CN114718972A - Permanent magnet power-off protection brake, brake control method and mechanical joint - Google Patents
Permanent magnet power-off protection brake, brake control method and mechanical joint Download PDFInfo
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- CN114718972A CN114718972A CN202210265217.XA CN202210265217A CN114718972A CN 114718972 A CN114718972 A CN 114718972A CN 202210265217 A CN202210265217 A CN 202210265217A CN 114718972 A CN114718972 A CN 114718972A
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- 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
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- 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
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- 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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Abstract
The invention discloses a permanent magnet power-off protection brake, a brake control method and a mechanical joint, wherein the brake comprises a friction disc module, a brake module and a control module, the friction disc module is linked with a rotor of a motor and can move along the axial direction of the rotor, the brake module comprises a brake permanent magnet ring and a coil unit, and the brake permanent magnet ring and the coil unit are positioned on one side of the friction disc module; the control module is connected with the coil unit and used for controlling the on-off of the coil unit, and when the coil unit is powered off, the friction disc module is attracted with the coil unit under the action of the magnetic force of the braking permanent magnet ring; when the coil unit is electrified, the magnetic force generated by the coil unit is offset with the magnetic force of the braking permanent magnet ring, and the friction disc module is separated from the coil unit. The invention has the advantages of simple and compact structure, light and thin volume, large self-locking moment and the like.
Description
Technical Field
The invention mainly relates to the technical field of mechanical joints, in particular to a permanent magnet power-off protection brake, a brake control method and a mechanical joint.
Background
In mechanical joint, the equipment of guaranteeing safety is mainly the stopper, and its function is when mechanical joint loses electricity or loses control, guarantees that mechanical joint self and terminal load unpredictable collision do not appear, and when mechanical joint was out of work, the stopper can also keep mechanical joint's position and gesture. The joints of large-sized robots (Canadarm 2 of the national space agency, JEMRMS and eura of japan), small-sized robots (SPIDER and EUROPA of italy, DEXARM of europe) for space testing and maintenance, and domestic-designed space robots (manipulator system of the university of tokyo post and space robot system of the university of harbinga) are provided with stoppers for securing the joints and equipment.
Brakes conventionally used in mechanical joints have both toothed pin brakes and friction plate brakes. The pin type brake is simple in structure and low in cost, the pin is pushed by the electromagnet to brake by contacting with the latch disc, the problem of band-type brake clearance exists in the application of a mechanical arm, certain residual torque exists, and special control logic is needed to ensure the release of the brake under the load condition in the brake release process. The friction plate brake is a traditional scheme and is usually driven by electromagnetic force. However, in the friction plate type brake, the volume requirement of the conventional electromagnetic-spring type friction brake device is large. In addition, when the robot integrated joint is assembled, various sensor lines and control lines are arranged in the joint; and communication lines, power lines and various sensor lines are arranged between the integrated joints and between the related joints. For the convenience of maintenance and quick maintenance, a modular design is adopted, the single joint is hollow, and the kinking of the wiring is avoided, so that the wiring is convenient. Although the hollow ring type structure is available in the market, the spring group occupies space, so that the hollow wiring space is very small, and no space is provided for cables to pass through.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problems in the prior art, the invention provides a permanent magnet power-off protection brake with simple and compact structure, light and thin volume and large self-locking moment, a brake control method and a mechanical joint.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a permanent magnet power-off protection brake is applied to the interior of a robot joint and comprises a friction disc module, a brake module and a control module, wherein the friction disc module is linked with a rotor of a motor and can move along the axial direction of the rotor; the control module is connected with the coil unit and used for controlling the on-off of the coil unit, and when the coil unit is powered off, the friction disc module is attracted with the coil unit under the magnetic force action of the braking permanent magnet ring; when the coil unit is electrified, the magnetic force generated by the coil unit is counteracted with the magnetic force of the braking permanent magnetic ring, and the friction disc module is separated from the coil unit.
As a further improvement of the above technical solution:
the coil unit comprises an inner stator, a coil and a base, the base is installed on the robot joint, the coil is wound on the inner stator, the coil and the inner stator are installed on the base, and the braking permanent magnet ring is located between the base and the inner stator.
And wire holes communicated with the rotor shaft hole are formed in the middle parts of the inner stator, the base and the permanent magnet ring.
