CN208663866U - A kind of brake gear, joint of robot arm and robot - Google Patents

Abstract

The utility model discloses a kind of brake gear, joint of robot arm and robot, wherein, the brake gear is used for joint of robot arm, driving device is equipped in joint of robot arm, the driving device has drive shaft, the brake gear includes brake block, electromagnet and armature, and elastic component is equipped between the electromagnet and the armature；It further include guide part, the armature is mounted on the electromagnet by the guide part, and can be fixed on the drive shaft axially away from or close to the electromagnet, the brake block along the guide part；Under energization operating condition, the armature is pulled on the electromagnet, and compresses the elastic component, powers off under operating condition, and the elastic component can discharge and the armature is pushed to compress the brake block, to limit the rotation of the drive shaft.The there is provided brake gear of the utility model, brake block are fixed on drive shaft, the unnecessary abrasion of brake block when can avoid operating normally, and then can extend the service life of brake block, reduce noise.

Description

A kind of brake gear, joint of robot arm and robot

Technical field

The utility model relates to robotic technology field more particularly to a kind of brake gears, joint of robot arm and machine People.

Background technique

Driving mechanism is equipped in joint of robot arm, to drive joint of robot arm to be acted, the driving mechanism is usual For motor, be provided with brake gear in shaft, brake gear can in the case where powering off operating condition locking shaft, to prevent under power-off operating condition Abnormal output, or, it can also be used to urgent locking is carried out to shaft.

Fig. 1-2 is please referred to, Fig. 1 is that structural schematic diagram of the brake gear under energization operating condition, Fig. 2 are existing in the prior art Structural schematic diagram of the brake gear in the case where powering off operating condition in technology.

As shown in Figure 1 and Figure 2, in the prior art, brake gear includes electromagnet 01, armature 02 and pressing plate 03, San Zhejun It is socketed on shaft 07, and is not rotated with shaft 07；Connector 05 is plugged in electromagnet in turn through pressing plate 03, armature 02 01, pressing plate 03 is fixed on electromagnet 01, specific spacing is kept between pressing plate 03 and electromagnet 01, armature 02 can be along connector 05 axial direction is displaced；Spring 06 is equipped between armature 02 and electromagnet 01；Brake block is equipped between armature 02 and pressing plate 03 04, brake block 04 is installed on shaft 07, and can rotate synchronously with shaft 07, and brake block 04 can along shaft 07 it is axial into Line position is moved.

When normal operation, as shown in Figure 1, electromagnet 01 is powered, and adhesive armature 02, spring 06 are compressed, brake block 04 It can be freely rotated in gap of the armature 02 with pressing plate 03, shaft 07 can run well.Power off operating condition or other abnormal works Under condition, electromagnet 01 is powered off, and under the action of spring 06, armature 02 will be rapidly far from electromagnet 01, and brake block 04 is pushed to lean on Nearly pressing plate 03, until cooperating with pressing plate 03 to compress brake block 04, and then locking shaft 07.

In above-mentioned brake gear, since brake block 04 can be displaced along the axial direction of shaft 07, even just Often when operation, brake block 04 also inevitably with the 03 phase friction of armature 02 or pressing plate, and then is caused not brake block 04 Necessary abrasion seriously affects the service life of brake block 04, and can also generate noise, is unfavorable for the popularization of joint of robot arm It uses.

Therefore, how to provide one kind novel brake gear, the unnecessary abrasion of brake block when can reduce normal operation, with Extend the service life of brake block, and reduce noise, is still those skilled in the art's technical problem urgently to be resolved.

Utility model content

The purpose of the utility model is to provide a kind of brake gear, joint of robot arm and robots, wherein brake dress The brake block set is fixed on drive shaft, can avoid the unnecessary abrasion of brake block in normal course of operation, and then can substantially extend The service life of brake block, and reduce noise.

In order to solve the above technical problems, the utility model provides a kind of brake gear, it to be used for joint of robot arm, the machine Driving device is equipped in device person joint arm, the driving device has drive shaft, and the brake gear includes brake block, electromagnet And armature, elastic component is equipped between the electromagnet and the armature；It further include guide part, the armature passes through the guide part It is mounted on the electromagnet, and being capable of fixing axially away from or close to the electromagnet, the brake block along the guide part In the drive shaft；Under energization operating condition, the armature is pulled on the electromagnet, and compresses the elastic component, powers off under operating condition, The elastic component can discharge and the armature is pushed to compress the brake block, to limit the rotation of the drive shaft.

The there is provided brake gear of the utility model, brake block are fixed on drive shaft, and brake block will not be along the axis of drive shaft To being displaced, the friction in normal course of operation between brake block and armature can avoid, and thus to caused by brake block Unnecessary abrasion, and then can substantially extend the service life of brake block, and reduce joint of robot arm in normal course of operation In noise.

It optionally, further include pressing plate in a ring, inner rim is installed on the drive shaft, and outer rim is equipped with towards the electromagnetism The dust collection cover that iron extends, the dust collection cover and the pressing plate are enclosed dust collecting trough；The brake block is located in the dust collecting trough.

Optionally, the pressing plate is fixed on the drive shaft, and the brake block is installed on the pressing plate.

Optionally, the internal diameter of the dust collection cover is gradually reduced along the direction close to the electromagnet.

