CN112922975A

CN112922975A - Brake assembly

Info

Publication number: CN112922975A
Application number: CN202110338244.0A
Authority: CN
Inventors: 石东海
Original assignee: Fandian Qingdao Intelligent Equipment Co ltd
Current assignee: Fandian Qingdao Intelligent Equipment Co ltd
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-06-08

Abstract

The invention discloses a brake assembly which is correspondingly matched with a motor output shaft of a motor assembly and comprises a fixedly installed brake shell, wherein an electromagnet module is fixedly installed in the brake shell, a friction disc module which can axially move and is matched with the electromagnet module is installed on the motor output shaft, and a brake permanent magnet corresponding to the electromagnet module is also installed on the brake shell. In the braking state, the friction force is generated by utilizing the permanent magnet characteristic of the braking permanent magnet to form the braking torque to realize the braking state, and compared with the traditional method for realizing the braking state through the spring elasticity, the braking permanent magnet has the advantages of larger moment and reliable braking.

Description

Brake assembly

Technical Field

The invention relates to the technical field of brakes, in particular to a brake assembly for a mechanical arm joint.

Background

With the rapid development of industrial automation technology, robots are increasingly gaining attention as important industrial automation equipment, and the application of robots is increasingly widespread. The robot technology mainly concentrates the latest research results of various technologies such as mechanical engineering, automatic control, artificial intelligence and the like, embodies the latest achievement of photoelectric integration, and is one of the fields with the most active scientific and technical development in the present day. The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots at present, plays an extremely important role in production and life, and in practical application, a plurality of industrial process links need the mechanical arm to carry out assembling and extracting operations. The mechanical arm can receive instructions and accurately position to a certain point on a three-dimensional (or two-dimensional) space to perform operation, and the labor efficiency can be greatly improved.

The mechanical arm joint is a core component of the mechanical arm, and the overall structure, the load capacity and the sensing capacity of the joint directly influence the overall operation level of the mechanical arm. At present, a motor, a speed reducer, an encoder, a brake and a driver are commonly adopted for a common mechanical arm joint to carry out a transmission mechanism connected in series. At present, mechanical arm joints on domestic markets generally have the problems of heavy weight, low load capacity, large volume, low integration level and the like, and further improvement of the performance of the mechanical arm is limited.

The mechanical arm joint is locked and braked by the brake when the machine is stopped, so that the mechanical arm is prevented from continuously moving under the action of gravity when the power is lost. The working principle of the traditional brake is as follows: when the motor is started (power is switched on), the electromagnet is electrified, the friction disc is attracted by the electromagnet, the friction disc of the brake is separated from the brake disc by overcoming the elasticity of the spring, and then the motor runs normally; when the motor is stopped (power supply is disconnected), the electromagnet motor is powered off, the friction disc is separated from the electromagnet under the action of the elastic force of the spring, the friction disc of the brake is made to tightly attract the brake disc, and the motor rotor is braked to stop rotating; when the power is lost, the stopping of the motor is kept through the spring elasticity, the moment of the spring elasticity is small, the defect that the gravity and the load of the mechanical arm are poor in stability is overcome only through the spring elasticity, and the service life of the spring elasticity is short, so that the braking is unreliable.

Disclosure of Invention

The invention aims to solve the technical problem of providing a brake assembly which has larger moment, long service life and reliable braking.

In order to solve the technical problems, the technical scheme of the invention is as follows: the brake assembly is correspondingly matched with a motor output shaft of the motor assembly and comprises a brake shell which is fixedly installed, an electromagnet module is fixedly installed in the brake shell, a friction disc module which can axially move and is matched with the electromagnet module is installed on the motor output shaft, and a brake permanent magnet which is correspondingly used for controlling the axial moving position of the friction disc module is also installed on the brake shell.

As a preferred technical scheme, when the electromagnet module is electrified, the magnetic force generated by the electromagnet module is offset with the magnetic force of the braking permanent magnet, and the friction disc module is separated from the electromagnet module; when the electromagnet module is powered off, the friction disc module is in contact with the electromagnet module under the magnetic action of the braking permanent magnet.

