CN210704822U - Brake mechanism, joint driver and robot - Google Patents
Brake mechanism, joint driver and robot Download PDFInfo
- Publication number
- CN210704822U CN210704822U CN201921600043.8U CN201921600043U CN210704822U CN 210704822 U CN210704822 U CN 210704822U CN 201921600043 U CN201921600043 U CN 201921600043U CN 210704822 U CN210704822 U CN 210704822U
- Authority
- CN
- China
- Prior art keywords
- brake
- thrust
- friction
- piece
- electromagnet
- 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.)
- Active
Links
Images
Landscapes
- Braking Arrangements (AREA)
Abstract
The utility model relates to a brake mechanism, joint driver and robot, wherein brake mechanism includes: the friction piece is fixedly connected with the motor rotor; the brake piece is abutted against one side of the friction piece; the thrust piece is abutted against the other side of the friction piece and used for providing thrust for the brake piece, and the thrust of the thrust piece to the brake piece is adjustable; and the locking mechanism is used for preventing the brake piece from rotating according to a brake command. The elastic piece is arranged to provide force for the brake piece to press against the friction piece. Therefore, the friction force between the friction piece and the brake piece is always in a proper range by adjusting the thrust force of the thrust piece. In the braking process, the impact condition can not occur, and the condition that the braking distance is too large and the braking safety of the robot is influenced because the friction force is too small can not occur.
Description
Technical Field
The utility model relates to a braking technical field especially relates to a brake mechanism, joint driver and robot.
Background
A robot is a machine device that can automatically perform certain movement tasks. The driver in each joint of the robot can drive the robot arm connected with the driver to move, and the driver is provided with a brake mechanism which can be used for stopping the movement of the robot arm or keeping the robot arm in a certain space attitude. If the friction force of the brake mechanism in the robot is large, the brake mechanism and other components in the joint actuator may be impacted during the braking operation, which may cause damage. If the friction is too small, the braking distance will be increased, which affects the safety of the robot control.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide a brake mechanism, a joint driver, and a robot to reduce brake shock while securing safety of control.
A brake mechanism for an electric motor comprising:
the friction piece is fixedly connected with the motor rotor;
the brake piece is abutted against one side of the friction piece;
the thrust piece is abutted against the other side of the friction piece and used for providing thrust for the brake piece, and the thrust of the thrust piece to the brake piece is adjustable; and
and the locking mechanism is used for preventing the brake piece from rotating according to the brake command.
The scheme provides a brake mechanism, and the elastic piece is arranged to provide force for the brake piece to press against the friction piece. Therefore, the friction force between the friction piece and the brake piece is always in a proper range by adjusting the thrust force of the thrust piece. Specifically, the rotor of the motor drives the friction piece fixedly connected with the rotor to rotate in the rotating process, and the brake piece rotates together under the action of friction force. When the rotor of the motor needs to be kept at a specific position when the motor stops running, the locking mechanism is matched with the braking piece to prevent the braking piece from rotating, and the friction piece and the rotor of the motor gradually stop moving under the action of friction force. After the brake pad is used for a period of time, the friction piece and/or the brake piece can be abraded, so that the friction force between the friction piece and the brake piece is changed, and at the moment, the friction force between the friction piece and the brake piece is restored to a proper range by adjusting the thrust of the thrust piece to the brake piece, so that the brake impact is reduced, and the control safety is guaranteed.
In one embodiment, the brake mechanism further comprises a fixing member, the friction member and the brake member are both of an annular structure, the friction member and the brake member are both sleeved on the fixing member, the friction member is fixedly connected with the fixing member in the circumferential direction, and the brake member is slidable in the circumferential direction relative to the fixing member.
In one embodiment, the brake mechanism further comprises a thrust nut, the thrust nut is sleeved on the fixed member and abuts against one side of the thrust member far away from the brake member, a position of the fixed member corresponding to the thrust nut is provided with a thread, and the thread is matched with the thrust nut.
In one embodiment, a fixed disc is arranged at one end, close to the friction piece, of the fixing piece, the fixed disc is connected with the fixing piece, the outer diameter of the fixed disc is larger than that of the fixing piece, and the friction piece is fixedly connected with the fixed disc.
In one embodiment, an auxiliary groove is formed in the side face, opposite to the friction piece, of the fixed disc, the auxiliary groove is used for containing glue, and the friction piece is bonded with the fixed disc.
In one embodiment, the friction member is provided with a plurality of grooves distributed along the radial direction on the side surface opposite to the brake member, and the plurality of grooves are distributed at intervals along the circumferential direction of the friction member.