Optionally, the driving device includes motor, and the drive shaft is the shaft of the motor；Alternatively, the driving Device includes motor and the retarder that connect with the motor drive, and the drive shaft is the shaft of the motor and/or described subtracts The output shaft of fast device.

The utility model also provides a kind of joint of robot arm, including shell, is equipped with driving device and brake in the shell Vehicle device, the brake gear are above-mentioned brake gear.

Since above-mentioned brake gear has been provided with technical effect as above, then, the robot with the brake gear Joint arm is also when having similar technical effect, therefore this will not be repeated here.

Optionally, driving plate is additionally provided in the shell, the driving plate is provided with heater element；It further include cooling fin, The cooling fin press fitting can wrap up the heater element between the inner wall and the driving plate of the shell.

Optionally, coder module is additionally provided in the shell, the coder module includes matching used encoder Plate and encoder；It further include line bank, the both ends of the line bank are plugged and fixed respectively in the encoder plate, the driving Plate, to realize that the encoder plate and the signal of the driving plate connect.

Optionally, the coder module further includes the second mounting base, and the encoder is installed on second mounting base； Second mounting base is equipped with peep hole, for observing whether the encoder is installed in place.

Optionally, the shell includes cylindrical portion, and one end of the cylindrical portion is equipped with rear cover, and the other end is equipped with flange；Institute The retarder that driving device includes motor and connect with the motor drive is stated, the retarder has input shaft and output shaft, institute The shaft that input shaft is the motor is stated, the output shaft passes through the flange and stretches out the shell, the retarder and institute Shaft is stated to be an integral structure.

The utility model also provides a kind of robot, including joint arm, and the joint arm is above-mentioned joint of robot arm.

Since above-mentioned joint of robot arm has been provided with technical effect as above, then, there is the joint of robot arm Robot also when having similar technical effect, therefore this will not be repeated here.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the brake gear under energization operating condition in the prior art；

Fig. 2 is structural schematic diagram of the brake gear in the case where powering off operating condition in the prior art；

Fig. 3 provides structural schematic diagram of the brake gear under energization operating condition by the utility model；

Fig. 4 provides structural schematic diagram of the brake gear in the case where powering off operating condition by the utility model；

Fig. 5 is provided a kind of structural schematic diagram of specific embodiment of joint of robot arm by the utility model；

Fig. 6 is the connection structure diagram of rear cover and cooling fin in Fig. 5；

Fig. 7 is the connection structure diagram of driving plate and the first encoder plate and second encoder plate；

Fig. 8 is the structural schematic diagram of the first encoder；

Fig. 9 is the left view of Fig. 8；

Figure 10 is the connection structure diagram of second encoder plate, the second mounting base and flange shaft；

Figure 11 is provided the structural schematic diagram of another specific embodiment of joint of robot arm by the utility model；

Figure 12 is provided the structural schematic diagram of another specific embodiment of joint of robot arm by the utility model；

Figure 13 is the schematic diagram of energy consumption in existing joint of robot arm；

Figure 14 is a kind of structural schematic diagram of joint of robot arm provided by the embodiments of the present application；

Figure 15 is the structural schematic diagram of another joint of robot arm provided by the embodiments of the present application；

Figure 16 is a kind of structural schematic diagram for joint of robot arm that the application specific embodiment provides；

Figure 17 is the structural schematic diagram for another joint of robot arm that the application specific embodiment provides.

The reference numerals are as follows in Fig. 1-2:

01 electromagnet, 02 armature, 03 pressing plate, 04 brake block, 05 connector, 06 spring, 07 shaft.

The reference numerals are as follows in Fig. 3-17:

1 shell, 11 rear covers；

2 motors, 21 shafts, 211 spring bearings；

3 brake gears, 31 brake blocks, 32 electromagnet, 33 armature, 34 elastic components, 35 guide parts, 36 pressing plates, 361 dusts Lid, 362 dust collecting troughs；

4 retarders, 41 output shafts；

5 flanges；

6 first coder modules, 61 first encoders, 611 magnetic coders, 612 photoelectric encoders, 62 first encoders Plate, 63 first sockets, 64 first mounting bases；

7 second encoder modules, 71 second encoders, 72 second encoder plates, 73 second sockets, 74 second mounting bases, 741 peepholes；

8 driving plates, 81 heater elements, 82 cooling fins, 83 driving plate sockets；

9 line banks；

100 robots, 101 energy consumption modules, 101a control submodule, 101b feedback absorb submodule；

Vsup power supply, W cable, S switch, CON controller.

Specific embodiment

In order to make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and have The utility model is described in further detail for body embodiment.

The words such as " first " described herein, " second ", be merely for convenience of description scheme same or like two with On structure or component, be not offered as certain particular determination to sequence.

Embodiment 1

Fig. 3-4 is please referred to, Fig. 3 provides structural schematic diagram of the brake gear under energization operating condition, Fig. 4 by the utility model Structural schematic diagram of the brake gear in the case where powering off operating condition is provided by the utility model.

As shown in Figure 3, Figure 4, the utility model provides a kind of brake gear, is used for joint of robot arm, joint of robot Driving device is equipped in arm, driving device has drive shaft, for externally exporting acting.The brake gear 3 include brake block 31, Electromagnet 32 and armature 33 are equipped with elastic component 34 between electromagnet 32 and armature 33；It further include guide part 35, armature 33 is by leading Electromagnet 32 is mounted on to part 35, and being capable of being fixed on axially away from or close to electromagnet 32, brake block 31 along guide part 35 Drive shaft.

