CN217318089U - Blocking type brake assembly, robot joint and robot - Google Patents

Abstract

The utility model provides a block formula brake assembly, robot joint and robot, brake assembly includes: the contracting brake piece is arranged on the motor shaft to rotate along with the motor shaft, and comprises a plurality of protrusions distributed along the circumferential direction; a blocking assembly comprising an engaging member, an actuating member and an elastic member, wherein the actuating member is used for controlling the engaging member to move in a first direction, so that the engaging member has a stop position and a release position, the engaging member can be contacted with the convex part of the brake band to limit the rotation of the brake band when the engaging member is in the stop position, and the rotation of the brake band can be allowed when the engaging member is in the release position; when the engaging piece is contacted with the protruding part, the engaging piece moves in the second direction according to the action of the elastic piece so as to reduce the rotation kinetic energy of the contracting brake piece. The utility model provides a brake assembly occupies installation space little, the difficult dust that produces.

Description

Blocking type brake assembly, robot joint and robot

Technical Field

The utility model relates to a stopper technical field especially relates to a block formula braking component, robot joint and robot.

Background

Brakes are the main components of the robot for preventing rotation of the motor, and the brakes generally include friction brakes including disc brakes, wrap brakes, band brakes, and electromagnetic brakes, and non-friction brakes including magnetic powder brakes, eddy current brakes, and water eddy current brakes. Wherein, electromagnetic braking ware is the comparatively commonly used stopper in robot field, and it mainly relies on frictional force to realize the motor braking, and traditional industrial robot mainly adopts electromagnetic braking ware to carry out the braking of joint motor for example, but electromagnetic braking ware has the problem that the frictional heating is serious, easy friction falls the peripheral components and parts of powder pollution, realizes the braking through the friction mode simultaneously and makes it need occupy relatively big installation space, is unfavorable for the installation environment that the space is compact.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a block formula brake assembly, robot joint and robot to solve the robot among the prior art and adopt the easy dust that produces that electromagnetic braking ware leads to, occupy the big problem of installation space, provide a no dust's brake assembly suitable for robot, this brake assembly can be applicable to the compact installation space of robot joint simultaneously.

In order to achieve the above purpose, the following technical solutions may be adopted in the present application: a barrier brake assembly comprising: the contracting brake piece is arranged on a motor shaft to rotate along with the motor shaft, and comprises a plurality of protrusions distributed along the circumferential direction; a blocking assembly comprising an engaging member, an actuating member and an elastic member, wherein the actuating member is used for controlling the engaging member to move in a first direction, so that the engaging member has a stop position and a release position, the engaging member can be contacted with the convex part of the brake band to limit the rotation of the brake band when the engaging member is in the stop position, and the rotation of the brake band can be allowed when the engaging member is in the release position; when the engaging piece is contacted with the protruding part, the engaging piece moves in the second direction according to the action of the elastic piece so as to reduce the rotation kinetic energy of the contracting brake piece.

Further, the actuating member comprises an electromagnet, the engaging member is attracted to be in a release position when the electromagnet is powered on, and the engaging member is released to be in a stop position when the electromagnet is powered off.

Further, the second direction is different from the first direction, and the second direction is perpendicular to the first direction.

Further, the movement of the engaging piece in the second direction according to the action of the elastic piece to reduce the rotation performance of the contracting brake piece comprises: the engaging member moves in the second direction based on the initial contact position when the engaging member comes into contact with the protruding portion, and returns to the initial contact position when the engaging member comes out of contact with the protruding portion.

Further, the fastener can contact with two at least bellying on the band-type brake piece direction of rotation in proper order to reduce the rotation kinetic energy of band-type brake piece until preventing the rotation of band-type brake piece.

Further, the elastic member includes a spring, and both sides of the engaging member are respectively connected to the spring so that the engaging member can move in the second direction.

Further, the blocking assembly comprises a mounting carrier for mounting the engaging member and the resilient member, the mounting carrier being connected at one end to the actuating member and at the other end slidably connected to the joint housing of the robot.

Further, the band-type brake piece is fixed on the motor shaft to rotate along with the motor shaft.

