structure formed on the rotary motion driving wheel and a second key groove structure formed on the second connecting portion.
In one embodiment, the robot arm includes a rotating arm body with the stator fixedly coupled thereto.
In one embodiment, the robot arm includes a mounting bracket fixedly disposed on the rotor arm body, the stator being fixedly mounted on the mounting bracket.
In the above embodiments, the first service brake pad may be connected to the moving motion drive wheel and the second service brake pad may be connected to the rotating motion drive wheel. In order to realize the simultaneous braking of the movable driving wheel and the rotary driving wheel and ensure the free and independent movement of the movable driving wheel and the rotary driving wheel under the non-braking state. The first follow-up brake block of the brake is matched with the movable motion driving wheel to realize the braking of the movable motion driving wheel, the second follow-up brake block of the brake is matched with the rotary motion driving wheel to realize the braking of the rotary motion driving wheel, and the first follow-up brake block and the second follow-up brake block are controlled by the stator structure together. By applying the technical scheme of the invention, the simultaneous braking of the movable motion driving wheel and the rotary motion driving wheel can be realized, and the braking is directly acted on the movable motion driving wheel and the rotary motion driving wheel, so that the braking reliability can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic perspective view of a SCARA robot according to the prior art;
fig. 2 is a schematic view of a braking mode of a SCARA robot according to the prior art;
fig. 3 is a schematic view of another braking mode of the SCARA robot according to the prior art;
FIG. 4 is a schematic perspective view of an embodiment of a brake according to the present invention;
FIG. 5 is an exploded view of the brake of FIG. 4;
FIG. 6 is a schematic view, partly in section, of the brake of FIG. 4 in the braking condition;
FIG. 7 is a schematic view, partly in section, of the brake of FIG. 4 in a disengaged condition;
FIG. 8 is a perspective view of an embodiment of a robotic arm according to the present invention;
FIG. 9 is a partial schematic view of the robot arm of FIG. 8;
FIG. 10 is an exploded view of the robotic arm of FIG. 9;
fig. 11 is a schematic perspective view of the moving motion driving wheel and the rotating motion driving wheel of the robot arm of fig. 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
As shown in fig. 4 and 5, the present invention provides an embodiment of a brake including a stator 10, a first follow-up brake pad 21, a second follow-up brake pad 22, a first fixed brake pad 31, and a second fixed brake pad 32. The stator 10 is fixedly arranged, the first follow-up brake pad 21 and the second follow-up brake pad 22 are rotatably arranged relative to the stator 10, and the first fixed brake pad 31 and the second fixed brake pad 32 are respectively fixedly connected with the stator 10. The first follow-up brake block 21 is used for connecting a first part to be braked, the second follow-up brake block 22 is used for connecting a second part to be braked, the first fixed brake block 31 corresponds to the first follow-up brake block 21, and the second fixed brake block 32 corresponds to the second follow-up brake block 22. The brake comprises a braking state and a separating state, wherein in the braking state, the first follow-up brake pad 21 is attached to the first fixed brake pad 31, and the second fixed brake pad 32 is attached to the second follow-up brake pad 22; in the separated state, the first fixed brake pad 31 is separated from the first service brake pad 21, and the second fixed brake pad 32 is separated from the second service brake pad 22.
In use, the first service brake pad 21 may be connected to the moving drive wheel 52 and the second service brake pad 22 may be connected to the rotating drive wheel 53. In order to achieve simultaneous braking of the moving drive wheel 52 and the rotating drive wheel 53, free individual movement of the moving drive wheel 52 and the rotating drive wheel 53 in the non-braking state is ensured. The first follow-up brake block 21 of the brake is matched with the moving motion driving wheel 52 to realize the braking of the moving motion driving wheel 52, the second follow-up brake block 22 of the brake is matched with the rotating motion driving wheel 53 to realize the braking of the rotating motion driving wheel 53, and the first follow-up brake block 21 and the second follow-up brake block 22 are jointly controlled by the stator 10 structure. By applying the technical scheme of the invention, the simultaneous braking of the moving motion driving wheel 52 and the rotating motion driving wheel 53 can be realized, and the braking is directly acted on the moving motion driving wheel 52 and the rotating motion driving wheel 53, so that the braking reliability can be improved.
In the solution of the present embodiment, as shown in fig. 5, the brake includes an actuating member 40, and the actuating member 40 is used for driving the first servant brake pad 21 to move relative to the first fixed brake pad 31 and the second servant brake pad 22 to move relative to the second fixed brake pad 32.