Under energization operating condition, by electromagnetic force, electromagnet 32 can adhesive armature 33, and compression elastic piece 34, at this point, Armature 33 and brake block 31 have gap, and brake block 31 can be freely rotated, and drive shaft normally can externally do manual work.In power-off work Under condition, electromagnetic force disappears, and elastic component 34 can discharge, and armature 33 is pushed to compress brake block 31, to limit the rotation of drive shaft, And then abnormal output of the drive shaft in the case where powering off operating condition can be prevented.

Compared with the prior art, brake gear involved by the present embodiment, brake block 31 are fixed on drive shaft, brake block 31 It will not be displaced along the axial direction of drive shaft, can avoid operating normally (i.e. under energization operating condition) brake block 31 and armature 33 in the process Between friction, and thus to unnecessary abrasion caused by brake block 31, and then can substantially extend the use of brake block 31 Service life, and noise of the joint of robot arm in normal course of operation can be reduced.

It is to be understood that brake block 31 can generate picking during brake block 31 and other component pressure are ground, that is to say, that In the prior art, even when operating normally, brake block 31 can also lose powder incessantly, and the powder fallen down is with drive shaft Rotation can fall on the components such as encoder, influence the service precision and service life of these components.And in the present embodiment In, since brake block 31 will not generate abrasion when operating normally, picking phenomenon can be reduced, and then can be to joint of robot arm inside Component formed effective protection.

Further, it can also can be installed on drive shaft including pressing plate 36 in a ring, inner rim, outer rim can be equipped with The dust collection cover 361 extended towards electromagnet 32, dust collection cover 361 and pressing plate 36 can be enclosed dust collecting trough 362, and brake block 31 can To be located in dust collecting trough 362.

So set, brake block 31 can be by dust by picking caused by 33 extrusion friction of armature in the case where powering off operating condition Slot 362 is collected, and influence of the normal braking picking to joint of robot arm internal component can be prevented.Cooperate aforementioned brake block again 31 are fixed on driving shaft design, that is to say, that in the provided brake gear of the present embodiment, can overcome brake block 31 substantially The influence to lose powder to joint of robot arm internal component, can guarantee the reliability service of joint of robot arm to a greater degree.

In the first embodiment, the inner edge of pressing plate 36 can be installed on drive shaft by bearing, then can be in machine The locating part of the forms such as setting gag lever post, limited block in person joint's arm, to stop pressing plate 36 to collect with the synchronous rotation of drive shaft Dirt slot 362 can not be rotated synchronously with drive shaft.Using this structure, the powder being collected in dust collecting trough 362 is not likely to produce two It is secondary to fly upward, preferably powder can be collected, to form more efficiently protection to the component in joint of robot arm.

In the second embodiment, pressing plate 36 can be fixed on drive shaft, i.e. pressing plate 36 can be with the same stepping of drive shaft Row rotation.In the embodiment, pressing plate 36 can be the mounting plate of brake block 31, and brake block 31 can be installed on pressing plate 36, with It is mutually fixed by pressing plate 36 with drive shaft, and then brake block 31 can be simplified and drive the mounting structure of between centers, and brake can be shortened The axial dimension of device.

Comparatively, the first embodiment can largely prevent the powder for being collected in dust collecting trough 362 from generating two It is secondary to fly upward, it is more advantageous to dust；And brake block 31 and pressing plate 36 and the mounting structure of drive shaft can be big in second of embodiment Width simplifies, and the axial dimension of brake gear is smaller, can shorten the axial length of entire joint of robot arm.It is being embodied When, the technical effect being collected that loses powder to 31 normal braking of brake block, this field may be implemented in above two embodiment Technical staff can choose according to actual needs.In fact, in the second embodiment, brake block 31 and pressing plate 36 Can be mutually indepedent, and it is fixedly installed in drive shaft respectively.

Further, along the direction close to electromagnet 32, above-mentioned dust collecting trough 362 can be in tapered taper, i.e. dust The internal diameter of lid 361 can be gradually reduced along the direction close to electromagnet 32.In this way, the dust collection cover 361 also has dust-break effect, it can Prevent the powder being collected in dust collecting trough 362 from dropping out from dust collecting trough 362 to a certain extent.Alternatively, can also be in dust collection cover Radially inwardly extending ring baffle is arranged in 361 ends far from pressing plate 36, which equally can be realized dust-break Technical effect.But it should knowing, the setting of dust collection cover 361 can not generate interference to the movement of armature 33, therefore, actually answer In, the scheme that can also be remained unchanged in the axial direction using internal diameter, the outer diameter of dust collection cover 361, to reduce the diameter of brake gear To size.

Elastic component 34 can be spring, or elastic ball etc. has compressible and resilience elastic element. By taking spring as an example, during installation, in 33 opposite end surface of electromagnet 32 and armature, locating slot is can be set at least one, in turn The end of the spring can be installed in locating slot, with guarantee the spring can be steadily placed at electromagnet 32 and armature 33 it Between；Meanwhile the locating slot also has guiding role, can elongation to spring and compression be oriented to, stretched to avoid spring Play, dislocation in compression process radially etc..

