KR20130126081A - Break apparatus comprising toothed break plate and motor assembly using the same - Google Patents

Abstract

The present invention relates to a brake device with toothed brakes and a motor assembly using the same. The purpose of the present invention is to manufacture a compact motor assembly which accurately controls a stop force by using the toothed brakes and includes the brake device. The brake device according to the present invention includes a first brake and a second brake. The first brake is installed on the outer side of a motor to be moved toward an output shaft of the motor and includes a first toothed portion on the periphery of a surface toward one end portion of the motor. The second brake is installed to be faced the surface, on which the first toothed portion of the first brake is formed, on the output shaft of the motor protruding from one end portion of the motor; and includes a second toothed portion capable of being engaged with the first toothed portion on a surface facing the first toothed portion of the first brake. If the first toothed portion is engaged with the second toothed portion when the first brake is moved to the second brake, the output shaft of the motor brakes. When the first brake is separated from the second brake, the braked output shaft of the motor is released.

Description

Brake apparatus comprising toothed break plate and motor assembly using the same

The present invention relates to a brake device and a motor assembly using the same, and more particularly, to a brake device having a toothed brake that can adjust the stopping force relatively precisely using a toothed brake and a motor assembly using the same.

The braking device is used for controlling the acceleration / deceleration of a moving object or stopping a stationary object or an instantaneous object.

Most of these brake devices perform a braking operation on an object using a friction brake pad. That is, the brake pad is mechanically brought into contact with an object requiring a braking operation, and a braking operation is performed on the object using the frictional force generated at this time.

However, since the conventional friction type brake device generates a slip phenomenon during the braking operation, there is a limit to the use of a part requiring a relatively accurate stopping force adjustment, for example, a one-degree-freedom joint of a robot. As a result, the existing friction type brake device has a problem that it can not be used for an object which requires relatively accurate stop force adjustment.

In addition, since such a conventional friction type brake device is provided outside the object portion requiring braking, and a wiring space for electrically connecting the components constituting the brake device or supplying the driving power to the brake device is separately required, Which is an obstacle to downsizing.

Further, since such a conventional friction type brake device is provided outside the object portion requiring braking and requires a moving space for the brake pad to perform the braking operation, the brake device in the object occupies a large space for installation and movement do. This causes obstacles to miniaturization of the object.

In this way, the conventional brake pads cannot solve the problem because they cannot be used in an object that requires relatively precise adjustment of the stopping force, take up a lot of installation space, and cannot accurately measure torque in the axial direction. There is a need for development of a device and a single-axis torque sensor.

Accordingly, an object of the present invention is to provide a brake device having a toothed brake that can adjust the stopping force relatively accurately by breaking from the conventional frictional braking method and a motor assembly using the same.

Another object of the present invention is to provide a brake device having a toothed brake having a hollow hole structure capable of maximizing wiring and space utilization, and a motor assembly using the same.

Still another object of the present invention is to provide a brake device having a toothed brake having a compact structure and a motor assembly using the same, which can minimize the space occupied by the brake device.

In order to achieve the above object, the brake device according to the present invention includes a first brake and a second brake. A first tooth is formed on an outer side of the motor so as to be movable in an output shaft direction of the first broken motor, and a circumference of a surface facing one end of the motor. The second brake may be installed to face a surface on which the first tooth of the first brake is formed, and the second tooth may engage the first tooth on a surface facing the surface on which the first tooth of the first brake is formed. Is formed, and is fixed to the output shaft of the motor protruding to one end of the motor. At this time, when the first brake is moved toward the second brake and the first tooth is engaged with the second tooth, braking of the output shaft of the motor is performed, and when the first brake is separated from the second brake, Release the braking of the output shaft of the motor.

The brake device having a toothed brake according to the present invention may further comprise a holding ring and a plurality of solenoids. The holding ring is positioned to face the first brake with the second brake interposed therebetween, and is connected to and fixed to the outside of the motor, and pulls the first brake with a magnet generated by a plurality of magnets installed around an edge. The first brake is engaged with the second tooth to hold the first brake to the second brake. The plurality of solenoids may be installed at positions of the first brakes corresponding to the plurality of magnets to generate a magnetic force opposite to the plurality of magnets, thereby separating the first brakes from the second brakes.

The brake device having a toothed brake according to the present invention may further comprise a plurality of linear bushes. The plurality of linear bushes connect the motor and the first brake, and guide the movement of the first brake toward the output shaft of the motor from the outside of the motor.

In the brake device having a toothed brake according to the present invention, the first brake may include a first brake body and a cover ring. The first brake body has a plurality of inner grooves in which a plurality of solenoids and a plurality of linear bushes are respectively formed in a ring shape. The cover ring is coupled to the first brake body on the side where the internal snow groove is open to restrain the solenoid and the linear bush installed in the internal snow groove to the first brake body.

In the brake device having a toothed brake according to the present invention, the second brake has a second tooth formed around an edge of an outer circumferential surface thereof, and a hollow hole is formed in a central portion such that the output shaft of the motor is coupled in a splined structure. .

In the brake device having a toothed brake according to the present invention, the holding ring is provided with a magnet mounting groove in which the plurality of magnets are respectively installed to correspond to the plurality of solenoids, and an encoder mounting hole in which an encoder is installed in the center thereof. It is.