The friction disc module comprises a friction armature and a flexible ring plate, and the friction armature is mounted on the rotor through the flexible ring plate.
And wire holes communicated with the rotor shaft hole are formed in the middle parts of the friction armature and the flexible ring piece.
The control module comprises a power supply conversion circuit and an output switching circuit, wherein the input end of the power supply conversion circuit is connected with the release voltage of the main controller, the input end and the output end of the power supply conversion circuit are connected with the input end of the output switching circuit, and the output end of the output switching circuit is connected with the coil unit.
The control module further comprises a protection circuit, a bleeder circuit and a logic control circuit, wherein the protection circuit is connected in series between the positive electrode of the release voltage and the input end of the power conversion circuit; two ends of the bleeder circuit are respectively connected with two ends of the coil; and the output end of the logic control circuit is respectively connected with the control ends of the power supply conversion circuit and the output switching circuit.
The invention also discloses a braking control method based on the permanent magnet power-off protection brake, which comprises the following steps:
when the braking force needs to be relieved, the output switching circuit directly outputs the release voltage of the main controller to the coil unit so as to realize the quick separation of the friction disc module and the coil unit;
after the friction disc module is separated from the coil unit, the output switching circuit outputs the voltage reduced by the power supply conversion circuit to the coil unit so as to maintain the separation state of the friction disc module and the coil unit.
As a further improvement of the above technical solution:
and after the release voltage is output to the coil unit and is maintained for a preset time, judging that the friction disc module is separated from the coil unit.
The invention further discloses a mechanical joint which comprises a joint body, wherein a motor is installed in the joint body, and the permanent magnet power-off protection brake is further arranged in the joint body.
Compared with the prior art, the invention has the advantages that:
the permanent magnet power-off protection brake provided by the invention has the advantages that the permanent magnet force generated by the brake permanent magnet ring is used for attracting the friction disc module to form a brake torque to realize braking, the energy density generated by the permanent magnet is far larger than that of a spring under the same volume, the attraction force generated by the permanent magnet in a small gap (within 1 mm) is far larger than the elastic force generated by the spring, and the brake torque generated by the permanent magnet is more than 1.5 times of that of the conventional electromagnetic-spring type friction brake principle under the same volume, so that the self-locking torque is larger and the braking is reliable; the whole structure is compact, the volume is light and thin, the self-locking torque is large, the assembly is easy, and the maintenance is free.
The middle parts of the inner stator, the base, the permanent magnet ring, the friction armature and the flexible ring piece are all provided with wire holes communicated with the rotor shaft hole, so that a larger space is provided for passing more cables, the size of the brake is further reduced, and the brake is suitable for mechanical joints. In addition, the hollow ring type wiring mode not only avoids the influence of electromagnetic radiation on the exposed wires, but also avoids the defect that the required wires need to be left with allowance at each joint.
When the brake works, the brake coil is electrified to generate a counteracting magnetic field to counteract a permanent magnetic field generated by the permanent magnetic ring, the attraction of the permanent magnetic ring to the friction armature is reduced, and the friction armature is separated from the base under the tension of the flexible ring piece. When the friction armature is pulled back to the working position, namely the working clearance between the friction armature and the base is the largest, the offset current in the coil is reduced, so that the whole system is maintained at a lower power consumption, the design can not only reduce the heat productivity of the coil and prolong the service life, but also enable the whole brake to be at a lower power consumption in the working state, energy is saved, and most importantly, the design only needs to require that the friction armature is led in a larger instantaneous current when being separated from the base, so the size can be smaller and thinner.
Drawings
Fig. 1 is a sectional structural view of a brake of the present invention in an embodiment.
Fig. 2 is an exploded view of an embodiment of the brake of the present invention.
FIG. 3 is a schematic diagram of the operation of an embodiment of the brake of the present invention; wherein (a) is a power-off attracting magnetic circuit diagram; (b) to obtain an electricity release magnetic circuit diagram; (c) is a drawing of a power-off attraction magnetic circuit.
Fig. 4 is a perspective view of the mechanical joint according to the embodiment of the present invention.
Fig. 5 is a block configuration diagram of an embodiment of the control system of the present invention.
FIG. 6 is a block diagram of a control module according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a control method according to an embodiment of the present invention.
