CN116292663A

CN116292663A - Robot power assembly

Info

Publication number: CN116292663A
Application number: CN202310311834.3A
Authority: CN
Inventors: 曾东子; 孙恺; 曹宇男
Original assignee: Suzhou Elite Robot Co Ltd
Current assignee: Suzhou Elite Robot Co Ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-06-23

Abstract

The invention provides a robot power assembly, comprising: the brake comprises a first structural member, a second structural member and a friction plate, wherein the friction plate is fixedly arranged on a motor shaft to rotate along with the motor shaft, the second structural member is fixedly arranged on the speed reducer shaft to rotate along with the motor shaft, and the first structural member and the motor shaft are coaxially arranged; the first and second structural members are capable of relative movement when the brake is not braked; when the brake brakes, the relative movement of the first structural member and the second structural member is limited, and braking deceleration is realized according to the friction force between the friction plate and the first structural member and/or the second structural member. The power assembly of the specific embodiment of the application is compact in structure and high in space utilization rate.

Description

Robot power assembly

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot power assembly.

Background

A brake is a device for decelerating, stopping, or maintaining a stationary state of a moving part, and is typically provided to a motor shaft, for example, by an articulated robot, and braking deceleration is achieved by restricting rotation of the motor shaft during braking. However, a plurality of devices are generally distributed in the joints of the robot, the space in the joints is limited, and particularly, the axial space of the joints is compact, when a brake is directly arranged on a motor shaft, the brake needs to occupy a relatively large axial space of the joints, which is not beneficial to compact and lightweight design of the joints.

Disclosure of Invention

The invention aims to provide a robot power assembly, which solves the technical problems that in the prior art, when a brake is installed on a robot joint, the space is large, and compact design of the joint is not facilitated.

In order to solve the problems, the invention adopts the following technical scheme: the robot power assembly comprises a motor, a speed reducer and a brake, wherein the brake comprises a first structural member, a second structural member and a friction plate, the friction plate is fixedly arranged on a motor shaft to rotate along with the motor shaft, the second structural member is fixedly arranged on the speed reducer shaft to rotate along with the motor shaft, and the first structural member and the motor shaft are coaxially arranged; the first and second structural members are capable of relative movement when the brake is not braked; when the brake brakes, the relative movement of the first structural member and the second structural member is limited, and braking deceleration is realized according to the friction force between the friction plate and the first structural member and/or the second structural member.

Furthermore, according to the power-on state or the power-off state of the brake, when the first structural member and the second structural member are separated, relative movement can be generated; when the first and second structural members are engaged, relative movement is restricted.

Further, the brake includes a clutch ring, the first structural member is formed as a clutch outer ring, the second structural member is formed as a clutch inner ring, the clutch outer ring is provided at an outer periphery of the clutch inner ring, and the clutch inner ring and the clutch outer ring are engaged or disengaged according to an on-power or off-power state of the brake.

Further, the brake comprises a pressing piece for axially pressing the friction plate on the clutch outer ring, when the brake does not brake, the clutch inner ring is separated from the clutch outer ring, and the friction plate drives the clutch outer ring to rotate along with a motor shaft; when the brake brakes, the clutch inner ring is engaged with the clutch outer ring, relative motion is generated between the clutch outer ring and the motor shaft, and friction torque is formed between the friction plate and the clutch outer ring so as to realize braking deceleration.

Further, the brake comprises a bolt assembly, a slot and a roller body are arranged between the clutch inner ring and the clutch outer ring, and the roller body can move from a first position to a second position along the slot based on the action of the bolt assembly, so that the clutch inner ring and the clutch outer ring can be switched between engagement and disengagement.