Guide part 35 can be fixed on one of electromagnet 32, armature 33, correspondingly, electromagnet to be rod-shaped 32, guide groove or pilot hole can be set in the other of armature 33, so the guide part 35 can be plugged in guide groove or In person's pilot hole, to guide the direction of motion of armature 33.The fixed connection end of guide part 35 and electromagnet 32 or armature 33 can be with Equipped with cone cell helicitic texture, similar to the tail portion of screw, so as to the fixed installation of guide part 35 and other parts.

For brake gear involved in the respective embodiments described above, following the present embodiment will also be to the brake gear in machine Installation site and mounting structure inside person joint's arm are described.

The installation site and mounting structure of brake gear are related with the specific structure of driving device, and driving device can be wrapped only Motor 2 is included, at this point, the shaft 21 of motor 2 is drive shaft above-mentioned, brake block 31 can be directly fixed on shaft 21, alternatively, Shaft 21 is fixed on by pressing plate 36；Electromagnet 32 and armature 33 can be socketed on shaft 21, and not turn with shaft 21 is synchronous It is dynamic.

Specific to the present embodiment, driving device can also include the retarder 4 being sequentially connected with motor 2, and then can pass through The output shaft 41 of the retarder 4 externally does work.Based on this, in addition to the above-mentioned scheme that brake gear is installed on to shaft 21, The brake gear can be installed on to the output shaft 41 of retarder 4, i.e., brake block 31 is fixed on output shaft 41；Alternatively, can also To be respectively provided with brake gear on shaft 21, output shaft 41, that is, two sets of brake gears are set, to guarantee braking effect.

In practical applications, due to the presence of retarder 4, to reach same braking effect, act on output shaft 41 Brake weight can be much larger compared with the brake weight for acting on shaft 21, for example, acting on output shaft when the transmission ratio of retarder 4 is 100 41 brake weight substantially acts on 100 times of the brake weight of shaft 21.In this way, being installed on to reach same braking effect The brake block 31 of output shaft 41 just needs to have biggish radial dimension, and then will lead to brake gear and entire joint of robot The radial dimension of arm increases.Therefore, in the present embodiment, it is preferred to use brake gear is installed on to the scheme of 2 shaft 21 of motor, To reduce brake weight, and reduce the radial dimension of brake gear.

Embodiment 2

5-10 is please referred to, Fig. 5 is provided a kind of structure of specific embodiment of joint of robot arm by the utility model Schematic diagram, Fig. 6 are the connection structure diagram of rear cover and cooling fin in Fig. 5, and Fig. 7 is driving plate and the first encoder plate and the second coding The connection structure diagram of device plate, Fig. 8 are the structural schematic diagram of the first encoder, and Fig. 9 is the left view of Fig. 8, and Figure 10 is the second coding The connection structure diagram of device plate, the second mounting base and flange shaft.

The utility model also provides a kind of joint of robot arm, including shell 1, is equipped with driving device and brake in shell 1 Device 3, the brake gear 3 are brake gear 3 involved in embodiment 1.So, brake gear 3 can take in embodiment 1 Technical effect, joint of robot arm provided by the present embodiment is likewise supplied with, and this will not be repeated here.

As shown in figure 5, shell 1 includes cylindrical portion, one end (being left end in attached drawing) setting of the cylindrical portion in the present embodiment There is rear cover 11, the other end (being right end in attached drawing) is provided with flange 5, to be connected with other joint arms.Inside shell 1 Driving device may include motor 2 and the retarder 4 with the motor 2 transmission connection, and the shaft 21 of motor 2 is the defeated of retarder 4 Enter axis, the output shaft 41 of retarder 4 may pass through flange 5, and stretch out shell 1, for externally exporting acting.

For saving space, improving the considerations of integrated level, set axis form is can be used in shaft 21 and output shaft 41.In detail and Speech, shaft 21 and output shaft 41 can be coaxially disposed, and shaft 21 can be hollow shaft, and output shaft 41 can be to wear inside the axis of rotation 21 It crosses, and the two can relatively rotate, it is non-interference.Certainly, between motor 2 and retarder 4 can also using the driving of parallel axes or Person is coaxially disposed the scheme that (non-set axis form) is driven, and in the specific implementation, those skilled in the art can be according to reality It is selected.

In shell 1 can be equipped with driving plate 8, driving plate 8 be provided with metal-oxide-semiconductor (Metal Oxide Semiconductor, That is metal-oxide semiconductor fieldeffect transistor) etc. heater elements 81, operate normally when, these heater elements 81 can produce Raw more heat, these heats can not such as be shed in time, will affect the normal use of each component in driving plate 8.

In this regard, scheme common in the art is that driving plate 8 and the interval of rear cover 11 are arranged, and then utilizes between the two Air radiate.However, the heat dissipation effect of air is poor, in joint of robot arm longtime running, it is easy in driving plate 8 Heat accumulation is generated, will affect the normal operation of driving plate 8；And waste spatially can be also generated, lead to joint of robot arm The increase of axial dimension.

For this purpose, in the present embodiment, can be radiated by the way that cooling fin 82 is arranged.Cooling fin 82 can use silica gel material Matter can be installed between the inner wall (rear cover 11) of shell 1 and driving plate 8 by way of press fitting, and can wrap up fever Element 81.It is arranged such, on the one hand, idle space, on the other hand, the heat dissipation effect of the cooling fin 82 of silica gel material is not present It is good, and can be in close contact with rear cover 11 and heater element 81, heat caused by heater element 81 can be straight by cooling fin 82 It connects and is transferred to the discharge of rear cover 11, heat dissipation effect is greatly improved, and the work effect for guaranteeing each component in driving plate 8 is more advantageous to Rate and service life.