FIG. 8 is a block diagram of an embodiment of a flexible loop sheet of the present invention.
Fig. 9 is a side view of the flexible ring segments of the present invention at 120 deg. force.
Illustration of the drawings: 1. a friction disc module; 101. a friction armature; 102. a flexible loop sheet; 2. a brake module; 201. a permanent magnet ring; 202. a coil unit; 2021. an inner stator; 2022. a coil; 2023. a base; 3. a control module; 301. a protection circuit; 302. a power conversion circuit; 303. an output switching circuit; 304. a bleeding circuit; 305. a logic control circuit; 4. a joint body; 5. a motor; 501. a stator; 502. and a rotor.
Detailed Description
The invention is further described below in conjunction with the drawings and the detailed description of the invention.
As shown in fig. 1 to 3, the permanent magnet power loss protection brake of the embodiment of the invention is applied to the interior of a robot joint, and specifically includes a friction disc module 1, a brake module 2 and a control module 3, wherein the friction disc module 1 is linked with a rotor 502 of a motor 5 and can move along the axial direction of the rotor 502, the brake module 2 includes a brake permanent magnet ring 201 and a coil unit 202, and the brake permanent magnet ring 201 and the coil unit 202 are located on one side of the friction disc module 1; the control module 3 is connected with the coil unit 202 and used for controlling the power on and off of the coil unit 202, and when the coil unit 202 is powered off, the friction disc module 1 is attracted with the coil unit 202 under the magnetic force action of the braking permanent magnet ring 201; when the coil unit 202 is energized, the magnetic force generated by the coil unit 202 cancels the magnetic force of the brake permanent magnet ring 201, and the friction disc module 1 is separated from the coil unit 202 without residual torque. The permanent magnet power-off protection brake provided by the invention has the advantages that the permanent magnet force generated by the brake permanent magnet ring 201 is used for attracting the friction disc module 1 to form brake torque to realize braking, the energy density generated by the permanent magnet ring 201 is far larger than that of a spring under the same volume, the suction force generated by the permanent magnet ring 201 in a small gap (within 1 mm) is far larger than the elastic force generated by the spring, and the brake torque generated by the permanent magnet ring 201 is more than 1.5 times of that of the conventional electromagnetic-spring type friction brake principle under the same volume, so that the self-locking torque of the brake is larger and the brake is reliable; the whole structure is compact, the volume is light and thin, the self-locking torque is large, the assembly is easy, and the maintenance is free.
In one embodiment, the coil unit 202 includes an inner stator 2021, a coil 2022 and a base 2023, the base 2023 is mounted on the robot joint, the coil 2022 is wound on the inner stator 2021, the coil 2022 and the inner stator 2021 are mounted on the base 2023, and a brake permanent magnet ring 201 is located between the base 2023 and the inner stator 2021 to provide permanent magnetic flux to the brake. Under the condition that the motor 5 is not electrified, the braking permanent magnet ring 201 generates a permanent magnet force to brake the brake. After the power is switched on, the coil 2022 generates a reverse electromagnetic force to offset the permanent magnetic force, the friction armature 101 is separated from the base 2023 and the inner stator 2021 under the restoring force of the flexible ring piece 102, the brake is released at the attraction position, and the separation without residual torque is realized.
The friction disk module 1 comprises a friction armature 101 and a flexible ring sheet 102, wherein the friction armature 101 is connected with the rotor of the motor 5 through the flexible ring sheet 102. The flexible ring piece 102 transmits axial displacement and prevents circumferential rotation through self deformation, and the friction armature 101 is used for attracting the inner stator 2021 and the base 2023 under the power-off state to lock the rotor 502 of the motor 5.
The middle parts of the inner stator 2021, the base 2023, the permanent magnet ring 201, the friction armature 101 and the flexible ring piece 102 are all provided with wire holes communicated with the shaft hole of the rotor 502, so that a larger space is provided, more cables can pass through, and the size of the brake is further reduced, thereby being suitable for mechanical joints. In addition, the hollow ring type wiring mode not only avoids the influence of electromagnetic radiation on the exposed wires, but also avoids the defect that the required wires need to be left with allowance at each joint.
