CN113442160B

CN113442160B - Brake device, robot revolute joint and robot

Info

Publication number: CN113442160B
Application number: CN202110728688.5A
Authority: CN
Inventors: 宋庭科; 田连刚; 安然; 彭俊才
Original assignee: Feixi Technology Co ltd; Flexiv Robotics Ltd
Current assignee: Feixi Technology Co ltd; Flexiv Robotics Ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2022-07-15
Anticipated expiration: 2041-06-29
Also published as: CN113442160A

Abstract

The invention relates to a brake device, a robot rotating joint and a robot, wherein the brake device comprises a rotating shaft; the brake pad is sleeved on the rotating shaft, and a gap is formed between the brake pad and the rotating shaft; the rolling body is arranged between the gaps, and when the brake pad rotates relative to the rotating shaft, rolling friction is formed between the brake pad and the rotating shaft through the rolling body; the friction plate is fixedly connected with the rotating shaft and is positioned on one side of the brake pad; and the gasket is sleeved on the rotating shaft and positioned on the other side of the brake pad, and the gasket is used for compressing the brake pad along the axial direction of the rotating shaft. The application provides a brake equipment, the brake block cup joints together with the pivot, and is equipped with the clearance between brake block and the pivot, is provided with the rolling element between the clearance to can realize reducing the area of contact between brake block and the pivot in order to reach the purpose that reduces the wearing and tearing between brake block and the pivot, guarantee that friction torque is stable, even can not form wearing and tearing to the pivot in long-time running-in yet.

Description

Brake device, robot rotation joint and robot

Technical Field

The invention relates to the technical field of industrial automation, in particular to a brake device, a robot rotating joint and a robot.

Background

The brake braking structure used in the existing robot joint mainly comprises parts such as a friction plate, a brake pad, a gasket, an elastic body, a locking nut and a rotating shaft, the structure applies axial pretightening force by means of compressing the elastic body by the locking nut, the pretightening force can be transmitted between the brake pad and the friction plate as well as between the pretightening force and the gasket, and then friction torque is generated between the friction plate and the brake pad to realize braking action.

For the traditional brake structure, when the spokes of the brake pad are braked by collision, the collision force can cause the brake pad to be in contact friction with the rotating shaft to generate abrasion. Therefore, the friction torque provided by the brake device is not only generated between the brake pad and the friction plate, but also influenced by the abrasion friction between the brake pad and the rotating shaft, so that the expected friction effect cannot be achieved, and meanwhile, the brake action of the robot arm can be influenced by the unstable friction torque; in addition, after the rotating shaft and the brake pad are continuously in rotating contact friction, the rotating shaft is abraded, and powder generated by abrasion easily falls into the robot joint, so that potential safety hazards are generated.

Disclosure of Invention

Therefore, the brake device, the robot rotary joint and the robot need to be provided for solving the problems that friction torque is unstable due to abrasion between the brake pad and the rotating shaft in the current robot joint motion, and powder generated by abrasion has potential safety hazards.

A brake device comprises a rotating shaft; the brake pad is sleeved on the rotating shaft, and a gap is formed between the brake pad and the rotating shaft; the rolling bodies are arranged between the gaps, and when the brake pad rotates relative to the rotating shaft, rolling friction is formed between the brake pad and the rotating shaft through the rolling bodies; the friction plate is fixedly connected with the rotating shaft and is positioned on one side of the brake pad; and the gasket is sleeved on the rotating shaft and is positioned on the other side of the brake pad, and the gasket is used for compressing the brake pad along the axial direction of the rotating shaft.

Furthermore, the friction plate, the brake pad and the gasket are arranged together in a surrounding mode to form the gap.

Further, the inner circle circumference of gasket is provided with a plurality of first joint portions, the outer lane circumference of pivot is provided with a plurality of second joint portions, first joint portion with second joint portion one-to-one is connected.

Furthermore, the first clamping portion and the second clamping portion correspond to the position of the rolling body, and the first clamping portion or the second clamping portion is further used for limiting the rolling body along the axial direction of the rotating shaft.

Further, the rolling body includes a plurality of balls or rollers.

Further, the rolling body comprises a plurality of plunger springs, wherein the plunger springs are inserted into and fixed on the rotating shaft, and the end parts of the plunger springs extend out of the surface of the rotating shaft and are arranged in the gap.

Further, the number of the plunger springs is three.

Furthermore, the brake shoe further comprises an elastic body and a locking nut, wherein the elastic body and the locking nut are sleeved on the rotating shaft, the locking nut extrudes the elastic body to enable a pretightening force to be formed among the brake shoe, the gasket, the friction plate and the rotating shaft, and the pretightening force compresses the brake shoe, the gasket and the friction plate along the axial direction of the rotating shaft.