In one embodiment, the brake mechanism further comprises a pad, the pad is sleeved on the fixing member, the pad is pressed between the brake member and the thrust member, and the pad is fixedly connected with the fixing member in the circumferential direction.
In one embodiment, the pad is of an annular structure, and a concave-convex matching structure is arranged between the inner ring of the pad and the fixing part and used for preventing the pad from rotating relative to the fixing part in the circumferential direction.
In one embodiment, the outer cylinder surface of the fixing part is provided with a limiting groove, the limiting groove is arranged along the axial direction of the fixing part, the inner ring of the cushion part is provided with a limiting protrusion, and the limiting protrusion is matched with the limiting groove.
In one embodiment, the brake mechanism further comprises a pad member compressed between the braking member and the thrust member.
In one embodiment, the pad is a POM pad.
In one embodiment, the thrust member is an annular thrust spring, and one side of the thrust spring abuts against the braking member to provide thrust for the braking member.
In one embodiment, the thrust member is a plurality of columnar compression springs, the compression springs are distributed at intervals in the circumferential direction of the brake member, and one end of each compression spring is pressed against the brake member to provide thrust for the brake member.
In one embodiment, the thrust member includes a first electromagnet and a second electromagnet, the first electromagnet abuts against the brake member, the second electromagnet is arranged opposite to the first electromagnet, when the first electromagnet and the second electromagnet are both powered on, a mutual repulsion force is generated between the first electromagnet and the second electromagnet, and the magnetic force of the first electromagnet and/or the second electromagnet is adjustable.
A joint driver comprises a motor and the brake mechanism, wherein a friction piece is fixedly connected with a rotor of the motor.
The scheme provides a joint driver, and the brake mechanism in any embodiment is arranged in the joint driver, so that the friction force between the friction piece and the brake piece is always in a proper range in the use process. In the braking process, impact on other parts in the joint driver can not be caused, the purpose of braking can be achieved, and the safety of control is guaranteed.
In one embodiment, the locking mechanism comprises a striker and a driving member which are connected with each other, the outer ring of the brake member is provided with brake teeth, and the driving member is used for driving the striker to extend and retract so that the striker can extend to contact with the brake teeth in response to the brake command, thereby preventing the brake member from rotating.
In one embodiment, the striker has a conical shape at its end adjacent to the brake element.
In one embodiment, the joint driver further includes a motor cover, the driving member is an electromagnetic driving member, the electromagnetic driving member is disposed on an outer side of the motor cover, the brake mechanism is disposed on an inner side of the motor cover, a through hole is disposed on the motor cover, and the striker penetrates through the through hole and is disposed corresponding to the brake member.
A robot comprises the joint driver.
The technical scheme provides a robot, and the joint driver in any embodiment is arranged in the robot, so that the friction force between the friction piece and the brake piece is in a proper range, and the condition of impact cannot occur in the braking process, and the condition of influencing the braking safety of the robot due to too large braking distance caused by too small friction force cannot occur.
In one embodiment, the robot further comprises a plurality of mechanical arms and a plurality of joints, the mechanical arms are connected in sequence, adjacent mechanical arms are connected through the joints, and the joints are provided with the joint drivers.
Drawings
Fig. 1 is a front view of the brake mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of the braking mechanism of FIG. 1;
FIG. 3 is a right side elevational view of the friction member of the brake mechanism illustrated in FIG. 1;
fig. 4 is a schematic structural diagram of the joint driver according to another embodiment of the present invention;
FIG. 5 is a front view of the joint driver of FIG. 4 with the motor omitted;
FIG. 6 is an isometric view of the joint driver of FIG. 5;
fig. 7 is a schematic structural view of a striker in a joint driver according to another embodiment of the present invention;
fig. 8 is a front view of the robot according to the present embodiment.
Description of reference numerals:
10. the brake mechanism comprises a brake mechanism, 11, a friction piece, 111, a groove, 12, a brake piece, 13, a thrust piece, 14, a locking mechanism, 141, a striker, 142, a driving piece, 15, a fixing piece, 151, threads, 152, a fixed disc, 1521, an auxiliary groove, 153, a limiting groove, 16, a thrust nut, 17, a pad piece, 171, a limiting protrusion, 20, a joint driver, 21, a motor cover, 211, a through hole, 22, a motor, 221, a rotor, 222, a stator, 223, an output end, 30, a robot, 31, a mechanical arm, 32 and a joint.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As shown in fig. 1 and 2, in one embodiment, a brake mechanism 10 for an electric motor is provided, including a friction member 11, a brake member 12, a thrust member 13, and a locking mechanism 14. The friction member 11 is used for being fixedly connected with a rotor 221 of the motor 22. The friction member 11 abuts against one side of the brake member 12, and the thrust member 13 abuts against the other side of the brake member 12, so as to provide thrust for the brake member 12. The thrust of the thrust piece 13 to the brake piece 12 is adjustable. The locking mechanism 14 is used for preventing the brake member 12 from rotating according to a braking command.