As an alternative embodiment, as shown in fig. 6 and 7, in the solution of the present embodiment, the driving member 40 includes a coil, a first armature 41 and a second armature 42, and the coil is disposed on the stator 10. When the coil is electrified, the coil is used for driving the first armature 41 and the second armature 42 to move, the first armature 41 drives the first follow-up brake pad 21 to move, and the second armature 42 drives the second follow-up brake pad 22 to move. Optionally, the first fixed brake pad 31 and the second fixed brake pad 32 are respectively located at two sides of the stator 10, the first follow-up brake pad 21 is located between the first fixed brake pad 31 and the stator 10, the second follow-up brake pad 22 is located between the second fixed brake pad 32 and the stator 10, the first armature 41 is located between the first follow-up brake pad 21 and the stator 10, and the second armature 42 is located between the second follow-up brake pad 22 and the stator 10. Preferably, in the solution of the present embodiment, the driving member 40 further includes a spring 43, the spring 43 is mounted on the stator 10, and the spring 43 is in driving connection with the first armature 41 and the second armature 42.
In the technical solution of the present embodiment, as shown in fig. 6, after the coil is de-energized, the spring 43 drives the first armature 41 and the second armature 42 to move away from the stator 10, so that the first fixed brake pad 21 is attached to the first fixed brake pad 31, the second fixed brake pad 32 is attached to the second fixed brake pad 22, and the brake enters a braking state. As shown in fig. 7, when the coil is energized, the coil drives the first armature 41 and the second armature 42 to move close to the stator 10, the first armature 41 and the second armature 42 compress the spring 43, the first fixed brake pad 31 is separated from the first follow-up brake pad 21, the second fixed brake pad 32 is separated from the second follow-up brake pad 22, and the brake enters a separated state.
As another alternative, the tensile force generated by the spring 43 and the repulsive force generated by the coil may be used. In this embodiment, after de-energizing the coils, the spring 43 drives the first armature 41 and the second armature 42 to move closer to the stator 10; when the coils are energized, the coils drive the first armature 41 and the second armature 42 away from the stator 10.
As another embodiment not shown in the drawings, the spring 43 may be eliminated, and the movement of the first armature 41 and the second armature 42 is controlled by using only the attractive force and the repulsive force generated by the coil, so that the braking state control and the disengagement state control of the brake can be realized by using only the coil.
As yet another embodiment not shown in the figures, the drive member 40 may be a push-rod type drive member instead of a coil.
As shown in fig. 5, 10 and 11, in the technical solution of the present embodiment, the first servo brake pad 21 includes a first brake pad body 211 and a first connecting portion 212 disposed on the first brake pad body 211, the second servo brake pad 22 includes a second brake pad body 221 and a second connecting portion 222 disposed on the second brake pad body 221, the first connecting portion 212 is used for connecting a first component to be braked, and the second connecting portion 222 is used for connecting a second component to be braked. A first coupling key structure 521 provided on the moving motion driving wheel 52, a first key groove structure provided on the first coupling portion 212, which is applied to a robot arm; a second coupling key structure 531 on the turning motion drive wheel 53 and a second key groove structure on the second coupling portion 222.
Alternatively, as shown in fig. 5 and 6, in the technical solution of the present embodiment, the first fixed brake pad 31 and the second fixed brake pad 32 are respectively fixedly connected with the stator 10 through a connecting member. Specifically, the first fixed brake pad 31 and the second fixed brake pad 32 may be connected by bolts, and the bolts may pass through the first fixed brake pad 31, the stator 10 and the second fixed brake pad 32, that is, bolt mounting holes may be formed in the first fixed brake pad 31, the stator 10 and the second fixed brake pad 32.
As shown in fig. 8 and 9, the present invention also provides a robot arm including a lead screw 51, and a moving drive wheel 52 and a rotating drive wheel 53 are mounted on the lead screw 51. The robot arm further comprises a brake as described above, the first and second follow-up brake pads 21 and 22 being connected to the moving drive wheel 52 and the rotating drive wheel 53, respectively. In use, in order to realize simultaneous braking of the moving driving wheel 52 and the rotating driving wheel 53 and also ensure free and independent movement of the moving driving wheel 52 and the rotating driving wheel 53 in a non-braking state, a first follow-up brake pad 21 of the brake is matched with the moving driving wheel 52 to realize braking of the moving driving wheel 52, a second follow-up brake pad 22 of the brake is matched with the rotating driving wheel 53 to realize braking of the rotating driving wheel 53, and the first follow-up brake pad 21 and the second follow-up brake pad 22 are jointly controlled by the stator 10 structure. By applying the technical scheme of the invention, the simultaneous braking of the moving motion driving wheel 52 and the rotating motion driving wheel 53 can be realized, and the braking is directly acted on the moving motion driving wheel 52 and the rotating motion driving wheel 53, so that the braking reliability can be improved.