The following technical scheme can be adopted: a robot joint, includes joint shell, driving motor and output flange, the robot joint can be connected to another robot joint through output flange, driving motor includes the motor shaft of following the rotation of motor axis, driving motor is used for the joint shell is rotatory output flange, wherein, robot joint includes any one of the preceding barrier brake assembly, the band-type brake piece set up in the motor shaft is in order to restrict the rotation of motor shaft.

The following technical scheme can be adopted: a robot, includes robot joint, connecting rod and base, robot joint includes joint shell, driving motor and output flange, robot joint accessible output flange is connected to another robot joint, driving motor includes along the rotatory motor shaft of motor axis, driving motor is used for the joint shell is rotatory output flange, wherein, robot joint includes any one in the preceding barrier formula braking component, the band-type brake piece set up in the motor shaft is in order to restrict the rotation of motor shaft.

Compared with the prior art, the utility model discloses specific embodiment's beneficial effect lies in: the rotation kinetic energy of the contracting brake pads is converted into the elastic potential energy of the elastic piece through the collision contact of the contracting brake pads and the joint pieces, so that the contracting brake pads are prevented from being damaged due to larger rotation kinetic energy, and meanwhile, the required installation space of the structure is smaller; when the rotation kinetic energy of the contracting brake piece is enough, the plurality of protruding parts in the rotating direction of the contracting brake piece can be contacted with the joint in sequence, and the brake is prevented from losing efficacy.

Drawings

FIG. 1 is a schematic view of a fastener according to an embodiment of the present invention in a release position;

FIG. 2 is a partial enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic view of a joint in a stop position according to an embodiment of the present invention;

FIG. 4 is a partial enlarged view of portion A of FIG. 3;

FIG. 5 is a schematic view of a joint according to an embodiment of the present invention moving in a second direction;

fig. 6 is a partially enlarged view of a portion a of fig. 5.

Detailed Description

In order to make the technical solution of the present invention clearer, embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the detailed description of the embodiments is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive of all possible aspects of the invention, nor is it intended to limit the scope of the invention. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "vertical", "horizontal", "vertical", and the like indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only used for convenience of description or simplification of the description of the present invention, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, installed, and operated in a specific orientation, and therefore, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The utility model provides a block type brake assembly, refer to fig. 1-2, the brake assembly comprises a contracting brake pad 1 and a block assembly 2, wherein the contracting brake pad 1 is arranged on a motor shaft to rotate along with the motor shaft, the rotating power of the contracting brake pad 1 is provided by the motor shaft, and the rotation of the motor shaft can be limited by limiting the rotation of the contracting brake pad 1; the blocking assembly 2 is used for limiting the rotation of the band-type brake pad 1, specifically, the blocking assembly 2 comprises an engaging member 21, an actuating member 22 and an elastic member 23, the band-type brake pad 1 comprises a plurality of protrusions 11 distributed along the circumferential direction, the engaging member 21 is used for contacting the protrusions 11 of the band-type brake pad 1 during the rotation of the band-type brake pad 1 so as to limit the rotation of the band-type brake pad 1, the actuating member 22 is used for controlling the movement of the engaging member 21 in a first direction, so that the engaging member 21 has a stop position and a release position, and referring to fig. 3-4, the engaging member 21 is in the stop position, and the engaging member 21 can contact the band-type brake pad 1 so as to limit the rotation of the band-type brake pad 1; referring to fig. 1-2, the engagement member 21 is in the release position, in which the engagement member 21 is not in contact with the brake lining 1, thereby allowing the brake lining 1 to rotate freely. The blocking assembly 2 comprises an elastic member 23, when the engaging member 21 is in a stop position, the protruding portion 11 of the contracting brake pad 1 is in contact with the engaging member 21, an acting force of collision contact exists between the protruding portion and the engaging member 21, and the engaging member 21 can move in the second direction according to the acting force of the elastic member 23, so that kinetic energy of rotation of the contracting brake pad 1 is at least partially converted into elastic potential energy of the elastic member 23, and further the rotational kinetic energy of the contracting brake pad 1 is reduced. Band-type brake block 1 sets up in the motor shaft, blocks subassembly 2 and is fixed in articular shell, and required installation space is less for traditional the articulated stopper that is used for the robot of this kind of mode, simultaneously, owing to mainly rely on the effort that blocks component and band-type brake block 1 to realize the braking, and the difficult frictional dust that produces of braking in-process avoids polluting precision devices such as optical encoder to influence the operation effect of robot. Optionally, band-type brake block 1 is fixed to be set up in the motor shaft, and band-type brake block 1 follows the motor shaft rotation promptly, will rotate the mode that kinetic energy turned into elastic potential energy when contacting through band-type brake block 1 and fastener 21, avoids rotating the great damage band-type brake block 1 of kinetic energy.