The adjustment of the friction force between the friction piece 11 and the brake piece 12 can be realized by adjusting the thrust of the thrust piece 13 to the brake piece 12, so that the friction force between the friction piece 11 and the brake piece 12 is always in a proper range. Specifically, the rotor 221 of the motor 22 drives the friction member 11 fixedly connected therewith to rotate during the rotation process, and the brake member 12 rotates together under the action of the friction force. When the rotor 221 of the motor 22 needs to be kept at a specific position when the rotor stops, the locking mechanism 14 cooperates with the brake member 12 to prevent the brake member 12 from rotating, and the friction member 11 and the rotor 221 of the motor 22 gradually stop moving under the action of friction force. After a period of use, the friction member 11 and/or the braking member 12 may be worn, which causes the magnitude of the friction force between the friction member 11 and the braking member 12 to change, and at this time, the magnitude of the thrust force of the thrust member 13 on the braking member 12 is adjusted to restore the friction force between the friction member 11 and the braking member 12 to a proper range.
And specifically, when the thrust member 13 is an elastic member, the adjustment of the magnitude of the thrust force of the thrust member 13 to the braking member 12 can be realized by changing the compression amount of the thrust member 13. As for the compression amount of the thrust member 13, the distance between the limiting member and the brake member 12 may be adjusted by providing a limiting member on the side of the thrust member 13 away from the brake member 12, so that the compression amount of the thrust member 13 abutting between the brake member 12 and the limiting member is changed.
Specifically, the pushing member 13 may be an annular pushing spring, a cylindrical compression spring, a set of electromagnets capable of generating a repulsive force, or other devices capable of generating a pushing force, and is not limited herein.
Moreover, when the thrust piece 13 is an elastic piece, the thrust piece 13 is in a compressed state, so that the thrust piece 13 can enable the friction piece 11 and the brake piece 12 to be always in an abutting state through self deformation even if the friction piece 11 and the brake piece 12 are worn to a certain extent in the use process. It is ensured that the friction between the brake element 12 and the friction element 11 is in a suitable range. In addition, during the mounting and the adjusting, it is not necessary to apply an excessive force between the brake pad 12 and the friction pad 11 at the initial stage of the assembly in order to always have a constant frictional force between the friction pad 11 and the brake pad 12. But only to compress said thrust element 13 to a certain amount during assembly so that the friction between the braking element 12 and the friction element 11 is within a suitable range, reducing the wear of the friction element 11 and the braking element 12. During use, the thrust member 13 elongates as the brake member 12 and friction member 11 wear, but still maintains the friction between the brake member 12 and friction member 11 within a suitable range.
Of course, if the thrust member 13 is a set of electromagnets, it is also possible to make the friction member 12 and the friction member 11 always abut on each other based on the repulsive force between the electromagnets, so that the friction force is kept within a proper range, as with the elastic member, even if there is wear between the friction member 11 and the brake member 12. I.e. the thrust piece 13 is capable of dynamically adjusting the friction between the brake piece 12 and the friction piece 11.
Specifically, in one embodiment, as shown in fig. 1, 2, 5 and 6, when the thrust member 13 is an elastic member, the elastic member may be an annular thrust spring, and one side of the thrust spring abuts against the braking member 12 to provide thrust for the braking member 12.
As shown in fig. 1, 2, 5 and 6, the upper and lower surfaces of the annular thrust spring undulate up and down in the axial direction, forming a wavy annular structure, so that when abutting against the braking member 12, the respective contact points of the thrust spring raised with respect to the braking member 12 provide the thrust to the braking member 12.
The plurality of contact points are generally evenly distributed in the circumferential direction of the thrust spring, so that the brake element 12 is more evenly stressed.
Alternatively, in one embodiment, the thrust member 13 is a plurality of columnar compression springs, the plurality of compression springs are distributed at intervals in the circumferential direction of the braking member 12, and one end of each compression spring is pressed against the braking member 12 to provide thrust for the braking member 12.
Namely, by distributing a plurality of compression springs in the circumferential direction, thrust is provided for the braking member 12, so that the braking member 12 is pressed against the friction member 11, and the friction force between the braking member 12 and the friction member 11 is ensured.
