CN114585485A - 机器人关节的齿形安全刹车装置、机器人关节以及机器人 - Google Patents

机器人关节的齿形安全刹车装置、机器人关节以及机器人 Download PDF

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Publication number
CN114585485A
CN114585485A CN201980100937.7A CN201980100937A CN114585485A CN 114585485 A CN114585485 A CN 114585485A CN 201980100937 A CN201980100937 A CN 201980100937A CN 114585485 A CN114585485 A CN 114585485A
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CN
China
Prior art keywords
brake
ring
robot
robot joint
hub
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Application number
CN201980100937.7A
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English (en)
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CN114585485B (zh
Inventor
杨勇
张晟
姜超
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Ruixinke Robot Co ltd
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Ruixinke Robot Co ltd
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Publication of CN114585485A publication Critical patent/CN114585485A/zh
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    • 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
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J19/06—Safety devices
    • 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
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F16D63/006—Positive locking 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
    • 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
    • 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
    • F16D2121/20—Electric or magnetic using electromagnets

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

Abstract

一种用于机器人关节的齿形安全刹车装置，包括电磁伸缩器(6)和摩擦接合组件(10)，所述摩擦接合组件(10)安装到机器人关节的轴(C)并包括，具有第一中心配合孔(12)的刹车锁齿圈(1)，所述刹车锁齿圈(1)具有位于其外周表面上的齿(11)，具有第二中心配合孔(13)的预紧圈(2)，具有第一端面(14)、第二端面(15)以及外周表面(16)的刹车毂(4)，在锁定位置上，所述电磁伸缩器(6)的工作头(17)能够与所述摩擦接合组件(10)的所述刹车锁齿圈(1)上的所述齿(11)接合，并且在解锁位置上，所述电磁伸缩器(6)的所述工作头(17)能够与所述摩擦接合组件(10)的所述刹车锁齿圈(1)上的所述齿(11)脱离接合，所述刹车锁齿圈(1)和所述预紧圈(2)通过所述第一中心配合孔(12)和所述第二中心配合孔(13)并置地摩擦接合在所述刹车毂(4)的所述外周表面(16)上。

Description

PCT国内申请，说明书已公开。

Claims (12)

  1. PCT国内申请，权利要求书已公开。
CN201980100937.7A 2019-09-30 2019-09-30 机器人关节的齿形安全刹车装置、机器人关节以及机器人 Active CN114585485B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/109592 WO2021062698A1 (zh) 2019-09-30 2019-09-30 机器人关节的齿形安全刹车装置、机器人关节以及机器人

Publications (2)

Publication Number Publication Date
CN114585485A true CN114585485A (zh) 2022-06-03
CN114585485B CN114585485B (zh) 2023-05-23

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US (1) US11945105B2 (zh)
EP (1) EP4039424A4 (zh)
JP (1) JP7390491B2 (zh)
CN (1) CN114585485B (zh)
WO (1) WO2021062698A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116211480A (zh) * 2022-03-24 2023-06-06 敏捷医疗科技(苏州)有限公司 手术机器人用传动系统及主控制手

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011002062A (ja) * 2009-06-19 2011-01-06 Yaskawa Electric Corp 減速機構内蔵アクチュエータおよびこれを用いた多関節ロボット
JP2011058578A (ja) * 2009-09-10 2011-03-24 Yaskawa Electric Corp 保持ブレーキ装置とこれを用いたアクチュエータ及びロボット装置
CN105008753A (zh) * 2013-02-19 2015-10-28 株式会社高永科技 电磁制动器
CN108515536A (zh) * 2018-04-13 2018-09-11 北京山思跃立科技有限公司 一种机械臂关节和机械臂
CN109366522A (zh) * 2018-11-13 2019-02-22 国机智能(苏州)有限公司 一种机器人关节避开刹车位置启动的方法
CN208681643U (zh) * 2018-08-30 2019-04-02 南京坤航信息科技有限公司 一种用于机器人的一体化高精度伺服关节模组

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2903099A (en) * 1957-07-24 1959-09-08 Nelson Frederick Ventilated wheel brake
US5133201A (en) * 1991-01-28 1992-07-28 Lamott Darryl L Vehicle wheel locking assembly
US6250433B1 (en) * 1999-05-24 2001-06-26 Case Corporation Positive-locking vehicular parking brake
DE10361296A1 (de) * 2003-12-24 2005-07-21 Robert Bosch Gmbh Selbstverstärkende elektromechanische Fahrzeugbremse
JP6610477B2 (ja) * 2016-03-30 2019-11-27 日本電産株式会社 回転アクチュエータおよびロボット
JP2018035837A (ja) * 2016-08-30 2018-03-08 オリジン電気株式会社 トルクリミッタ
US11161258B2 (en) * 2017-01-16 2021-11-02 Kollmorgen Corporation Robot arm joint
CN110323892B (zh) * 2018-03-29 2020-07-28 台达电子工业股份有限公司 马达刹车模块

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011002062A (ja) * 2009-06-19 2011-01-06 Yaskawa Electric Corp 減速機構内蔵アクチュエータおよびこれを用いた多関節ロボット
JP2011058578A (ja) * 2009-09-10 2011-03-24 Yaskawa Electric Corp 保持ブレーキ装置とこれを用いたアクチュエータ及びロボット装置
CN105008753A (zh) * 2013-02-19 2015-10-28 株式会社高永科技 电磁制动器
CN108515536A (zh) * 2018-04-13 2018-09-11 北京山思跃立科技有限公司 一种机械臂关节和机械臂
CN208681643U (zh) * 2018-08-30 2019-04-02 南京坤航信息科技有限公司 一种用于机器人的一体化高精度伺服关节模组
CN109366522A (zh) * 2018-11-13 2019-02-22 国机智能(苏州)有限公司 一种机器人关节避开刹车位置启动的方法

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Publication number Publication date
US20220379497A1 (en) 2022-12-01
JP2022549972A (ja) 2022-11-29
EP4039424A1 (en) 2022-08-10
WO2021062698A8 (zh) 2022-04-21
EP4039424A4 (en) 2022-10-19
CN114585485B (zh) 2023-05-23
US11945105B2 (en) 2024-04-02
JP7390491B2 (ja) 2023-12-01
WO2021062698A1 (zh) 2021-04-08

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