Further, a robot rotary joint is provided and comprises the brake device.

Further, a robot is provided, comprising a plurality of robot arms and a plurality of robot revolute joints as described above, wherein the plurality of robot arms are connected by the plurality of robot revolute joints.

The application provides a brake equipment, the brake block cup joints together with the pivot, and is equipped with the clearance between brake block and the pivot, is provided with the rolling element between the clearance to can realize reducing the area of contact between brake block and the pivot in order to reach the purpose that reduces the wearing and tearing between brake block and the pivot. When braking is needed, the brake pad is subjected to an impact force (such as from an electromagnetic switch), the impact force prevents the brake pad from rotating along with the rotating shaft, and then relative rolling friction is generated among the brake pad, the rolling body and the rotating shaft, the rolling friction force is very small and even can be ignored, the friction torque among the original brake pad, the friction plate, the gasket and the rotating shaft of the brake device cannot be influenced, so that the friction torque becomes stable, and the rotating shaft cannot be abraded even in a long-time brake pad running-in stage.

Drawings

Fig. 1 is a perspective view of a brake apparatus according to a first embodiment of the present application;

FIG. 2 is a front view of a brake apparatus according to a first embodiment of the present application;

FIG. 3 is a cross-sectional view of a brake apparatus according to a first embodiment of the present application;

FIG. 4 is an enlarged view of a portion of a brake apparatus according to a first embodiment of the present application;

fig. 5 is a schematic view illustrating a connection structure between a spacer and a rotating shaft according to a first embodiment of the present disclosure;

fig. 6 is a sectional view of a brake device according to a second embodiment of the present application.

The brake comprises a rotating shaft 1, a rotating shaft 2, a brake pad 21, a gap 3, a friction plate 4, a gasket 41, a clamping portion 411, a first clamping portion 412, a second clamping portion 5, a rolling body 6, a locking nut 7, an elastic body 8 and a plunger spring.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Fig. 1 shows a perspective view of a brake apparatus according to a first embodiment of the present application, fig. 2 shows a front view of the brake apparatus according to the first embodiment of the present application, fig. 3 shows a cross-sectional view of the brake apparatus according to the first embodiment of the present application, and fig. 1-3 show that the brake apparatus according to the present application includes a rotating shaft 1, a brake pad 2, a friction plate 3, a spacer 4 and a rolling element 5, wherein the brake pad 2, the friction plate 3 and the spacer 4 are sleeved on the rotating shaft 1, a gap 21 is provided between the brake pad 2 and the rotating shaft 1, the rolling element 5 is disposed in the gap 21, the friction plate 3 is fixedly connected to the rotating shaft 1, the friction plate 3 is located on one side of the brake pad 2, the spacer 4 is disposed on the other side of the brake pad 2, and the spacer 4 is used for pressing the brake pad 2 in an axial direction of the rotating shaft 1. When the brake pad 2 rotates relative to the rotating shaft 1, rolling friction is formed between the brake pad 2 and the rotating shaft 1 by the rolling bodies 5.

The application provides a brake equipment's theory of operation is, compresses tightly brake block 2 and friction disc 3 together along the axial of pivot 1 through gasket 4 to form predetermined friction torque during the brake between brake block 2, friction disc 3 and gasket 4, this friction torque can drive pivot 1 stall. Under normal conditions, when the rotating shaft 1 rotates, the brake pad 2, the friction plate 3 and the gasket 4 can be driven to synchronously rotate, when the vehicle needs to stop, the brake pad 2 is subjected to an external impact force, the brake pad 2 stops rotating at the moment, and the rotating shaft 1 stops rotating through friction torque among the brake pad 2, the friction plate 3 and the gasket 4.

Furthermore, a rolling body 5 is arranged between the brake pad 2 and the rotating shaft 1, when the brake pad 2 is impacted, relative rolling friction occurs between the brake pad 2, the rolling body 5 and the rotating shaft 1, but the rolling friction is very small and can be ignored, so that the action of the preset friction torque on the brake device is not influenced. Due to the arrangement of the rolling body 5, the friction between the brake pad 2 and the rotating shaft 1 is reduced, the influence of the friction on the preset friction torque is avoided, and the preset friction torque is more stable; meanwhile, as the abrasion between the brake pad 2 and the rotating shaft 1 is reduced, the risk that the robot joint is invalid because powder generated by abrasion falls into the robot joint is effectively avoided.

