CN211761647U - Robot joint brake mechanism, mechanical arm and robot - Google Patents
Robot joint brake mechanism, mechanical arm and robot Download PDFInfo
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- CN211761647U CN211761647U CN201922321680.8U CN201922321680U CN211761647U CN 211761647 U CN211761647 U CN 211761647U CN 201922321680 U CN201922321680 U CN 201922321680U CN 211761647 U CN211761647 U CN 211761647U
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Abstract
The utility model provides a robot joint arrestment mechanism, arm and robot. The robot joint braking mechanism comprises an electromagnetic brake mechanism, a brake mechanism and a brake mechanism, wherein the electromagnetic brake mechanism comprises an electromagnet; the electromagnet penetrates through the telescopic rod, a guide bushing is sleeved outside the telescopic rod, the telescopic rod is accurately guided through the guide bushing, the guide bushing is installed on a positioning piece, and the positioning piece is installed on the brake code disc mechanism; the brake code disc mechanism is fixed on the output shaft of the speed reducer; when the electromagnet is powered off, the telescopic rod extends out and interferes with the brake code disc mechanism to realize braking; meanwhile, when the electromagnet is electrified, the telescopic rod is contracted, and the normal rotation of the joint is realized.
Description
Technical Field
The utility model belongs to the robot equipment field especially relates to a robot joint arrestment mechanism, arm and robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
A braking mechanism is a mechanical part that stops or decelerates motion in a machine. The braking process is actually an energy conversion process, and the kinetic energy of the mechanical motion is converted into other forms of energy. The inventor finds that the conventional joint braking mechanism of the cooperative robot is overlarge in volume and overweight; some brake devices have poor braking effect and are easy to damage; and some brakes are not accurate enough in positioning.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, a first aspect of the present invention provides a robot joint braking mechanism, which has the advantages of accurate positioning, simple structure, small size, light weight and low cost.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot joint brake mechanism comprising:
the electromagnetic brake mechanism comprises an electromagnet, and the electromagnet is fixed on the joint shell; the electromagnet penetrates through the telescopic rod, a guide bushing is sleeved outside the telescopic rod, the telescopic rod is accurately guided through the guide bushing, the guide bushing is installed on a positioning piece, and the positioning piece is installed on the brake code disc mechanism;
the brake code disc mechanism is fixed on the output shaft of the speed reducer; when the electromagnet is powered off, the telescopic rod extends out and interferes with the brake code disc mechanism to realize braking; meanwhile, when the electromagnet is electrified, the telescopic rod is contracted, and the normal rotation of the joint is realized.
In one embodiment, the electromagnet is fixed to the joint housing by a first fixing member and a second fixing member.
In one embodiment, an elastic wave washer is arranged between the brake code disc mechanism and the output shaft of the speed reducer.
In one embodiment, a shaft circlip is further arranged between the brake code disc mechanism and the output shaft of the speed reducer.
As an embodiment, the positioning piece is installed on the safety code disc mechanism through a bolt.
In one embodiment, the brake code wheel mechanism includes a grating disk and a photo detection circuit, and the photo detection circuit is used for detecting interference signals on the grating disk.
In one embodiment, the grating disk is connected to at least one support for supporting the positioning element.
In order to solve the above problem, a second aspect of the present invention provides a robot arm, which includes a robot joint braking mechanism and has the advantages of accurate positioning, simple structure and low cost.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot arm comprising at least one joint, each joint being associated with a robot joint brake mechanism as described above.
In order to solve the above problem, the third aspect of the present invention provides a robot, which includes a robot joint braking mechanism and has the advantages of accurate positioning, simple structure and low cost.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a robot comprises the mechanical arm.
The utility model has the advantages that:
the telescopic rod of the robot joint braking mechanism of the utility model is precisely guided by the guide bush, and is stretched out when the electromagnet is powered off and interferes with the braking code disc mechanism to realize braking; the telescopic link shrink when the electro-magnet circular telegram simultaneously realizes articular normal rotation for robot joint arrestment mechanism simple structure, small, light in weight, and low cost can realize the braking when the cooperation robot cuts off the power supply or when breaking down, and this arrestment mechanism passes through the guide bush and realizes the location, and is more accurate for current hoist mechanism, and it is more simple and convenient to use.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a schematic perspective view of an electromagnetic brake mechanism according to an embodiment of the present invention;
fig. 2 is a cross-sectional view of an electromagnetic brake mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structure of a robot joint braking mechanism according to an embodiment of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, the terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and are only the terms determined for convenience of describing the structural relationship of each component or element of the present invention, and are not specific to any component or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
Example one
As shown in fig. 3, a robot joint brake mechanism according to the present embodiment includes:
the electromagnetic brake mechanism 1 comprises an electromagnet 101, and the electromagnet 101 is fixed on a joint shell; the electromagnet 101 penetrates through the telescopic rod, a guide bushing 103 is sleeved outside the telescopic rod, the telescopic rod is accurately guided through the guide bushing 103, the guide bushing is installed on a positioning piece 105, and the positioning piece 105 is installed on the brake code disc mechanism 2, as shown in fig. 1 and 2;
the brake code disc mechanism 2 is fixed on the output shaft of the speed reducer; when the electromagnet is powered off, the telescopic rod extends out and interferes with the brake code disc mechanism to realize braking; meanwhile, when the electromagnet is electrified, the telescopic rod is contracted, and the normal rotation of the joint is realized.