Specifically, the actuating member 22 includes an electromagnet, and when the electromagnet is powered on, the engaging member 21 can be attracted, as shown in fig. 1-2, and at this time, the engaging member 21 is in the release position, the engaging member 21 is not in contact with the contracting brake piece 1, and the contracting brake piece 1 freely rotates; when the electromagnet is de-energized and no longer attracts the engaging piece 21, the engaging piece 21 is in a stop position, and referring to fig. 3-4, the engaging piece 21 contacts the band-type brake pad 1, thereby restricting the rotation of the band-type brake pad 1. Further, the blocking assembly 2 includes an elastic member 23, the engaging member 21 is movable in a second direction according to the elastic member 23, the second direction is different from the first direction, a preset angle is formed between the second direction and the first direction, so that the engaging member can have a stop position and a release position based on the movement of the first direction, the jumping of the engaging member and the protrusion can occur based on the movement of the second direction, so that the rotational kinetic energy of the contracting brake pad is converted into the elastic potential energy, it can be understood that the angle between the first direction and the second direction presents various possibilities, preferably, the second direction is perpendicular to the first direction, the engaging member 21 is in an initial contact position when the engaging member 21 is just contacted with the protrusion 11, and as the contracting brake pad 1 is in rotation, referring to fig. 5-6, there is a collision contact force between the protrusion 11 of the contracting brake pad 1 and the engaging member 21, the engaging piece 21 moves in the second direction based on the collision contact force, the elastic piece is compressed in the moving direction of the engaging piece 21 until the engaging piece 21 and the protruding part 11 jump tooth, and the next protruding part 11 in the rotating direction of the contracting brake piece 1 follows the movement of the contracting brake piece to approach the engaging piece 21; when the engaging piece 21 is released from contact with the current projecting portion 11, there is no collision contact force between the engaging piece 21 and the current projecting portion 11, and the engaging piece 21 returns to the initial contact position based on the elastic action of the elastic piece 23. When the engaging piece 21 collides with the protruding portion 11, the contracting brake pad 1 is in a rotating state, the engaging piece 21 moves in the second direction based on the action of the elastic piece 23, and the rotational kinetic energy of the contracting brake pad 1 is at least partially converted into the elastic potential energy of the elastic piece 23, so as to achieve the effect of reducing the rotational kinetic energy of the contracting brake pad 1. After the engaging piece 21 moves for a certain distance along the second direction, the engaging piece 21 is released from contact with the current protruding portion 11, the engaging piece 21 recovers the initial contact position due to no collision contact force, meanwhile, the next protruding portion 11 in the rotation direction of the contracting brake pad 1 approaches to the approaching portion along with the rotation of the contracting brake pad 1, when the rotation kinetic energy of the contracting brake pad 1 is large, the next protruding portion 11 in the rotation direction of the contracting brake pad 1 contacts with the approaching portion along with the rotation of the contracting brake pad 1, the rotation kinetic energy of the contracting brake pad 1 is reduced through the movement of the engaging piece along the second direction, and the engaging piece 21 sequentially contacts with at least two protruding portions 11 in the rotation direction of the contracting brake pad 1 to reduce the rotation kinetic energy of the contracting brake pad 1 until the rotation of the contracting brake pad 1 is prevented. That is, by the collision contact of the convex portion 11 of the contracting brake pad 1 with the engaging piece 21, the engaging piece 21 moves in the second direction according to the action of the elastic piece 23, and the rotational kinetic energy of the contracting brake pad 1 is partially converted into the elastic potential energy of the elastic piece 23 each time the collision contact occurs until the movement of the contracting brake pad 1 is stopped. When the rotational kinetic energy of the brake lining 1 is small, the brake lining 1 may stop rotating after the engaging member 21 and the protruding portion 11 collide with each other once.