Further, the roller body is connected to the slot by an elastic member, the slot is formed into a slope-shaped slot, and the elastic member is used for keeping the roller body in a first position so as to enable the inner ring and the outer ring to be jointed; the bolt assembly comprises an electromagnetic element and a bolt component, wherein axially extending poking sheets are circumferentially distributed on the bolt component, the bolt component moves axially according to the fact that the electromagnetic element is powered on or powered off, and the poking sheets apply acting force to the roller body to compress the elastic component so that the roller body moves from a first position to a second position along a slope-shaped groove.

Further, the clutch ring comprises at least two groups of grooves distributed along the circumferential direction, each group of grooves comprises a pair of slope-shaped grooves and a pair of rollers which are symmetrically arranged, and when the brake brakes, the rollers and the grooves are matched so that the clutch ring can be self-locked in two directions.

Further, the first structural member is formed as a pressing plate, the second structural member is formed as a brake disc, the pressing plate and the brake disc are axially arranged on both sides of the friction plate, the pressing plate is axially movably connected to the speed reducer shaft so as to axially move relative to the brake disc, and when the brake is braked, the pressing plate and the brake disc axially clamp the friction plate so as to realize braking deceleration.

Further, the brake disc comprises holes distributed along the circumferential direction, and the brake disc is fixedly connected with the speed reducer shaft through the holes.

Further, the first structural member is formed into a band-type brake blade, the second structural member is formed into a blocking part, the blocking part comprises an electromagnetic element and a stop pin piece, the stop pin piece can move along the axial direction based on the power on or power off of the electromagnetic element so as to be engaged with or separated from the band-type brake blade, and when the stop pin piece is separated from the band-type brake blade, the band-type brake blade rotates along with a motor shaft; and when the pin blocking piece is engaged with the band-type brake pad, the rotation of the band-type brake pad is limited, and braking deceleration is realized according to the friction force between the band-type brake pad and the friction plate.

Compared with the prior art, the brake has the advantages that the brake structure is arranged by the distribution of the first structural part, the second structural part and the friction plate of the brake, so that the power assembly is compact in structure; meanwhile, the structure of the brake is designed in a targeted manner, so that the brake can be adapted to the current arrangement scheme, and the reliability of the brake is ensured.

Drawings

FIG. 1 is a schematic view of a robotic power assembly according to one embodiment of the invention;

FIG. 2 is a cross-sectional view of the robot power assembly shown in FIG. 1;

FIG. 3 is a schematic illustration of a brake state of a brake according to one embodiment of the present invention;

FIG. 4 is an exploded view of a brake state of a brake according to an embodiment of the present invention;

FIG. 5 is a schematic illustration of a brake in an unbraked state according to one embodiment of the present invention;

fig. 6 is an exploded view of a brake in an unbraked state according to an embodiment of the present invention.

Detailed Description

In order to make the technical solution of the present invention more clear, embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is merely intended to teach a person skilled in the art how to practice the invention, and is not intended to be exhaustive of all the possible ways of implementing the invention, but rather to limit the scope of the invention in its specific implementations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction or be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The present embodiment of the invention provides a robot power assembly, referring to fig. 1-2, the power assembly 100 includes a motor, a decelerator, and a brake, more particularly, the power assembly 100 may further include a housing to be at least partially formed as a robot joint, wherein the motor is used as a power source, and generates a rotational motion to transmit a high-speed motion to the decelerator through a motor shaft 111, the decelerator decelerates a rotational speed of the motor and outputs a low-speed motion through a decelerator shaft 121, and the brake is used to brake and decelerate the motor. Specifically, the brake includes a first structural member, a second structural member and a friction plate, the friction plate 31 is fixedly mounted on the motor shaft 111 to rotate along with the motor shaft 111, the second structural member is fixedly mounted on the reducer shaft 121 to rotate along with the reducer shaft 121, and the first structural member and the motor shaft 111 are coaxially arranged; the first and second structural members are engaged with the friction plate 31 to effect braking of the brake; when the brake is not braked, the first structural member and the second structural member can move relatively, and the first structural member and the second structural member can move respectively and do not interfere with each other; when the brake is applied, the relative movement of the first and second structural members is restricted and braking deceleration is achieved based on the friction of the friction plate 31 with the first and/or second structural members.

