CN220337326U

CN220337326U - Brake device, motor and robot thereof

Info

Publication number: CN220337326U
Application number: CN202321431794.8U
Authority: CN
Inventors: 杨焜; 许晋诚
Original assignee: Parsini Perception Technology Zhangjiagang Co ltd
Current assignee: Parsini Perception Technology Zhangjiagang Co ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2024-01-12
Anticipated expiration: 2033-06-07

Abstract

The embodiment of the application belongs to the technical field of braking, and relates to a braking device for braking an output end of a motor, comprising: the device comprises a bidirectional ratchet, a toggle piece and a driving piece; the bidirectional ratchet comprises a first ratchet and a second ratchet; the poking piece comprises a first poking piece and a second poking piece; the first ratchet wheel and the second ratchet wheel are fixedly connected along the axial direction; the first ratchet wheel and the second ratchet wheel are provided with ratchet teeth with opposite directions; the poking arm of the first poking piece is arranged corresponding to the first ratchet wheel; the poking arm of the second poking piece is arranged corresponding to the second ratchet wheel; the connecting arm of the first plectrum is fixedly connected with the output end of the driving piece; the connecting arm of the second plectrum is fixedly connected with the output end of the driving piece. The application also relates to a motor and a robot thereof. The technical scheme that this application provided can make brake equipment's overall structure compacter.

Description

Brake device, motor and robot thereof

Technical Field

The application relates to the technical field of braking, and more particularly relates to a braking device, a motor and a robot thereof.

Background

The motors of the existing robots (such as a cooperative mechanical arm) basically adopt two braking modes, one is friction braking mode; the other is a mode of impacting the blocking piece by the bolt. Both require a large space to arrange. Friction braking is expensive; there is still a large inter-joint play after impact braking.

Disclosure of Invention

Based on this, the embodiment of the application provides a brake device, a motor and a robot thereof, so as to simplify the structure of the brake device.

In a first aspect, an embodiment of the present application provides a braking device, which adopts the following technical scheme:

a braking device for braking an output of a motor, comprising: the device comprises a bidirectional ratchet, a toggle piece and a driving piece; the bidirectional ratchet comprises a first ratchet and a second ratchet; the poking piece comprises a first poking piece and a second poking piece;

the first ratchet wheel and the second ratchet wheel are fixedly connected in an axial superposition manner; the first ratchet wheel and the second ratchet wheel are provided with ratchet teeth with opposite directions;

the poking arm of the first poking piece is arranged corresponding to the first ratchet wheel;

the poking arm of the second poking piece is arranged corresponding to the second ratchet wheel;

the connecting arm of the first shifting piece is fixedly connected with the output end of the driving piece;

the connecting arm of the second shifting piece is fixedly connected with the output end of the driving piece.

Further, the brake device further comprises a brake bracket; the brake bracket is fixedly connected with a stator of the motor;

the driving piece and the stirring piece are arranged on the brake bracket.

Further, the driving piece is transversely arranged on the brake bracket.

Further, the number of the driving parts is two;

the two driving pieces are fixedly connected with the first poking piece and the second poking piece respectively;

the two driving parts are distributed on two sides of the bidirectional ratchet wheel.

Further, the ratchets of the first ratchet wheel are uniformly distributed on the periphery of the first ratchet wheel and incline to one of the clockwise direction or the anticlockwise direction;

the ratchet teeth of the second ratchet wheel are uniformly distributed on the periphery of the second ratchet wheel and incline towards the other direction of the clockwise direction or the anticlockwise direction.

Further, the first poking piece and the second poking piece respectively comprise a rotating shaft, and the connecting arm and the poking arm which extend from the rotating shaft to two sides along the radial direction respectively;

the rotating shaft is rotatably arranged on the brake bracket only.

Further, the driving piece comprises a driving part and a connecting rod; the driving part comprises a control part and a motion part:

the control part is used for controlling the movement part to move;

the output end of the moving part is connected with one end of the connecting rod;

the other end of the connecting rod is fixedly connected with the connecting arm.