Fig. 4 is a partial enlarged view of the brake apparatus according to the first embodiment of the present application, and in one embodiment, the brake pad 2, the friction plate 3 and the spacer 4 are collectively enclosed to form a gap 21. Specifically, a gap exists between the inner wall of the brake pad 2 and the outer wall of the rotating shaft 1, the inner wall of the friction plate 3 and the inner wall of the gasket 4 are respectively and tightly attached to the outer wall of the rotating shaft 1, and the friction plate 3 and the gasket 4 are respectively arranged on two sides of the brake pad 2, so that a gap 21 for placing the rolling body 5 is formed among the rotating shaft 1, the brake pad 2, the friction plate 3 and the gasket 4 in a surrounding manner.

Further, the rolling body 5 includes a plurality of balls, which are arranged to roll along the gap 21. Optionally, the ball is made of metal. Optionally, the number of balls comprises three. It should be noted that the balls may be replaced by rollers.

Further, the brake equipment that this application provided still includes lock nut 6 and elastomer 7, and lock nut 6 sets up at the tip of pivot 1, and elastomer 7 sets up between lock nut 6 and the gasket 4, through lock nut 6 and pivot 1 fixed connection to realize that brake block 2, friction disc 3 and gasket 4 are connected with pivot 1. In order to ensure the stability of the preset friction torque on the brake device, after the locking nut 6 is preassembled to a preset position, sealant is filled between the locking nut 6 and the rotating shaft 1, so that the locking nut 6 is fixed on the rotating shaft 1, the rotating shaft 1 is ensured to be capable of driving the brake pad 2, the friction plate 3, the gasket 4 and the like to synchronously rotate when rotating, and the rotating shaft 1 can be also ensured to be capable of being pulled to stop rotating when the brake pad 2 is stopped rotating by external force.

In one embodiment of the present application, the elastic body 7 is a wave spring.

In one embodiment, a clamping portion 41 is arranged between the gasket 4 and the rotating shaft 1, and the gasket 4 is linked with the rotating shaft 1 through the clamping portion 41, so that the gasket 4 and the rotating shaft 1 can rotate synchronously.

In some embodiments, the position of the catching portion 41 may correspond to the position of the rolling body 5, thereby preventing the rolling body 5 from sliding off the gap 21 between the brake pad 2 and the shaft 1.

Further, referring to a schematic diagram of a connection structure of a gasket and a rotating shaft in the first embodiment of the present application shown in fig. 5, fig. 5 shows a cross-sectional shape of the gasket 4 and the rotating shaft 1, in the brake apparatus provided in the present application, a clamping portion 41 is arranged between the rotating shaft 1 and the gasket 4, the clamping portion 41 includes a plurality of first clamping portions 411 arranged along the inner ring circumference of the gasket 4 and a plurality of second clamping portions 412 arranged along the outer ring circumference of the rotating shaft 1, and the first clamping portions 411 and the second clamping portions 412 are connected in a one-to-one correspondence.

In one embodiment, the positions of the first clamping portion 411 and the second clamping portion 412 correspond to the positions of the rolling elements 5, and the first clamping portion 411 or the second clamping portion 412 is further used for limiting the rolling elements 5 along the axial direction of the rotating shaft 1, so as to prevent the rolling elements 5 from falling off from the gap 21.

Specifically, the first clamping portion 411 includes a first protrusion or a first groove, the second clamping portion 412 includes a second protrusion or a second groove, and the first protrusion is clamped with the second groove in a matching manner, or the first groove is clamped with the second protrusion in a matching manner. At the time of assembly, the position of the boss (first projection or second projection) may be made to correspond to the position of the rolling element, so that the movement of the rolling element 5 in the axial direction of the rotary shaft 1 may be prevented or assisted to be prevented. Through the cooperation equipment between first joint portion 411 and the second joint portion 412, be convenient for gasket 4 and pivot 1 synchronous motion on the one hand, on the other hand can prevent that rolling element 5 from following the axial direction landing of pivot 1. The number (for example, the number may be equal to or greater than the number of the rolling elements 5) and the structure of the first clamping portion 411 and the second clamping portion 412 are not particularly limited, and those skilled in the art can set an appropriate structure according to actual needs.

In another embodiment of the present application, 3 embedded protrusions 411 are adopted in the inner ring of the

gasket

4, 3 corresponding grooves 412 are arranged in the outer ring of the rotating shaft 1, and the protrusions 411 are clamped with the grooves 412, so that on one hand, slipping between the gasket 4 and the rotating shaft 1 can be prevented, and on the other hand, the rolling body 5 can be perfectly enclosed, thereby ensuring that the rolling body 5 cannot fall off.