Preferably, the magnetic force generated by the electromagnet module is equal to the magnetic force of the braking permanent magnet and opposite to the direction of the N pole and the S pole.

Preferably, the friction disc module comprises a friction disc fixing frame fixedly mounted on the output shaft of the motor, a brake friction disc which can axially move and is matched with the electromagnet module is mounted on the friction disc fixing frame, and a friction disc resetting element is further arranged between the brake friction disc and the friction disc fixing frame.

According to a preferable technical scheme, the friction disc reset element is a spring gasket, a plurality of gasket mounting holes I and gasket mounting holes II which are alternately arranged are uniformly distributed on the spring gasket, the gasket mounting holes I/the gasket mounting holes II are uniformly fixed on the brake friction disc, and the gasket mounting holes II/the gasket mounting holes I are uniformly fixed on the friction disc fixing frame.

Preferably, the friction disc reset element is a plurality of extension springs arranged in an annular shape, one side of each extension spring is fixed to the brake friction disc, and the other side of each extension spring is fixed to the friction disc fixing frame.

Preferably, a magnet annular placing groove for accommodating the electromagnet module and the braking permanent magnet is formed in one side end, close to the friction disc module, of the braking housing, and the braking permanent magnet is clamped between the electromagnet module and the braking housing.

Preferably, the electromagnet module comprises an electromagnet element fixedly mounted on the brake housing, a control coil is mounted in the electromagnet element, and an annular brake part matched with the friction disc module is arranged at the side end of the electromagnet element.

Preferably, a coil annular placing groove for accommodating the control coil is arranged at one side end, close to the friction disc module, of the electromagnet element.

As preferred technical scheme, arm joint, including the joint casing, install motor element and reduction gear subassembly, its characterized in that in the joint casing: the joint shell is internally provided with the brake assembly.

Preferably, an outer periphery of the brake housing is fixed to the joint housing, and an inner periphery of the brake housing is supported by the motor output shaft via a brake mounting bearing.

Due to the adoption of the technical scheme, the invention has the beneficial effects that:

(1) in the invention, in the braking state, the friction force is generated by utilizing the permanent magnet characteristic of the braking permanent magnet to form the braking torque to realize the braking state, and compared with the traditional method for realizing the braking state through the spring elasticity, the braking device has the advantages of larger moment and reliable braking;

(2) because the braking permanent magnet is of a magnetic ring structure, uniform annular magnetic force can be generated to form an annular magnetic surface, and compared with a spring interval arrangement mode in the traditional design, the braking permanent magnet has the advantages that the moment generated by the annular magnetic surface is large, the stability and the reliability are good, and the braking effect is obviously improved;

(3) when the brake is in a braking state, the spring washer is in a wave-shaped structure, wave crests are fixed with the brake friction disc, wave troughs are fixed with the friction disc fixing frame, and the spring washer is alternately connected with the brake friction disc and the friction disc fixing frame at intervals, so that the anti-torque effect is good; compared with an extension spring or a traditional spring, the spring washer of the invention used as the friction disc reset element not only has the advantages of simple and compact structure, convenient installation and the like, but also has the characteristics of long service life, large braking torque and high braking reliability.

Drawings

The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:

FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention;

FIG. 2 is a schematic diagram of another angle configuration of an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a brake assembly in accordance with an embodiment of the present invention;

FIG. 4 is a schematic illustration of the construction of a brake disc according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a friction disk holder according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a spring washer according to an embodiment of the present invention before deformation;

FIG. 7 is a schematic diagram of a deformed spring washer according to an embodiment of the present invention;

FIG. 8 is a side view of a deformed spring washer according to an embodiment of the present invention;

in the figure:

1-a joint shell; 11-motor output shaft; 12-a reducer output shaft; 2-a motor assembly; 21-a stator; 22-a rotor; 3-a retarder assembly; 4-a brake assembly; 41-brake housing; 42-brake mounting bearings; 43-braking permanent magnet; 44-friction disk holders; 45-brake discs; 46-a spring washer; 47-an electromagnet element; 48-a control coil; 49-annular brake part; 410-a gasket mounting hole I; 411-gasket mounting hole two; 5-an encoder component; 6-driving the assembly.

