CN217020454U

CN217020454U - Robot joint, cooperation robot, reduction gear and stopper

Info

Publication number: CN217020454U
Application number: CN202121595905.XU
Authority: CN
Inventors: 孙恺; 高瑜刚
Original assignee: Suzhou Elite Robot Co Ltd
Current assignee: Suzhou Elite Robot Co Ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2022-07-22
Anticipated expiration: 2031-07-14

Abstract

The utility model relates to a robot joint, a cooperative robot, a speed reducer and a brake, wherein the robot joint comprises a joint shell, a power device and a brake assembly, the brake assembly comprises an armature and a friction plate, the power device comprises a main body and a cover body at least partially covering the main body, the power device comprises a motor and a speed reducer, the cover body of the speed reducer or the cover body of the motor is used for forming a brake disc, the brake disc can adsorb or release the armature according to the power-on and power-off state, and then the friction plate is clamped to realize braking or release of the friction plate so as to release braking. The specific embodiment of the utility model has the beneficial effects that: through the lid with reduction gear or motor and brake disc fusion, the brake disc accomplishes the braking with the braking subassembly cooperation for robot joint axial space is compressed, robot joint compact structure.

Description

Robot joint, cooperation robot, reduction gear and stopper

Technical Field

The utility model relates to the technical field of robots, in particular to a robot joint, a cooperative robot, a speed reducer and a brake, wherein the robot joint, the cooperative robot, the speed reducer and the brake are structurally integrated.

Background

For robots using joints, such as industrial robots, joints of the robots are main components, numerous components are arranged in the joints, the internal space is limited, more components are required to be accommodated, and the robot joints are inevitably large in size. For some robots, for example, for a cooperative robot, the required size is small, the structure is compact, and the requirements for self weight and the like are high, so that the performance and the use convenience of the robot can be improved, and in order to reduce the design of the robot joint as much as possible and ensure the use of all components in the joint, the structural design and the arrangement mode of the components play an important role in reducing the size of the robot joint.

The electromagnetic brake is a common brake structure and is widely adopted in a robot joint, but the characteristics of the electromagnetic brake enable the electromagnetic brake to be easy to rub to generate dust in the braking process, and for the robot joint, a plurality of components such as optical encoders are distributed in the electromagnetic brake, so that the electromagnetic brake is extremely sensitive to the dust, and the normal operation of the robot can be influenced if no dustproof measures are taken. The traditional dustproof measure is that a protective cover is arranged outside the brake, but the protective cover cannot completely surround the structure of the brake, meanwhile, the protective cover can increase the occupied space of the brake, the protective cover is not suitable for a scene with a very limited space of a joint of the robot, and the mode that the protective cover surrounds the brake is not beneficial to heat dissipation of the brake, so that the normal operation of the robot is possibly influenced due to unsmooth heat dissipation.

Therefore, there is a need for a robot joint, a cooperative robot, a decelerator and a brake that have a compact structure and good operation stability.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a robot joint, a cooperative robot, a speed reducer and a brake, in which a power device and a brake structure are partially fused, so as to solve the problem that the brake in the robot joint occupies a large space in the prior art, and to improve the working stability of the robot joint due to the problems of powder falling and heat dissipation of the brake.

The utility model can adopt the following technical scheme: the utility model provides a robot joint, includes joint shell, power device and braking subassembly, the braking subassembly includes armature and friction disc, power device includes the main part and at least part covers the lid of main part, power device includes motor and reduction gear, the lid of reduction gear or motor is used for forming the brake disc, the brake disc can adsorb or release according to break-make electricity state armature, and then presss from both sides tight friction disc and realizes braking or release friction disc in order to relieve the braking.

Furthermore, the brake assembly comprises a limiting part, the limiting part and the brake disc are fixed in relative position, and the armature and the friction plate are arranged between the brake disc and the limiting part.

Furthermore, the friction plate can be clamped or released by the armature and the limiting part, when the brake disc is powered off, elastic force is applied to the armature to clamp the friction plate, and when the brake disc is powered on, the armature is adsorbed to release the friction plate.

Further, the cover body of the speed reducer is formed into a brake disc, and the brake assembly is arranged between the motor and the speed reducer.

Further, the joint comprises a bushing sleeved on the motor shaft, one of the bushing and the armature comprises a groove, the other of the bushing and the armature comprises a protruding part matched with the groove, and the groove and the protruding part are matched to form a curved sealing structure between the armature and the bushing.