Further, in an embodiment, when the thrust member 13 is a set of electromagnets, the thrust member 13 may include a first electromagnet and a second electromagnet. The first electromagnet is abutted to the brake piece 12, and the second electromagnet is arranged opposite to the first electromagnet. When the first electromagnet and the second electromagnet are both electrified, mutual repulsion force is generated between the first electromagnet and the second electromagnet, and the magnetic force of the first electromagnet and/or the second electromagnet can be adjusted.
In the using process, the thrust force of the thrust piece 13 to the brake piece 12 is adjusted by adjusting the magnetic force of the first electromagnet and/or the second electromagnet, and the friction force between the brake piece 12 and the friction piece 11 is further adjusted. Moreover, by adopting the first electromagnet and the second electromagnet, the process of adjusting the thrust is easy to realize automatic control.
Further, in one embodiment, as shown in fig. 1, 2, 5 and 6, in order to improve the uniformity of the force applied by the thrust member 13 to the braking member 12, a pad member 17 may be further disposed between the thrust member 13 and the braking member 12. The pad element 17 is compressed between the braking element 12 and the thrust element 13. Moreover, the pad member 17 is arranged to prevent the thrust member 13 from directly contacting the braking member 12, and to prevent friction between the thrust member 13 and the braking member 12 when the braking member 12 rotates.
Further, in one embodiment, as shown in fig. 1, 2, 5 and 6, the brake mechanism 10 further includes a fixing member 15. The friction piece 11 and the brake piece 12 are sleeved on the fixing piece 15, the friction piece 11 is fixedly connected with the fixing piece 15 in the circumferential direction, and the brake piece 12 can slide in the circumferential direction relative to the fixing piece 15.
The fixing member 15 is generally connected to the rotor 221 of the motor 22 during use, and during normal operation, the fixing member 15 carries the friction member 11 and the brake member 12 together to rotate with the rotor 221 of the motor 22.
When braking is required, the locking mechanism 14 prevents the brake member 12 from rotating, and the brake member 12 prevents the friction member 11 from rotating by the friction force between the brake member 12 and the friction member 11, so as to prevent the rotor 221 of the motor 22 from rotating.
When the rotation speed of the rotor 221 of the motor 22 is low, the static friction force between the brake piece 12 and the friction piece 11 is large enough to prevent the friction piece 11 from rotating relative to the brake piece 12, and the friction piece 11 and the fixing piece 15 are fixedly connected in the circumferential direction, so that the purpose of braking is achieved. When the rotation speed of the rotor 221 of the motor 22 is high, the brake 12 is prevented from rotating, but the friction member 11 and the fixing member 15 continue to rotate due to the high kinetic energy of the rotor 221 of the motor 22, so that the friction member 11 and the brake 12 rotate relatively, and the friction member 11, the fixing member 15 and the electronic rotor 221 gradually stop moving under the action of the dynamic friction force between the friction member 11 and the brake 12.
Specifically, as shown in fig. 2, the fixing member 15 may be a cylindrical structure, such as a fixed cylinder. Alternatively, the fastening element 15 may be a cylindrical structure, such as a cylindrical fastening element, a prismatic fastening element, or the like.
More specifically, as shown in fig. 2, in one embodiment, the friction member 11 and the braking member 12 are both annular structures, and both the friction member 11 and the braking member 12 are sleeved on the fixing member 15.
Further, as shown in fig. 1, fig. 2, fig. 5 and fig. 6, when the pad 17 is disposed between the braking member 12 and the thrust member 13, the pad 17 may also be sleeved on the fixing member 15, the pad 17 is pressed between the braking member 12 and the thrust member 13, and the pad 17 is fixed and connected to the fixing member 15 in the circumferential direction.
Namely, when the brake member 12 rotates relative to the fixing member 15 in the circumferential direction, the pad member 17 and the brake member 12 also rotate relative to each other, and the pad member 17 is stationary relative to the fixing member 15 in the circumferential direction, so that the thrust member 13 is stationary relative to the fixing member 15, and the stability of the thrust member 13 is ensured.
Specifically, as shown in fig. 2, in one embodiment, when the pad 17 has a ring structure, the pad 17 and the fixing element 15 may be fixedly connected in the circumferential direction in such a manner that a concave-convex matching structure is provided between an inner ring of the pad 17 and the fixing element 15, thereby limiting the pad 17 to rotate in the circumferential direction relative to the fixing element 15.