In a second aspect, embodiments of the present application provide a motor, the motor including a brake device as described in any one of the above, the connecting shaft of the motor being connected to a central shaft of the bidirectional ratchet of the brake device.

Further, the connection of the connection shaft of the motor with the central shaft of the bidirectional ratchet of the brake device includes:

the connecting shaft of the motor is fixedly connected with the central shaft of the bidirectional ratchet wheel of the brake device; or (b)

The connecting shaft of the motor is connected with the central shaft of the bidirectional ratchet wheel of the braking device through an elastic piece.

In a third aspect, embodiments of the present application provide a robot, including a robot body and a motor as described in the above embodiments.

Compared with the prior art, the embodiment of the application has the following advantages:

the first ratchet is matched with the first plectrum in the embodiment; the second ratchet wheel is matched with the second shifting piece; the driving piece drives the first shifting piece and the second shifting piece to rotate respectively; when the first poking piece rotates clockwise and the second poking piece rotates anticlockwise, the first poking piece is locked with the first ratchet and the second ratchet, so that braking is completed; when the first plectrum anticlockwise rotates with the second plectrum, then first plectrum and second plectrum are separated with first ratchet and second ratchet respectively to release brake braking, make the brake equipment who adopts this application, have simple structure, low cost's advantage.

Drawings

For a clearer description of the solution of the present application, a brief introduction will be given to the drawings needed in the description of the embodiments, which are some embodiments of the present application, and from which other drawings can be obtained for a person skilled in the art without the inventive effort.

FIG. 1 is a schematic view of an overall structure of an embodiment of a brake device according to the present application;

FIG. 2 is a schematic diagram of the overall structure of one embodiment of a bi-directional ratchet provided herein.

Reference numerals: 10 a brake device; 11 a bidirectional ratchet wheel; 12, a toggle piece; 13 a driving member; 14 a brake bracket; 21 a connecting shaft; 111 a first ratchet; 112 a second ratchet; 121 a first paddle; 122 a second paddle; 131 driving part; 132 links; 1111 first ratchet teeth; 1121 a second ratchet; 1211 a rotation axis; 1212 a connecting arm; 1213 a toggle arm; 1311 control section; 1312 movement.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Unless otherwise defined, reference herein to a structural member being "secured to," "fixedly attached to" another structural member, and the like, includes the manner in which the two structural members are prefabricated as a unit or are fixedly attached via a central member, and the like.

In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.

As shown in fig. 1 and 2, fig. 1 is a schematic overall structure of an embodiment of a brake device provided in the present application; FIG. 2 is a schematic diagram of the overall structure of one embodiment of a bi-directional ratchet provided herein.

The embodiment of the application provides a brake device 10 for braking an output end of a motor, the brake device 10 includes: a bidirectional ratchet 11, a toggle member 12 and a driving member 13.

The bidirectional ratchet 11 includes a first ratchet 111 and a second ratchet 112.

The first ratchet 111 and the second ratchet 112 are fixedly connected in an axial superposition manner.

Specifically, the first ratchet and the second ratchet may be prefabricated as one body or fixedly connected as one body through the intermediate member, so that the first ratchet and the second ratchet may be connected as one body with the connection shaft of the motor.

Illustratively, the bidirectional ratchet 11 is disposed at the end of the motor along the axial direction, and may form a central hole matched with the connecting shaft 21 at the end of the motor, where the bidirectional ratchet 11 is sleeved on the connecting shaft of the motor through the through hole and is connected with the connecting shaft 21, for example: fixedly connected in an interference fit manner; the motor is fixedly connected with the motor connecting shaft in a screw locking mode; or an elastic member (such as a spring) may be provided between the center hole and the motor connecting shaft.

The first ratchet 111 and the second ratchet 112 have ratchet teeth in opposite directions.

The toggle member 12 includes a first toggle piece 121 and a second toggle piece 122.