As shown in fig. 8, the robot arm further includes a base 91 and a large arm 92 rotatably mounted on the base 91, the rotating arm body 61 corresponds to a small arm, and the rotating arm body 61 is also rotatably mounted on the large arm 92.
In order to achieve simultaneous braking of the moving drive wheel 52 and the rotating drive wheel 53, free individual movement of the moving drive wheel 52 and the rotating drive wheel 53 in the non-braking state is ensured. The upper part of the brake is matched with the moving motion driving wheel 52 to realize the braking of the moving motion driving wheel 52, the lower part of the brake is matched with the rotating motion driving wheel 53 to realize the braking of the rotating motion driving wheel 53, and the upper part and the lower part of the brake are controlled by one stator 10 structure. As shown in fig. 5 and 10, the first service brake pad 21 includes a first brake pad body 211 and a first connecting portion 212 provided on the first brake pad body 211, and the second service brake pad 22 includes a second brake pad body 221 and a second connecting portion 222 provided on the second brake pad body 221, the first connecting portion 212 being connected to the moving-motion driving wheel 52, and the second connecting portion 222 being connected to the rotating-motion driving wheel 53.
As shown in fig. 5, 10 and 11, in the present embodiment, the first connecting portion 212 is connected to the moving-motion driving wheel 52 by a first insertion structure, and the second connecting portion 222 is connected to the rotating-motion driving wheel 53 by a second insertion structure. As an alternative embodiment, the first insertion structure includes a first coupling key structure 521 formed on the moving-motion driving wheel 52 and a first key groove structure formed on the first coupling portion 212; the second plug structure includes a second coupling key structure 531 formed on the rotational movement driving wheel 53 and a second key groove structure formed on the second coupling portion 222. As other embodiments not shown in the drawings, the key groove structure and the connecting key structure may be inverted. In addition, the plug-in structure can also be in other forms, such as a star-shaped groove and a star-shaped cam.
As shown in fig. 11, in the solution of this embodiment, the inner hole of the inner ring of the rotary driving wheel 53 is in clearance fit with the screw 51, and the outer part of the inner ring is provided with a second connecting key structure 531, which is in fit with the second key slot structure on the second connecting part 222 of the brake. The inner hole of the inner ring of the moving driving wheel 52 is in clearance fit with the screw rod 51, and the outer part of the inner ring is provided with a first connecting key structure 521 which is matched with a first key groove structure on the first connecting part 212 of the brake.
As shown in fig. 9 and 10, the robot arm includes a rotating arm body 61, and the stator 10 is fixedly connected to the rotating arm body 61. More preferably, in the technical solution of this embodiment, the robot arm includes a mounting bracket 62, the mounting bracket 62 is fixedly disposed on the rotating arm body 61, the stator 10 is fixedly mounted on the mounting bracket 62, and the stator 10 can be more firmly fixedly mounted through the mounting bracket 62.
As shown in fig. 9 and 10, the up-and-down movement and the rotation movement of the screw rod 51 are realized by the related components of the third motor 71 and the fourth motor 81, and then the up-and-down movement and the rotation movement of the end effector are driven. The screw rod assembly comprises a screw rod 51, a screw rod nut 73, a screw rod mounting plate 74, a moving motion driving wheel 52, a brake, a mounting bracket 62, a rotating motion driving wheel 53, a spline nut 84 and the like. The brake is placed above the rotational movement driving wheel 53 and below the moving movement driving wheel 52, and is fixed with the three legs of the mounting bracket 62 by screws. The mounting bracket 62 is fixed with the screw rod mounting plate 74 through screws, and the brake inner first connecting part 212 and the brake inner second connecting part 222 are respectively matched with the moving motion driving wheel 52 and the rotating motion driving wheel 53 to realize braking. The third motor 71 rotates the moving drive pulley 52 via the third belt 72, and the fourth motor 81 rotates the moving drive pulley 53 via the intermediate shaft 82 and the fourth belt 83. The moving drive wheel 52 is fixed to the screw nut 73 via a threaded hole in the screw nut 73, and the rotating drive wheel 53 is also fixed to the spline nut 84 via a threaded hole in the spline nut 84. The screw nut 73 rotates and is matched with the thread on the screw rod 51 to drive the screw rod 51 to move up and down; the spline nut 84 rotates to match with the keyway on the screw rod 51, so as to drive the screw rod 51 to rotate.