The present invention also includes a motor assembly including a motor having a hollow output shaft protruded on both sides thereof, and a brake device coupled in series with the motor in the direction of the output shaft of the motor to brake driving of the output shaft. In this case, the brake device includes a first brake, a second brake, a holding ring, and a plurality of solenoids. The first brake is installed outside the motor so as to be movable in the direction of the output shaft of the motor, and a first tooth is formed around a surface facing one end of the motor. The second brake may be installed to face a surface on which the first tooth of the first brake is formed, and the second tooth may engage the first tooth on a surface facing the surface on which the first tooth of the first brake is formed. Is formed and is fixed to the output shaft of the motor protruding to one end of the motor. The holding ring is positioned to face the first brake with the second brake interposed therebetween, and is connected to and fixed to the outside of the motor, and pulls the first brake with a magnet generated by a plurality of magnets installed around an edge. The first brake is engaged with the second tooth to hold the first brake to the second brake. The plurality of solenoids are installed at positions of the brakes corresponding to the plurality of magnets to generate a magnetic force opposite to the plurality of magnets, thereby separating the second brakes from the second brakes.

And in the motor assembly using the brake device according to the invention, the output shaft is coupled to the rotor and the second brake of the motor in a splined structure.

Since the brake device according to the present invention performs the braking operation by engaging with the pair of toothed brakes, the slip phenomenon hardly occurs, so that the stopping force can be relatively accurately compared with the conventional friction mode.

The braking device according to the present invention is a braking device having a structure in which a first brake is provided movably outside a motor having a hollow output shaft and a hollow hole through which a second brake engaged with the first brake can be coupled to the output shaft is formed It is advantageous that the hollow hole can be utilized as a space for wiring as well as another space.

In addition, since the brake device according to the present invention has a structure in which the first brake is movable outside the motor having the output shaft, and the second brake engaged with the first brake is coupled to the output shaft and installed in series, the brake device is By minimizing the space required, the brake device including the motor can be manufactured compactly. Thereby, there is an advantage that the installation space of the braking device including the motor can be easily applied to a portion having a narrow space, for example, a 1 DOF joint portion of the robot.

In addition, since the brake device according to the present invention has a spline structure in which the second brake coupled to the output shaft of the motor has a spline structure, the output shaft of the motor can be stably and easily installed on the second brake. In addition, since the output shaft is coupled to the rotor and the relative encoder of the motor in addition to the second brake in a spline structure, the output shaft can be installed stably and easily on the motor and the relative encoder.

In addition, the brake apparatus according to the present invention performs a braking operation by engaging the first and second brakes by using magnetic force, and provides a magnetic force opposite to the magnetic force necessary for the braking operation through the solenoid to apply the first brake to the second brake. It performs the operation of releasing and breaking the break, and the first brake smoothly moves along the guide such as the linear bush, so that braking and unbreaking can be performed quickly and accurately.

In addition, the one-axis torque sensor according to the present invention is an open tubular side facing the side to which the output shaft is coupled, a pair of beams inclined opposite to each other on the outer circumferential surface is formed continuously, respectively on the side facing each other in the axial direction Compensation circuits are constructed using strain gauges installed on a pair of inclined beams, respectively, so that the torque generated in the corresponding direction is structurally canceled by structurally canceling torque caused by an external force other than the torque in the axial direction in which the output shaft rotates. It can measure precisely. That is, as can be seen in Figure 20, it can be confirmed that the torque due to the external force acting in a direction other than the one axis direction in which the output shaft is rotated.

1 is a perspective view showing a one-axis joint module having a brake device according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view illustrating the uniaxial joint module of FIG. 1. FIG.
3 is a perspective view illustrating a brake device installed in the motor of FIG. 1.
4 is a partially cutaway perspective view showing a brake device installed in the motor of FIG. 3.
5 is an exploded perspective view illustrating a brake device installed in the motor of FIG. 3.
6 is a perspective view showing a brake device according to an embodiment of the present invention.
7 is an exploded perspective view illustrating the brake device of FIG. 6.
FIG. 8 is a view illustrating first and second brakes of the brake device of FIG. 6.
9 and 10 are views illustrating a state in which a brake device performs a braking operation according to an embodiment of the present invention.
11 and 12 are views illustrating a state in which a brake device releases braking according to an embodiment of the present invention.
13 and 14 illustrate a robot joint to which a one-axis joint module is applied according to an embodiment of the present invention.
15 is a perspective view showing a one-axis torque sensor according to an embodiment of the present invention.
16 and 17 are cross-sectional views illustrating the uniaxial torque sensor of FIG. 15.
18 is a view showing a robot joint installed through a single axis torque sensor according to an embodiment of the present invention.
19 is a partial cross-sectional view showing a robot joint installed through a single axis torque sensor according to an embodiment of the present invention.
20 is a table showing torque values measured in four strain gauges according to a force generated in a six-axis direction in a one-axis torque sensor according to an embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a one-axis joint module having a brake device according to an embodiment of the present invention. FIG. 2 is an exploded perspective view illustrating the uniaxial joint module of FIG. 1. FIG.

1 and 2, the one-axis joint module 10 according to the embodiment of the present invention includes a motor 19 having an output shaft 20, a reducer 17, an absolute encoder 15, a one-axis torque sensor. 13 and a brake device 21, and further includes a torque sensor amplifier 11, a relative encoder 23 and a motor controller 25. In this case, the motor 19 has a structure in which hollow output shafts 20 protrude from both sides. The reducer 17 is coupled to a portion of the output shaft 20 protruding to one side of the motor 19. The absolute encoder 15 is coupled to the portion of the output shaft 20 protruding toward the front of the reducer 17. The one-axis torque sensor 13 is coupled to the portion of the output shaft 20 protruding in front of the absolute encoder 15 to measure the torque generated in the direction of the output shaft 20. The brake device 21 is coupled in series with the other side of the motor 19 in the direction of the output shaft 20 of the motor 19 to break the driving of the output shaft 20. The relative encoder 23 is coupled to the portion of the output shaft 20 of the motor 19 that protrudes toward the holding ring 60 of the brake device 21. The motor controller 25 is coupled to the holding ring 60 and positioned outside the relative encoder 23 to control the driving of the motor 19.