The toggle arm 1211 of the first toggle piece 121 is arranged corresponding to the first ratchet 111; the toggle arm 1221 of the second toggle piece 122 is disposed corresponding to the second ratchet 112.

The connecting arm 1212 of the first plectrum 121 is fixedly connected with the output end of the driving piece 13 so as to drive the first plectrum to rotate towards the first direction; the connecting arm 1212 of the second pulling piece 122 is fixedly connected with the output end of the driving piece 13 so as to drive the second pulling piece to rotate towards the second direction; wherein the first direction and the second direction are reversed.

Specifically, the first direction may be one of a counterclockwise direction and a clockwise direction; the second direction may be the other of the counterclockwise and clockwise directions.

In one embodiment, the brake device further comprises: and a brake bracket 14, the brake bracket 14 being fixed to an end of a motor stator (not shown).

In one embodiment, the driving member is disposed transversely to the brake support (i.e., lies flat on the surface of the support), so that the overall brake member occupies less space in the axial direction.

The driving piece, the toggle piece and the like of the brake device can be fixed on the brake bracket.

In one embodiment, the first ratchet 1111 of the first ratchet 111 is uniformly distributed on the outer circumference of the first ratchet 111 and is inclined in one of the clockwise or counterclockwise directions; the second ratchet teeth 1121 of the second ratchet wheel 112 are uniformly distributed at the outer circumference of the second ratchet wheel 112 and are inclined in the other one of the clockwise or counterclockwise directions. In addition, any other structure that can satisfy this function may be adopted. The embodiment of the application adopts the bidirectional ratchet with simple structure and low cost, and the action of braking can be completed through the cooperation of the bidirectional ratchet and the poking piece, so that the whole braking device has the effects of simple structure and low cost.

In one embodiment, the driving member 13 includes: a driving part 131 and a link 132.

Specifically, the number of driving members may be set to be arbitrary as required, and the first shifting sheet and the second shifting sheet may be driven to rotate in opposite directions by one driving member, or each shifting sheet may be connected to one driving member.

For convenience of understanding, the embodiment of the present application uses two driving members as an example, that is, the first pulling piece 121 is fixedly connected with one driving member, and the second pulling piece 122 is fixedly connected with the other driving member.

Further, in the embodiment of the present application, one of the driving members 13 fixedly connected to the first paddle 121 is taken as an example for detailed description. The structure of the second pulling piece 122 fixedly connected with another driving piece can refer to the following description of one driving piece fixedly connected with the first pulling piece 121, which is not repeated.

In particular, the driving part may employ any driving structure that is now available or developed in the future, such as: electromagnetic driving piece, linear motor, rack and pinion or lead screw motor.

Further, in one embodiment, the driving part 131 includes a control part 1311 and a moving part 1312.

Illustratively, as shown in fig. 1, continuing with the example of an electromagnetic drive, the electromagnetic control portion 1311 controls the reciprocating linear motion of the motion portion 1312 in the direction F based on electromagnetic principles.

The moving portion 1312 is fixedly connected with the connecting rod 132 to drive the connecting rod to linearly reciprocate along the direction F.

In the embodiment of the application, the moving part of the driving piece contracts to drive the connecting rod 132 to move, and the connecting rod 132 moves to drive the poking piece to disengage from the ratchet wheel, so that the motor shaft can rotate; and when the moving part stretches out to move to drive the connecting rod 132 to move, the stirring piece is driven to rotate in the direction close to the ratchet wheel through the connecting rod 132 until the stirring piece is clamped with the ratchet wheel of the ratchet wheel, so that the connecting shaft of the motor is braked through the stirring piece.

Based on the above embodiments, in one embodiment, when the driving member is two; the two driving parts are distributed on two sides of the bidirectional ratchet wheel. In this way, the whole brake piece occupies smaller space in the axial direction, so that the whole brake piece can be arranged on one side of the motor connecting shaft, and the whole motor structure is more compact.

Further, in one embodiment, two drive members are laterally disposed segments on either side of the bi-directional ratchet.