As shown in fig. 3, wherein (a) is a magnetic circuit trend chart when the brake is switched off and on, it can be known that the permanent magnet ring 201 in the brake always generates permanent magnet magnetic flux, and the permanent magnet ring 201, the friction armature 101, the base 2023, and the inner stator 2021 form a permanent magnet circuit together. Under the condition that the motor 5 does not work, the power-off brake coil 2022 is not electrified, only permanent magnetic flux generated by the permanent magnet exists in a loop, and under the action of the permanent magnetic flux, the permanent magnetic force overcomes the elastic force of the flexible ring piece 102 to keep the friction armature 101 adsorbed on the base 2023 and the inner stator 2021. According to the deformation characteristic of the flexible ring piece 102, the rigidity of the structure in the axial direction is relatively low, the rigidity in the circumferential rotation direction is relatively high, the flexible ring piece 102 in the brake is connected with the motor 5 rotor and the friction armature 101, the support and the guide are provided for the axial movement of the friction armature 101 by virtue of the low rigidity characteristic in the axial direction, the motor 5 rotor is prevented from continuously rotating in time by virtue of the high rigidity characteristic in the circumferential direction, and the purposes of keeping locking and braking in time are achieved. Fig. 3 (b) shows that when the motor 5 is in operation, the electric brake coil 2022 is energized, and electromagnetic flux having the same magnitude as the permanent magnetic flux and the opposite direction is generated in the structural circuit as cancellation magnetic flux. The total magnetic flux between the working air gaps is reduced, the attraction force is weakened, the friction armature 101 is pulled back to the working position under the action of the restoring force of the flexible ring piece 102, and at the moment, the friction armature 101 rotates along with the rotation of the motor 5. Fig. 3 (c) shows that when the motor 5 is powered off, the brake is powered off at the same time, the electromagnetic flux disappears, at this time, the structure and the working air gap are filled with permanent magnetic flux, the permanent magnetic flux fills the working air gap, the friction armature 101 is attracted again by the attraction force, overcomes the self-elasticity of the flexible ring piece 102 and then is attracted with the base 2023 and the inner stator 2021, and when the friction armature 101 is completely attached to the inner stator 2021 and the base 2023, the power-off braking action is completed.
In a specific embodiment, the movement of the friction armature 101 in the working air gap is mainly realized by the deformation of the flexible ring plate 102, and the rigidity of the flexible ring plate 102 in the axial direction is too high, so that the permanent magnetic force required by the permanent magnetic ring 201 to overcome the elastic force of the flexible ring plate 102 is larger, and the volume of the permanent magnetic ring 201 and the volume of the whole brake are correspondingly increased; if the rigidity is too low, the friction armature 101 is easier to deform in the circumferential direction after being attracted, the torque resistance is correspondingly reduced, the braking torque is reduced, and the requirement for timely braking cannot be met.
The flexible ring piece 102 (the annular spring gasket) is used as a reset element of the friction armature 101 of the brake, when the brake is in a braking state, the flexible ring piece 102 is in a wave-shaped structure, the wave crest is fixed with the friction armature 101, the wave trough is fixed with the rotor 502 of the motor 5, and the flexible ring piece 102 is alternately connected with the friction armature 101 and the rotor 502 of the motor at intervals, so that the torque resistance effect is good; compared with an extension spring or a traditional spring, the designed flexible ring piece 102 not only has the advantages of simple and compact structure, convenience in installation and the like, but also has the characteristics of long service life, large braking torque, high braking reliability and the like. Specifically, the structure of the flexible ring piece 102 is as shown in fig. 8, six connection points are evenly distributed on the flexible ring piece 102, wherein a1, a2 and A3 points are fixedly connected with the rotor 502, B1, B2 and B3 points are fixedly connected with the friction armature 101, when the friction armature 101 is subjected to the action of the axial suction force F of the permanent magnet ring 201, the axial suction force F is evenly applied to the points B1, B2 and B3 to drive the flexible ring piece 102 to deform simultaneously, and the stress of the 120-degree ring piece part is as shown in fig. 9 because the structure is evenly symmetrical at 120 degrees.