It is to be appreciated that the speed reducer is connected to the motor, the flexible bearing is connected to the motor shaft 111, the motor includes the motor stator 112 and the motor rotor 113, the speed reducer includes the flexible wheel 122 and the steel wheel 123, the flexible bearing of motor shaft 111 and the flexible wheel 122 sliding connection of speed reducer are so that the rotation of motor rotor drives the flexible wheel 122 motion of speed reducer, realize the transmission of motion, there is the installation surplus space between motor and the speed reducer, above-mentioned mode can set up first structure, second structure and friction disc 31 in motor shaft 111 and speed reducer axle 121, thereby can make full use of the space between motor and the speed reducer, set up the stopper between motor and speed reducer, make full use of joint has the space, do not increase joint axial length, make joint compact structure, it is small and exquisite.

Further, the second structural member is fixedly mounted to the reducer shaft 121, and in some possible implementations, the second structural member and the reducer shaft 121 may be integrally designed and integrally formed.

Further, the brake has a power-on state and a power-off state, and the first structural member and the second structural member can be separated by controlling the power-on state or the power-off state of the brake, and at the moment, the first structural member and the second structural member can generate relative movement; conversely, the first structural member and the second structural member are engaged, and the relative movement of the first structural member and the second structural member is restricted, thereby further realizing braking deceleration.

Wherein, by designing different brake structures such that the brake structures are reasonably arranged within the power assembly 100, a variety of implementations of the power assembly may be realized.

In a specific embodiment, referring to fig. 3-6, the brake comprises a clutch ring 10, the clutch ring 10 comprises a clutch inner ring 11 and a clutch outer ring 12, the first structural member is formed into the clutch outer ring 12, the second structural member is formed into the clutch inner ring 11, the clutch outer ring 12 is arranged on the periphery of the clutch inner ring 11, the clutch outer ring 12 circumferentially surrounds the clutch inner ring 11, grooves 13 are distributed between the clutch inner ring 11 and the clutch outer ring 12, rollers 14 are arranged in the grooves 13, the rollers 14 can move along the grooves 13, the positions of the rollers 14 in the grooves 13 can be changed by controlling the power-on or power-off state of the brake, and the rollers 14 can move from a first position to a second position, so that the clutch inner ring 11 and the outer ring are connected or disconnected.

When the brake is applied, the roller 14 is in the first position, as shown in figures 3-4; when the brake is not braked, the roller 14 is in the second position, as shown in fig. 5-6.

Specifically, the brake includes a pressing member, where the pressing member is used to axially press the friction plate 31 against the clutch outer ring 12, at this time, the friction plate 31 rotates along with the motor shaft 111 to drive the clutch outer ring 12 to rotate along with the motor shaft 111, referring to fig. 5-6, when the brake is not braked, the clutch inner ring 11 is separated from the clutch outer ring 12, the clutch inner ring 11 rotates along with the reducer shaft 121, the clutch outer ring 12 rotates along with the motor shaft 111, at this time, the motor can be driven normally, the rotation speeds of the clutch inner ring 11 and the clutch outer ring are different, and there is relative movement between them; referring to fig. 3 to 4, when the brake is braked, the clutch inner 11 and the clutch outer 12 are engaged, relative movement between the clutch inner 11 and the clutch outer 12 is restricted, relative movement is generated between the clutch outer 12 and the motor shaft 111, and friction torque is formed between the friction plate 31 and the clutch outer 12 to achieve braking deceleration. Illustratively, the pressing member includes a cover 33 and a compression spring 32, and applies an axial force to the friction plate 31 through the cover 33 and the compression spring 32 to axially press the friction plate 31 against the clutch outer 12; optionally, friction plates 31 are disposed on both sides of the clutch outer 12, so as to further increase friction torque between the friction plates 31 and the clutch outer 12 during braking, and improve braking efficiency.