Further specifically, as shown in fig. 2, a limiting groove 153 is provided on an outer cylindrical surface of the fixing member 15, the limiting groove 153 is disposed along an axial direction of the fixing member 15, a limiting protrusion 171 is provided on an inner ring of the pad 17, and the limiting protrusion 171 is matched with the limiting groove 153.
When the cushion member 17 is sleeved on the fixing member 15, the limiting protrusion 171 of the inner ring of the cushion member 17 is located in the limiting groove 153, thereby limiting the movement of the cushion member 17 relative to the fixing member 15 in the circumferential direction.
Further specifically, in one embodiment, the pad 17 is a POM pad. The pad 17 may be made of other engineering plastics with suitable friction coefficient, and is not limited herein.
Further, in one embodiment, as shown in fig. 1, 2, 5 and 6, the brake mechanism 10 further includes a thrust nut 16. The thrust nut 16 is sleeved on the fixing piece 15, the thrust nut 16 abuts against one side, far away from the brake piece 12, of the thrust piece 13, a thread 151 is arranged at a position, corresponding to the thrust nut 16, on the fixing piece 15, and the thread 151 is matched with the thrust nut 16.
When the thrust member 13 is an elastic member, the compression amount of the elastic member due to pre-compression is adjusted by adjusting the depth of screwing the thrust nut 16 into the fixing member 15, i.e. by adjusting the distance between the thrust nut 16 and the braking member 12, so that the friction force between the braking member 12 and the friction member 11 is always within a proper range.
More specifically, in one embodiment, as shown in fig. 2, a fixing plate 152 is disposed on the fixing member 15 at an end close to the friction member 11, and the fixing plate 152 is connected to the fixing member 15. The outer diameter of the fixed disk 152 is greater than the outer diameter of the fixed component 15, and the friction member 11 is fixedly connected with the fixed disk 152, so that the fixed connection between the friction member 11 and the fixed component 15 in the circumferential direction is indirectly realized.
Specifically, the friction member 11 and the fixed disk 152 may be bonded to each other. For example, as shown in fig. 3, an auxiliary groove 1521 is disposed on a side surface of the fixed disk 152 opposite to the friction member 11, and the auxiliary groove 1521 is used for placing an adhesive. So that the fixed disk 152 is fixedly connected with the friction member 11 by means of adhesion.
More specifically, in one embodiment, the friction member 11 may be a PC friction plate, or may be made of other engineering plastics with a suitable friction coefficient, and is not limited herein.
The brake member 12 may be a metallic brake member or may be made of other materials having a certain strength.
Further, in one embodiment, as shown in fig. 3, the friction member 11 is provided with a plurality of radially distributed grooves 111 on the side opposite to the brake member 12, and the plurality of grooves 111 are spaced apart in the circumferential direction of the friction member 11.
When powder is formed by friction between the friction member 11 and the braking member 12, the generated powder can be temporarily stored in the groove 111, and the powder is prevented from influencing the friction force between the friction member 11 and the braking member 12.
Further, as shown in fig. 3, the groove 111 penetrates to the outer circumferential surface of the friction member 11, so that the powder temporarily stored in the groove 111 can be discharged from the groove 111.
Further, in another embodiment, as shown in fig. 4, there is provided a joint driver 20, comprising a motor 22 and the above-mentioned brake mechanism 10, wherein the friction member 11 is fixedly connected with the rotor 221 of the motor 22.
Specifically, when the fixing member 15 is included in the brake mechanism 10, the rotor 221 of the motor 22 is connected to the fixing member 15. During normal operation, the rotor 221 of the motor 22 rotates relative to the stator 222, and at the same time, the output 223 is moved. When the output 223 moves to the target position and needs to stop, the brake mechanism 10 stops the rotor 221 of the motor 22 by friction force, so that the output 223 stops moving.
By providing the brake mechanism 10 described in any of the above embodiments in the joint actuator 20, the friction force between the friction member 11 and the brake member 12 is always within a suitable range during use. The other parts in the joint driver 20 are not impacted in the braking process, and the purpose of braking can be achieved.
Further, in one embodiment, as shown in fig. 4 to 6, the locking mechanism 14 includes a striker 141 and a driving member 142 connected to each other, the brake member 12 is provided with brake teeth on an outer circumference thereof, the striker 141 is disposed at a position corresponding to the brake teeth, and the driving member 142 is used for driving the striker 141 to extend and retract.
