CN114401831A - 固态刹车机构及包括该固态刹车机构的机器人 - Google Patents

固态刹车机构及包括该固态刹车机构的机器人 Download PDF

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Publication number
CN114401831A
CN114401831A CN201980100317.3A CN201980100317A CN114401831A CN 114401831 A CN114401831 A CN 114401831A CN 201980100317 A CN201980100317 A CN 201980100317A CN 114401831 A CN114401831 A CN 114401831A
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CN
China
Prior art keywords
brake mechanism
brake
solid state
gap
brake pad
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201980100317.3A
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English (en)
Inventor
杨勇
张晟
姜超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Ltd China
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Siemens Ltd China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Ltd China filed Critical Siemens Ltd China
Publication of CN114401831A publication Critical patent/CN114401831A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D51/00—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Braking Arrangements (AREA)
  • Manipulator (AREA)

Abstract

一种固态刹车机构(100)及包括该固态刹车机构(100)的机器人，该固态刹车机构(100)包括：刹车片(110)，刹车片(110)上设有伸缩间隙(101)以及与伸缩间隙(101)连通的凹槽(102)，刹车片(110)可通过伸缩间隙(101)伸缩，凹槽(102)内设置有压电陶瓷片(103)，压电陶瓷片(103)可在上电后伸长，并在伸长方向的两端与凹槽(102)抵接；固定部(120)，设置于刹车片(110)的外围，适于在刹车片(110)受压电陶瓷片(103)推动伸展后与刹车片(110)接触，以提供制动力。该固态刹车机构(100)体积小，重量轻，结构简单，具有较大的扭转刚度；在安装该固态刹车机构(100)之后，机器人的体积和重量也会相应降低，并且能够为关节以及臂连杆提供较大的扭转刚度。

Description

PCT国内申请，说明书已公开。

Claims (10)

  1. PCT国内申请，权利要求书已公开。
CN201980100317.3A 2019-09-30 2019-09-30 固态刹车机构及包括该固态刹车机构的机器人 Pending CN114401831A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/109583 WO2021062692A1 (zh) 2019-09-30 2019-09-30 固态刹车机构及包括该固态刹车机构的机器人

Publications (1)

Publication Number Publication Date
CN114401831A true CN114401831A (zh) 2022-04-26

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CN201980100317.3A Pending CN114401831A (zh) 2019-09-30 2019-09-30 固态刹车机构及包括该固态刹车机构的机器人

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CN (1) CN114401831A (zh)
WO (1) WO2021062692A1 (zh)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004060746A (ja) * 2002-07-29 2004-02-26 Oriental Motor Co Ltd 回転機用ブレーキ装置とクラッチ装置
CN201434030Y (zh) * 2009-06-29 2010-03-31 刘杰 摩托车刹车盘
US20100310305A1 (en) * 2009-06-09 2010-12-09 Samir Mekid Spherical joint with internal brake
CN103994159A (zh) * 2014-05-06 2014-08-20 南京航空航天大学 一种采用柔性放大结构的叠层式压电制动器及其工作方法
CN206617472U (zh) * 2017-04-17 2017-11-07 浙江农业商贸职业学院 一种汽车制动性能体验提升用刹车盘
CN207747076U (zh) * 2018-01-19 2018-08-21 王心成 一种协作机器人关节位置止动器
CN108748274A (zh) * 2018-08-30 2018-11-06 遨博（北京）智能科技有限公司 一种刹车装置、机器人关节臂及机器人
CN108869579A (zh) * 2018-06-01 2018-11-23 华东交通大学 一种单轨运输机的限速器
CN109278067A (zh) * 2018-11-30 2019-01-29 上海宇塚电子科技有限公司 机器人关节模组中盘式制动装置结构

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4625836A (en) * 1982-11-10 1986-12-02 Robotic Systems Limited Locking device for movable arm assembly

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004060746A (ja) * 2002-07-29 2004-02-26 Oriental Motor Co Ltd 回転機用ブレーキ装置とクラッチ装置
US20100310305A1 (en) * 2009-06-09 2010-12-09 Samir Mekid Spherical joint with internal brake
CN201434030Y (zh) * 2009-06-29 2010-03-31 刘杰 摩托车刹车盘
CN103994159A (zh) * 2014-05-06 2014-08-20 南京航空航天大学 一种采用柔性放大结构的叠层式压电制动器及其工作方法
CN206617472U (zh) * 2017-04-17 2017-11-07 浙江农业商贸职业学院 一种汽车制动性能体验提升用刹车盘
CN207747076U (zh) * 2018-01-19 2018-08-21 王心成 一种协作机器人关节位置止动器
CN108869579A (zh) * 2018-06-01 2018-11-23 华东交通大学 一种单轨运输机的限速器
CN108748274A (zh) * 2018-08-30 2018-11-06 遨博（北京）智能科技有限公司 一种刹车装置、机器人关节臂及机器人
CN109278067A (zh) * 2018-11-30 2019-01-29 上海宇塚电子科技有限公司 机器人关节模组中盘式制动装置结构

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
厦门厦杏摩托有限公司: "厦杏摩托车", 北京理工大学出版社, pages: 89 - 91 *

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