It should be noted that, by setting a reasonable friction torque, braking deceleration of the motor shaft 111 can be achieved, the friction torque is related to the material of the friction plate 31, the radius of the friction plate, and the like, and the calculation of the friction torque belongs to a conventional technology in the art, and is not repeated here.

Specifically, the roller 14 is connected to the slot 13 by an elastic member (not shown), the slot 13 is formed as a slope-shaped slot, and the elastic member is used for holding the roller 14 in the first position, and the clutch outer 12 and the clutch inner 11 are engaged at this time; the brake comprises a latch assembly, and the roller 14 moves from the first position to the second position based on the action of the latch assembly, so that the clutch outer ring 12 and the clutch inner ring 11 are switched from being engaged to being disengaged. Specifically, the latch assembly includes an electromagnetic element 21 and a latch member 23, where axial extending paddles 231 are circumferentially distributed on the latch member 23, and according to the power-on or power-off state of the electromagnetic element 21, the latch member 23 moves axially, so that the paddles 231 are inserted between the clutch outer ring 12 and the clutch inner ring 11, and apply a force to the roller 14, so that the roller 14 moves from a first position to a second position along the slope-shaped slot 13, and when the roller 14 moves to the second position, the elastic member is compressed by the paddles 231; when the latch member 23 is axially moved away from the clutch ring 10, the roller 14 returns to the first position by the action of the elastic member, and the clutch outer 12 and the clutch inner 11 are engaged again.

It is understood that the rollers 14 may be formed in a cylindrical, spherical, wedge-shaped structure, or the like.

Specifically, the latch member 23 is formed with a magnetic element, and illustratively, when the electromagnetic element 21 is powered, a repulsive force is generated between the electromagnetic element 21 and the latch member 23, so that the latch member 23 moves in the axial direction away from the electromagnetic element 21, the latch assembly is disposed in the axial direction of the clutch ring 10, and when the latch member 23 moves away from the electromagnetic element 21, the latch member 23 moves in a direction approaching the clutch ring 10, and further, the clutch ring 10 is inserted to separate the clutch inner ring 11 from the outer ring; conversely, when the electromagnetic element 21 is powered off, suction is generated between the electromagnetic element 21 and the plug pin member 23, so that the plug pin member 23 moves away from the clutch ring 10, and the clutch inner 11 and the clutch outer 12 are engaged. In the above manner, the clutch inner and outer rings are separated by applying the force to the roller 14 by the movement of the latch member 23 in the axial direction, and the latch member 23 can be moved in the axial direction with only a small driving force, so that the size and weight of the brake can be reduced.

In other embodiments, the latch member 23 may be formed as a non-magnetic metal member, and the axial movement of the latch member 23 is achieved by controlling the attractive force between the electromagnetic member 21 and the latch member 23, it being understood that the non-magnetic latch member 23 produces an opposite movement effect relative to the magnetic latch member 23. Preferably, the latch assembly includes a return spring 22 to assist in the axial movement of the latch member 23.

Specifically, at least two groups of slots 13 are distributed between the clutch inner ring 11 and the clutch outer ring 12 along the circumferential direction, each group of slots 13 comprises symmetrically arranged slope-shaped slots, two rollers 14 are arranged in each group of slots 13, namely, one roller 14 is arranged in each slot 13. The shifting pieces 231 are formed in an elastic arc structure, when the shifting pieces 231 are inserted between the inner ring 11 and the outer ring 12, the elastic pieces connected with the rollers 14 are compressed, so that the rollers 14 move to the second position, and the positions and the number of the shifting pieces 231 correspond to those of the rollers. It will be appreciated that two rollers 14 are provided for each set of slots 13, and two paddles 231 are provided at corresponding locations of the latch member 23 to apply force to the two rollers 14, respectively, and that the paddles 231 may be formed in opposing arcuate configurations, for example. Through every group fluting 13 have symmetrical slope form fluting, and every group fluting 13 correspond and set up 2 rolls 14, through exerting effort to rolls 14, the stopper can realize two-way auto-lock, when the stopper braking, can keep the static position, still produce the motion after avoiding braking and make the joint produce the potential safety hazard.