When braking is needed, the driving element 142 drives the striker 141 to extend, and the striker 141 is in contact with the braking teeth to prevent the braking element 12 from rotating, so as to achieve the purpose of braking. When the brake is not needed, the driving member 142 drives the striker 141 to retract, so that the striker 141 is staggered with respect to the brake member 12, thereby rotating the fixing member 15 rotating with the rotor 221 of the motor 22 and the respective devices sleeved on the fixing member 15.
Further, as shown in fig. 5 and 6, in one embodiment, the end of the striker 141 adjacent to the brake element 12 is conical. The situation that the striker 141 is in contact with the brake piece 12 and is stuck when the striker 141 extends is effectively avoided.
Specifically, as shown in fig. 7, when the angle of inclination of the conical surface of the striker 141 is Q, the friction coefficient μ is tan Q, that is, Q is arctan μ, and the brake disc is not easily caught when contacting the striker 141.
More specifically, as shown in fig. 4 to 6, the joint actuator 20 further includes a motor cover 21, the driving member 142 is an electromagnetic driving member, the electromagnetic driving member is disposed on an outer side of the motor cover 21, the brake mechanism 10 is disposed on an inner side of the motor cover 21, a through hole 211 is disposed on the motor cover 21, and the striker 141 is disposed through the through hole 211 and corresponds to the brake member 12.
The fixing member 15 and the friction member 11 driven by the rotor 221 of the motor 22 rotate with the rotor 221 of the motor 22 inside the motor cover 21, and the electromagnetic driving member and the striker 141 are stationary with respect to the motor cover 21. When the brake is needed, the electromagnetic driving element 142 drives the striker 141 to extend, so as to stop the brake element 12 inside the motor cover 21, thereby achieving the purpose of braking.
Further, in yet another embodiment, as shown in fig. 8, a robot 30 is provided, the robot 30 comprising the joint driver 20 of any of the above embodiments.
In particular, the joint driver 20 may be provided on a robot arm 31 of the robot 30 for controlling a braking process of the robot arm 31.
By arranging the joint actuator 20 in any of the above embodiments in the robot 30, the friction force between the friction member 11 and the brake member 12 is in a proper range, and no impact occurs during braking, and no braking path is too long due to too small friction force, which affects the braking safety of the robot 30.
Moreover, when the robot 30 is in a static state, the joint actuator 20 is in a braking state, and when an external impact or force is applied to the mechanical arm 31 of the robot 30, if the external force exceeds a predetermined value, the friction member 11 and the brake member 12 will rotate relatively, thereby avoiding the situation that the external impact or force is too large to cause damage to the transmission components in the joint 32 of the robot 30.
Specifically, in one embodiment, as shown in fig. 8, the robot 30 further includes a plurality of robot arms 31 and a plurality of joints 32, the plurality of robot arms 31 are connected in sequence, adjacent robot arms 31 are connected by the joints 32, and the joint driver 20 is disposed in the joints 32.
For example, the robot 30 may be a six-axis robot or a seven-axis robot, and the corresponding robot 30 may include six joints 32 or seven joints 32, and a robot arm 31 connected to the joints 32.
When the robot 30 is in a normal operation process, the rotor 221 of the motor 22 rotates relative to the stator 222, the output end 223 transmits the rotation to one of the adjacent mechanical arms 31, and the mechanical arm 31 is driven to rotate relative to the other adjacent mechanical arm 31, so that corresponding actions are completed. After moving to the target position, a braking process is required to prevent the motor 22 from continuing to rotate, so that the robot arm 31 stops at the target position. By using the above-described joint actuator 20, the wear between the friction member 11 and the brake member 12 can be reduced while ensuring the accuracy and precision of the movement of the robot 30.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (20)
1. A brake mechanism for an electric motor, comprising:
the friction piece is fixedly connected with the motor rotor;
the brake piece is abutted against one side of the friction piece;
the thrust piece is abutted against the other side of the friction piece and used for providing thrust for the brake piece, and the thrust of the thrust piece to the brake piece is adjustable; and
and the locking mechanism is used for preventing the brake piece from rotating according to the brake command.
2. The brake mechanism as claimed in claim 1, further comprising a fixing member, wherein the friction member and the brake member are both annular structures, the friction member and the brake member are both sleeved on the fixing member, the friction member is fixed and connected to the fixing member in the circumferential direction, and the brake member is slidable in the circumferential direction relative to the fixing member.
3. The brake mechanism of claim 2, further comprising a thrust nut sleeved on the fixed member, wherein the thrust nut abuts against a side of the thrust member away from the brake member, and a position of the fixed member corresponding to the thrust nut is provided with a thread, and the thread is matched with the thrust nut.