At this time, the torque sensor amplifier 11 is installed above the one-axis torque sensor 13. The torque sensor amplifier 11 performs a function of amplifying a signal output from the strain gauge installed in the one-axis torque sensor 13. That is, since the signal output from the strain gauge is weak, the corresponding signal is amplified through the torque sensor amplifier 11. It is preferable to provide the torque sensor amplifier 11 close to the one-axis torque sensor 13. The reason is that since the signal output from the strain gauge is weak, when the torque sensor amplifier 11 is installed far from the one-axis torque sensor 13, the accurate torque due to signal distortion cannot be calculated. Therefore, it is preferable to install the torque sensor amplifier 11 as close to the 1-axis torque sensor 13 as possible.

The one-axis torque sensor 13 is fixed to the absolute encoder 15 via the first sensor fixing pin 12a. The outer side of the single-axis torque sensor 13 is coupled to the cross roller bearing 14 coupled to the outer side of the reducer 17 via the second sensor fixing pin 12b. The absolute encoder 15 is inserted and installed inside the one-axis torque sensor 13. The one-axis torque sensor 13 measures and outputs torque generated by the object coupled to the outside and the driving of the motor 19. The load other than the axial direction acting on the uniaxial torque sensor 13 is picked up by the cross roller bearing 14 connected to the output shaft 20. Although not shown, a plurality of strain gauges are provided in the single-axis torque sensor 13.

The motor 19 provides the rotational force necessary to rotate the output shaft 20 about the object connected to the one-axis torque sensor 13.

The absolute encoder 15 detects and outputs the amount of rotation of the portion of the output shaft 20 protruding from the motor 19 toward the one-axis torque sensor 13. The absolute encoder 15 is installed inside the one-axis torque sensor 13 to provide a rotation amount for providing an actual position value according to the rotation of the object.

The relative encoder 23 detects and outputs the amount of rotation of the portion of the output shaft 20 protruding from the motor 19 toward the motor controller 25. The relative encoder 23 is provided near the motor 19 to provide a rotation amount for providing an actual position value according to the rotation of the motor 19.

The reason why the absolute encoder 15 and the relative encoder 23 are provided at both ends of one output shaft 20 as follows is as follows. That is, the amount of rotation of the output shaft 20 detected by the absolute encoder 15 and the relative encoder 23 is the same when no torque is generated, but a difference may occur when torque is generated on an object of the absolute encoder 15 side. Because there is. The absolute encoder 15 is thus used to provide the actual position value of the rotating object, and the relative encoder 23 is used to provide the actual position value as the motor 19 rotates.

The power of the motor 19 is transmitted to the object connected to the torque sensor, for example the second joint 102 in the case of FIG. 13, via the reducer 15 and the one-axis torque sensor 13 connected to the output shaft 20. At this time, since the axial torque sensor 13 and the output shaft 20 are supported and connected to the cross roller bearing 14, the output shaft 20 transmits only the torque in the axial direction to the uniaxial torque sensor 13. That is, the load other than the axial direction acting on the uniaxial torque sensor 13 is held by the cross roller bearing 14 connected to the output shaft 20. As a result, it is possible to catch a crosstalk-error that may occur in the one-axis torque sensor 13.

Since the brake device 21 of the one-axis joint module 10 according to the present embodiment performs the braking operation by engaging the pair of teeth of the brakes 40 and 50, the slip phenomenon hardly occurs. This allows the brake device 21 to adjust the stopping force relatively accurately compared to the conventional friction method. In this case, the motor 19 and the brake device 21 coupled to the motor 19 are referred to as a motor assembly 29.

In addition, the uniaxial torque sensor 13 of the uniaxial joint module 10 according to the present embodiment structurally cancels the torque by the external force other than the torque in the uniaxial direction, that is, the axial direction of the output shaft 20 in the corresponding direction It is possible to accurately measure the torque generated from. A detailed description of the one-axis torque sensor 13 will be given in the description with reference to FIGS. 15 to 20.

The motor controller 25 is fixedly installed to the holding ring 60 of the brake device 21 in which the relative encoder 23 is installed via the plurality of controller installation pins 27.

The motor assembly 29 according to the present embodiment will be described with reference to FIGS. 3 to 5 as follows. 3 is a perspective view illustrating the brake device 21 installed in the motor 19 of FIG. 1. 4 is a partially cutaway perspective view showing the brake device 21 installed in the motor 19 of FIG. 3. 5 is an exploded perspective view illustrating the brake device 21 installed in the motor of FIG. 3.

As described above, the motor assembly 29 according to the present embodiment includes the motor 19 having the output shaft 20 and the brake device 21, and fixedly installing the brake device 21 to the motor 19. It includes a motor bracket 35 and a support bar 39 to.

The output shaft 20 is hollow and includes a first output shaft 22 protruding to one side about the support ring 24 and a second output shaft 26 protruding to the opposite side. The first output shaft 22 is coupled to the uniaxial torque sensor 13, the absolute encoder 15 and the reducer 17. The second output shaft 24 is coupled to the rotor 19b of the motor 19, the second brake 50 of the brake device 21, and the relative encoder 23. In the output shaft 20, the outer diameter of the support ring 24 may be the largest, and may have a size of the second output shaft 26 and the first output shaft 24.

In this case, the second output shaft 26 is coupled to the rotor 19b of the motor 19, the second brake 50 of the brake device 21, and the relative encoder 23 in a spline structure. That is, a plurality of spline grooves 28 are formed in the axial direction of the second output shaft 20 on the outer circumferential surface of the second output shaft 26. Further, spline protrusions 30 are formed in the rotor 19b of the motor 19, the second brake 50 of the brake device 21, and the counterpart encoder 23 so as to correspond to the plurality of spline grooves 28. .

