CN219075741U

CN219075741U - Disc brake and robot

Info

Publication number: CN219075741U
Application number: CN202223486070.1U
Authority: CN
Inventors: 李浩铭
Original assignee: Star Ape Philosophy Technology Shanghai Co ltd
Current assignee: Star Ape Philosophy Technology Shanghai Co ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-05-26
Anticipated expiration: 2032-12-26

Abstract

The utility model provides a disc brake and a robot, comprising: a disc electromagnet; the brake disc and the movable connection disc type electromagnet can move between a first setting position and a second setting position under the driving of the disc type electromagnet; the brake disc is arranged adjacent to the brake disc, and the brake disc brakes the brake disc when the brake disc is at a first set position and the brake disc is at a second set position; and the anti-impact mechanism is used for fixing the brake disc on a motor rotor of the driving motor, and enabling the brake disc to rotate along the motor rotor when the moment applied to the brake disc is larger than a set moment threshold value. According to the utility model, the brake disc is fixed on the motor rotor of the driving motor through the anti-impact mechanism, and when the moment applied to the brake disc is larger than the set moment threshold value, the brake disc can rotate along the motor rotor, so that the damage of the brake disc and the damage of a robot joint caused by the damage are avoided.

Description

Disc brake and robot

Technical Field

The utility model relates to a robot joint, in particular to a disc brake and a robot.

Background

The intelligent robot is widely used in life and work of people, and can automatically complete the work of object sorting, object disassembly, floor cleaning, tabletop cleaning, sundry storage, video monitoring and the like by means of certain artificial intelligence. If intelligent nurse robot can grasp the ground debris through the manipulator and place in the receiver to accomplish the function of ground clearance.

The mechanical arm of the robot usually realizes the control of the moving and stopping actions through the cooperation of a motor and a brake mechanism. The bolt type brake is widely applied to the mechanical arm of the light robot for motion control, and the bolt is arranged in a hole of a structural member to move up and down to block the rotation of a brake baffle.

However, the problem with the existing structure is that the impact force between the brake block and the bolt is large in sudden stop when the bolt moves upwards to spring up to block the brake block, and the brake block may be bent or broken due to impact, so that the brake is damaged. When the latch springs up, it may press against the brake pads rather than into the gap between the two brake pads, so the latch cannot be withdrawn.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide a disc brake and a robot.

The disc brake provided by the utility model comprises:

a disc electromagnet;

the brake disc is movably connected with the disc electromagnet and can move between a first setting position and a second setting position under the drive of the disc electromagnet;

the brake disc is arranged adjacent to the brake disc, and the brake disc brakes the brake disc when the brake disc is at a first set position and the brake disc is at a second set position;

and the anti-impact mechanism is used for fixing the brake disc on a motor rotor of the driving motor, and enabling the brake disc to rotate along the motor rotor when the moment applied to the brake disc is larger than a set moment threshold value.

Preferably, the anti-impact mechanism comprises a clamp spring, a first gasket, a second gasket, a third gasket and a waveform gasket;

the waveform gaskets are arranged between the first gasket and the second gasket to form an anti-impact unit for preventing impact;

the third gasket, the brake disc and the anti-impact unit are sequentially arranged on the motor rotor;

and the clamp spring is used for limiting and installing the third gasket, the brake disc and the impact prevention unit on the motor rotor.

Preferably, the disc electromagnet comprises an end cover and a magnet member;

a mounting groove extending along the circumferential direction is formed in one side surface of the end cover, facing the brake disc; the magnet piece is annular and is arranged in the mounting groove.

Preferably, a plurality of through holes are formed in the brake disc along the circumferential direction;

the brake disc is limited on the end cover through a bolt in the through hole and can move along the axial direction of the bolt;

a spring is arranged between the brake disc and the end cover, and the spring is sleeved on the bolt.

Preferably, when the disc electromagnet is electrified, the disc electromagnet attracts the brake disc, and at the moment, the brake disc is located at the first set position, and the spring is in a compressed state;

when the disc electromagnet is powered off, the disc electromagnet releases the brake disc, and at the moment, the brake disc moves to the second setting position under the drive of the spring.

Preferably, a plurality of limit protrusions which are sequentially arranged along the circumferential direction are arranged on the side surface of the brake disc, which is opposite to the brake disc;

a plurality of limit bayonets are formed on the brake disc in sequence along the circumferential direction;

when the brake disc is located at the second set position, the limiting protrusion limits the limiting bayonet to brake the brake disc.