Detailed Description

The invention is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

As shown in fig. 1 and 2, the mechanical arm joint includes a joint housing 1, the joint housing 1 is used as a mounting carrier of the mechanical arm joint, and is formed by fastening a main housing and a side end cap, and the main housing and the side end cap can be connected by threads or fixed by screws. A motor assembly 2, a speed reducer assembly 3, a brake assembly 4, an encoder assembly 5 and a driving assembly 6 are arranged in the joint shell 1, and all the assemblies are arranged in the joint shell 1 to form an integrated joint structure; a shell mounting seat for connecting the joint of the mechanical arm to the mechanical arm is arranged on the joint shell 1, and the shell mounting seat is a mounting flange; the surface of the joint shell 1 is provided with a wire passing hole for passing a power supply, the wire passing hole is arranged in the mounting flange, and the joint shell can be conveniently connected with other mechanical arms and avoids leakage of the wire passing hole.

In this embodiment, a motor assembly 2 is installed in the joint housing 1, an output end of the motor assembly 2 is fixed with a motor output shaft 11 with a hollow interior, the motor assembly 2 is a frameless torque motor, the motor assembly 2 includes a stator 21 and a rotor 22 that are mutually matched, an outer periphery of the stator 21 of the motor assembly 2 is fixed in the joint housing 1 in an interference fit manner, and an inner periphery of the rotor 22 of the motor assembly 2 is fixed on the motor output shaft 11 in an interference fit manner; the motor output shaft 11 adopts a hollow structure and can be used for installing a joint wire passing shaft or a power line; a speed reducer assembly 3 is mounted on one side of the motor output shaft 11, a joint wire passing shaft 12 is fixed to the output end of the speed reducer assembly 3, the joint wire passing shaft 12 is coaxially sleeved in the motor output shaft 11, in the embodiment, one end of the joint wire passing shaft 12 is coaxially sleeved in the motor output shaft 11 and used for facilitating the speed measurement of the joint output end by the encoder assembly 5, and the joint wire passing shaft 12 is also of an internal hollow structure and can be used for passing through a power line; an encoder assembly 5 is installed between the other side of the motor output shaft 11 and the joint threading shaft 12, a brake assembly 4 is installed between the encoder assembly 5 and the motor assembly 2 on the motor output shaft 11, and a driving assembly 6 is installed on one side, opposite to the brake assembly 4, of the encoder assembly 5. In this embodiment, because encoder component 5 with brake assembly 4 all needs to be controlled through the power, consequently for the compactness of making things convenient for circuit arrangement and structure, will encoder component 5, brake assembly 4 set up with one side and be close to drive assembly 6 reaches compact structure's effect, improves the articulated integrated level of arm. During installation, firstly, the motor assembly 2 is installed in the joint shell 1, then the reducer assembly 3 is installed in the joint shell 1 from one side, the brake assembly 4, the encoder assembly 5 and the driving assembly 6 are sequentially installed in the joint shell 1 from the other side, and then the side end cover is fixedly installed.

Referring to fig. 3, the braking assembly 4 is used to enable the motor assembly 2 to be in a locked braking state when the power is off or in case of power failure, so as to prevent the mechanical arm from continuing to move due to the action of gravity when the power is off.