Since the spline structure has a structure in which the motor 19, the brake device 21, and the relative encoder 23 are coupled to the output shaft 20, the output shaft 20 is connected to the motor 19, the brake device 21, and the spline structure. It is possible to install it stably at the counterpart encoder 23 easily. In addition, since the output shaft 20 is hollow, the output shaft 20 can be utilized not only for wiring but also for other spaces through the holes 20a.

The motor 19 is a used-type motor in which the center of the rotor 19b is hollow, and includes a motor case 31, a rotor 19b and a stator 19a provided inside the motor case 31. do. The motor case 31 is provided with a plurality of mounting tables 33 on which the motor bracket 35 and the brake device 21 can be installed. The plurality of mounts 33 includes a bracket mount 33a on which the motor bracket 35 is fixed and a brake mount 33b on which the brake device 21 is movable. At this time, the bracket mount 33a and the brake mount 33b are formed to protrude outward from the outer surface of the motor case 31 proximate to the portion where the first output shaft 22 protrudes. The motor bracket 35 is fixedly installed on the bracket mount 33a through which the first output shaft 22 is located. The brake device 21 is movably installed on the brake mount 33b by being inserted out of the motor case 31 through the other side of the direction in which the motor bracket 35 is installed, that is, through the other side of the motor case 31. That is, the motor bracket 35 is installed in the portion where the first output shaft 22 is drawn out around the plurality of mounting tables 33, and the brake device 21 is installed on the opposite side.

The motor bracket 35 is fixed to the bracket mount 33a via the motor fastening pin 32. The motor bracket 35 has a disc shape, and has a through hole 35a in which a second output shaft 26 of the output shaft 20 can be inserted in the center portion, and an inner diameter of the through hole 35a is the output shaft 20. It is formed smaller than the outer diameter of the support ring 24. The motor bracket 35 has a motor fastening pin mounting hole 36 and a support bar fastening pin mounting hole 38 formed around an edge thereof.

The brake device 21 is installed to the brake mount 33b so as to be movable through the linear bush 80. The brake device 21 is coupled to the motor bracket 35 via a plurality of support bars 39 to fix the motor 19 between the brake device 21 and the motor bracket 35. In this case, the plurality of support bars 39 are interposed between the motor bracket 35 and the brake device 21 to the support bars 39 from the outside of the motor bracket 35 and the outside of the brake device 21. It is fixedly installed by the support bar fastening pins 34 to be inserted.

In this one-axis joint module 10 according to the present embodiment, the driving of the output shaft 20 of the motor 19 is controlled by the braking device 21. In the state in which the braking is released, the one-axis torque sensor 13 portion rotates in accordance with the drive of the output shaft 20 of the motor 19. The object connected to the uniaxial torque sensor 13 is rotated. On the contrary, when the brake device 21 performs the braking operation, the drive of the output shaft 20 of the motor 19 is held.

The brake device 21 according to the present embodiment will be described with reference to FIGS. 6 to 8 as follows. 6 is a perspective view showing a brake device 21 according to an embodiment of the present invention. FIG. 7 is an exploded perspective view showing the brake device 21 of FIG. 6. FIG. 8 is a view illustrating first and second brakes 40 and 50 of the brake device 21 of FIG. 6.

The brake device 21 according to the present embodiment includes a first brake 40 and a second brake 50, and further includes a holding ring 60, a plurality of solenoids 70, and a plurality of linear bushes 80. Include.

The first brake 40 is installed on the outside of the motor 19 so as to be movable in the direction of the output shaft 20 of the motor 19, and the first teeth 41 are formed around the surface facing one end of the motor 19. Formed.

The second brake 50 is installed to face the surface on which the first teeth 41 of the first brake 40 are formed, and on the surface facing the surface on which the first teeth 41 of the first brake 40 are formed. A second tooth 51, which can be engaged with the first tooth 41, is formed, and is fixed to the output shaft 20 of the motor 19 protruding to one end of the motor 19. The second brake 50 has a second tooth 51 formed around the edge of the outer circumferential surface, and a hollow hole 53 is formed in the center portion such that the output shaft 20 of the motor 19 is coupled in a splined structure.

When the first brake 40 moves toward the second brake 50 so that the first tooth 41 is engaged with the second tooth 51, braking of the output shaft 20 of the motor 19 is performed. When the first brake 40 is separated from the second brake 50, braking of the output shaft 20 of the motor 19 is released. The movement of the first brake 40 relative to the second brake 50 is performed by the plurality of magnets 63 in the holding ring 60 and the plurality of solenoids 70 in the first brake 40. do.

In this case, the first brake 40 includes a first brake body 43 and a cover ring 45. The first brake body 43 has a ring shape and has a through hole 42 which can be inserted into the motor at the center portion. The first brake body 43 is formed with a plurality of internal snow grooves 44 in which a plurality of solenoids 70 and a plurality of linear bushes 80 are respectively installed. The cover ring 45 is coupled to the first brake body 43 on the side where the internal snow groove 44 is opened via the cover ring fastening pin 47, and the solenoid 70 and the linear bush installed in the snow snow groove 44. Constraints 80 to the first brake body 43.

The first and second teeth 41 and 51 formed on the first and second brakes 40 and 50 have a structure in which the protrusions 41a and 51a and the grooves 41b and 51b are continuously formed to be engaged with each other. . At this time, the braking ability of the first and second brakes 40 and 50 depends on the inclination angle θ of the protrusions 41a and 51a. That is, the braking ability increases as the inclination angles θ of the protrusions 41a and 51a are closer to 90 degrees, and the braking ability is lowered as the inclination angles θ of the protrusions 41a and 51a are closer to 0 degrees.