4. The brake mechanism of claim 2, wherein a fixed plate is disposed on the fixing member at an end thereof adjacent to the friction member, the fixed plate is connected to the fixing member, an outer diameter of the fixed plate is larger than an outer diameter of the fixing member, and the friction member is fixedly connected to the fixed plate.
5. The brake mechanism of claim 4, wherein the side of the fixed plate opposite to the friction member is provided with an auxiliary groove for placing adhesive, and the friction member is adhered to the fixed plate.
6. The brake mechanism of claim 2, wherein the friction member is provided with a plurality of radially extending recesses on a side thereof opposite the brake member, the plurality of recesses being spaced circumferentially of the friction member.
7. The brake mechanism of claim 2, further comprising a pad member, wherein the pad member is disposed on the fixing member, the pad member is compressed between the brake member and the thrust member, and the pad member is fixed to the fixing member in a circumferential direction.
8. The brake mechanism of claim 7, wherein the pad member is of an annular configuration, and a male-female engagement structure is provided between the inner race of the pad member and the fixed member for preventing the pad member from rotating in a circumferential direction relative to the fixed member.
9. The brake mechanism according to claim 8, wherein the outer cylindrical surface of the fixing member is provided with a limiting groove, the limiting groove is arranged along the axial direction of the fixing member, the inner ring of the pad member is provided with a limiting protrusion, and the limiting protrusion is matched with the limiting groove.
10. The brake mechanism of claim 1, further comprising a pad member compressed between the brake member and the thrust member.
11. A brake mechanism according to any one of claims 7 to 10, wherein the backing member is a POM shim.
12. A brake mechanism according to any one of claims 1 to 10, wherein the thrust member is an annular thrust spring, one side of the thrust spring abutting the brake member for providing thrust to the brake member.
13. The brake mechanism of any one of claims 1 to 10, wherein the thrust member is a plurality of columnar compression springs, the plurality of compression springs are distributed at intervals in the circumferential direction of the brake member, and one end of each compression spring is pressed against the brake member to provide thrust for the brake member.
14. The brake mechanism according to any one of claims 1 to 10, wherein the thrust member comprises a first electromagnet and a second electromagnet, the first electromagnet abuts against the brake member, the second electromagnet is arranged opposite to the first electromagnet, when the first electromagnet and the second electromagnet are both powered on, a mutual repulsion force is generated between the first electromagnet and the second electromagnet, and the magnetic force of the first electromagnet and/or the second electromagnet is adjustable.
15. A joint actuator comprising a motor and a brake mechanism as claimed in any one of claims 1 to 14, the friction member being fixedly connected to the rotor of the motor.
16. The articulation driver of claim 15, wherein the locking mechanism includes a striker and a drive member coupled to one another, the brake member having brake teeth on an outer periphery thereof, the drive member being configured to drive the striker in extension and retraction such that the striker is extendable into contact with the brake teeth in response to the brake command to prevent rotation of the brake member.
17. The joint actuator of claim 16, wherein an end of the striker adjacent the brake member is conical.
18. The joint driver of claim 16, further comprising a motor cover, wherein the driving member is an electromagnetic driving member, the electromagnetic driving member is disposed on an outer side of the motor cover, the brake mechanism is disposed on an inner side of the motor cover, the motor cover is provided with a through hole, and the striker is disposed through the through hole and corresponds to the brake member.