The cooling fin 82 of silica gel material has viscosity, during installation, can be directly fitted in rear cover 11, driving plate 8 One of, then by the way of press fitting the cooling fin 82 is fitted closely with the other of rear cover 11, driving plate 8； Alternatively, the mode of press fitting also can be directly used, which is pressed between rear cover 11 and driving plate 8.

It is to be understood that it is set to the usual more than one of heater element 81 of driving plate 8, and the cooling fin of above-mentioned silica gel material 82 should be enough to cover all heater elements 81, to guarantee that each heater element 81 all has preferable heat dissipation effect.In this way, When cooling fin 82 is processed, installed, a monolith can be set by above-mentioned cooling fin 82, for details, reference can be made to Fig. 6, and then pass through The cooling fin 82 of one monolith is bonded all heater elements 81 simultaneously, using this scheme, the processing and installation of cooling fin 82 Process is relatively simple；Above-mentioned cooling fin 82 may be set to be muti-piece, then fit in each cooling fin 82 correspondingly Each heater element 81 can equally guarantee that each heater element 81 all has good heat dissipation effect, and can also reduce cooling fin 82 whole dosage.

It is appreciated that the cooling fin 82 can also use other materials, for example, aluminium alloy etc. in addition to using silica gel material Metal fin, but in view of the compressibility of silica gel material and the effect fitted closely, the cooling fin 82 of silica gel material are The preferred embodiment of the utility model embodiment.

It is also provided with coder module in shell 1, the parameters such as revolving speed for detecting shaft 21, output shaft 41, coding Device module may include matching used encoder plate and encoder.

It can be attached using line bank 9 between encoder plate and driving plate 8, to realize encoder plate and driving plate 8 Between signal transmitting.Specifically, as shown in fig. 7, the both ends of line bank 9 can be by the way of being plugged and fixed and coding Device plate, driving plate 8 are connected, compared with the prior art in common harness connection, above-mentioned connection type is more simple, only passes through Installation or removal can be completed in simple plug operation, and the reliability connected is higher, and anti-interference ability is stronger.

With continued reference to FIG. 5, above-mentioned coder module may include the first coder module 6 and second encoder module 7, the first coder module 6 is for detecting the parameters such as position, the revolving speed of 2 shaft 21 of motor, and second encoder module 7 is for detecting The parameters such as position, the revolving speed of output shaft 41.Above-mentioned encoder can be photoelectric encoder or other can be realized corresponding skill The encoder of art effect.

It may include matching used first encoder 61 and the first encoder plate by taking the first coder module 6 as an example 62, the first encoder plate 62 is equipped with the first socket 63, and driving plate 8 is equipped with driving plate socket 83, and the both ends of line bank 9 can be set There is connecting terminal, and then corresponding socket can be plugged in by connecting terminal.In connecting terminal and corresponding socket, one can be with Equipped with the first shackle member, another one can be equipped with the second shackle member, while connecting terminal is plugged in respective socket, the first card Fitting can be mutually clamped with the second shackle member, the connecting terminal for being plugged in respective socket is fixed, can avoid using Journey middle connecting terminal is deviate from along plug orientation from respective socket, and then ensures the company of line bank 9 and encoder plate, driving plate 8 Connect reliability.

Second encoder module 7 equally may include the second encoder 71 and second encoder plate 72 of mating setting, the Two encoder plates 72 are provided with the second socket 73 for being connected with line bank 9, the connection of second encoder plate 72 and driving plate 8 Structure is similar with the first encoder plate 62, does not do repetition herein.

It may be noted that the present embodiment does not limit the concrete form of above-mentioned first shackle member and the second shackle member, in reality In, those skilled in the art are referred to clamping structure in the prior art and are configured to the two；For example, the two can be with For mutually matched hook and card slot, or, or mutually matched hook and snap ring etc..

For motor 2, it is further typically provided with the magnetic coder 611 for detecting 2 commutation point of motor, the magnetic coder 611 are specifically as follows Hall sensor etc., in the prior art, above-mentioned magnetic coder 611 and the first coder module 6 above-mentioned Be it is separately installed, this results in the axial dimension of motor 2 larger.For this purpose, in the present embodiment, it can provide and a kind of compile magnetic The multiplexing and encoding device that code device 611 and photoelectric encoder 612 are integrated in one, and then using the multiplexing and encoding device as above-mentioned first Encoder 61, to reduce the axial dimension of motor 2.

As shown in Figure 8, Figure 9, multiplexing and encoding device can in a ring, and the internal ring portion of the annular can be photoelectric encoder 612, Outer portion can be magnetic coder 611, and the two is integrated in one, and axial width just corresponds to original photoelectric encoder 612 Axial width, the axial dimension of motor 2 can be reduced, substantially to improve the functional density of motor 2；Moreover, photoelectric encoder 612 Will not influence between each other with magnetic coder 611 so that the multiplexing and encoding device can be provided simultaneously with detection 21 revolving speed of shaft, position with And the function of 2 commutation point of motor.