The utility model can also adopt the following technical scheme: a co-operating robot comprising a base support and a robot arm, the robot arm comprising a plurality of joints for connecting adjacent robot arm parts and a plurality of robot arm parts, the joints being as defined in any one of the preceding.

The utility model can also adopt the following technical scheme: a speed reducer comprises a main body and a flexible gear cover at least partially covering the main body, wherein the flexible gear cover can be used as a brake disc, the flexible gear cover comprises an elastic element and a magnetic element, and the flexible gear cover can generate adsorption force or elastic force according to the power-on and power-off states.

Further, the flexbile gear cover is used in cooperation with the brake assembly, and the brake assembly comprises an armature and a friction plate, so that the armature is far away from the flexbile gear cover when the flexbile gear cover generates elasticity to clamp the friction plate, so that the armature is close to the flexbile gear cover to release the friction plate when the flexbile gear cover generates adsorption force.

The utility model can also adopt the following technical scheme: a brake comprises a brake disc, an armature and a friction plate, wherein the brake disc can generate elastic force or adsorption force according to the on-off state, the armature is far away from the brake disc to clamp the friction plate when the brake disc generates the elastic force, the armature is close to the brake disc to release the friction plate when the brake disc generates the adsorption force, and the brake disc can be used as a cover body of a speed reducer or a cover body of a motor to at least partially cover the main body of the speed reducer or the main body of the motor.

Furthermore, the brake comprises a limiting part, the brake disc and the limiting part are fixed in relative position, the armature and the friction disc are arranged between the brake discs in a clearance mode, and the limiting part and the armature are arranged on two sides of the friction disc respectively.

Compared with the prior art, the specific implementation mode of the utility model has the following beneficial effects: the cover body of the power device is integrated with the brake disc structure of the brake, so that the space occupied by the power device and the brake in the robot joint can be reduced, and the robot joint structure is more compact. Furthermore, through adjusting the position of the brake and setting the sealing structure, the robot joint is not easily influenced by the brake powder falling, and the working stability of the robot joint is ensured.

Drawings

The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:

FIG. 1 is a schematic view of a robot joint according to an embodiment of the present invention

FIG. 2 is a cross-sectional view of the robot joint shown in FIG. 1

FIG. 3 is a schematic illustration of a retarder according to an embodiment of the present invention

FIG. 4 is a cross-sectional view of the retarder of FIG. 3

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following embodiments of the present invention, and it is obvious that the described embodiments are some but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides a robot joint, which is shown in figures 1-2 and comprises a joint shell 11, a power device and a brake assembly, wherein the brake assembly comprises an armature and a friction plate 142, the power device comprises a main body and a cover body at least partially covering the main body, the power device comprises a motor 13 and a speed reducer 12, the motor 13 comprises a motor shaft 131, the speed reducer 12 comprises an input end and an output end, the input end is a high-speed end, the output end is a low-speed end, the motor shaft 131 is connected with the input end of the speed reducer 12, the motor 13 comprises a motor main body and a motor cover body, the motor cover body is a motor cover, the speed reducer 12 comprises a speed reducer main body 121 and a speed reducer cover body, the speed reducer cover body is a flexible wheel cover, the motor or the speed reducer cover body is used for forming a brake disc, the brake disc usually comprises an elastic element and an electromagnetic element, the electromagnetic element can adsorb the armature 143 when the brake disc is electrified, when the electromagnetic element is powered off, the elastic element generates elastic force on the armature 143, and the brake disc can adsorb or release the armature 143 according to the power-on state, so that the friction plate 142 is clamped to realize braking or the friction plate 142 is released to release braking. The brake disc is an essential component of a common brake, the brake disc can move inside the brake by generating elastic force or adsorption force so as to realize braking or brake release, compared with other components of the brake, the brake disc generally has larger thickness, the function of the cover body of the power device can be reused by fusing the brake disc with the cover body of the speed reducer or the cover body of the motor, the installation space required by the power device and the brake in the robot joint is reduced, the joint structure of the robot is simplified, and the lightweight and compact design of the robot joint is facilitated.