Preferably, the brake disc is disc-shaped, and a plurality of first tooth structures are formed on the side edge of the brake disc;

each first tooth structure is turned upwards to form the limit bulge.

And turning up to form the limit bulge.

Preferably, the end cap comprises a first annular body and a second annular body; the first annular body is arranged on the inner side of the second annular body and forms an integral structure;

the side surface of the first annular body, which faces the brake disc, is provided with the mounting groove extending along the circumferential direction;

the second annular body is provided with a plurality of circumferentially distributed bolt holes, and the bolt holes are used for fixing the bolts.

Preferably, the brake disc and the anti-impact mechanism are coaxially arranged and are provided with shaft holes;

the shaft hole is used for fixing the brake disc and the anti-impact mechanism on the motor rotor.

The robot provided by the utility model comprises the disc brake, a driving motor and a speed reducer;

the driving motor comprises a motor stator and a motor rotor, and the motor rotor is arranged in the motor stator;

the speed reducer is arranged on the motor rotor; the disc brake is arranged between the speed reducer and the motor stator, the disc electromagnet is fixed between the driving motor and the shell of the speed reducer through an end cover, and the brake disc is fixed on the motor rotor through the anti-impact mechanism;

the driving motor, the speed reducer and the disc brake are matched to form a joint structure of the robot.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the brake disc is movably connected with the disc type electromagnet, and can move between a first setting position and a second setting position under the drive of the disc type electromagnet, when the brake disc is at the first setting position, the brake disc is braked at the position where the brake disc is avoided, when the brake disc is at the second setting position, the brake disc is fixed on a motor rotor of a driving motor through an anti-impact mechanism, and when the torque applied to the brake disc is greater than a set torque threshold value, the brake disc can rotate along the motor rotor, so that the damage of the brake disc is avoided, and the damage of a robot joint is further avoided.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of a disc brake in one direction according to an embodiment of the present utility model;

FIG. 2 is a schematic view of another direction of a disc brake according to an embodiment of the present utility model;

FIG. 3 is a schematic cross-sectional view of a disc brake in accordance with an embodiment of the present utility model;

FIG. 4 is an exploded view of a disc electromagnet according to an embodiment of the present utility model;

FIG. 5 is a schematic view of an anti-impact mechanism according to an embodiment of the present utility model;

FIG. 6 is a schematic illustration of the engagement of the end cap and the magnet assembly in an embodiment of the utility model;

FIG. 7 is a schematic view of a corrugated spacer according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram showing the cooperation of the brake, the driving motor and the decelerator in the embodiment of the present utility model; and

fig. 9 is an exploded schematic view of a brake, a driving motor and a decelerator in an embodiment of the present utility model.

In the figure:

1 is a disc type electromagnet; 2 is a brake disc; 3 is a brake disc; 4 is an anti-impact mechanism; 101 is an end cover; 102 is a magnet; 103 is a bolt; 201 is a limit bump; 401 is a clamp spring; 402 is a first shim; 403 is a second shim; 404 is a wave washer; 405 is a third gasket; 100 is a disc brake; 200 is a speed reducer; 300 is the motor rotor; 400 is a motor stator.

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for a fixing function or for a circuit communication function.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the utility model and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present utility model, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

The utility model provides a disc brake, comprising:

a disc electromagnet;

The foregoing is a core idea of the present utility model, and in order that the above-mentioned objects, features and advantages of the present utility model can be more clearly understood, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is obvious that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Fig. 1 is a schematic structural diagram of a disc brake in one direction in an embodiment of the present utility model, and fig. 2 is a schematic structural diagram of a disc brake in another direction in an embodiment of the present utility model, where, as shown in fig. 1 and fig. 2, the disc brake provided by the present utility model includes:

a disc electromagnet 1;

a brake disc 2 movably connected with the disc electromagnet 1 and capable of moving between a first setting position and a second setting position under the drive of the disc electromagnet 1;

a brake disc 3 disposed adjacent to the brake disc 2, wherein the brake disc 2 is disposed so as to avoid the brake disc 3 when in a first setting position, and the brake disc brakes the brake disc 3 when in a second setting position;

an anti-impact mechanism 4 for fixing the brake disc 3 to the motor rotor 300 of the drive motor, and enabling the brake disc 3 to rotate along the motor rotor 300 when the torque applied to the brake disc 3 is greater than a set torque threshold.

