CN214945904U - Ultrathin excitation-free brake for mechanical arm joint - Google Patents
Ultrathin excitation-free brake for mechanical arm joint Download PDFInfo
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- CN214945904U CN214945904U CN202120784187.4U CN202120784187U CN214945904U CN 214945904 U CN214945904 U CN 214945904U CN 202120784187 U CN202120784187 U CN 202120784187U CN 214945904 U CN214945904 U CN 214945904U
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- armature ring
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Abstract
The utility model discloses an ultra-thin excitation-free stopper for arm joint sets up in the robot joint shell, including the fixed stopper main part that sets up, the stopper main part includes stator group and installation crown plate, sets up the armature ring between stator group and installation crown plate, sets up the friction disk between armature ring and installation crown plate, is equipped with annular groove chamber on the terminal surface of stator group orientation installation crown plate, is equipped with the coil in the annular groove chamber, is equipped with elastic element between stator group and the armature ring, and elastic element possesses the elastic pressure to armature ring orientation friction disk, and the friction disk is equipped with synchronous shaft hole. The utility model discloses innovated the ultra-thin excitation-free stopper that has provided, greatly reduced stopper axial dimensions, satisfied the miniaturized application demand of robot joint, possessed characteristics such as the high efficiency of braking easily carries on. The non-excitation braking requirement is met, and the braking stability is ensured in emergency and power-off states. The overall design is simple and ingenious, the service life is guaranteed, and the safe operation requirement of the robot is met.
Description
Technical Field
The utility model relates to an ultra-thin no excitation stopper for arm joint belongs to the technical field of stopper.
Background
In recent years, the field of robots has been increasingly miniaturized, thinned, lightened, and highly torqued, and particularly in the field of cooperative robots and service robots, high flexibility is required to meet the demands for high precision; and the device has an advanced collision detection function, can automatically stop running when unexpected collision occurs, and protects operators and surrounding equipment from being damaged.
Therefore, the requirements on the brake are higher and higher, the space of the joint of the mechanical arm is narrow, a motor and a speed reducer are required to be arranged in the brake, the load-holding space of the traditional brake is difficult to provide, generally, a frameless torque motor and a harmonic speed reducer are adopted to carry the joint in order to maximize the space utilization, a certain space is released, the axial size of the traditional brake is required to be reduced, the specifications of the traditional spring brake and the electromagnetic brake are still large, the miniaturization and the compactness design cannot be met, in addition, the diameter and the axial size of the traditional brake are related, the braking force of the traditional brake is sharply reduced when the axial size is excessively reduced, and the stable braking requirement cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the not enough of above-mentioned prior art, hardly satisfy confined space to traditional stopper axial specification and carry on and brake capacity compatible problem, provide the ultra-thin excitation-free stopper that is used for arm joint.
In order to achieve the above purpose, the utility model discloses the technical scheme who adopts is:
the ultrathin excitation-free brake for the mechanical arm joint is arranged in a robot joint shell and matched with a motor rotating shaft in the robot joint shell,
the brake comprises a brake main body which is fixedly arranged, wherein the brake main body comprises a stator base and a mounting ring plate which are provided with fixed intervals, an armature ring arranged between the stator base and the mounting ring plate, and a friction disc arranged between the armature ring and the mounting ring plate,
an annular groove cavity is formed in the end face, facing the mounting ring plate, of the stator base, a coil is arranged in the annular groove cavity, an elastic element is arranged between the stator base and the armature ring, the elastic element has elastic pressure for forcing the armature ring to move towards the friction disc,
the friction disc is provided with a synchronous shaft hole which is used for rotating synchronously with a rotating shaft of the motor.
Preferably, said friction disc is provided with an extension located within an inner annular cavity of said mounting ring plate.
Preferably, a plurality of spaced columns which are uniformly distributed in the circumferential direction are arranged between the stator base and the mounting ring plate, and screw holes for penetrating and connecting bolts are formed in the spaced main bodies.
Preferably, an avoiding groove position used for avoiding the spacing column body is arranged on the armature ring.
