CN116164059A - Electromagnetic brake applied to parallel robot - Google Patents
Electromagnetic brake applied to parallel robot Download PDFInfo
- Publication number
- CN116164059A CN116164059A CN202111409276.1A CN202111409276A CN116164059A CN 116164059 A CN116164059 A CN 116164059A CN 202111409276 A CN202111409276 A CN 202111409276A CN 116164059 A CN116164059 A CN 116164059A
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- CN
- China
- Prior art keywords
- brake
- electromagnetic
- electromagnetic brake
- parallel robot
- braking
- 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
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Classifications
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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
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
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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
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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
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Braking Arrangements (AREA)
Abstract
The electromagnetic brake applied to the parallel robot is characterized by small product, good braking performance, high response speed, small power and low heating value, and can change the size according to different motor output shafts, so that the electromagnetic brake can not generate gaps when the motor is braked, ensure the accuracy requirement of the robot during motion maintenance on the premise of ensuring corresponding braking torque, and play a role in power-off protection under the condition of sudden power-off.
Description
Technical Field
The present invention relates to the fields of electromagnetics and tribology.
Background
With the continuous development of parallel robots, parallel robots are developed towards high precision and miniaturization, and because the volume of each foot of a six-foot robot is limited during miniaturization, a smaller volume of a brake is required to adapt to the development of the robot. And how to reduce the volume of the six-legged robot under the condition that the braking effect is unchanged as much as possible, control the heating value of the six-legged robot well, reduce the power of the six-legged robot, make the response speed of the six-legged robot fast, enable the six-legged robot to generate enough holding moment when the six-legged robot acts and generate no resistance when the six-legged robot moves.
Disclosure of Invention
The invention provides an electromagnetic brake of a parallel robot, which aims to overcome the defects of the prior art.
The application provides the following technical scheme:
the invention relates to a brake mainly comprising an upper friction disc, an upper end cover, a bearing matched between the upper friction disc and the upper end cover, a friction disc tightly matched with a movable armature through interference fit, and a base formed by a spring and an electromagnetic coil together for providing braking torque of the brake by the friction disc, wherein all parts of the brake can penetrate through an output shaft of a motor. The working principle is that when the robot is required to act and keep, the robot is powered off, and the spring can tightly attach the friction plate and the upper friction plate together due to the pressure of the armature, so that corresponding friction moment is generated; when the robot works, the electromagnetic coil is electrified, the movable armature is sucked down due to electromagnetic force, the friction plate is separated from the upper friction plate, the robot is in a motion state, and the brake can not generate resistance due to the fact that the movable armature is completely sucked down.
The friction disc can be tightly connected with the output shaft of the motor, so that no braking gap between the output shaft and the brake is realized.
The upper friction disc and the upper end cover are matched with a bearing, so that the inner ring of the bearing is contacted with the upper friction disc; the bearing outer ring is contacted with the end cover; greatly reducing the resistance during its movement.
The braking torque is mainly concentrated on a part of the friction plate and the movable armature which are tightly matched together through interference fit, and the braking torque of the brake is provided through friction with the upper friction disc.
The braking torque generated in the electromagnetic brake is mainly generated by the force generated by the compression of the spring.
The contact braking effect is mainly achieved by electromagnetic attraction formed by electrifying the electromagnetic coil, the force generated by compression of the spring is overcome, and the braking effect of the brake is relieved.
The invention has the advantages that:
the invention has the advantages of convenient use, small volume, good braking performance, high response speed, low power and low heating value, and can change the size according to different motor output shafts, so that the motor can not generate gaps when braking, the accuracy requirement of the robot during action maintenance can be ensured on the premise of ensuring corresponding braking torque, and the power-losing protection can be realized under the condition of sudden power-losing.
Description of the drawings:
fig. 1 is a cross-sectional view of the structure of the present invention.
FIG. 2 is a cross-sectional view of the upper friction disk, upper end cap and bearing system of FIG. 1.
Fig. 3 is a cross-sectional view of the system of friction plates and moving armature of fig. 1.
Fig. 4 is a schematic view of the structure of the present invention when braking is generated.
Fig. 5 is a sectional view of the structure of the present invention when the brake is released.
Reference numerals illustrate:
the upper friction cover 1, the upper end cover 2, the cross countersunk head screw 2a are three, the bearing 3, the friction plate 4, the movable armature 5, the base 6 and the spring 7 are three, and the coil 8 is arranged.