In the embodiment of the present utility model, when the torque applied to the brake disc 3 is less than or equal to a set torque threshold value, which may be empirically set, to fix the brake disc 3 to the motor rotor 300, the torque threshold value may be set to a value between 0.5 and 1n·m.

The brake disc 3 and the anti-impact mechanism 4 are coaxially arranged and are provided with shaft holes;

the shaft hole is used for fixing the brake disc 3 and the anti-impact mechanism 4 on the motor rotor 300.

Fig. 3 is a schematic cross-sectional view of a disc brake according to an embodiment of the present utility model, and fig. 5 is a schematic structural view of an impact protection mechanism according to an embodiment of the present utility model, as shown in fig. 3 and 5, the impact protection mechanism 4 includes a clamp spring 401, a first spacer 402, a second spacer 403, a third spacer 405, and a waveform spacer 404;

the wave washer 404 is disposed between the first washer 402 and the second washer 403 to form an impact preventing unit for preventing impact;

the third gasket 405, the brake disc 3, and the anti-impact unit are sequentially disposed on the motor rotor 300;

the clamp spring 401 is used for installing the third gasket 405, the brake disc 3 and the limit of the anti-impact unit on the motor rotor 300.

In the embodiment of the present utility model, the wave washer 404 is also called a wave washer, and is a circular sheet with regular wave shape, as shown in fig. 7, and is generally used for preventing loosening and buffering shock, and needs to have good performances such as elasticity and shock resistance.

Fig. 4 is an exploded schematic view of a disc electromagnet according to an embodiment of the present utility model, and as shown in fig. 4, the disc electromagnet 1 includes an end cover 101 and a magnet member 102;

a side surface of the end cover 101 facing the brake disc 2 is provided with a mounting groove extending along the circumferential direction; the magnet member 102 is annular and is disposed in the mounting groove.

In the embodiment of the present utility model, the magnet member 102 employs a coil. The magnet member 102 and the mounting groove are circular;

the shape of the mounting groove is matched with that of the magnet piece 102, and the depth of the mounting groove is the same as that of the magnet piece 102.

A plurality of through holes are formed in the brake disc 2 along the circumferential direction;

the brake disc 2 is fixed to the end cap 101 by bolts 103 in the through holes

The brake disc 2 is limited on the end cover 101 through a bolt 103 in the through hole, and can move along the axial direction of the bolt 103;

a spring is arranged between the brake disc 2 and the end cover 101, and the spring is sleeved on the bolt 103.

When in the first setting position, the magnet piece 102 is electrified when the brake disc 2 is away from the position of the brake disc 3, the end cover 101 has magnetism, the end cover 101 attracts the brake disc 2, so that the brake disc 2 is fixed in the first setting position, the spring is in a compressed state at the moment, when the magnet piece 102 is powered off, the spring is restored, the brake disc 2 is pushed to the second setting position, and the brake disc 2 brakes the brake disc 3.

In the modification of the present utility model, the magnet member 102 is a single electromagnet as a whole, and the magnet member 102 attracts the brake disc 2 when the magnet member 102 is energized.

Wherein, the bolt 103 adopts a driving screw.

In the embodiment of the present utility model, a plurality of limiting protrusions 201 are arranged on the side surface of the brake disc 2 opposite to the brake disc 3, and the limiting protrusions are sequentially arranged along the circumferential direction;

a plurality of limit bayonets are formed on the brake disc 3 in sequence along the circumferential direction;

when the brake disc 2 is located at the second set position, the limiting protrusion 201 limits the limiting bayonet to brake the brake disc 3.

In the embodiment of the present utility model, the brake disc 2 is disc-shaped, and a plurality of first tooth structures are formed on the side edge of the brake disc 2;

each of the first tooth structures is turned up to form the limit projection 201.

In the embodiment of the present utility model, the number of the limit protrusions 201 is six, and six limit protrusions 201 are uniformly distributed along the circumferential direction of the brake disc 2.

The side of the brake disc 3 forms a plurality of second tooth structures, the number of the second tooth structures is six, and six the second tooth structures are evenly distributed along the circumference of the brake disc 3. The second tooth structure is used for being matched with the limit protrusion 201 to brake.