Preferably, the elastic element is an annular reed or a plurality of spring bodies which are uniformly distributed in the circumferential direction.
Preferably, the coil possesses and connects the electric pin, connect the electric pin and possess first kink and second kink, be equipped with in the annular groove intracavity and be used for dodging the space of dodging of first kink, armature ring with be equipped with respectively on the installation crown plate and be used for dodging the position of dodging of second kink.
Preferably, the periphery of the mounting ring plate is provided with a plurality of radial grooves used for circumferential limiting, and the armature ring is provided with radial matching grooves which are in one-to-one correspondence with the radial grooves.
The beneficial effects of the utility model are mainly embodied in that:
1. the ultrathin excitation-free brake is provided innovatively, the axial size of the brake is greatly reduced, the application requirement of robot joint miniaturization is met, and the brake has the characteristics of high braking efficiency, easiness in carrying and the like.
2. The non-excitation braking requirement is met, and the braking stability is ensured in emergency and power-off states.
3. The overall design is simple and ingenious, the service life is guaranteed, and the safe operation requirement of the robot is met.
Drawings
Fig. 1 is a schematic structural diagram of the ultra-thin excitation-free brake for the mechanical arm joint of the present invention.
Fig. 2 is an explosion structure diagram of the ultra-thin excitation-free brake for the mechanical arm joint of the present invention.
Fig. 3 is an assembly structure diagram of the ultra-thin excitation-free brake of the present invention mounted on the robot joint housing.
Detailed Description
The utility model provides an ultra-thin no excitation stopper for arm joint. The technical solution of the present invention will be described in detail below with reference to the accompanying drawings so as to be easier to understand and grasp.
As shown in fig. 3, the ultra-thin excitation-free brake for a robot arm joint is disposed in a robot joint housing 1 and is matched with a motor rotating shaft in the robot joint housing 1, specifically, a frameless torque motor 2 and a harmonic reducer 3 are disposed in the robot joint housing 1, and the brake interferes with the motor rotating shaft of the frameless torque motor 2. The traditional brake is difficult to meet the requirements of both axial stroke and braking performance.
The scheme provides an ultrathin excitation-free brake, which comprises a brake main body fixedly arranged as shown in fig. 1 and fig. 2, wherein the brake main body comprises a stator base 4 and a mounting ring plate 5 with a fixed distance, an armature ring 6 arranged between the stator base 4 and the mounting ring plate 5, and a friction disc 7 arranged between the armature ring 6 and the mounting ring plate 5.
The end face, facing the installation ring plate 5, of the stator base 4 is provided with an annular groove cavity, a coil 8 is arranged in the annular groove cavity, an elastic element 9 is arranged between the stator base 4 and the armature ring 6, and the elastic element 9 has elastic pressure for forcing the armature ring to move towards the friction disc 7.
The friction disk 7 is provided with a synchronizing shaft hole 70 for rotational synchronization with the motor shaft.
The specific implementation process and principle description are as follows:
the brake body is used for being fixed with the robot joint shell 1 or the frameless torque motor 2, and a motor rotating shaft of the frameless torque motor 2 penetrates through the brake body and is in synchronous rotation with the friction disc 7. Specifically, the synchronous shaft hole 70 is a rectangular hole, a triangular hole or a round hole with a tangent plane, and the matching end of the motor rotating shaft adopts a profile-modeling circumferential limit matching design.
Under different electric states of the coil 8, the elastic element 9 has elastic pressure for forcing the armature ring to displace towards the friction disc 7, so that the friction disc 7 is tightly locked between the armature ring 6 and the mounting ring plate 5, and the rotating shaft of the motor is locked. When the motor shaft is released, the coil 8 is energized to generate electromagnetic force, so that the armature ring generates magnetic adsorption displacement toward the stator 4 to press the elastic element 9, and at this time, the armature ring releases the friction disc 7, and the friction disc 7 has rotational displacement synchronous with the motor shaft.
By means of compact sheet combination of the stator base 4, the armature ring 6, the friction disc 7 and the mounting ring plate 5, the axial size of the excitation-free brake can be greatly reduced, and the requirement for compact carrying of the mechanical arm joint is met.