Detailed Description
As shown in fig. 1, 2 and 3, the upper friction cover 1 and the upper end cover 2 of the invention are positioned by a bearing 3, the bearing is embedded in the upper end cover 2, the inner ring of the bearing 3 is contacted with the upper friction cover 1, the outer ring is contacted with the upper end cover 2, the movable armature 5 and the friction plate 4 are tightly embedded together by interference fit, the spring 7 is placed in a groove of the base 6, the coil 8 is placed in a groove designed by the base 6, and the upper end cover 2 and the base 6 are fixed together by cross countersunk screws.
When a braking operation is being performed: as shown in fig. 4, the pressure generated by the spring 7 on the movable armature 5 is mainly used to make the movable armature 5 press the friction plate 4 to be tightly attached to the upper friction cover 1, so that the braking torque is generated to achieve the braking effect.
When the brake is being released: as shown in fig. 5, the electromagnetic coil 8 is energized, and the electromagnetic attraction force generated by the electromagnetic coil 8 sucks the system formed by the movable armature 5 and the friction plate 4 against the pressure of the spring 7 through the base 6, so that the system is separated from contact with the upper friction cover 1, friction is not generated, and the effect of releasing the brake is achieved.
Through the operation that can realize the braking of electromagnetic braking ware and release braking to reach small, braking performance is good, and response speed is fast, and calorific capacity is low, and power is little, can change its size according to different motor output shafts, makes it can not produce the clearance when motor braking, under the prerequisite of guaranteeing can have corresponding braking moment of torsion, guarantees the precision requirement of robot when the action keeps, can play the effect of losing electricity protection under the circumstances of losing electricity suddenly.
Claims (7)
1. The electromagnetic brake applied to the parallel robot is characterized by small volume, good braking performance, high response speed, low heating value and small power, and can change the size according to different motor output shafts, so that the electromagnetic brake can not generate gaps when the motor brakes, ensure the accuracy requirement of the robot during motion maintenance on the premise of ensuring corresponding braking torque, and play a role in power-failure protection under the condition of sudden power failure.
2. The invention relates to a brake mainly comprising an upper friction disc (1), an upper end cover (2), wherein the upper end cover is fixed by three bolts (2 a), the upper friction disc (1) is matched with a bearing (3) between the upper end cover (2), a friction plate (4) is tightly matched with a movable armature (5) through interference fit, and the friction plate and the upper friction disc (1) provide braking torque of the brake, the base (6) is composed of three springs (7) and an electromagnetic coil (8) together, so that the braking torque of the brake and the electromagnetic attraction of an electromagnet are provided, and all parts of the electromagnetic attraction can penetrate through an output shaft of a motor.
3. An electromagnetic brake for a parallel robot according to claim 1, characterized in that the upper friction disc (1) can be tightly connected with the output shaft of the motor, so that no braking gap between the output shaft and the brake is realized.
4. An electromagnetic brake applied to a parallel robot according to claim 1, wherein the upper friction disc (1) is matched with the bearing (3) between the upper end cover (2) so that the inner ring of the bearing is contacted with the upper friction disc (1); the outer ring of the bearing is contacted with the end cover (2); greatly reducing the resistance during its movement.
5. An electromagnetic brake for a parallel robot according to claim 1, wherein the braking torque is mainly concentrated in the parts of the friction plate (4) and the moving armature (5) which are tightly fitted together by interference fit, and the braking torque of the brake is provided by friction with the upper friction plate.
6. An electromagnetic brake for a parallel robot according to claim 1, wherein the braking torque generated by the electromagnetic brake is mainly generated by the force generated by the compression of the spring (7).
7. The electromagnetic brake applied to the parallel robot, as claimed in claim 1, wherein the contact braking effect is mainly electromagnetic attraction formed by electrifying the electromagnetic coil (8), and the braking effect of the brake is relieved by overcoming the force generated by compression of the spring (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111409276.1A CN116164059A (en) | 2021-11-25 | 2021-11-25 | Electromagnetic brake applied to parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111409276.1A CN116164059A (en) | 2021-11-25 | 2021-11-25 | Electromagnetic brake applied to parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116164059A true CN116164059A (en) | 2023-05-26 |
Family
ID=86416880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111409276.1A Pending CN116164059A (en) | 2021-11-25 | 2021-11-25 | Electromagnetic brake applied to parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116164059A (en) |
-
2021
- 2021-11-25 CN CN202111409276.1A patent/CN116164059A/en active Pending
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