Specifically, after the bidirectional self-locking of the clutch ring 10 is realized, when the brake is required to be released, the motor is controlled to rotate forward by a preset angle and then rotate backward by a preset angle, so that the bidirectional unlocking of the brake is realized.

In another embodiment of the invention, the first structural member is formed as a pressure plate and the second structural member is formed as a brake disc, the pressure plate and the brake disc are axially connected, the pressure plate and the brake disc are axially arranged at both sides of the friction plate 31, the pressure plate is axially movably connected to the reducer shaft 121 to axially move relative to the brake disc, and the pressure plate and the brake disc axially press the friction plate 31 to brake and reduce speed when the brake is braked.

Specifically, the brake disc includes openings distributed along the circumferential direction, and is fixedly connected with the reducer shaft 121 through the openings, the friction plate 31 is fixed on the motor shaft 111 to rotate along with the motor shaft, and the brake disc includes an electromagnetic coil, so that the pressure plate is close to the brake disc according to the power on or power off of the brake, and further the friction plate is axially clamped to realize braking; or, according to the condition that the brake is powered on or powered off, the pressing plate moves axially in the direction away from the brake disc, and then the friction plate is released to release the brake. Illustratively, when the brake is powered on, the electromagnetic coil generates a magnetic field to attract the pressure plate, so that the pressure plate and the brake disc axially compress the friction plate to realize braking.

In another embodiment of the present invention, the first structural member is formed as a band-type brake pad, the band-type brake pad is disposed on the motor shaft 111 and can rotate relative to the motor shaft 111, the second structural member is formed as a blocking portion, the blocking portion includes an electromagnetic element and a stop pin, the blocking portion is fixedly mounted on the motor shaft 111, when the brake is not braked, the friction plate fixed on the motor shaft 111 rotates along with the motor shaft 111, the band-type brake pad is disposed on the friction plate and rotates along with the motor shaft 111 in an axial direction, the blocking portion rotates at a low speed along with the reducer shaft 121, the blocking portion and the band-type brake pad are in a separated state, and can generate relative motion therebetween, and the motor can be driven normally; when the brake is braked, the electromagnetic element of the blocking part enables the blocking pin piece to move along the axial direction according to power supply or power failure, the blocking pin piece is connected with the band-type brake pad to block the band-type brake pad from following the rotation of the motor shaft 111, friction force is generated between the band-type brake pad and the friction plate, and braking and speed reduction are achieved according to the friction force between the band-type brake pad and the friction plate. Specifically, the band-type brake pad includes radially extending engaging portions distributed along a circumferential direction, the engaging portions illustratively include grooves, and the stop pin member engages with the grooves of the band-type brake pad to stop the band-type brake pad from following the rotation of the motor shaft 111

The preferred embodiment of the present invention has the following beneficial effects: the friction plate of the brake is fixedly arranged on the motor shaft, the second structural member is fixedly arranged on the speed reducer shaft, and the first structural member and the input shaft are coaxially arranged, so that the brake can be favorably arranged between the motor and the speed reducer, and the power assembly is compact in structure and high in space utilization rate; furthermore, a plurality of structural designs of the brake are provided, so that the brake can be arranged advantageously and reliably.

Finally, it should be pointed out that the above description is merely illustrative and not exhaustive, and that the invention is not limited to the embodiments disclosed, but that several improvements and modifications can be made by those skilled in the art without departing from the scope and spirit of the examples described above, which are also considered as being within the scope of the invention. The scope of the invention should therefore be pointed out in the appended claims.