Further, the brake assembly includes a limiting member 144, and the relative position between the limiting member and the brake disc is fixed, and since the brake disc is formed as a cover body of the speed reducer or a cover body of the motor, the position of the brake disc is fixed, and the limiting member 144 is fixed to the motor shaft, so that the relative position between the limiting member 144 and the brake disc is fixed. The friction plate 142 and the armature 143 are disposed between the limiting member 144 and the brake disc, and form a gap with the limiting member 144 and the brake disc, so that the armature 143 can relatively approach the brake disc or move away from the brake disc when the brake disc is powered on or off. Further, the friction plate 142 can be clamped or released by the armature 143 and the stopper 144, an elastic force is applied to the armature 143 to clamp the friction plate 142 when the brake disc is de-energized, the armature 143 is attracted to release the friction plate 142 when the brake disc is energized, that is, the armature 143 is away from the brake disc such that both sides of the friction plate 142 are clamped by the armature 143 and the stopper 144 when the brake disc is de-energized, the armature 143 is attracted to the brake disc such that a gap is formed between the armature 143 and the friction plate 142, and the friction plate is released.

In a particular embodiment, with reference to fig. 3-4, the cover of the reducer is formed as a brake disc, said braking assembly being arranged between the motor 13 and the reducer 12. The reducer 12 is usually directly connected with the motor 13, the brake is arranged outside the reducer 12 and the motor, when the reducer 12 is connected with the motor, a gap exists between the reducer 12 and the motor, and the brake is arranged between the reducer 12 and the motor, so that the existing gap can be effectively utilized, and the structural compactness of the robot joint is enhanced. On the other hand, set up brake assembly between reduction gear 12 and motor, and articulated sensor is located the motor outside usually, if brake assembly produces the dust, both sides have motor and reduction gear 12 to block, and the dust is difficult for influencing sensor assembly's normal work, has guaranteed robot joint job stabilization nature.

Preferably, sealing structures are arranged on both sides of the brake assembly to prevent dust generated in the braking process from moving to the reducer side or to the motor side, wherein for one side of the reducer 12, the reducer 12 comprises a sealing bearing 123, and the sealing bearing 123 and a cover body of the reducer 12 form a sealing structure between the brake assembly and the reducer 12; on the other side of the brake assembly, the joint 10 includes a bushing 132 that is fitted over the motor shaft 131, one of the bushing 132 and the armature 143 including a recess, and the other of the bushing 132 and the armature 143 including a projection that mates with the recess, the recess and the projection cooperating to form a curved seal between the armature 143 and the bushing 132. Curved seal structure makes the difficult motor side motion of dust to that the braking in-process produced, simultaneously, motor shaft 131 and with motor shaft 131 inseparable laminating are located to the bush 132 cover, the dust can not be through the clearance between motor shaft 131 and the motor to the motor side motion. The sealed effect of brake assembly both sides has been guaranteed in above-mentioned design for produce the dust and be difficult for removing to both sides among the braking process, be difficult for influencing the operation of sensor, the job stabilization nature of robot joint is good.

The beneficial effects of the above preferred embodiment are: the cover body of brake disc and reduction gear or the cover body of motor fuse to reduce the required installation space of power device and braking structure, robot joint inner structure is compact, is favorable to the lightweight design of joint to the simplification of part simultaneously. Furthermore, the brake assembly is arranged between the motor and the speed reducer, so that the installation space is saved, the powder falling problem is solved, and the working stability of the robot joint is improved.

The utility model also provides a cooperative robot comprising a base support supporting a robotic arm, and the robotic arm comprising a plurality of joints by which adjacent robotic arm portions are connected, and a plurality of robotic arm portions, the joints being the robotic joints 10 as described in any one of the preceding. The robot joint has a compact structure and a simplified structure, and is beneficial to the design of a light-weight cooperative robot.

The utility model also protects a speed reducer, the speed reducer 12 comprises a speed reducer body 121 and a flexible gear cover 122 at least partially covering the speed reducer body 121, the flexible cover 122 may function as a brake disc, the flexible cover 122 includes an elastic element and a magnetic element, the flexible wheel cover 122 can generate adsorption force or elastic force according to the power-on and power-off state, the flexible wheel cover 122 is used for being matched with a brake assembly, a brake disc is an essential component of the electromagnetic brake, the brake disc and the flexible wheel cover 122 are fused, that is, the flexible wheel cover 122 is used for the traditional flexible wheel cover function, and at the same time, the structure of the brake disc is fused and the function of the brake disc is exerted, the flexible wheel cover 122 is used in cooperation with a brake assembly, the brake assembly comprises an armature 143 and a friction plate, the armature 143 is far away from the flexible wheel cover 122 when the flexible wheel cover 122 generates elastic force, so as to clamp the friction plate 142, and the armature 143 is close to the flexible wheel cover when the flexible wheel cover generates adsorption force, so as to release the friction plate 142. Gentle wheel lid and brake disc fuse, are favorable to structural design's compactification, and do not influence the function use of gentle wheel lid originally.