Above-mentioned multiplexing and encoding device is also provided with the first mounting base 64, and in conjunction with Fig. 5, during installation, multiplexing and encoding device can The multiplexing and encoding device is mounted on the end that shaft 21 stretches out brake gear 3 by the first mounting base 64, i.e., so that brake gear 3 Between multiplexing and encoding device and motor 2, in this way, multiplexing and encoding device may be mounted at the position apart from motor 2 relatively far away from, with It avoids the operation of motor 2 fever and the performance of encoder is impacted.

For second encoder module 7, it can be equipped with the second mounting base 74, as shown in Figure 10, the second mounting base 74 is big Cause is in the form of a column, and is installed on output shaft 41, and one end (being upper end in attached drawing) of second mounting base 74 is also provided with together The groove of axis, second encoder 71 can be installed in the groove.The side wall of second mounting base 74 can also be arranged radially Peephole 741, the peephole 741 are connected with groove, in order to which whether the second encoder 71 observed in groove is installed in place, It can specifically be determined so that whether the distance between engagement groove bottom wall to second encoder 71 meets predetermined distance.Above-mentioned " predetermined distance " and type, the specification of second encoder 71 etc. are related, it is not limited here.

In addition, the present embodiment does not limit the shape and quantity of peephole 741 yet, quantity can be one, can also edge Circumferential setting is multiple, and the cross sectional shape of the peephole 741 can be rectangle, or round or stairstepping etc.；Regardless of How to be arranged, if guarantee by the peephole 741 can the installation site clearly to second encoder 71 be observed, with Avoid installation when there are blind spot, cause second encoder 71 to cannot be attached to position.

Figure 11 is please referred to, Figure 11 is provided the knot of another specific embodiment of joint of robot arm by the utility model Structure schematic diagram.

As shown in figure 11, in the present embodiment, the shaft 21 of motor 2 can run through brake gear 3, motor 2, and extend To retarder 4, to avoid the lubricating oil inside retarder 4 from leaking along shaft 21, and the coding in joint of robot arm is polluted Device module and driving plate 8, can be in the junction of 4 shell of retarder, 2 shell of motor and brake gear 3 shell and shaft 21 Oil retaining part part 211 is set.

In specific scheme, which can be spring bearing, it can in 4 shell of retarder, motor 2 Spring bearing is arranged in the junction of shell and 3 shell of brake gear and shaft 21, to stop 4 oil leak of retarder to enter encoder Module and driving plate 8；Meanwhile each spring bearing can also carry out limited support to shaft 21, to form multi-point support structure, It can avoid the bounce of shaft 21 in normal course of operation, and then can guarantee the stable operation of motor 2, and improve joint of robot arm Service life and reliability；In addition, the oil leak of retarder 4 can also be lubricated spring bearing, to ensure spring bearing Normal operation.

The quantity of above-mentioned spring bearing at least should be two, forms at least twice with the oil leak to retarder 4 and stops.And Specific to the present embodiment, the abutting end of 3 shell of 4 shell of retarder, 2 shell of motor and brake gear can share a support shaft It holds, using Figure 11 as visual angle, i.e. the right end of 2 shell of the left end of 4 shell of retarder and motor can share a spring bearing, motor The right end of 3 shell of left end and brake gear of 2 shells can share the same spring bearing, to reduce the use number of spring bearing Amount, simultaneously, additionally it is possible to the compactedness between each component is improved, to reduce the axial dimension of joint of robot arm.Certainly, the support The quantity of bearing can also be with more than two, for example, in 4 shell of retarder, 2 shell of motor and 3 shell of brake gear and can turn Spring bearing is separately provided in the junction of axis 21, at this point, needing to be arranged five spring bearings, to 4 shell of retarder The left and right ends of 3 shell of left end, the left and right ends of 2 shell of motor and brake gear are blocked.

Figure 12 is please referred to, Figure 12 is provided the knot of another specific embodiment of joint of robot arm by the utility model Structure schematic diagram.

In joint of robot arm, the installation requirement of retarder 4 is verticality 0.01mm, concentricity 0.01mm, still, When actual installation, shaft 21 and 4 mounting surface of retarder are extremely difficult to above-mentioned requirements.For this purpose, as shown in figure 12, in the present embodiment In, the setting of shaft 21 of retarder 4 and motor 2 can be an integral structure, to evade shaft 21 and 4 groups of retarder loaded onto Difficulty, and then meet installation requirement of the retarder 4 in joint of robot arm.In the present embodiment, retarder 4 is not limited Type, can be with gear reduction unit, worm reducer or harmonic speed reducer etc..

On this basis, flange 5 and retarder 4 can also be also configured as integral structure, to simplify to a greater degree The assembling process of the provided joint of robot arm of the present embodiment.

For joint of robot arm involved in the respective embodiments described above, following the utility model embodiment will also be to the machine The control process of device person joint's arm is described.

In course of normal operation, work is in acceleration or deceleration mistake when the motor 2 in joint of robot arm is most Journey.Also, the posture of robot is also in continuous variation, the posture of potential energy of robot body and its load also with robot Change and constantly changes.Which results in when, motor 2 and externally do positive work, when and externally do negative work.

When motor 2 externally does negative work, power output is converted mechanical energy into.But to the power supply electricity that robot powers Source is usually directed energy conversion, and the electric energy being converted to by mechanical energy can only constantly accumulate the capacitor of power supply On, cause the energy on capacitor constantly cumulative, as shown in figure 13.When the electric energy that motor 2 is fed back is added to capacitor and power supply Unaffordable degree will result in the hardware damage of power supply or joint of robot arm.