The brake assembly 4 comprises a brake housing 41 with an outer periphery fixedly mounted in the joint housing 1, the outer periphery of the brake housing 41 is connected with the joint housing 1 in an interference fit manner, the inner periphery of the brake assembly 4 is supported on the motor output shaft 11 through a brake mounting bearing 42, the inner ring of the brake mounting bearing 42 is mounted on the motor output shaft 11 in an interference fit manner, the outer ring of the brake mounting bearing 42 is mounted on the inner periphery of the brake housing 41 in an interference fit manner, and the brake housing 41 serves as a mounting base body of the brake assembly 4; an electromagnet module is fixedly installed in the brake housing 41, a friction disc module which can axially move and is used for being matched with the electromagnet module is installed on the motor output shaft 11, and a brake permanent magnet 43 corresponding to the electromagnet module is also installed on the brake housing 41; the magnetic force generated by the electromagnet module is equal to the magnetic force of the braking permanent magnet 43, and the directions of the N pole and the S pole are opposite; when the electromagnet module is electrified, the magnetic force generated by the electromagnet module is offset with the magnetic force of the braking permanent magnet 43, the friction disc module is separated from the electromagnet module, and the mechanical arm joint is in a working state; when the electromagnet module is powered off, the friction disc module is in contact with the electromagnet module under the action of the magnetic force of the braking permanent magnet 43, and the mechanical arm joint is in a braking state.

A magnet annular placing groove for accommodating the electromagnet module and the braking permanent magnet 43 is arranged at one side end of the braking housing 41 close to the friction disc module, the electromagnet module and the electromagnet permanent magnet are both arranged in the magnet annular direction groove, the braking permanent magnet 43 is clamped between the electromagnet module and the braking housing 41, the electromagnet module is close to the motor assembly 2, so that the electromagnet module can be directly matched with the motor assembly 2 to control the stop of the motor assembly 2, and the braking permanent magnet 43 is in contact with the electric magnet module, on one hand, the quick response between the braking permanent magnet 43 and the electric magnet module can be ensured, on the other hand, the installation position of the braking permanent magnet 43 is positioned by the electric magnet module, thus the installation is convenient, and the space arrangement is reasonable and the structure is compact.

The periphery of the brake shell 41 is provided with wire passing grooves corresponding to the wire passing holes in the joint shell 1, external power wires are introduced into the interior of the mechanical arm joint in order, the brake shell 41 is further provided with a plurality of wire passing holes, and the power wires are guided to the drive assembly 6, the motor assembly 2 and the interior of the electric magnet module.

The friction disc module comprises a friction disc fixing frame 44 fixedly installed on the motor output shaft 11, a friction disc installing seat which is connected to the motor output shaft in an interference fit mode is arranged on the inner periphery of the friction disc fixing frame 44, and an annular plate used for installing other parts is arranged on the friction disc installing seat and serves as a fixing frame; and a brake friction disc 45 which can axially move and is matched with the electromagnet module is arranged on the friction disc fixing frame 44, and a friction disc resetting element is also arranged between the brake friction disc 45 and the friction disc fixing frame 44.

The electromagnet module comprises an electromagnet element 47 fixedly mounted on the brake housing 41, the electromagnet element 47 is an armature, the electromagnet element 47 is fixed on the brake housing 41 in an interference fit manner, a control coil 48 is mounted in the electromagnet element 47, and an annular brake part 49 matched with the friction disc module is arranged at the side end of the electromagnet element 47. Electromagnet element 47 is close to one side end of friction disc module and is provided with and is used for holding control coil 48's coil annular standing groove, will control coil 48 sets up electromagnet element 47's inside, electromagnet element 47 is close to braking permanent magnet 43 side end face is confined, and the opposite side is close to braking friction disc 45 one side is semi-open, does benefit to with control coil 48 places in the coil annular standing groove, can make things convenient for control coil 48's cooperation installation can guarantee again to be close to braking friction disc 45 one side forms annular brake portion 49, in this embodiment, annular brake portion 49 includes two coaxial brake ring arms, be used for with the friction braking effect is realized in the cooperation of braking friction disc 45.

The brake friction disc 45, the friction disc fixing frame 44, the electromagnet element 47, the friction disc resetting element and the annular brake part 49 are all of annular structures and are coaxially arranged; the electromagnet element 47 and the control coil 48 are prior art.