In a specific embodiment, as shown in fig. 6, the control module 3 includes a power conversion circuit 302 and an output switching circuit 303, an input terminal of the power conversion circuit 302 is connected to the release voltage of the main controller, an input terminal and an output terminal of the power conversion circuit 302 are both connected to an input terminal of the output switching circuit 303, and an output terminal of the output switching circuit 303 is connected to the coil unit 202. In addition, the control module 3 further includes a protection circuit 301, a bleeder circuit 304 and a logic control circuit 305, wherein the protection circuit 301 is connected in series between the positive pole of the release voltage and the input end of the power conversion circuit 302; two ends of the bleeder circuit 304 are connected with two ends of the coil 2022 respectively; the output terminal of the logic control circuit 305 is connected to the control terminals of the power conversion circuit 302 and the output switching circuit 303, respectively. Specifically, the protection circuit 301 is used for suppressing various abnormal conditions of the input power supply, and protecting other functional circuits in the control module 3; the power conversion circuit 302 is used for performing voltage reduction processing on an input power supply to generate a stable and continuous low-voltage power supply; the logic control power supply is used for providing a low-voltage level for the logic control circuit; the logic control circuit 305 is used for generating a control signal according to the internal control logic and starting the power conversion circuit to work in stages; the output switching circuit 303 is used for switching the working voltage loaded on the brake according to a switching signal generated by the control logic; the bleed circuit 304 is used to bleed residual energy in the structure of the coil 2022 in the brake, protecting the control module 3 from damage.
As shown in fig. 5, the control module 3 of the brake is used for controlling the operating state of the brake, using the released voltage output by the main control system as an energy input. When the main control system outputs release voltage, the control module 3 carries out secondary voltage reduction processing on the voltage and then loads the voltage to the brake, and the motor 5 is released to allow the motor to freely work. Because the brake relies on the permanent magnet to provide braking force, when the brake is released, release voltage needs to be loaded to the brake to generate an electromagnetic field to counteract the permanent magnetic field generated by the permanent magnet. Although the conventional bus power supply directly using the driver can smoothly release the brake of the motor 5, the subsequent long-time electrification will cause the brake to generate heat, which is not beneficial to the working stability of the motor 5 and the system power consumption. Therefore, the control module 3 takes the release voltage provided by the main controller as an input, separates the friction armature 101 from the brake body, and outputs the voltage to the brake of the motor 5 after voltage reduction processing is performed on the voltage through the power conversion circuit 302 under the control of an internal circuit. Under proper logic control, the braking force of the motor 5 can be quickly released, abnormal heating can not be generated any more, the system stability is improved, and the power consumption is reduced. In addition, the brake equipped with the control module 3 can output higher instantaneous voltage in the initial stage to enable the friction armature 101 to be separated from the brake body more quickly, and then the current in the brake body coil 2022 returns to the safe current range or even smaller through the secondary voltage reduction process to maintain the work separation state. Therefore, the size of the brake equipped with the control module 3 can be greatly reduced (high voltage is introduced, the number of turns of the coil 2022 can be reduced), so that the whole system is more compact and the structure is simpler.
As shown in fig. 7, the embodiment of the present invention further discloses a braking control method based on the above permanent magnet power-off protection brake, which includes the steps of:
when the braking force needs to be released, the output switching circuit 303 directly outputs the release voltage of the main controller to the coil unit 202, so as to realize the quick separation of the friction disk module 1 and the coil unit 202;
after the friction disk module 1 is separated from the coil unit 202, the output switching circuit 303 outputs the voltage reduced by the power conversion circuit 302 to the coil unit 202 to maintain the separation state of the friction disk module 1 and the coil unit 202, so as to ensure that the coil unit 202 does not generate abnormal heating conditions, improve the system stability, and reduce the power consumption.
In one embodiment, after the release voltage is output to the coil unit 202 and maintained for a predetermined time (e.g., 1s), it is determined that the friction disk module 1 is separated from the coil unit 202.
In the above scheme, at the initial stage of separating the friction disc module 1 from the coil unit 202, the voltage may also be boosted by the power conversion circuit 302 and then output to the coil unit 202, so as to realize the rapid separation of the friction disc module 1 from the coil unit 202; after the separation is completed, the voltage is reduced by the power conversion circuit 302 and then output to the coil unit 202, so as to maintain the separation state of the friction disc module 1 and the coil unit 202, and also ensure that the coil unit 202 does not generate abnormal heating condition and improve the stability of the system, and reduce power consumption. Since the coil unit 202 is supplied with a larger voltage in the previous period, the corresponding coil unit 202 can be designed to be smaller and thinner (e.g., the number of turns of the coil 2022 can be reduced by supplying a large voltage and a large current).