More specifically, the thickness of the mounting ring plate 5 is not more than 1.5mm, and the high-strength steel plate material with the mark Q550D is adopted by design and model selection, and the Q550D steel plate is formed by adding different types of strengthening elements and proper rolling process control on the basis of IF steel, so that the steel has higher strength while ensuring good plasticity and stamping performance, and meets the performance requirements of complex-shaped car stamping parts. And simultaneously, the high strength and stamping forming performance requirements of the mounting plate are met.
The thickness of the armature ring is not more than 1.5mm, the requirement is that the armature ring has easy demagnetization performance, a low-alloy high-strength steel plate with the mark of HC500LA is adopted through design and selection, and the yield strength of 500Mpa and the low carbon content of not more than 0.12 percent simultaneously meet the performance requirements of high strength and quick demagnetization of the armature.
The thickness of the friction disc 7 is not more than 2mm, the traditional friction material formed by hot pressing cannot meet the requirement of strength performance, and the specific friction material is formed by injection molding through a nylon and glass fiber material with the mark of PA9TGF 45. PA9T has the lowest water absorption in nylon series resin, does not cause dimensional change and mechanical strength reduction due to water absorption, resists high temperature of 280 ℃, and has less mechanical strength and rigidity reduction in high-temperature environment; the increased 45% glass fiber greatly improves the strength and friction coefficient of the friction disc.
The thickness of the stator base 4 is not more than 5mm, and the requirement of the magnetic field intensity cannot be met by adopting No. 10 steel material traditionally. The iron-cobalt-vanadium alloy soft magnetic material with the brand number of 1J22 is adopted by design and selection, and the iron-cobalt-vanadium soft magnetic alloy is commonly used for iron core materials with special requirements of aerospace and the like, so that the comprehensive performance requirements of high magnetic conductivity and processing strength are met.
The coil 8 is formed by glue infiltration by adopting an auxiliary forming jig, can not be scattered, and is fixed to form a frameless coil.
Therefore, the axial size of the ultrathin excitation-free brake can be controlled within 10mm, and the requirement for braking stability is met while the ultrathin requirement is met.
In one embodiment, the friction disc 7 is provided with an extension 71 located within the inner annular cavity of the mounting ring plate 5.
Specifically, the friction disc 7 is designed to have a thickness not exceeding 2mm, and the strength requirement of the matching structure between the synchronous shaft hole 70 and the motor rotating shaft is very high, so that the design of the extension part 71 is adopted, the size of the extension part can be increased by about 1.5mm, the strength requirement of the matching structure is met, the synchronous stability is better, and the mechanical strength of the stop machine is further guaranteed.
In a specific embodiment, a plurality of circumferentially uniformly distributed spacing cylinders 10 are arranged between the stator base 4 and the mounting ring plate 5, and screw holes for penetrating bolts are arranged in the spacing cylinders 10.
Namely, the spacing column 10 is a support for fixing the spacing and is matched with an assembly bolt for the stator base 4 and the mounting ring plate 5, so that the structural stability of the brake main body is improved.
In one embodiment, the armature ring 6 is provided with an avoiding groove 61 for avoiding the spacing cylinder. Through dodging the design of trench 61, satisfy interval cylinder 10 to the spacing demand of armature ring 6 circumference, satisfy armature ring 6's axial displacement sensitivity again for armature ring 6 displacement is more reliable and more stable.
One elastic element 9 is an annular reed or a plurality of spring bodies which are uniformly distributed in the circumferential direction, and only the elastic compression force on the armature ring 6 and the compression stroke clearance during adsorption are required to be met.
In one embodiment, the coil 8 has a power connection pin 81, the power connection pin has a first bending portion and a second bending portion, an avoiding space for avoiding the first bending portion is provided in the annular groove cavity, and avoiding positions for avoiding the second bending portion are provided on the armature ring and the mounting ring plate, respectively.
That is, as shown in fig. 1 and 2, the space requirement for the lead-out of the power connection pin 81 of the coil 8 is satisfied.