In a specific embodiment, the elastic member 23 includes a spring, the two sides of the engaging member 21 are respectively provided with a spring to enable the engaging member 21 to move in the second direction, the second direction defining the engaging member 21 includes a forward direction and a reverse direction, when the engaging member 21 is subjected to the collision contact force, the engaging member 21 moves in the forward direction of the second direction to enable the engaging member 21 and the current protruding portion 11 to jump teeth, after the engaging member 21 and the current protruding portion 11 are released from contact, the engaging member 21 is not subjected to the collision contact force of the protruding portion 11, and the engaging portion moves back to the initial collision position in the reverse direction of the second direction based on the action of the elastic member 23. Based on the collision contact between the protruding portion 11 and the engaging member 21, the rotational kinetic energy of the band-type brake pad 1 is at least partially converted into the elastic potential energy of the engaging member 21 based on the elastic member 23, so that the engaging member 21 moves along the second direction, if a collision occurs, the band-type brake pad 1 still has a large rotational kinetic energy, and in the process that the band-type brake pad 1 continues to rotate, the protruding portion 11 in the rotational direction sequentially collides and contacts with the engaging portion, so that the rotational kinetic energy of the band-type brake pad 1 is further reduced, until the rotational kinetic energy of the band-type brake pad 1 is completely consumed, and the effect of preventing the band-type brake pad 1 from rotating is achieved. In a specific embodiment, the engaging member is formed in a cylindrical shape, and when the engaging member contacts the protruding portion, a cylindrical surface of the cylindrical shape contacts the protruding portion, so that the engaging member and the protruding portion are released from contact after the engaging member moves a distance in the second direction. In other embodiments, the elastic member may be another component capable of generating elastic buffering, for example, the elastic member may be in the form of rubber, deformable metal, etc., and the elastic member may be made of a material that can be deformed by a force and can restore its original shape when not subjected to a contact force in the prior art, so that the engaging member can move in the second direction when colliding with the protruding portion, and can restore the initial contact position after the contact is released.

In a specific embodiment, referring to fig. 1-2, the blocking assembly 2 comprises a mounting carrier 24, said mounting carrier 24 being adapted to mount the engaging member 21 and the elastic member 23, in particular, said mounting carrier 24 may be formed as a mounting bracket, an electromagnet being coupled to said mounting bracket such that said mounting bracket is movable in a first direction, the engaging member 21 being arranged on the mounting bracket to follow the movement of the mounting bracket in the first direction, it being understood that one end of the mounting bracket is coupled to the electromagnet and the other end is slidably coupled to the joint housing of the robot, the mounting bracket being displaceable in the first direction relative to the joint housing of the robot. The mounting bracket is also used for arranging an elastic piece 23, when the mounting bracket moves along the first direction to enable the joint piece 21 to be in a stop position, the rotating band-type brake piece 1 can enable the joint piece 21 to be in contact with the protruding portion 11, and therefore the joint piece 21 can move along the second direction based on the action of the elastic piece.

The beneficial effects of the above preferred embodiment are: the brake assembly realizes braking based on collision contact of the brake pads and the joint, the size of the brake is small, and the occupied radial installation space is small; the joint can be in contact with the plurality of convex parts in sequence, so that brake failure is avoided; meanwhile, the brake component converts the rotation of the brake sheet into elastic potential energy, so that the damage caused by overlarge load of the brake component can be avoided.

The utility model discloses still be used for providing a robot joint, including joint shell, driving motor and output flange, robot joint is connected to another robot joint through output flange, and robot joint provides the power supply for the robot, and driving motor includes along the rotatory motor shaft of motor axis, driving motor be used for the joint shell is rotatory output flange to transmit articular power, wherein robot joint includes arbitrary in the preceding the formula of blockking braking component, the band-type brake piece set up in driving motor's motor shaft is in order to restrict the rotation of motor shaft.