Fig. 6 is a schematic diagram illustrating the matching between the end cover and the magnet member in the embodiment of the present utility model, and as shown in fig. 6, the end cover 101 includes a first annular body and a second annular body; the first annular body is arranged on the inner side of the second annular body and forms an integral structure;

the side surface of the first annular body facing the brake disc 2 is provided with the mounting groove extending along the circumferential direction;

the second annular body is provided with a plurality of bolt holes distributed along the circumferential direction, and the bolt holes are used for fixing the bolts 103.

In the embodiment of the utility model, the bolt 103 is fixed on the outer ring of the end cover 101, so that the collision between the second tooth structure on the brake disc 3 and the bolt 103 can be avoided, and the processing difficulty of the brake disc 3 is reduced; when the brake disc 3 is processed, only the second tooth structure is needed to be cut on the brake disc 3, and the step of processing the bulge on the side surface of the brake disc 3 close to the brake disc 2 for reducing the diameter of the brake disc 3 is avoided.

When the disc brake 100 provided by the utility model is used, the disc electromagnet 1 attracts the brake disc 2 when the disc electromagnet 1 is electrified, and the brake disc 2 is positioned at the first set position, and the spring is in a compressed state;

when the disc electromagnet 1 is powered off, the disc electromagnet 1 releases the brake disc 2, and the brake disc 2 moves to the second setting position under the drive of the spring.

Fig. 8 is a schematic diagram of the cooperation relationship between a brake and a driving motor and a decelerator in the embodiment of the present utility model, and fig. 9 is an explosion schematic diagram of the brake, the driving motor and the decelerator in the embodiment of the present utility model, as shown in fig. 8 and fig. 9, the robot provided by the present utility model includes the disc brake 100, and further includes the driving motor and the decelerator 200;

the driving motor includes a motor stator 400 and a motor rotor 300, the motor rotor 300 being disposed in the motor stator 400;

the decelerator 200 is provided on the motor rotor 300; the disc brake 100 is arranged between the speed reducer 200 and the motor stator 400, the disc electromagnet 1 is fixed between the driving motor and the shell of the speed reducer 200 through an end cover, and the brake disc 3 is fixed on the motor rotor 300 through the anti-impact mechanism 4;

the driving motor, the decelerator 200, and the disc brake 100 cooperate to form a joint structure of the robot.

In the embodiment of the utility model, the brake disc is movably connected with the disc electromagnet and can move between a first setting position and a second setting position under the drive of the disc electromagnet, the brake disc is prevented from avoiding the position of the brake disc in the first setting position, the brake disc is braked in the second setting position, the brake disc is fixed on a motor rotor of a driving motor through an anti-impact mechanism, and when the torque applied to the brake disc is larger than a set torque threshold value, the brake disc can rotate along the motor rotor, so that the damage of the brake disc and the damage of a robot joint caused by the damage are avoided.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.

Claims

1. A disc brake comprising:

a disc electromagnet;

2. The disc brake of claim 1, wherein the anti-impact mechanism comprises a clamp spring, a first washer, a second washer, a third washer, and a wave washer;

3. The disc brake of claim 1, wherein the disc electromagnet includes an end cap and a magnet member;

4. A disc brake according to claim 3, wherein a plurality of through holes are provided in the disc in the circumferential direction;

5. The disc brake of claim 4, wherein the disc electromagnet attracts the brake disc when the disc electromagnet is energized, the brake disc being in the first set position, the spring being in a compressed state;

6. The disc brake according to claim 1, wherein a side surface of the brake disc opposite to the brake disc is provided with a plurality of limit protrusions sequentially arranged in a circumferential direction;

7. A disc brake according to claim 6, wherein the brake disc is disc-shaped, and a plurality of first tooth formations are formed on a side edge of the brake disc;

each first tooth structure is turned upwards to form the limit bulge.

8. The disc brake of claim 4, wherein the end cap includes a first annular body and a second annular body; the first annular body is arranged on the inner side of the second annular body and forms an integral structure;

9. The disc brake according to claim 1, wherein the brake disc and the anti-impact mechanism are coaxially arranged and provided with a shaft hole;

10. A robot comprising the disc brake of any one of claims 1 to 9, further comprising a drive motor and a decelerator;