Claims

1. The robot power assembly is characterized by comprising a motor, a speed reducer and a brake, wherein the brake comprises a first structural member, a second structural member and a friction plate, the friction plate is fixedly arranged on a motor shaft to rotate along with the motor shaft, the second structural member is fixedly arranged on the speed reducer shaft to rotate along with the motor shaft, and the first structural member and the motor shaft are coaxially arranged; the first and second structural members are capable of relative movement when the brake is not braked; when the brake brakes, the relative movement of the first structural member and the second structural member is limited, and braking deceleration is realized according to the friction force between the friction plate and the first structural member and/or the second structural member.

2. The robotic power assembly of claim 1, wherein the first structural member and the second structural member are capable of relative movement when separated according to an energized state or a de-energized state of the brake; when the first and second structural members are engaged, relative movement is restricted.

3. The robot power assembly of claim 2, wherein the brake includes a clutch ring, the first structural member is formed as a clutch outer ring, the second structural member is formed as a clutch inner ring, the clutch outer ring is disposed at an outer periphery of the clutch inner ring, and the clutch inner ring and the clutch outer ring are engaged or disengaged according to an on-power or off-power state of the brake.

4. The robot power assembly of claim 3, wherein the brake includes a pressing member to axially press the friction plate against the clutch outer, the clutch inner and the clutch outer being separated when the brake is not braked, the friction plate driving the clutch outer to rotate following the motor shaft; when the brake brakes, the clutch inner ring is engaged with the clutch outer ring, relative motion is generated between the clutch outer ring and the motor shaft, and friction torque is formed between the friction plate and the clutch outer ring so as to realize braking deceleration.

5. The robotic power assembly of claim 4, wherein the brake includes a latch assembly, the clutch inner and the clutch outer including a slot therebetween and a roller movable along the slot from a first position to a second position based on the action of the latch assembly to effect switching of engagement and disengagement of the clutch inner and the clutch outer.

6. The robotic power assembly of claim 5, wherein the roller body is connected to a slot formed as a ramp-like slot by a resilient member for holding the roller body in a first position such that the inner and outer rings are engaged; the bolt assembly comprises an electromagnetic element and a bolt component, wherein axially extending poking sheets are circumferentially distributed on the bolt component, the bolt component moves axially according to the fact that the electromagnetic element is powered on or powered off, and the poking sheets apply acting force to the roller body to compress the elastic component so that the roller body moves from a first position to a second position along a slope-shaped groove.

7. The robotic power assembly of claim 6, wherein the clutch ring comprises at least two sets of circumferentially distributed slots, each set of slots comprising a pair of ramp-like slots and a pair of rollers symmetrically disposed, the rollers and slots cooperating to enable bi-directional self-locking of the clutch ring when the brake is braked.

8. The robotic power assembly of claim 2, wherein the first structural member is formed as a pressure plate and the second structural member is formed as a brake disc, the pressure plate and brake disc being axially disposed on opposite sides of the friction plate, the pressure plate being axially movably connected to the reducer shaft for axial movement relative to the brake disc, the pressure plate and brake disc axially clamping the friction plate for braking deceleration when the brake is braked.

9. The robotic power assembly of claim 8, wherein the brake disc comprises circumferentially distributed apertures through which the brake disc is fixedly connected to the reducer shaft.

10. The robotic power assembly of claim 2, wherein the first structural member is formed as a band-type brake blade and the second structural member is formed as a blocking portion comprising an electromagnetic element and a stop pin member that is axially movable to engage or disengage the band-type brake blade based on the electromagnetic element being energized or de-energized, the band-type brake blade following rotation of the motor shaft when the stop pin member is disengaged from the band-type brake blade; and when the pin blocking piece is engaged with the band-type brake pad, the rotation of the band-type brake pad is limited, and braking deceleration is realized according to the friction force between the band-type brake pad and the friction plate.