The utility model discloses still protect a robot, including robot joint, base and connecting rod, the robot joint includes joint shell, driving motor, output flange and in the foreland brake assembly, the robot joint passes through output flange and can be connected to next robot joint, driving motor be used for the joint shell is rotatory output flange, driving motor include along the rotatory motor shaft of motor axis, the band-type brake piece set up in the motor shaft is in order to follow rotatoryly. The robot can be exemplified by a cooperative robot, the joint space of the cooperative robot is small, and the blocking type braking assembly provided by the scheme is suitable for solving the problem of narrow installation space of the cooperative robot.

Finally, it is to be noted that the above description is intended to be illustrative and not exhaustive, and that the present invention is not limited to the disclosed embodiments, and that various modifications and changes may be made by those skilled in the art without departing from the scope and spirit of the above examples, and such modifications and changes are to be considered as within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the claims.

Claims (10)

1. A blocked brake assembly, comprising:

the contracting brake piece is arranged on a motor shaft to rotate along with the motor shaft, and comprises a plurality of protrusions distributed along the circumferential direction;

a blocking assembly comprising an engaging member, an actuating member and an elastic member, wherein the actuating member is used for controlling the engaging member to move in a first direction, so that the engaging member has a stop position and a release position, the engaging member can be contacted with the convex part of the brake band to limit the rotation of the brake band when the engaging member is in the stop position, and the rotation of the brake band can be allowed when the engaging member is in the release position; when the engaging piece is contacted with the protruding part, the engaging piece moves in the second direction according to the action of the elastic piece so as to reduce the rotation kinetic energy of the contracting brake piece.

2. The barrier brake assembly as defined in claim 1, wherein the actuator comprises an electromagnet, the engagement member being attracted to the release position when the electromagnet is energized, and the engagement member being released to the stop position when the electromagnet is de-energized.

3. The blocked brake assembly of claim 1, wherein the second direction is different from the first direction, the second direction being perpendicular to the first direction.

4. The barrier brake assembly of claim 1, wherein the engagement member moves in the second direction in response to the action of the resilient member to reduce the rotational performance of the brake pad comprises:

the engaging member moves in the second direction based on the initial contact position when the engaging member comes into contact with the protruding portion, and returns to the initial contact position when the engaging member comes out of contact with the protruding portion.

5. A blocked brake assembly according to claim 4, characterised in that the engagement member is capable of sequentially contacting at least two projections in the direction of rotation of the band-type brake blade to reduce the kinetic energy of rotation of the band-type brake blade until rotation of the band-type brake blade is prevented.

6. The blocked brake assembly of claim 1, wherein the resilient member comprises a spring, and wherein the spring is coupled to each side of the engagement member to allow movement of the engagement member in the second direction.

7. A blocked brake assembly according to claim 1, wherein the blocking assembly comprises a mounting carrier for mounting the engagement member and the resilient member, the mounting carrier having one end connected to the actuator member and another end slidably connected to a joint housing of the robot.

8. The blocker-type brake assembly of claim 1, wherein the brake shoes are fixed to a motor shaft for rotation therewith.

9. A robotic joint comprising a joint housing, a drive motor and an output flange, the robotic joint being connectable to another robotic joint via the output flange, the drive motor comprising a motor shaft rotating along a motor axis, the drive motor for rotating the output flange relative to the joint housing, characterized in that the robotic joint comprises a blocking brake assembly according to any of claims 1-8, the brake pads being arranged on the motor shaft to limit rotation of the motor shaft.

10. A robot comprising a robot joint, a connecting rod and a base, said robot joint comprising a joint housing, a drive motor and an output flange, said robot joint being connectable to another robot joint via the output flange, said drive motor comprising a motor shaft rotating along a motor axis, said drive motor being adapted to rotate said output flange relative to said joint housing, characterized in that said robot joint comprises a blocked brake assembly according to any of claims 1-8, said brake lining being arranged on said motor shaft to restrict rotation of the motor shaft.

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