In order to solve this problem, currently used technological means is to increase feedback energy consumption dress in power supply part It sets, accumulated energies extra on capacitor are converted into thermal energy and distribute into air or other radiators.But utility model people It finds under study for action, usual power supply can be supplied by one section of longer cable connection to the artificial robot of machine (such as motor 2) Electricity.Due to the presence of cable equivalent inductance, in high speed dynamic, the voltage and power supply electricity at robot (such as motor 2) end will cause The inconsistent of transient state occurs for the output voltage in source, influences feedback energy consumer to the protective capability of robot body.

For this purpose, the embodiment of the present application provides a kind of joint of robot arm, setting consumption motor is anti-in robot body The device of energy regenerative amount avoids influence of the cable equivalent inductance to power supply output voltage, eliminates robotic end and power supply The transient voltage at end is inconsistent, to protect the safety of robot and power supply to greatest extent.

Referring to Figure 14, which is a kind of structural schematic diagram of joint of robot arm provided by the embodiments of the present application.

Joint of robot arm provided by the embodiments of the present application, comprising: at least one motor 2 and energy consumption module 10；

Motor 2 connects power supply Vsup；

Energy consumption module 101 generates electricity generated electric energy for consuming motor 2.

Power supply Vsup provides electric energy through cable W for the motor 2 in robot, and motor 2 converts electrical energy into mechanical energy Positive work is done outward.When motor 2 does negative work outward, converts mechanical energy into electric energy and be directly output on 100 ontology of robot Energy consumption module 101 is consumed by energy consumption module 101 and is absorbed, and be will not influence and is transmitted generation robot 100 via cable W The inconsistent situation of the transient voltage at end and the end power supply Vsup, can effectively avoid the equivalent inductance of cable W to energy consumption The safety of robot 100 and power supply Vsup is protected in the influence of 101 protective capability of module to greatest extent.

In the embodiment of the present application, joint of robot arm includes at least one motor and energy consumption module, motor connection Power supply, power supply do positive work and provide energy outward for motor, and when motor does negative work outward, the energy of motor feedback Amount directly absorbs consumption by the energy consumption module being arranged on robot body, avoids electricity on capacitor and is cumulative too high, and The energy of motor feedback needs not move through long cable and is directly output to energy consumption module, avoids the equivalent inductance of cable to transient state The influence of voltage, ensure that the stabilization of voltage on robot body, and then ensure that the normal of power supply and robot body Work.

Referring to Figure 15, which is the structural schematic diagram of another robot power supply system provided by the embodiments of the present application.Phase Compared with Figure 14, a kind of more specifical robot power supply system is provided.

In some possible implementations of the embodiment of the present application, energy consumption module 101 be can specifically include: control Submodule 101a and feedback absorb submodule 101b.

Control submodule 101a is connected on motor 2 and feedback absorbs between submodule 101b, for according to power supply The voltage of Vsup and the voltage of motor 2, control motor 2 and feedback absorbs the turn-on and turn-off in circuit between submodule 101b；

Feedback absorbs submodule 101b, for consuming the electric energy of the feedback of motor 2.

It is understood that is, motor 2 generates electricity outward when motor 2 externally does negative work, the voltage value at port is greater than Voltage value at power supply Vsup.If the pressure difference between the voltage of motor 2 and the voltage of power supply Vsup is greater than or equal to Preset threshold, motor 2 is then connected in control submodule 101a and feedback absorbs circuit between submodule 101b, and control feedback absorbs son Module 101b consumes the electric energy that motor 2 is fed back, and prevents electricity from accumulating on capacitor；Conversely, if the voltage and power supply of motor 2 Pressure difference between the voltage of Vsup is less than preset threshold, and control submodule 101a then controls motor 2 and feedback absorbs submodule The shutdown in circuit between 101b, avoids the waste of electric energy.

In one example, it may include heating resistor that feedback, which absorbs submodule 101b,.

In another example, it can also include the heating resistor and capacitor being connected in parallel that feedback, which absorbs submodule 101b,.

When normal work, the motion state by robot 100, which does not stop transformation and external electromagnetic interference, to be influenced, and can be led It causes the electric current for flowing through cable W that can generate larger fluctuation, influences the operation of motor 2.Therefore, in some possible realities of the embodiment of the present application In existing mode, the influence in order to avoid current fluctuation to motor 2 can also absorb the capacitor pair in submodule 101b using feedback It exports to the electric current of motor 2 and is filtered, guarantee the stabilization of electric current.

In practical applications, as an example, energy consumption module 101 can be set in a printed circuit board On (printed circuit board, PCB), which be can be set in robot base.

The specific structure of control submodule 101a is described in detail below.

In some possible implementations of the embodiment of the present application, control submodule 101a at least has following two may Implementation.

The first possible implementation, as shown in figure 16, control submodule 101a, comprising: switch S and controller CON；

Switch S is connected on motor 2 and feedback absorbs between submodule 101b；

Controller CON, for detecting the voltage of power supply Vsup and the voltage of motor 2；It is also used to according to power supply Voltage difference on or off switch S between the voltage of Vsup and the voltage of motor 2.