The projections 41a and 51a and the grooves 41b and 51b forming the first and second teeth 41 and 51 have a shape that can be engaged with each other, for example, may be formed in a triangular or trapezoidal shape. It is not limited. In this embodiment, an example in which the first and second teeth 41 and 51 are formed in a trapezoidal shape is disclosed.

When the first and second brakes 40 and 50 are engaged with each other to perform braking, when a rotation force greater than the braking capability is applied to the output shaft 20, the engagement between the first and second brakes 40 and 50 may be released. have. At this time, since the magnet 63 of the holding ring 60 pulls the first brake 40 toward the second brake 50 by magnetic force, the first brake 40 rotates on the second brake 50. . In this way, when the rotational force greater than the braking ability is applied to the output shaft 20, the reason why the engagement between the first and second brakes 40 and 50 is released is because of the first and second brakes 40 and 50. This is to prevent the motor 19 from being overloaded due to damage including damage.

The holding ring 60 is positioned to face the first brake 40 with the second brake 50 therebetween, and is connected to and fixed to the outside of the motor 19. The holding ring 60 pulls the first brake 40 with a magnetic force generated by a plurality of magnets 63 installed around the edge to engage the first tooth 41 with the second tooth 51 to engage the first brake. Hold 40 at the second brake 50. The holding ring 60 is formed with a ring body 61 and a magnet mounting groove 65 in which a plurality of magnets 63 are respectively installed in the ring body 61 to correspond to the plurality of solenoids 70. The encoder mounting hole 69 in which the counter encoder 23 is provided is formed. In addition, a support bar mount 67 having a support bar mount hole 68 to protrude outward of the ring body 61 is formed.

The plurality of solenoids 70 are installed at the positions of the first brakes 40 corresponding to the plurality of magnets 63 to generate magnetic forces opposite to the plurality of magnets 63, thereby providing the first brakes in the second brakes 50. Space (40).

The plurality of linear bushes 80 connect the motor 19 and the first brake 40, and the first brake 40 is connected to the output shaft 20 of the motor 19 from the outside of the motor 19. Guide the move. In this case, the linear bush 80 includes a shaft 81 and a linear guide 83. The linear guide 83 guides the shaft 81 to be inserted and moves in the direction of the output shaft 20, and is installed in the internal snow groove 44 of the first brake 40. One end of the shaft 81 is fixed to the brake mount 33b of the motor case 31, and the other end of the shaft 81 is inserted into the linear guide 83. This shaft 81 includes a fixing pin 85 and a rod 87. The fixing pin 85 is attached to the brake mount 33b of the motor case 31 and fastened to one end of the rod 87. The rod 87 is inserted into the linear guide 83. Therefore, when the first brake 40 moves, the plurality of linear bushes 80 naturally move left and right in the direction of the output shaft 20.

As described above, since the brake device 21 according to the present exemplary embodiment performs the braking operation by engaging the brakes 40 and 50 of the pair of teeth 41 and 51, slippage is almost occurred as compared with the conventional friction method. As a result, the stopping force can be adjusted relatively accurately.

In addition, in the brake device 21 according to the present embodiment, the first brake 40 is installed on the outside of the motor 19 having the output shaft 20 so as to be movable, and the second brake is engaged with the first brake 40. Since the 50 has a structure in which the hollow hole 53 that can be coupled to the output shaft 20 is formed, there is an advantage that the hollow hole 53 can be utilized as another space as well as a space for wiring.

In addition, in the brake device 21 according to the present embodiment, the first brake 40 is installed on the outside of the motor 19 having the output shaft 20 so as to be movable, and the second brake is engaged with the first brake 40. Since the 50 is coupled to the output shaft 20 and has a structure installed in series, the brake device 21 including the motor 19 can be compactly manufactured by minimizing the space occupied by the brake device 21. For this reason, there is an advantage that the installation space of the brake device 20 including the motor 19 can be easily applied to a narrow part, for example, one degree of freedom of the robot.

In addition, since the second brake 50 coupled to the output shaft 20 of the motor 19 of the brake apparatus 21 according to the present embodiment is coupled in a spline structure, the output shaft 20 of the motor 19 is connected to the second shaft 50. The brake 50 can be installed stably and easily. In addition, since the output shaft 20 is coupled to the rotor 19b and the relative encoder 23 of the motor 19 in addition to the second brake 50, the output shaft 20 is coupled to the motor 19 and the relative encoder. It is stable at 23 and can be easily installed.

In addition, the brake device 21 according to the present embodiment performs the braking operation by engaging the first and second brakes 40 and 50 by using magnetic force. In addition, the brake device 21 provides a magnetic force opposite to the magnetic force required for the braking operation through the solenoid 70 to separate the first brake 40 from the second brake 50 to release the braking. In addition, since the first brake 40 smoothly moves along a guide such as the linear bush 80, the brake device 21 can quickly and accurately perform braking and unbraking.

Such a brake device 21 of the motor assembly 29 according to the present embodiment performs a braking operation or a braking operation, as shown in FIGS. 9 to 12. 9 and 10 are views illustrating a state in which the brake device 21 according to an embodiment of the present invention performs a braking operation. 11 and 12 are views illustrating a state in which the brake device 21 according to the embodiment of the present invention releases braking.

First, the brake device 21 may perform a braking operation, as shown in FIGS. 9 and 10. That is, when power is not supplied to the solenoid 70, the plurality of magnets 63 installed in the holding ring 60 pull the first brake 40 toward the second brake 50. The first brake 40 moves toward the second brake 50 along the plurality of linear bushes 80 by the magnetic force of the magnet 63. The first brake 40 moved toward the second brake 50 is engaged with the first teeth 41 of the first brake to be fixed to the second teeth 51 of the second brake 50.