Specifically, when the brake works, the brake coil 2022 is energized to generate a counteracting magnetic field to counteract the permanent magnetic field generated by the permanent magnetic ring 201, the attraction force of the permanent magnetic ring 201 to the friction armature 101 is reduced, and the friction armature 101 is separated from the base 2023 under the pulling force of the flexible ring piece 102. When the friction armature 101 is pulled back to the working position, that is, when the working gap between the friction armature 101 and the base 2023 is the largest, the offset current in the coil 2022 is reduced, so that the whole system is maintained at a lower power consumption, and such design not only can reduce the heat productivity of the coil 2022 and prolong the service life, but also can enable the whole brake to be at a lower power consumption in the working state, thereby saving energy, and most importantly, such design only needs to lead in a larger instantaneous current when the friction armature 101 is separated from the base 2023, so that the volume can be made smaller and thinner.
As shown in fig. 4, the embodiment of the invention also discloses a mechanical joint, which comprises a joint body 4, wherein a motor 5 and the permanent magnet power-off protection brake are installed in the joint body 4. Specifically, the motor 5 and the brake are both installed inside the joint body 4, wherein the motor 5 is divided into a stator and a rotor, the brake is structurally divided into a moving part (friction disc module 1) and a static part (brake module 2), the moving part is installed on the rotor of the motor 5, the static part is installed on an installation base 2023 of the joint assembly, the installation base 2023 is fixedly connected with the stator of the motor 5, and the static part and the stator of the motor 5 are always kept relatively static. Under the working state of the motor 5, the moving part of the brake is separated from the static part, the moving part rotates along with the rotor of the motor 5, and under the power-off state of the motor 5, the moving part of the brake is attracted with the static part, so that the motor shaft is kept braked, and the aim of locking the motor 5 is fulfilled.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention may be apparent to those skilled in the relevant art and are intended to be within the scope of the present invention.
Claims (10)
1. A permanent magnet power-loss protection brake is applied to the interior of a robot joint and is characterized by comprising a friction disc module (1), a brake module (2) and a control module (3), wherein the friction disc module (1) is linked with a rotor (502) of a motor (5) and can move along the axial direction of the rotor (502), the brake module (2) comprises a brake permanent magnet ring (201) and a coil unit (202), and the brake permanent magnet ring (201) and the coil unit (202) are positioned on one side of the friction disc module (1); the control module (3) is connected with the coil unit (202) and used for controlling the power on and off of the coil unit (202), and when the coil unit (202) is powered off, the friction disc module (1) is attracted with the coil unit (202) under the magnetic action of the braking permanent magnet ring (201); when the coil unit (202) is electrified, the magnetic force generated by the coil unit (202) is counteracted with the magnetic force of the braking permanent magnet ring (201), and the friction disc module (1) is separated from the coil unit (202).
2. The permanent magnet loss protection brake as claimed in claim 1, wherein the coil unit (202) comprises an inner stator (2021), a coil (2022) and a base (2023), the base (2023) is mounted on the robot joint, the coil (2022) is wound on the inner stator (2021), the coil (2022) and the inner stator (2021) are mounted on the base (2023), and the brake permanent magnet ring (201) is located between the base (2023) and the inner stator (2021).
3. The permanent magnet power loss protection brake as claimed in claim 2, wherein wire holes communicated with the shaft hole of the rotor (502) are arranged in the middle of the inner stator (2021), the base (2023) and the permanent magnet ring (201).
4. The permanent magnet power loss protection brake as claimed in claim 1, 2 or 3, characterized in that the friction disc module (1) comprises a friction armature (101) and a flexible ring plate (102), the friction armature (101) being mounted on the rotor (502) by the flexible ring plate (102).
5. The permanent magnet power-loss protection brake as claimed in claim 4, wherein wire holes communicated with the shaft hole of the rotor (502) are formed in the middle parts of the friction armature (101) and the flexible ring piece (102).
6. A permanent magnet power-loss protection brake as claimed in claim 1, 2 or 3, wherein the control module (3) comprises a power conversion circuit (302) and an output switching circuit (303), an input end of the power conversion circuit (302) is connected with a release voltage of a main controller, an input end and an output end of the power conversion circuit (302) are connected with an input end of the output switching circuit (303), and an output end of the output switching circuit (303) is connected with the coil unit (202).
