CN114467251A - 抱闸装置、机器人关节和协作式机器人 - Google Patents

抱闸装置、机器人关节和协作式机器人 Download PDF

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Publication number
CN114467251A
CN114467251A CN201980099662.XA CN201980099662A CN114467251A CN 114467251 A CN114467251 A CN 114467251A CN 201980099662 A CN201980099662 A CN 201980099662A CN 114467251 A CN114467251 A CN 114467251A
Authority
CN
China
Prior art keywords
band
brake device
type brake
displacement
output
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
CN201980099662.XA
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English (en)
Inventor
张晟
周文娟
姜超
杨勇
刘小宽
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
Original Assignee
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 CN114467251A publication Critical patent/CN114467251A/zh
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/04—Constructional details
    • H02N2/043—Mechanical transmission means, e.g. for stroke amplification
    • 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
    • F16D51/10—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like shaped as exclusively radially-movable brake-shoes
    • 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
    • F16D59/00—Self-acting brakes, e.g. coming into operation at a predetermined speed
    • F16D59/02—Self-acting brakes, e.g. coming into operation at a predetermined speed spring-loaded and adapted to be released by mechanical, fluid, or electromagnetic means
    • 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
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/22—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for pressing members apart, e.g. for drum brakes
    • 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
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/30—Constructional features of the final output mechanisms
    • F16H63/3003—Band brake actuating mechanisms
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/50—Piezoelectric or electrostrictive devices having a stacked or multilayer structure
    • 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
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/28—Electric or magnetic using electrostrictive or magnetostrictive elements, e.g. piezoelectric elements
    • F16D2121/30—Electric or magnetic using electrostrictive or magnetostrictive elements, e.g. piezoelectric elements for releasing a normally applied brake

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Braking Arrangements (AREA)
  • Manipulator (AREA)

Abstract

抱闸装置(100)、机器人关节(600)和协作式机器人(700)，抱闸装置(100)包括：压电陶瓷堆栈(102)，沿着第一轴线(XX’)方向延伸布置，其在第一轴线(XX’)方向上具有第一端(1022)和第二端(1024)，在抱闸装置(100)处于上电状态时，压电陶瓷堆栈(102)的第一端(1022)和第二端(1024)沿着第一轴线(XX’)方向向外延伸，在发生掉电时，第一端(1022)和第二端(1024)向内收缩；位移调节器(104)，围绕压电陶瓷堆栈(102)布置，包括：在第一轴线(XX’)方向上的第一输入端(1042)和第二输入端(1044)，以及在与第一轴线(XX’)方向垂直的第二轴线(YY’)方向上的第一输出端(1046)和第二输出端(1048)；以及至少一个摩擦部件(106)，其中，压电陶瓷堆栈(102)的第一端(1022)和第二端(1024)分别抵接于第一输入端(1042)和第二输入端(1044)，第一输出端(1046)和第二输出端(1048)中的至少一个与摩擦部件(106)连接，或者第一输出端(1046)和第二输出端(1048)中的至少一个与摩擦部件(106)一体形成。

Description

PCT国内申请，说明书已公开。

Claims (7)

  1. PCT国内申请，权利要求书已公开。
CN201980099662.XA 2019-09-30 2019-09-30 抱闸装置、机器人关节和协作式机器人 Pending CN114467251A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/109591 WO2021062697A1 (zh) 2019-09-30 2019-09-30 抱闸装置、机器人关节和协作式机器人

Publications (1)

Publication Number Publication Date
CN114467251A true CN114467251A (zh) 2022-05-10

Family

ID=75337694

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980099662.XA Pending CN114467251A (zh) 2019-09-30 2019-09-30 抱闸装置、机器人关节和协作式机器人

Country Status (3)

Country Link
EP (1) EP4020787A4 (zh)
CN (1) CN114467251A (zh)
WO (1) WO2021062697A1 (zh)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2845440B1 (fr) * 2002-10-03 2006-03-31 Sagem Dispositif de commande de valves
JP4068013B2 (ja) * 2003-06-06 2008-03-26 曙ブレーキ工業株式会社 電動式ブレーキ装置
JP2011502461A (ja) * 2007-10-25 2011-01-20 マサチューセッツ インスティテュート オブ テクノロジー 歪増幅器及び方法
EP2208242B1 (en) * 2007-11-01 2016-12-21 QinetiQ Limited Nested flextensional transducer and cylindrical actuator modules
DE102008026429A1 (de) * 2008-06-02 2009-12-10 Physik Instrumente (Pi) Gmbh & Co. Kg Ultraschallaktor
JP2012200045A (ja) * 2011-03-18 2012-10-18 Seiko Epson Corp 電動モーター、ロボット及び制動装置
JP2018122417A (ja) * 2017-02-02 2018-08-09 セイコーエプソン株式会社 ロボット
CN109039150B (zh) * 2018-09-25 2019-10-11 宁波大学 一种基于表面微结构摩擦调控的粘滑惯性直线驱动器
CN110289785B (zh) * 2019-07-12 2021-01-29 哈尔滨工业大学 一种断电保持三自由度压电指向调整装置及平台控制方法
CN110224633B (zh) * 2019-07-12 2020-07-07 哈尔滨工业大学 一种断电自锁微位移压电调整装置

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Publication number Publication date
WO2021062697A1 (zh) 2021-04-08
EP4020787A4 (en) 2023-05-10
EP4020787A1 (en) 2022-06-29

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