As such, when the first brake 40 is engaged with the second brake 50, a braking operation for stopping the rotation of the output shaft 20 is performed.

Next, as shown in FIGS. 11 and 12, the brake device 21 may release the braking. That is, when the first brake 40 is engaged with the second brake 50, when the power is supplied to the solenoid 70 to generate a magnetic force opposite to the magnet 63, the solenoid 70 and the magnet 63 are separated from each other. The first brake 40 is pushed out of the second brake 50 by the repulsive force. The first brake 40 moves away from the second brake 50 along the plurality of linear bushes 80 by the repulsive force. The first brake 40 is spaced apart from the second brake 50.

In this way, the first brake 40 is separated from the second brake 50 to release the braking, and the output shaft 20 is in a state capable of rotating.

The uniaxial joint module 10 according to the present embodiment may be applied to the robot joint 100 as shown in, for example, FIGS. 13 and 14. 13 and 14 are views showing the robot joint 100 to which the uniaxial joint module 10 is applied according to an embodiment of the present invention.

The robot joint 100 according to the present embodiment includes a first joint 101 and a second joint 102 connected through the uniaxial joint module 10. The first joint 101 is provided with a one-axis joint module 10 having an output shaft 20 rotating in the X-axis direction on one side. And the 1-axis torque sensor 13 of the 1-axis joint module 10 is fixed to the second joint (102).

Therefore, the driving of the robot joint 100 according to the present embodiment is controlled by the braking device 21. In the state in which the braking is released, the one-axis torque sensor 13 portion rotates in accordance with the drive of the output shaft 20 of the motor 19. The second joint 102 connected to the uniaxial torque sensor 13 rotates.

On the contrary, when the brake device 21 performs the braking operation, the drive of the output shaft 20 of the motor 19 is held. As a result, the second joint 102 connected to the one-axis torque sensor 13 is stopped.

Meanwhile, in the present embodiment, the example in which the one-axis joint module 10 is applied to the robot joint 100 has been disclosed, but is not limited thereto and may be installed in the joint portion of the device that performs one-axis rotation.

The uniaxial torque sensor 13 used in the uniaxial joint module 10 according to the present embodiment will be described with reference to FIGS. 15 to 20 as follows.

15 is a perspective view showing a one-axis torque sensor 13 according to an embodiment of the present invention. 16 and 17 are sectional views showing the uniaxial torque sensor 13 of FIG. At this time, the output shaft fastening hole 121 of the one-axis torque sensor 13 is formed in the X-axis direction, where one axis means the X-axis.

15 to 17, the one-axis torque sensor 13 according to the embodiment of the present invention has a tubular shape in which a side facing the output shaft is open, and a pair of beams inclined opposite to each other on the outer circumferential surface ( 133 and 135 are formed continuously, and the strain gauges S1, S2, S3, and S4 are provided in the pair of inclined beams 133 and 135 respectively located on the side facing each other in the axial direction.

The one-axis torque sensor 13 according to the present embodiment as described above includes a first joint fastening part 120, a gauge mounting part 130, and a second joint fastening part 140 and have a structure integrally formed. In this case, an aluminum alloy may be used as the material of the uniaxial torque sensor 13. The reason why the aluminum alloy is used as the material of the uniaxial torque sensor 13 is as follows. When iron is used as the material of the single-axis torque sensor 13, there is an advantage of eliminating a kind of hysteresis by securing rigidity and restoring stress. However, the iron material is three times heavier than the same volume than the aluminum material, it is not suitable for use as a single-axis torque sensor 13 for the robot joint. When pure aluminum is used as the material of the single-axis torque sensor 13, there is a light advantage, but since the rigidity is lower than iron, hysteresis may occur when a torque is applied and no load is applied. Therefore, in the present embodiment, by using an aluminum alloy, for example, an aluminum 70 series alloy, as the material of the uniaxial torque sensor 13, the uniaxial torque sensor 13 having the advantages of iron and aluminum materials while increasing the rigidity while reducing the weight is also light. ) Can be provided.

The first joint fastening part 120 has a disc shape, and an output shaft fastening hole 121 to which an output shaft of the first joint is coupled to a central portion thereof is formed.

The gauge mounting portion 130 is formed at a predetermined height in the axial direction around the edge of the first joint coupling portion 120 to have a shape surrounding the output shaft portion of the first joint. The gauge mounting unit 130 is provided with a plurality of beam units 131 having a pair of beams 133 and 135 inclined opposite to each other on the outer circumferential surface thereof. The gauge mounting unit 130 is provided with strain gauges S1, S2, S3 and S4, respectively, on the pair of inclined beams 133 and 135 of the beam units 131 located on the side facing each other in the axial direction.

And the second joint fastening portion 140 is formed to extend from the gauge installation portion 130, the second joint is fastened to the outer surface.

In this case, the plurality of beam parts 131 formed in the gauge mounting part 130 are disposed radially with respect to the axial direction. The plurality of beam units 131 may be even so that the beam units 131 may be disposed to face each other in the axial direction. The gauge mounting unit 130 includes a plurality of connecting rods 137 that connect between the plurality of beam units 131 and connect the first joint coupling unit 120 and the second joint coupling unit 140. The connecting rod 137 connects the first joint coupling part 120 and the second joint coupling part 130 to serve as a skeleton providing rigidity to the uniaxial torque sensor 13.