Fig. 6 is a cross-sectional view of a brake apparatus according to a second embodiment of the present invention, wherein the difference between the second embodiment and the first embodiment is that the rolling element 8 (plunger spring) in the second embodiment and the rolling element 5 in the first embodiment have different structures, the number of the plunger springs 8 in the second embodiment includes three or more, the plunger springs 8 are inserted and fixed on the rotating shaft 1, the end portions of the plunger springs 8 extend out of the surface of the rotating shaft 1 and are disposed in the gap 21, and the brake pad 2 can have a self-centering function during rotation by the elastic force provided by the plunger springs 8, so that the brake pad 2 is ensured not to deviate during rotation on the rotating shaft 1, and abrasion to the rotating shaft 1 is effectively avoided.

Further, the number of plunger springs includes three.

The application provides a brake equipment, the brake block cup joints together with the pivot, and is equipped with the clearance between brake block and the pivot, is provided with the rolling element between the clearance to can realize reducing the area of contact between brake block and the pivot in order to reach the purpose that reduces the wearing and tearing between brake block and the pivot. When the brake is needed, the brake pad is subjected to an impact force (such as from an electromagnetic switch), the impact force prevents the brake pad from rotating along with the rotating shaft, and then relative rolling friction occurs among the brake pad, the rolling body and the rotating shaft, the rolling friction force is very small and even can be ignored, the friction torque among the original brake pad, the friction plate, the gasket and the rotating shaft of the brake device can not be influenced, so that the friction torque becomes stable, and the abrasion to the rotating shaft can not be formed even in a long-time brake pad running-in stage.

Further, the application provides a robot revolute joint, including above brake equipment, optionally, robot revolute joint still includes drive switch, like the electro-magnet, sends stop signal when robot's control system and makes the electro-magnet be used in order to inject its rotation on the brake block, on the shift fork of brake block outer lane like the joint, or adsorb on the brake block etc. when the brake block received external force stall, can pull pivot stall. It should be noted that the driving switch is used for limiting the rotation of the brake pad, for example, by clamping, magnetic adsorption, etc., the specific structure is not limited, and those skilled in the art can set a suitable structure according to actual requirements,

further, the application provides a robot, includes a plurality of arms and a plurality of robot revolute joint, a plurality of arms pass through a plurality of robots revolute joint connects, a plurality of robot revolute joint be above the robot revolute joint.

The technical effects of the robot rotating joint and the robot are similar to those of the brake device, and reference is made to the above specifically, and will not be elaborated on more here.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A brake apparatus, comprising:

a rotating shaft;

the brake pad is sleeved on the rotating shaft, and a gap is formed between the brake pad and the rotating shaft;

the rolling bodies are arranged between the gaps, and when the brake pad rotates relative to the rotating shaft, rolling friction is formed between the brake pad and the rotating shaft through the rolling bodies;

the friction plate is fixedly connected with the rotating shaft and is positioned on one side of the brake block; and

the gasket is sleeved on the rotating shaft and located on the other side of the brake pad, and the gasket is used for compressing the brake pad along the axial direction of the rotating shaft.

2. A brake apparatus according to claim 1, wherein the friction plate, the brake plate and the shim together enclose the gap.

3. The brake device according to claim 1, wherein a plurality of first clamping portions are circumferentially arranged on an inner ring of the pad, a plurality of second clamping portions are circumferentially arranged on an outer ring of the rotating shaft, and the first clamping portions are connected with the second clamping portions in a one-to-one correspondence manner.

4. The brake device according to claim 3, wherein the first engaging portion and the second engaging portion are located at positions corresponding to positions of the rolling elements, and the first engaging portion or the second engaging portion is further configured to limit the rolling elements in an axial direction of the rotating shaft.

5. A brake arrangement according to claim 1, wherein the rolling bodies comprise a plurality of balls or rollers.

6. The brake apparatus of claim 1, wherein the rolling body includes a plurality of plunger springs, wherein the plunger springs are inserted and fixed on the shaft, and ends of the plunger springs protrude from a surface of the shaft and are disposed in the gaps.

7. The brake apparatus of claim 6, wherein the number of the plunger springs is three.

8. The brake device according to any one of claims 1 to 7, further comprising an elastic body and a lock nut, wherein the elastic body and the lock nut are sleeved on the rotating shaft, and the lock nut presses the elastic body to form a pre-tightening force between the brake pad, the spacer, the friction plate and the rotating shaft, and the pre-tightening force presses the brake pad, the spacer and the friction plate in the axial direction of the rotating shaft.

9. A robot revolute joint comprising a brake device according to any one of claims 1-8.

10. A robot comprising a plurality of robot arms and a plurality of robot revolute joints according to claim 9, wherein the plurality of robot arms are connected by the plurality of robot revolute joints.