According to the embodiment of the application, the two driving parts are respectively transversely arranged on the two sides of the ratchet wheel, so that the height of the whole brake device structure can be effectively reduced.

In one embodiment, the first pulling piece 121 and the second pulling piece 122 respectively include a rotation shaft and a connection arm and a pulling arm extending from the rotation shaft to both sides in the lateral direction, respectively; one end of the rotating shaft is rotatably arranged on the brake bracket.

Illustratively, taking the first paddle 121 as an example, it includes: a rotation shaft 1211, a connection arm 1212, and a toggle arm 1213. The connecting rod 123 is fixedly connected with the connecting arm 1212, and the connecting arm is driven to move by the connecting rod 123, so that the poking arm 1213 is driven to rotate around the rotating shaft 1211.

Specifically, one end of the rotating shaft 1211 may be connected to the brake bracket 14 through a self-lubricating plastic ring (friction may be reduced) or a bearing or the like, so as to enable one end of the rotating shaft to be rotatably disposed on the brake bracket.

Based on the braking device described in the above embodiment, the embodiment of the present application further provides a motor, which includes the braking device described in the above embodiment.

In one embodiment, the connecting shaft of the motor is connected with the axial center hole of the bidirectional ratchet wheel of the brake device.

Further, in one embodiment, the connecting shaft of the motor may be fixedly connected with the axial center hole of the bidirectional ratchet.

In another embodiment, an elastic structural member can be arranged between the connecting shaft of the motor and the axial center hole of the bidirectional ratchet wheel, so that the relative friction force between the brake device and the connecting shaft of the motor can be increased, and the brake device can slide relatively to a certain extent under the condition of large external acting force, so that damage is avoided, and if the connecting shaft of the motor and the brake device are rigidly connected, the rotating shaft 1211 is easy to break under the condition of large external force. Such as: the spring can be sleeved between the axial center hole of the bidirectional ratchet wheel and the connecting shaft of the motor.

In one embodiment, the brake device may be fixed to the tail of the motor, such as: intermediate the motor and the circuit board.

Based on the motors described in the above embodiments, the present application provides a robot (omitted drawings) including a robot body and the motors described in the above embodiments.

It should be noted that the robot may be any robot that is currently available or developed in the future, for example: the humanoid robot or the industrial robot is not limited in this application.

It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.

Claims

1. A brake apparatus for braking an output of a motor, comprising: the device comprises a bidirectional ratchet, a toggle piece and a driving piece; the bidirectional ratchet comprises a first ratchet and a second ratchet; the poking piece comprises a first poking piece and a second poking piece;

2. The brake apparatus of claim 1, further comprising a brake bracket; the brake bracket is fixedly connected with a stator of the motor;

the driving piece and the stirring piece are arranged on the brake bracket.

3. The brake apparatus of claim 2, wherein the driving member is disposed laterally to the brake bracket.

4. A brake arrangement according to claim 1 or 2, wherein the drive members are two;

5. The brake apparatus according to claim 1 or 2, wherein the ratchet teeth of the first ratchet wheel are uniformly distributed on the outer circumference of the first ratchet wheel and are inclined in one of a clockwise or counterclockwise direction;

6. The brake apparatus according to claim 1 or 2, wherein the first and second dials include a rotation shaft and the connection arm and the toggle arm, respectively, extend from the rotation shaft to both sides in a radial direction, respectively;

the rotating shaft is only rotatably arranged on the brake bracket.

7. A brake arrangement according to claim 1 or 2, wherein the drive member comprises a drive portion and a linkage; the driving part comprises a control part and a motion part:

the control part is used for controlling the movement part to move;

8. An electric motor comprising a brake device according to any one of claims 1 to 7, characterized in that the connecting shaft of the electric motor is connected to the central shaft of the bi-directional ratchet wheel of the brake device.

9. The motor of claim 8, wherein the connection of the connection shaft of the motor to the central shaft of the bi-directional ratchet of the brake device comprises:

10. A robot comprising a robot body and the motor of claim 8 or 9.