The beam part 131 is formed in a space between the plurality of connecting tables 137. The beam unit 131 may have a pair of beams 133 and 135 that are inclined opposite to each other in a “V” shape. In this case, the beam unit 131 includes a first beam 133 and a second beam 135. The portion where the first beam 133 and the second beam 135 meet is a central portion of the space between the connecting rods 137. The first and second beams 133 and 135 are symmetrically formed, and a portion where the first and second beams 133 and 135 meet is connected to one of the first and second joint coupling parts 120 and 130. In this embodiment, one end where the first and second beams 133 and 135 meet is connected to the outer circumferential surface of the first joint coupling part 120, and the other ends of the first and second beams 133 and 135 are connected to the connecting table 137 and the first, respectively. It is connected to the meeting point of the two joint fastening unit 130.

At this time, the strain gauges (S1, S2, S3, S4) are installed inside the pair of beam portions 131 located on the side facing each other in the axial direction. That is, the strain gauges S1, S2, S3, and S4 are provided inside the pair of inclined beams 133 and 135, respectively. That is, four strain gauges are installed in two beam parts 131 facing the output shaft coupling hole 121, and the first to fourth strain gauges S1, S2, S3, and S4 are sequentially disposed in the counterclockwise direction. Is installed.

As described above, the one-axis torque sensor 13 according to the present exemplary embodiment has a tubular shape in which an output shaft is coupled to a side facing the open side, and a pair of beams 133 and 135 inclined opposite to each other are formed continuously on the outer circumference thereof. Since the strain gauges S1, S2, S3, and S4 are provided in a pair of inclined beams 133 and 135 respectively located on the side facing each other with respect to the direction, the torque Mx in the X axis direction in which the output shaft rotates. It is possible to precisely measure the torque Mx generated in the corresponding direction by structurally canceling the torque caused by an external force other than). That is, when the moment load in the X-axis direction is generated, the beam portion 131 of the gauge mounting portion 130 of the uniaxial torque sensor 13 is deformed. The strain gauges S1, S2, S3, and S4 detect the deformation amount of the beam unit 131, and measure the torque according to the detected deformation amount. At this time, when the amounts of deformation measured in the first to fourth strain gauges S1, S2, S3 and S4 are S1, S2, S3 and S4, the torque Mx, (S1-S2 + S3-S4). That is, torques Mx, My, and Mz of the X, Y, and Z axes are calculated using a compensation circuit using the first to fourth strain gauges S1, S2, S3, and S4, for example, a full bridge circuit.

At this time, when using the compensation circuit using the one-axis torque sensor 13 and the first to fourth strain gauges (S1, S2, S3, S4) according to this embodiment, the external force other than the torque (Mz) in the X-axis direction The torque by can be canceled. That is, the uniaxial torque sensor 13 according to the present embodiment may cancel the mutual interference error due to other external force in addition to the torque Mx in the X-axis direction.

As described above, in order to confirm that the torque due to the external force acting in the direction other than the one axis direction of the one axis torque sensor 13 according to the present embodiment is canceled, as shown in FIGS. Simulation using the torque sensor 13 according to the load acting on the robot joint 100, the simulation results are shown in FIG. 18 is a view showing the robot joint 100 installed through the one-axis torque sensor 13 according to an embodiment of the present invention. 19 is a partial cross-sectional view showing the robot joint 100 installed through the one-axis torque sensor 13 according to the embodiment of the present invention. In the simulation, a motor was used as the one-axis joint module 10 except the one-axis torque sensor 13.

15 to 19, the robot joint 100 according to the present exemplary embodiment has a structure in which the first joint 101 and the second joint 102 are connected via the one-axis torque sensor 13. The first joint 101 is provided with a one-axis joint module 10 having an output shaft 20 that rotates in the X-axis direction on one side. A part including the output shaft 20 of the one-axis joint module 10 is inserted into the internal space 113 of the one-axis torque sensor 13, so that the output shaft 20 of the one-axis joint module 10 is the one-axis torque. It is inserted into the output shaft fastening hole 121 of the sensor 13 and fastened to the first joint fastening part 120. The second joint 102 is coupled to the outer circumferential surface of the second joint coupling part 140 of the one-axis torque sensor 13.

At this time, the deformation force according to the force acting on the uniaxial torque sensor 13 was measured through the first to fourth strain gauges (S1, S2, S3, S4) under the following simulation conditions. Torques Mx, My, and Mz of the X, Y, and Z axes are calculated using a compensation circuit using the first to fourth strain gauges S1, S2, S3, and S4, for example, a full bridge circuit.

As described above, the one-axis torque sensor 13 connects the first joint 101 and the second joint 102. It is assumed that the second joint 102 does not collide with an external object while the second joint 102 rotates in the X-axis direction that is the direction of the output shaft 20 of the one-axis torque sensor 13. At this time, the second joint fastening portion 140 of the one-axis torque sensor 13 is fastened to the second joint 102 and assumes that it is not moved by an external object to impart a fixed condition. The first joint fastening part 120 of the one-axis torque sensor 13 is connected to the output shaft 20 of the one-axis joint module 10 installed in the first joint 101 to impart a moment load condition. Material properties of the single-axis torque sensor 13 are shown in Table 1.

material 7049 alloy Modulus of elasticity (N / mm ² ) 71800 Poisson's 0.336 Mass density (kg / mm ² ) 2.86e-6 Ultimate stress Tensile (N / mm ² ) 482.5 Compression (N / mm ² ) 403.5

When the simulation is performed under the conditions as described above, the beam unit 131 of the gauge installation unit 130 is deformed, and the strain gauges S1, S2, S3, and S4 detect the deformation amount of the beam unit 131, and detect the Measure the torque according to the amount of deformation.