The friction disc resetting element is a spring gasket 46, a plurality of gasket mounting holes I410 and gasket mounting holes II 411 which are alternately arranged are uniformly distributed on the spring gasket 46, the gasket mounting holes I410 are uniformly fixed on the brake friction disc 45, and the gasket mounting holes II 411 are uniformly fixed on the friction disc fixing frame 44. The spring washer 46 is an annular sheet having elasticity, and referring to fig. 7, the first washer mounting hole 410 has the same structure as the second washer mounting hole 411, and is defined as a different feature only because of being mounted with a different component; in this embodiment, three first spacer mounting holes 410 and three second spacer mounting holes 411 are respectively provided, and the first spacer mounting holes 410 and the second spacer mounting holes 411 are alternately arranged and are respectively connected to the brake friction disc 45 and the friction disc fixing frame 44.

Referring to fig. 4, the brake friction disc 45 is provided with a first three rivet holes matched with the first pad mounting hole 410, the first pad mounting hole 410 and the first rivet hole are connected through a first rivet, and the friction disc fixing frame 44 is provided with a first through hole for avoiding a second rivet.

Referring to fig. 5, the friction disc fixing frame 44 is provided with three second rivet holes matched with the second gasket mounting hole 411, the second gasket mounting hole 411 and the second rivet hole are connected through a second rivet, and the brake friction disc 45 is provided with a second through hole for avoiding the first rivet.

Of course, the second pad mounting hole 411 may be uniformly fixed to the brake disc 45, and the first pad mounting hole 410 may be uniformly fixed to the friction disc fixing bracket 44.

The working principle of the brake assembly 4 is as follows:

a braking state: when the motor is stopped (power is off), the control coil 48 is not electrified, the electromagnet element 47 does not have magnetic force, the brake permanent magnet 43 transmits the magnetic force to the electromagnet element 47, so that the electromagnet element 47 attracts the brake friction disc 45, the spring washer 46 is deformed, the flat plate structure in fig. 6 is bent and deformed into a wave-shaped structure in fig. 7 or fig. 8, the wave-shaped structure surface forms alternating peaks and valleys, each peak is uniformly fixed on the brake friction disc 45, each valley is uniformly fixed on the friction disc fixing frame 44, so that the brake friction disc 45 axially moves towards one side of the electromagnet element 47 and is contacted with the annular brake part 49 of the electromagnet element 47, and annular friction force is generated between the electromagnet element 47 and the annular brake part 49, the brake friction disc 45 and the electromagnet element 47 are fixed through friction force, and the brake housing 41 and the joint housing 1 are fixedly connected due to the fixed connection between the friction disc fixing frame and the motor output shaft 11, so that a braking state is formed, and the motor rotor 22 is braked and stops rotating;

and (3) releasing the braking state: when the motor assembly 2 is started (power is turned on), the control coil 48 is energized, the electromagnet element 47 generates magnetic force by utilizing the electromagnetic principle, at this time, the magnetic force generated by the brake permanent magnet 43 and the magnetic force generated by the electromagnet element 47 are mutually counteracted, at this time, the suction force applied to the brake friction disc 45 by the electromagnet element 47 is reduced, at this time, the acting force applied to the spring washer 46 is smaller, the elastic force of the spring washer 46 is greater than the suction force generated by the magnetic field and is deformed, namely, the wave-shaped structure in fig. 7 or fig. 8 is restored to the flat plate structure in fig. 6, the brake friction disc 45 is driven to axially move towards the side far away from the electromagnet element 47, namely, the brake friction disc 45 is separated from the electromagnet element 47, the brake is released, and at this time, the motor normally;

in the prior art, when power is lost, the motor is stopped by utilizing the self elastic force of the spring, and because the moment of the spring elastic force is smaller, the gravity of the mechanical arm is overcome by only adopting the spring elastic force, the braking stability is poorer; meanwhile, because the braking permanent magnet 43 is of a magnetic ring structure, uniform annular magnetic force can be generated to form an annular magnetic surface, and compared with a spring interval arrangement mode in the traditional design, the braking permanent magnet has the advantages that the moment generated by the annular magnetic surface is large, the stability and the reliability are good, and the braking effect is obviously improved.