When the brake is required to work, the brake can synchronously brake the synchronous pulleys on the screw nut 73 and the spline nut 84. Thus, simultaneous braking of the two shafts can be achieved by one brake, and the braking is directly performed on the driving part of the screw rod 51, so that the braking is reliable and the screw rod 51 is not damaged. Because the height that influences the whole robot arm mainly depends on the height of motor, arrange the stopper like this and also can reduce the height of motor simultaneously, the stopper passes through the screw and installs on the female mounting panel of lead screw 51, simple to operate, it is with low costs.
When the conditions of emergency braking, power failure and the like which need braking occur, the tail end braking can be carried out instantly, the response speed is high, no braking delay exists, and the braking is reliable. Simultaneously, the arrangement scheme has the advantages of convenience in installation, realization of the functions of two brakes by one brake, reduction of the quality of the small arm of the robot, reduction of the cost and the like.
As can be seen from the above, the technical solution of the present invention achieves the following technical effects: the robot arm brake device has the advantages that the simultaneous braking of the rotation movement and the movement of the robot arm is realized by one brake, the installation is convenient, and the cost is low. When the robot needs end braking, the braking is reliable, the screw rod 51 cannot be damaged, and no braking delay and no transmission error are caused when the brake is arranged on the screw rod 51.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A brake, comprising:
a stator (10) fixedly arranged;
the brake device comprises a first follow-up brake pad (21) and a second follow-up brake pad (22), wherein the first follow-up brake pad and the second follow-up brake pad are rotatably arranged relative to the stator (10), the first follow-up brake pad (21) is used for connecting a first part to be braked, and the second follow-up brake pad (22) is used for connecting a second part to be braked;
a first fixed brake pad (31) and a second fixed brake pad (32) which are respectively fixedly connected with the stator (10), wherein the first fixed brake pad (31) corresponds to the first follow-up brake pad (21), and the second fixed brake pad (32) corresponds to the second follow-up brake pad (22);
the brake includes: the brake device comprises a brake state and a separation state, wherein in the brake state, the first follow-up brake pad (21) is attached to the first fixed brake pad (31), and the second fixed brake pad (32) is attached to the second follow-up brake pad (22); in the separation state, the first fixed brake pad (31) is separated from the first follow-up brake pad (21), and the second fixed brake pad (32) is separated from the second follow-up brake pad (22).
2. The brake of claim 1, characterized in that the brake comprises an actuating member (40), the actuating member (40) being adapted to drive the first follower brake pad (21) in movement relative to the first fixed brake pad (31) and the second follower brake pad (22) in movement relative to the second fixed brake pad (32).
3. The brake of claim 2, characterized in that the actuating member (40) comprises a coil arranged on the stator (10) for driving the first armature (41) and the second armature (42) in motion, the first armature (41) driving the first follower brake pad (21) in motion and the second armature (42) driving the second follower brake pad (22) in motion.
4. A brake according to claim 3, characterized in that the first fixed brake pad (31) and the second fixed brake pad (32) are located on either side of the stator (10), respectively, the first follow-up brake pad (21) being located between the first fixed brake pad (31) and the stator (10), the second follow-up brake pad (22) being located between the second fixed brake pad (32) and the stator (10), the first armature (41) being located between the first follow-up brake pad (21) and the stator (10), the second armature (42) being located between the second follow-up brake pad (22) and the stator (10).
5. A brake according to claim 3, characterised in that the drive member (40) further comprises a spring (43), the spring (43) being mounted on the stator (10), the spring (43) being in driving connection with the first armature (41) and the second armature (42), the coil driving the first armature (41) and the second armature (42) towards the stator (10), the spring (43) driving the first armature (41) and the second armature (42) away from the stator (10).
