KR102235169B9 - 구동축 브레이킹 장치 - Google Patents

구동축 브레이킹 장치

Info

Publication number
KR102235169B9
KR102235169B9 KR1020190043640A KR20190043640A KR102235169B9 KR 102235169 B9 KR102235169 B9 KR 102235169B9 KR 1020190043640 A KR1020190043640 A KR 1020190043640A KR 20190043640 A KR20190043640 A KR 20190043640A KR 102235169 B9 KR102235169 B9 KR 102235169B9
Authority
KR
South Korea
Prior art keywords
drive shaft
braking apparatus
braking
shaft
drive
Prior art date
Application number
KR1020190043640A
Other languages
English (en)
Other versions
KR102235169B1 (ko
KR20200121076A (ko
Inventor
이정호
허정우
임정수
Original Assignee
주식회사 레인보우로보틱스
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 레인보우로보틱스 filed Critical 주식회사 레인보우로보틱스
Priority to KR1020190043640A priority Critical patent/KR102235169B1/ko
Priority to JP2020552340A priority patent/JP7223769B2/ja
Priority to CN202080001941.0A priority patent/CN112088074B/zh
Priority to PCT/KR2020/005012 priority patent/WO2020213914A1/ko
Priority to EP20771180.5A priority patent/EP3756837B1/en
Priority to US17/040,432 priority patent/US11313424B2/en
Publication of KR20200121076A publication Critical patent/KR20200121076A/ko
Application granted granted Critical
Publication of KR102235169B1 publication Critical patent/KR102235169B1/ko
Publication of KR102235169B9 publication Critical patent/KR102235169B9/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F16D63/006—Positive locking brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/20—Electric or magnetic using electromagnets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/20—Electric or magnetic using electromagnets
    • F16D2121/22—Electric or magnetic using electromagnets for releasing a normally applied brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2127/00—Auxiliary mechanisms
    • F16D2127/06—Locking mechanisms, e.g. acting on actuators, on release mechanisms or on force transmission mechanisms

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)
KR1020190043640A 2019-04-15 2019-04-15 구동축 브레이킹 장치 KR102235169B1 (ko)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1020190043640A KR102235169B1 (ko) 2019-04-15 2019-04-15 구동축 브레이킹 장치
JP2020552340A JP7223769B2 (ja) 2019-04-15 2020-04-14 駆動軸の制動装置
CN202080001941.0A CN112088074B (zh) 2019-04-15 2020-04-14 驱动轴制动装置
PCT/KR2020/005012 WO2020213914A1 (ko) 2019-04-15 2020-04-14 구동축 브레이킹 장치
EP20771180.5A EP3756837B1 (en) 2019-04-15 2020-04-14 Device for braking drive shaft
US17/040,432 US11313424B2 (en) 2019-04-15 2020-04-14 Braking device for driving shaft

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020190043640A KR102235169B1 (ko) 2019-04-15 2019-04-15 구동축 브레이킹 장치

Publications (3)

Publication Number Publication Date
KR20200121076A KR20200121076A (ko) 2020-10-23
KR102235169B1 KR102235169B1 (ko) 2021-04-02
KR102235169B9 true KR102235169B9 (ko) 2023-11-13

Family

ID=72837413

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020190043640A KR102235169B1 (ko) 2019-04-15 2019-04-15 구동축 브레이킹 장치

Country Status (6)

Country Link
US (1) US11313424B2 (ko)
EP (1) EP3756837B1 (ko)
JP (1) JP7223769B2 (ko)
KR (1) KR102235169B1 (ko)
CN (1) CN112088074B (ko)
WO (1) WO2020213914A1 (ko)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102480984B1 (ko) 2021-01-22 2022-12-26 주식회사 푸른기술 협동로봇 관절의 브레이크 장치

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19901688A1 (de) * 1999-01-18 2000-07-20 Continental Teves Ag & Co Ohg Sperrvorrichtung für einen Antriebsstrang
JP5533634B2 (ja) * 2010-12-21 2014-06-25 トヨタ車体株式会社 歯車の回転ロック機構
JP5447451B2 (ja) 2011-08-08 2014-03-19 株式会社安川電機 ロボット
JP2014093790A (ja) * 2012-10-31 2014-05-19 Nikon Corp 駆動装置及びロボット装置
US9562574B2 (en) 2014-02-19 2017-02-07 Means Industries, Inc. Controllable coupling assembly and coupling member for use in the assembly
KR101632370B1 (ko) * 2014-03-25 2016-06-21 주식회사 오토파워 로봇 관절 모듈용 브레이크 장치
CN105626722B (zh) * 2014-11-05 2018-02-09 广明光电股份有限公司 机器手臂的刹车装置
US9657791B2 (en) 2015-03-12 2017-05-23 GM Global Technology Operations LLC Ultra-low-loss transmission brake utilizing a dual-solenoid electro-mechanical actuator
JP6652293B2 (ja) * 2015-09-28 2020-02-19 キヤノン株式会社 ロボット装置、および制御方法
EP3423732B1 (en) * 2016-02-29 2019-10-30 ABB Schweiz AG A multiple disc brake for an industrial robot and an industrial robot including the multiple disc brake
KR102608950B1 (ko) * 2016-11-28 2023-11-30 한국전기연구원 다관절 로봇의 스토퍼장치
CN108789486A (zh) * 2017-04-28 2018-11-13 广明光电股份有限公司 机器手臂解除刹车的方法
KR101915394B1 (ko) * 2017-05-04 2018-11-05 고려대학교 산학협력단 회전체 브레이크 장치 및 이를 갖는 로봇 암
CN109291077B (zh) * 2017-07-25 2021-06-01 达明机器人股份有限公司 机器手臂的刹车触发装置
CN110323892B (zh) * 2018-03-29 2020-07-28 台达电子工业股份有限公司 马达刹车模块

Also Published As

Publication number Publication date
KR102235169B1 (ko) 2021-04-02
JP7223769B2 (ja) 2023-02-16
EP3756837A1 (en) 2020-12-30
US11313424B2 (en) 2022-04-26
CN112088074B (zh) 2023-10-24
EP3756837B1 (en) 2022-09-07
WO2020213914A1 (ko) 2020-10-22
EP3756837A4 (en) 2021-06-09
JP2021521019A (ja) 2021-08-26
US20210156437A1 (en) 2021-05-27
KR20200121076A (ko) 2020-10-23
CN112088074A (zh) 2020-12-15

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Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]