In addition, the friction disc return elements may also be replaced by a plurality of annularly arranged tension springs, one side of which is fixed to the brake discs 45 and the other side of which is fixed to the friction disc holder 44. A plurality of uniformly distributed extension springs are used as another embodiment of the friction disc reset element, so that the same braking purpose can be achieved; however, if an extension spring is used, the gap between the brake friction disc 45 and the friction disc fixing frame 44 is increased, so that the structure is not compact, the connection mode between the extension spring and the brake friction disc 45 and the friction disc fixing frame 44 is complicated, and the installation accuracy is difficult to guarantee; meanwhile, if one of the extension springs is damaged or has a problem in installation, the overall braking effect is influenced; in addition, when braking, a large torsion action is generated under the action of gravity on the motor output shaft 11, so that the friction disc fixing frame 44 is acted on, so that the friction disc fixing frame 44 has a torque rotating to one side, and when the torque is large, all the tension springs are twisted to one side, so that the friction disc fixing frame 44 has a certain rotational displacement, so that the braking position is deflected, in this embodiment, in a braking state, the spring pad 46 is in a wave-shaped structure, the wave crests are fixed with the brake friction disc 45, the wave troughs are fixed with the friction disc fixing frame 44, and the spring pad 46 is alternately connected with the brake friction disc 45 and the friction disc fixing frame 44 at intervals, so that the torque resisting effect is good; compared with a tension spring or a traditional spring, the spring washer 46 of the invention used as the friction disc reset element not only has the advantages of simple and compact structure, convenient installation and the like, but also has the characteristics of long service life, large braking torque and high braking reliability.

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 described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present 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

1. The stopper subassembly corresponds the cooperation with motor element's motor output shaft, including fixed mounting's braking casing, fixed mounting has electromagnet module, its characterized in that in the braking casing: but install axial displacement on the motor output shaft be used for with electromagnet module complex friction disc module, still install on the braking casing with electromagnet module corresponds the braking permanent magnet.

2. The brake assembly of claim 1, wherein: when the electromagnet module is electrified, the magnetic force generated by the electromagnet module is offset with the magnetic force of the braking permanent magnet, and the friction disc module is separated from the electromagnet module; when the electromagnet module is powered off, the friction disc module is in contact with the electromagnet module under the magnetic action of the braking permanent magnet.

3. The brake assembly of claim 1, wherein: the magnetic force generated by the electromagnet module is equal to the magnetic force of the braking permanent magnet in magnitude, and the directions of the N pole and the S pole are opposite.

4. The brake assembly of claim 1, wherein: the friction disc module comprises a friction disc fixing frame fixedly arranged on the output shaft of the motor, a brake friction disc which can axially move and is matched with the electromagnet module is arranged on the friction disc fixing frame, and a friction disc resetting element is arranged between the brake friction disc and the friction disc fixing frame.

5. The brake assembly of claim 4, wherein: the friction disc resetting element is a spring gasket, a plurality of gasket mounting holes I and gasket mounting holes II which are alternately arranged are uniformly distributed on the spring gasket, the gasket mounting holes I/the gasket mounting holes II are uniformly fixed on the brake friction disc, and the gasket mounting holes II/the gasket mounting holes I are uniformly fixed on the friction disc fixing frame.

6. The brake assembly of claim 4, wherein: the friction disc reset elements are a plurality of extension springs which are annularly arranged, one side of each extension spring is fixed with the brake friction disc, and the other side of each extension spring is fixed with the friction disc fixing frame.

7. The brake assembly of claim 4, wherein: and a magnet annular placing groove for accommodating the electromagnet module and the braking permanent magnet is arranged at one side end of the braking shell close to the friction disc module, and the braking permanent magnet is clamped between the electromagnet module and the braking shell.

8. The brake assembly of claim 4, wherein: the electromagnet module comprises an electromagnet element fixedly installed on the brake shell, a control coil is installed in the electromagnet element, and an annular brake part matched with the friction disc module is arranged at the side end of the electromagnet element.

9. The brake assembly of claim 8, wherein: and a coil annular placing groove for containing the control coil is arranged at one side end of the electromagnet element close to the friction disc module.

10. Arm joint, including the joint casing, install motor element and reduction gear subassembly, its characterized in that in the joint casing: a brake assembly as claimed in any one of claims 1 to 9 is also mounted within the joint housing.