In a specific embodiment, the periphery of the mounting ring plate 5 is provided with a plurality of radial grooves for circumferential limiting, and the armature ring 6 is provided with radial matching grooves which are arranged in one-to-one correspondence with the radial grooves.
Specifically, when the brake main body is fixed, the stator base 4 is generally locked by bolts, and the radial matching grooves and the radial grooves are used for integral radial limitation when the brake main body is locked, so that the integral structural stability of the brake main body is improved.
Can discover through the above description, the utility model is used for the articulated ultra-thin excitation-free stopper of arm has innovatively proposed ultra-thin excitation-free stopper, has greatly reduced stopper axial dimensions, satisfies the miniaturized application demand of robot joint, possesses the high-efficient characteristics such as easily carrying on of braking. The non-excitation braking requirement is met, and the braking stability is ensured in emergency and power-off states. The overall design is simple and ingenious, the service life is guaranteed, and the safe operation requirement of the robot is met.
The above technical solutions of the present invention have been fully described, and it should be noted that the present invention is not limited by the above description, and all technical solutions formed by equivalent transformation or equivalent transformation adopted by the spirit of the present invention in the aspects of structure, method or function by those of ordinary skill in the art all fall within the protection scope of the present invention.
Claims (7)
1. A ultra-thin excitation-free stopper for arm joint sets up in the robot joint shell, cooperatees its characterized in that with the motor shaft in the robot joint shell:
the brake comprises a brake main body which is fixedly arranged, wherein the brake main body comprises a stator base and a mounting ring plate which are provided with fixed intervals, an armature ring arranged between the stator base and the mounting ring plate, and a friction disc arranged between the armature ring and the mounting ring plate,
an annular groove cavity is formed in the end face, facing the mounting ring plate, of the stator base, a coil is arranged in the annular groove cavity, an elastic element is arranged between the stator base and the armature ring, the elastic element has elastic pressure for forcing the armature ring to move towards the friction disc,
the friction disc is provided with a synchronous shaft hole which is used for rotating synchronously with a rotating shaft of the motor.
2. The ultra-thin excitation-free brake for a robot arm joint as claimed in claim 1, wherein:
the friction disc is provided with an extension located within an inner annular cavity of the mounting ring plate.
3. The ultra-thin excitation-free brake for a robot arm joint as claimed in claim 1, wherein:
a plurality of spaced columns which are uniformly distributed in the circumferential direction are arranged between the stator base and the mounting ring plate, and screw holes for penetrating bolts are formed in the spaced columns.
4. The ultra-thin excitation-free brake for a robot arm joint as claimed in claim 3, wherein:
and an avoidance slot position for avoiding the interval column body is arranged on the armature ring.
5. The ultra-thin excitation-free brake for a robot arm joint as claimed in claim 1, wherein:
the elastic element is an annular reed or a plurality of spring bodies which are uniformly distributed in the circumferential direction.
6. The ultra-thin excitation-free brake for a robot arm joint as claimed in claim 1, wherein:
the coil possesses and connects the electric pin, connect the electric pin and possess first kink and second kink, be equipped with in the annular groove intracavity and be used for dodging the space of dodging of first kink, armature ring with be equipped with respectively on the installation link plate and be used for dodging the dodging of second kink is located.
7. The ultra-thin excitation-free brake for a robot arm joint as claimed in claim 1, wherein:
the periphery of the mounting ring plate is provided with a plurality of radial grooves used for circumferential limiting, and the armature ring is provided with radial matching grooves which are in one-to-one correspondence with the radial grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120784187.4U CN214945904U (en) | 2021-04-16 | 2021-04-16 | Ultrathin excitation-free brake for mechanical arm joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120784187.4U CN214945904U (en) | 2021-04-16 | 2021-04-16 | Ultrathin excitation-free brake for mechanical arm joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214945904U true CN214945904U (en) | 2021-11-30 |
Family
ID=79042410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120784187.4U Active CN214945904U (en) | 2021-04-16 | 2021-04-16 | Ultrathin excitation-free brake for mechanical arm joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214945904U (en) |
-
2021
- 2021-04-16 CN CN202120784187.4U patent/CN214945904U/en active Active
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