6. The brake of claim 1, characterized in that the first service brake pad (21) comprises a first brake pad body (211) and a first connecting portion (212) arranged on the first brake pad body (211), the second service brake pad (22) comprises a second brake pad body (221) and a second connecting portion (222) arranged on the second brake pad body (221), the first connecting portion (212) is used for connecting a first component to be braked, and the second connecting portion (222) is used for connecting a second component to be braked.
7. The brake of claim 1, characterized in that the first fixed brake pad (31) and the second fixed brake pad (32) are each fixedly connected to the stator (10) by means of a connecting element.
8. A robot arm comprising a lead screw (51), said lead screw (51) having a moving drive wheel (52) and a rotating drive wheel (53) mounted thereon, characterized in that said robot arm further comprises a brake, said brake being as claimed in any one of claims 1 to 7, said first and second service brake pads (21, 22) being connected to said moving drive wheel (52) and said rotating drive wheel (53), respectively.
9. A robot arm as claimed in claim 8, characterized in that the first service brake pad (21) comprises a first brake pad body (211) and a first connection portion (212) arranged on the first brake pad body (211), the second service brake pad (22) comprises a second brake pad body (221) and a second connection portion (222) arranged on the second brake pad body (221), the first connection portion (212) being connected to the moving drive wheel (52), the second connection portion (222) being connected to the rotating drive wheel (53).
10. A robot arm as claimed in claim 9, characterized in that said first connection (212) is connected to said moving-motion driving wheel (52) by means of a first plug-in structure and said second connection (222) is connected to said rotating-motion driving wheel (53) by means of a second plug-in structure.
11. A robot arm as claimed in claim 10, characterized in that said first plugging structure comprises a first connection key structure (521) formed on said mobile motion driving wheel (52) and a first key slot structure formed on said first connection portion (212);
the second insertion structure includes a second connection key structure (531) formed on the rotational movement driving wheel (53) and a second key groove structure formed on the second connection portion (222).
12. A robot arm according to claim 8, characterized in that the robot arm comprises a swivel arm body (61), the stator (10) being fixedly connected with the swivel arm body (61).
13. A robot arm according to claim 12, characterized in that the robot arm comprises a mounting bracket (62), the mounting bracket (62) being fixedly arranged on the swivel arm body (61), the stator (10) being fixedly mounted on the mounting bracket (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011439742.6A CN112659177B (en) | 2020-12-10 | 2020-12-10 | Brake and robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011439742.6A CN112659177B (en) | 2020-12-10 | 2020-12-10 | Brake and robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN112659177A true CN112659177A (en) | 2021-04-16 |
| CN112659177B CN112659177B (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011439742.6A Active CN112659177B (en) | 2020-12-10 | 2020-12-10 | Brake and robot arm |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6255941B1 (en) * | 2000-02-24 | 2001-07-03 | Indian Head Industries, Inc. | Brake monitoring system |
| US20050011707A1 (en) * | 2003-07-08 | 2005-01-20 | Monteurs Leroy-Somer | Braking system with safe torque take-up |
| CN104908036A (en) * | 2014-03-12 | 2015-09-16 | 发那科株式会社 | Industrial robot |
| CN207173775U (en) * | 2017-07-31 | 2018-04-03 | 徐德福 | A kind of Antiskid chassis for being used to avenge transport |
| CN108994813A (en) * | 2018-08-31 | 2018-12-14 | 上海与德通讯技术有限公司 | Robot braking chassis |
| CN109605359A (en) * | 2019-01-21 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of lead screw splined member and robot |
-
2020
- 2020-12-10 CN CN202011439742.6A patent/CN112659177B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6255941B1 (en) * | 2000-02-24 | 2001-07-03 | Indian Head Industries, Inc. | Brake monitoring system |
| US20050011707A1 (en) * | 2003-07-08 | 2005-01-20 | Monteurs Leroy-Somer | Braking system with safe torque take-up |
| CN104908036A (en) * | 2014-03-12 | 2015-09-16 | 发那科株式会社 | Industrial robot |
| CN207173775U (en) * | 2017-07-31 | 2018-04-03 | 徐德福 | A kind of Antiskid chassis for being used to avenge transport |
| CN108994813A (en) * | 2018-08-31 | 2018-12-14 | 上海与德通讯技术有限公司 | Robot braking chassis |
| CN109605359A (en) * | 2019-01-21 | 2019-04-12 | 珠海格力电器股份有限公司 | A kind of lead screw splined member and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112659177B (en) | 2023-07-04 |
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