In one embodiment, the electromagnet 101 is fixed to the joint housing by a first fixing member 102 and a second fixing member 103.
In this embodiment, the first fixing member and the second fixing member are respectively fixed to the left and right sides of the electromagnet, and finally the electromagnet is fixed to the joint housing.
In one embodiment, an elastic wave washer 3 is arranged between the brake code disc mechanism 2 and the output shaft of the speed reducer.
The elastic wave peak gasket can be installed in a smaller space, for example, prestress is applied to the bearing, the noise of bearing operation is reduced, and the operation precision and the stability of the bearing are improved.
In one embodiment, a shaft circlip 4 is further provided between the brake disc mechanism 3 and the reducer output shaft.
The elastic retainer ring for the shaft is mounted on the grooved shaft and used for fixing axial movement of parts. The structure is the existing structure.
As an embodiment, the positioning piece is installed on the safety code disc mechanism through a bolt.
The positioning member can be specifically arranged according to specific conditions, and can be a base structure or a plate structure.
In one embodiment, the brake code wheel mechanism includes a grating disk and a photo detection circuit, and the photo detection circuit is used for detecting interference signals on the grating disk.
It should be noted that in this embodiment, the photoelectric detection circuit includes a photoelectric converter, an amplifying circuit, a filter circuit, an a/D conversion circuit, and a microprocessor, which are connected in series in sequence, and those skilled in the art can set the photoelectric detection circuit according to specific working conditions, which is not described in detail herein. The microprocessor can be realized by a 51 series single chip microcomputer or other types of single chip microcomputers.
In one embodiment, the grating disk is connected to at least one support for supporting the positioning element.
The telescopic rod of the robot joint braking mechanism of the embodiment is accurately guided through the guide bush, and is stretched out when the electromagnet is powered off and interferes with the braking code disc mechanism to realize braking; the telescopic link shrink when the electro-magnet circular telegram simultaneously realizes articular normal rotation for robot joint arrestment mechanism simple structure, small, light in weight, and low cost can realize the braking when the cooperation robot cuts off the power supply or when breaking down, and this arrestment mechanism passes through the guide bush and realizes the location, and is more accurate for current hoist mechanism, and it is more simple and convenient to use.
Example two
The present embodiment provides a robot arm, which includes at least one joint, and each joint is connected to a robot joint braking mechanism according to the first embodiment.
EXAMPLE III
The present embodiment provides a robot, which includes the mechanical arm according to the second embodiment.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A robot joint brake mechanism, comprising:
the electromagnetic brake mechanism comprises an electromagnet, and the electromagnet is fixed on the joint shell; the electromagnet penetrates through the telescopic rod, a guide bushing is sleeved outside the telescopic rod, the telescopic rod is accurately guided through the guide bushing, the guide bushing is installed on a positioning piece, and the positioning piece is installed on the brake code disc mechanism;
the brake code disc mechanism is fixed on the output shaft of the speed reducer; when the electromagnet is powered off, the telescopic rod extends out and interferes with the brake code disc mechanism to realize braking; meanwhile, when the electromagnet is electrified, the telescopic rod is contracted, and the normal rotation of the joint is realized.
2. The robot joint brake mechanism of claim 1, wherein the electromagnet is fixed to the joint housing by a first fixing member and a second fixing member.
3. The robot joint brake mechanism of claim 1, wherein an elastic wave washer is disposed between the brake code wheel mechanism and the reducer output shaft.
4. The robot joint brake mechanism of claim 3, further comprising a shaft circlip provided between the brake code wheel mechanism and the output shaft of the speed reducer.
5. The robotic joint brake mechanism according to claim 1, wherein said positioning member is mounted on the brake code wheel mechanism by a bolt.
6. The robotic joint brake mechanism of claim 1, wherein the brake code wheel mechanism is comprised of a grating disk and a photo detection circuit for detecting an interference signal on the grating disk.
7. The robotic joint brake mechanism of claim 6, wherein the grating disk is coupled to at least one bracket for supporting a positioning member.
8. A robot arm comprising at least one joint, each joint being associated with a robotic joint brake mechanism according to any of claims 1 to 7.
9. A robot comprising a robot arm according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922321680.8U CN211761647U (en) | 2019-12-19 | 2019-12-19 | Robot joint brake mechanism, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922321680.8U CN211761647U (en) | 2019-12-19 | 2019-12-19 | Robot joint brake mechanism, mechanical arm and robot |
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| Publication Number | Publication Date |
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| CN211761647U true CN211761647U (en) | 2020-10-27 |
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| CN201922321680.8U Active CN211761647U (en) | 2019-12-19 | 2019-12-19 | Robot joint brake mechanism, mechanical arm and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405621A (en) * | 2020-11-13 | 2021-02-26 | 东南大学 | Low-energy-consumption robot joint quick locking device and using method |
| CN114193437A (en) * | 2022-01-04 | 2022-03-18 | 江苏恩格尔智能科技有限公司 | Intelligent mechanical arm for industrial robot |
-
2019
- 2019-12-19 CN CN201922321680.8U patent/CN211761647U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405621A (en) * | 2020-11-13 | 2021-02-26 | 东南大学 | Low-energy-consumption robot joint quick locking device and using method |
| CN114193437A (en) * | 2022-01-04 | 2022-03-18 | 江苏恩格尔智能科技有限公司 | Intelligent mechanical arm for industrial robot |
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