The simulation results under the conditions as described above are shown in FIG. 20. 20 is a torque value measured by four strain gauges S1, S2, S3, and S4 according to the force generated in the six-axis direction in the one-axis torque sensor 13 according to the present embodiment. At this time, the field value of "effective strain-elastic to (S1-S2 + S3-S4)" is represented by the second digit below the decimal point.

Referring to FIG. 20, the amplification effect of the strain gauges S1, S2, S3, and S4 may be confirmed with respect to the moment load on the X axis, that is, the torque Mx in the X axis direction. Even in the case of the concentrated load Fx in the X-axis direction, since the strain is measured small, the control of the robot joint 100 including the one-axis joint module 10 can be efficiently performed. In addition, the moment loads (My, Mz) and the concentrated loads (Fy, Fz) on the Y-axis and the Z-axis except for the X-axis direction are canceled with each other, so that the mutual interference error hardly occurs.

On the other hand, the embodiments disclosed in the specification and drawings are merely presented specific examples to aid understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein. For example, the present embodiment discloses an example in which a solenoid is installed in the first brake and a magnet is installed in the second brake, but is not limited thereto. That is, a magnet may be installed in the first brake, and a solenoid may be installed in the second brake. In addition, in the present embodiment, an example in which a linear bush is used as a member for guiding the movement of the first brake is disclosed, but the first brake may be installed on the outer circumferential surface of the motor case so as to slide in the axial direction.

10: 1 axis joint module 11: torque sensor amplifier
12a, 12b: Sensor fixing pin 13: 1-axis torque sensor
15: absolute encoder 17: reducer
19: motor 20: output shaft
21 brake device 23 relative encoder
25: motor controller 27: controller installation pin
29 motor assembly 31 motor case
33: mounting base 35: motor bracket
36: motor fastening pin mounting hole 37: support bar mounting table
38: support bar fastening pin mounting hole 39: support bar
40: first brake 41: first teeth
41a: protrusion 41b: groove
43: first brake body 44: snow groove
45: cover ring 47: cover ring fastening pin
50: second brake 51: second tooth
51a: protrusion 51b: groove
53: hollow hole 60: holding ring
61: ring body 63: magnet
65: magnet mounting groove 67: support bar mounting
68: support bar mounting hole 69: encoder mounting hole
70: solenoid 80: linear bush
81: shaft 83: linear guide
85: fixing pin 87: rod
100: robot joint 101: first joint
102: second joint

Claims (8)

A first brake installed on the outer side of the motor so as to be movable in the direction of an output shaft of the motor and having a first tooth formed around a surface facing the one end of the motor;
The first tooth of the first brake is installed to face the surface formed, the second tooth that can engage the first tooth is formed on the surface facing the first tooth of the first brake is formed, And a second brake fixed to the output shaft of the motor protruding to one end of the motor.
When the first brake is moved toward the second brake and the first tooth is engaged with the second tooth, braking of the output shaft of the motor is performed. When the first brake is separated from the second brake, the motor Brake device having a toothed brake, characterized in that to release the braking for the output shaft of the. The method of claim 1,
The first tooth is pulled by the first brake with a magnet generated by a plurality of magnets positioned to face the first brake with the second brake therebetween and connected to the outside of the motor and installed around an edge. A holding ring for engaging the second tooth with the second tooth and holding the first brake to the second brake;
A plurality of solenoids disposed at positions of the first brakes corresponding to the plurality of magnets and generating magnetic forces opposite to the plurality of magnets to separate the first brakes from the second brakes;
Brake device having a toothed brake, characterized in that it further comprises. 3. The method of claim 2,
A plurality of linear bushes connecting the motor and the first brake and guiding movement of the first brake in an output shaft direction of the motor from the outside of the motor;
Brake device having a toothed brake, characterized in that it further comprises. The method of claim 3, wherein the first brake,
A first brake body having a plurality of inner grooves each having a plurality of solenoids and a plurality of linear bushes formed in a ring shape;
A cover ring coupled to the first brake body on the side where the internal snow groove is open to restrict the solenoid and the linear bush installed in the internal snow groove to the first brake body;
Brake device having a toothed brake, characterized in that it comprises a. The method of claim 4, wherein the second brake,
The second tooth is formed around the edge of the outer circumferential surface, the brake device having a toothed brake, characterized in that the hollow hole is formed in the center portion so that the output shaft of the motor is coupled in a spline structure. The method of claim 5, wherein the holding ring,
And a magnet mounting groove in which the plurality of magnets are respectively installed to correspond to the plurality of solenoids, and an encoder mounting hole in which an encoder is installed in the center thereof. A motor having a hollow output shaft protruding from both sides thereof;
And a brake device coupled in series with the motor in an output shaft direction of the motor to break the drive of the output shaft,
Wherein the brake device comprises:
A first brake installed on the outer side of the motor so as to be movable in an output shaft direction of the motor and having a first tooth formed around a surface facing the one end of the motor;
The first tooth of the first brake is installed to face the surface formed, the second tooth that can engage the first tooth is formed on the surface facing the first tooth of the first brake is formed, A second brake fixed to the output shaft of the motor protruding to one end of the motor;
The first tooth is pulled by the first brake with a magnet generated by a plurality of magnets positioned to face the first brake with the second brake therebetween and connected to the outside of the motor and installed around an edge. A holding ring for engaging the second tooth with the second tooth and holding the first brake to the second brake;
A plurality of solenoids disposed at positions of the brakes corresponding to the plurality of magnets and generating magnetic force opposite to the plurality of magnets to separate the second brakes from the second brakes;
Motor assembly using a brake device comprising a. The method of claim 7, wherein
The output shaft is a motor assembly using a brake device, characterized in that coupled to the rotor and the second brake of the motor in a spline structure.

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