7. The permanent magnet power loss protection brake as claimed in claim 6, wherein the control module (3) further comprises a protection circuit (301), a bleeder circuit (304) and a logic control circuit (305), wherein the protection circuit (301) is connected in series between the positive release voltage and an input terminal of a power conversion circuit (302); two ends of the bleeder circuit (304) are respectively connected with two ends of the coil unit (202); and the output end of the logic control circuit (305) is respectively connected with the control ends of the power supply conversion circuit (302) and the output switching circuit (303).
8. A braking control method based on the permanent magnet power-off protection brake of claim 6 or 7, characterized by comprising the following steps:
when the braking force needs to be relieved, the output switching circuit (303) directly outputs the release voltage of the main controller to the coil unit (202) so as to realize the quick separation of the friction disc module (1) and the coil unit (202);
after the friction disc module (1) is separated from the coil unit (202), the output switching circuit (303) outputs the voltage reduced by the power conversion circuit (302) to the coil unit (202) so as to maintain the separation state of the friction disc module (1) and the coil unit (202).
9. The brake control method according to claim 8, characterized in that after the release voltage is output to the coil unit (202) and maintained for a predetermined time, it is judged that the friction disc module (1) is separated from the coil unit (202).
10. A mechanical joint comprises a joint body (4), wherein a motor (5) is installed in the joint body (4), and the mechanical joint is characterized in that a permanent magnet power-off protection brake as claimed in any one of claims 1 to 7 is further arranged in the joint body (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210265217.XA CN114718972A (en) | 2022-03-17 | 2022-03-17 | Permanent magnet power-off protection brake, brake control method and mechanical joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210265217.XA CN114718972A (en) | 2022-03-17 | 2022-03-17 | Permanent magnet power-off protection brake, brake control method and mechanical joint |
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| Publication Number | Publication Date |
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| CN114718972A true CN114718972A (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210265217.XA Pending CN114718972A (en) | 2022-03-17 | 2022-03-17 | Permanent magnet power-off protection brake, brake control method and mechanical joint |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10324487A1 (en) * | 2003-05-30 | 2004-12-23 | Kendrion Binder Magnete Gmbh | Electro-magnetically opened pole friction clutch has an exciter coil surrounded by a soft magnetic matrerial |
| CN109088510A (en) * | 2018-08-16 | 2018-12-25 | 居鹤华 | A kind of power loss internal contracting brake mechanism and its control method |
| CN111288099A (en) * | 2020-02-28 | 2020-06-16 | 洛阳尚奇机器人科技有限公司 | Low-power-consumption electromagnetic band-type brake device for braking of rotating mechanism and driving circuit thereof |
| CN112922975A (en) * | 2021-03-30 | 2021-06-08 | 凡点(青岛)智能装备有限公司 | Brake assembly |
| CN214945902U (en) * | 2021-03-30 | 2021-11-30 | 凡点(青岛)智能装备有限公司 | Stopper subassembly and arm joint |
| CN113864369A (en) * | 2021-09-16 | 2021-12-31 | 北京航空航天大学 | Permanent magnet brake |
-
2022
- 2022-03-17 CN CN202210265217.XA patent/CN114718972A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10324487A1 (en) * | 2003-05-30 | 2004-12-23 | Kendrion Binder Magnete Gmbh | Electro-magnetically opened pole friction clutch has an exciter coil surrounded by a soft magnetic matrerial |
| CN109088510A (en) * | 2018-08-16 | 2018-12-25 | 居鹤华 | A kind of power loss internal contracting brake mechanism and its control method |
| CN111288099A (en) * | 2020-02-28 | 2020-06-16 | 洛阳尚奇机器人科技有限公司 | Low-power-consumption electromagnetic band-type brake device for braking of rotating mechanism and driving circuit thereof |
| CN112922975A (en) * | 2021-03-30 | 2021-06-08 | 凡点(青岛)智能装备有限公司 | Brake assembly |
| CN214945902U (en) * | 2021-03-30 | 2021-11-30 | 凡点(青岛)智能装备有限公司 | Stopper subassembly and arm joint |
| CN113864369A (en) * | 2021-09-16 | 2021-12-31 | 北京航空航天大学 | Permanent magnet brake |
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