In the embodiment of the present application, it is detected as controller CON between the voltage of power supply Vsup and the voltage of motor 2 Voltage difference when being greater than or equal to preset threshold, control switch S conducting absorbs motor 2 and feedback between submodule 101b Access conducting absorbs submodule 101b consumption motor 2 using feedback and generates electricity generated electric energy；When controller CON detects confession When voltage difference between the voltage of power supply Vsup and the voltage of motor 2 is less than preset threshold, control switch S shutdown makes motor 2 And feedback absorbs the access between submodule 101b and disconnects, and avoids the waste of electric energy.

Second of possible implementation, as shown in figure 17, control submodule 101a may include: that P-channel insulated gate is double Gated transistors；

The emitter of P-channel insulated gate bipolar transistor MP connects motor 2, the collection of P-channel insulated gate bipolar transistor MP Electrode connects feedback and absorbs submodule 101b, and the base stage of P-channel insulated gate bipolar transistor MP connects power supply Vsup.

In the embodiment of the present application, it is detected as controller CON between the voltage of power supply Vsup and the voltage of motor 2 Voltage difference when being greater than or equal to preset threshold, P-channel insulated gate bipolar transistor MP conducting, so that motor 2 and feedback absorb Access conducting between submodule 101b absorbs submodule 101b consumption motor 2 using feedback and generates electricity generated electric energy；Work as control When device CON processed detects that the voltage difference between the voltage of power supply Vsup and the voltage of motor 2 is less than preset threshold, P-channel Insulated gate bipolar transistor MP shutdown avoids electric energy so that motor 2 and feedback absorb the access between submodule 101b and disconnect Waste.

Embodiment 3

The utility model also provides a kind of robot, including one or more joint arms, which is institute in embodiment 2 The joint of robot arm being related to.

Since the joint of robot arm in embodiment 2 has been provided with technical effect as above, then, there is the robot to close The robot of joint arm is also when having similar technical effect, therefore this will not be repeated here.

Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art For member, without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications Also it should be regarded as the protection scope of the utility model.

Claims (11)

1. a kind of brake gear is used for joint of robot arm, driving device, the driving dress are equipped in the joint of robot arm It sets with drive shaft, the brake gear (3) includes brake block (31), electromagnet (32) and armature (33), the electromagnet (32) elastic component (34) are equipped between the armature (33), which is characterized in that it further include guide part (35), the armature (33) Be mounted on the electromagnet (32) by the guide part (35), and can along the guide part (35) axially away from or it is close The electromagnet (32), the brake block (31) are fixed on the drive shaft；

Under energization operating condition, the armature (33) is pulled on the electromagnet (32), and compresses the elastic component (34), powers off operating condition Under, the elastic component (34) can discharge and the armature (33) is pushed to compress the brake block (31), to limit the driving The rotation of axis.

2. brake gear according to claim 1, which is characterized in that further include pressing plate (36) in a ring, inner rim installation In the drive shaft, outer rim is equipped with the dust collection cover (361) extended towards the electromagnet (32), the dust collection cover (361) and institute It states pressing plate (36) and is enclosed dust collecting trough (362)；

The brake block (31) is located in the dust collecting trough (362).

3. brake gear according to claim 2, which is characterized in that the pressing plate (36) is fixed on the drive shaft, described Brake block (31) is installed on the pressing plate (36).

4. brake gear according to claim 2, which is characterized in that the internal diameter of the dust collection cover (361) is along close to the electricity The direction of magnet (32) is gradually reduced.

5. brake gear described in any one of -4 according to claim 1, which is characterized in that the driving device includes motor (2), The drive shaft is the shaft (21) of the motor (2)；Alternatively,

The driving device includes motor (2) and the retarder (4) with the motor (2) transmission connection, and the drive shaft is described The shaft (21) of motor (2) and/or the output shaft (41) of the retarder (4).

6. a kind of joint of robot arm, including shell (1), the shell (1) is interior to be equipped with driving device and brake gear (3), It is characterized in that, the brake gear (3) is brake gear of any of claims 1-5 (3).

7. joint of robot arm according to claim 6, which is characterized in that driving plate (8) are additionally provided in the shell (1), The driving plate (8) is provided with heater element (81)；

Further include cooling fin (82), the cooling fin (82) press fitting in the inner wall of the shell (1) and the driving plate (8) it Between, and the heater element (81) can be wrapped up.

8. joint of robot arm according to claim 7, which is characterized in that it is additionally provided with coder module in the shell (1), The coder module includes matching used encoder plate and encoder；

It further include line bank (9), the both ends of the line bank (9) are plugged and fixed respectively in the encoder plate, the driving plate (8), to realize that the encoder plate and the signal of the driving plate (8) connect.

9. joint of robot arm according to claim 8, which is characterized in that the coder module further includes the second mounting base (74), the encoder is installed on second mounting base (74)；

Second mounting base (74) is equipped with peep hole (741), for observing whether the encoder is installed in place.

10. joint of robot arm according to claim 6, which is characterized in that the shell (1) includes cylindrical portion, the cylinder The one end in shape portion is equipped with rear cover (11), and the other end is equipped with flange (5)；

The driving device includes motor (2) and the retarder (4) with the motor (2) transmission connection, and the retarder (4) has Input shaft and output shaft (41), the input shaft are the shaft (21) of the motor (2), and the output shaft (41) passes through the method Blue (5) are simultaneously stretched out the shell (1), and the retarder (4) and the shaft (21) are an integral structure.

11. a kind of robot, including joint arm, which is characterized in that the joint arm is described in any one of claim 6-10 Joint of robot arm.