The utility model also protects a brake, which comprises a brake disc 141, an armature 143 and a friction plate 142, wherein the brake disc 141 can generate elastic force or adsorption force according to the power-on and power-off states so as to generate corresponding acting force on the armature 143, the armature 143 is far away from the brake disc 141 to clamp the friction plate 142 when the brake disc 141 generates the elastic force, the armature 143 is close to the brake disc 141 to release the friction plate 142 when the brake disc 141 generates the adsorption force, and the brake disc 141 can be used as a cover body of the speed reducer 12 or a cover body of the motor so as to at least partially cover the main body 121 of the speed reducer or the main body of the motor 13. By using the brake disk 141 as a cover of the speed reducer 12 or a cover of the motor 13 at the same time, the brake is generally used in cooperation with the motor and the speed reducer, and when used in cooperation, it is possible to save parts, and of course, to save installation space and reduce the weight of the parts. Further, the relative position between the brake disc 141 and the limiting member 144 is fixed, the armature 143 and the friction plate 142 are disposed between the brake disc 141 with a gap therebetween, and the limiting member 144 and the armature 143 are disposed on two sides of the friction plate respectively.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the utility model, and these changes and modifications are all within the scope of the utility model. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. The utility model provides a robot joint, includes joint shell, power device and braking subassembly, its characterized in that, braking subassembly includes armature and friction disc, power device includes the main part and at least partly covers the lid of main part, power device includes motor and reduction gear, the lid of reduction gear or the lid of motor are used for forming the brake disc, the brake disc can adsorb or release according to break-make electricity state armature, and then presss from both sides tight friction disc in order to realize braking or release the friction disc and relieve the braking.

2. The robotic joint of claim 1, wherein the brake assembly includes a stop, the stop and the brake disc being fixed in relative position, the armature and the friction plate being disposed between the brake disc and the stop.

3. The robot joint according to claim 1, wherein the friction plate can be clamped or released by an armature and a stopper, an elastic force is applied to the armature to clamp the friction plate when the brake disc is powered off, and the armature is attracted to release the friction plate when the brake disc is powered on.

4. A robot joint according to claim 1, characterized in that the cover of the reducer is formed as a brake disc, the brake assembly being arranged between the motor and the reducer.

5. A robotic joint as claimed in claim 4, wherein the joint comprises a bushing for fitting on the shaft of the motor, one of the bushing and the armature comprises a recess, and the other of the bushing and the armature comprises a projection for engaging the recess, the recess and projection cooperating to form a curved seal between the armature and the bushing.

6. A collaborative robot comprising a base support and a robot arm, characterized in that the robot arm comprises a plurality of joints for connecting adjacent robot arm parts and a plurality of robot arm parts, the joints being robot joints according to any of claims 1-5.

7. A reducer is characterized by comprising a main body and a flexible gear cover at least partially covering the main body, wherein the flexible gear cover can be used as a brake disc, the flexible gear cover comprises an elastic element and a magnetic element, and the flexible gear cover can generate adsorption force or elastic force according to the power-on and power-off state.

8. A decelerator according to claim 7 wherein the flexspline cover is adapted to cooperate with a brake assembly, the brake assembly including an armature and a friction plate, the armature being arranged to move away from the flexspline cover to grip the friction plate when the flexspline cover is subjected to a spring force, and the armature being arranged to move towards the flexspline cover to release the friction plate when the flexspline cover is subjected to an attractive force.

9. A brake is characterized by comprising a brake disc, an armature and a friction plate, wherein the brake disc can generate elastic force or adsorption force according to the on-off state, the armature is far away from the brake disc when the brake disc generates the elastic force to clamp the friction plate, the armature is close to the brake disc when the brake disc generates the adsorption force to release the friction plate, and the brake disc can be used as a cover body of a speed reducer or a cover body of a motor to at least partially cover a main body of the speed reducer or the main body of the motor.

10. The brake of claim 9, wherein the brake includes a stopper, the brake disc and the stopper have fixed relative positions, the armature and the friction plate are disposed between the brake disc, and the stopper and the armature are disposed on two sides of the friction plate respectively.