19. A robot comprising a joint driver according to any of claims 15 to 18.
20. The robot according to claim 19, further comprising a plurality of robot arms and a plurality of joints, wherein the plurality of robot arms are connected in sequence, adjacent robot arms are connected through the joints, and the joints are provided with the joint drivers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921600043.8U CN210704822U (en) | 2019-09-24 | 2019-09-24 | Brake mechanism, joint driver and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921600043.8U CN210704822U (en) | 2019-09-24 | 2019-09-24 | Brake mechanism, joint driver and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210704822U true CN210704822U (en) | 2020-06-09 |
Family
ID=70941525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921600043.8U Active CN210704822U (en) | 2019-09-24 | 2019-09-24 | Brake mechanism, joint driver and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210704822U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123337A (en) * | 2020-09-22 | 2020-12-25 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
| CN113442160A (en) * | 2021-06-29 | 2021-09-28 | 上海非夕机器人科技有限公司 | Brake device, robot rotation joint and robot |
| CN113606266A (en) * | 2021-08-18 | 2021-11-05 | 北京理工大学 | Brake device for inspection device and inspection device |
| CN114083577A (en) * | 2021-12-21 | 2022-02-25 | 上海非夕机器人科技有限公司 | Brake assembly, joint driver and robot |
| US20220088768A1 (en) * | 2020-09-22 | 2022-03-24 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
| WO2022155887A1 (en) * | 2021-01-22 | 2022-07-28 | Abb Schweiz Ag | Brake apparatus, motor and robot |
| WO2023045199A1 (en) * | 2021-09-22 | 2023-03-30 | 琦星智能科技股份有限公司 | Driving motor of mechanical arm |
| WO2023209488A1 (en) * | 2022-04-29 | 2023-11-02 | Synapticon GmbH | Motor drive unit for a robot or robot joint, with brake functionality |
| WO2024123831A1 (en) * | 2022-12-06 | 2024-06-13 | Intuitive Surgical Operations, Inc. | Systems and methods for dissipating kinetic energy in controlling a repositionable structure |
-
2019
- 2019-09-24 CN CN201921600043.8U patent/CN210704822U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220088768A1 (en) * | 2020-09-22 | 2022-03-24 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
| US11731263B2 (en) | 2020-09-22 | 2023-08-22 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
| CN112123337A (en) * | 2020-09-22 | 2020-12-25 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
| WO2022061482A1 (en) * | 2020-09-22 | 2022-03-31 | Shanghai Flexiv Robotics Technology Co., Ltd. | Brake apparatus, robot joint and robot including the same |
| CN112123337B (en) * | 2020-09-22 | 2022-02-22 | 上海非夕机器人科技有限公司 | Locking brake mechanism and robot joint and robot comprising same |
| WO2022155887A1 (en) * | 2021-01-22 | 2022-07-28 | Abb Schweiz Ag | Brake apparatus, motor and robot |
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
| CN113442160B (en) * | 2021-06-29 | 2022-07-15 | 上海非夕机器人科技有限公司 | Brake device, robot revolute joint and robot |
| CN113442160A (en) * | 2021-06-29 | 2021-09-28 | 上海非夕机器人科技有限公司 | Brake device, robot rotation joint and robot |
| CN113606266A (en) * | 2021-08-18 | 2021-11-05 | 北京理工大学 | Brake device for inspection device and inspection device |
| WO2023045199A1 (en) * | 2021-09-22 | 2023-03-30 | 琦星智能科技股份有限公司 | Driving motor of mechanical arm |
| CN114083577A (en) * | 2021-12-21 | 2022-02-25 | 上海非夕机器人科技有限公司 | Brake assembly, joint driver and robot |
| WO2023209488A1 (en) * | 2022-04-29 | 2023-11-02 | Synapticon GmbH | Motor drive unit for a robot or robot joint, with brake functionality |
| WO2024123831A1 (en) * | 2022-12-06 | 2024-06-13 | Intuitive Surgical Operations, Inc. | Systems and methods for dissipating kinetic energy in controlling a repositionable structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210704822U (en) | Brake mechanism, joint driver and robot | |
| US9579805B2 (en) | Brake device of robot arm | |
| EP0890037B1 (en) | Multi-disc brake actuator for vibration damping | |
| US10018258B2 (en) | Actuator having an associated locking device and torque limiter | |
| CN110645291B (en) | Friction plate assembly, brake and motor | |
| US9051981B2 (en) | Dynamic brake | |
| WO2023115720A1 (en) | Brake assembly, joint driver and robot | |
| CN106051037A (en) | Mechanical one-way damper | |
| CN201050558Y (en) | Braking and load-limiting coupler | |
| CN100509558C (en) | Electromechanical brake with angular displaceable actuators | |
| US11892042B2 (en) | Brake mechanism, joint actuator, and robot | |
| JPH0396462A (en) | Pressure actuator | |
| CN101813146B (en) | Coupling braking load limiter | |
| CN209999122U (en) | Electric tool | |
| JP2020153423A (en) | Rotational inertia device | |
| CN216731799U (en) | Joint driver and robot | |
| US4636679A (en) | Piezoelectrically driven fast response high-torque clutch unit | |
| KR100670953B1 (en) | Brake Power Adjustable Air Brake | |
| US11401988B2 (en) | Dual action magnetic brakes and related methods | |
| JPS6220923A (en) | Negative operating type solenoid brake | |
| CN113059592A (en) | Robot movement mechanism | |
| EP1828634B1 (en) | Arrangement for reducing a rotational speed of a rotating member | |
| WO2022096084A1 (en) | Brake device, drive unit, and industrial device | |
| CN214404506U (en) | Damping rotating elastic part | |
| JPS587143Y2 (en) | electromagnetic brake |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |