WO2022056928A1 - 抱闸机构、机器人关节的抱闸机构、方法及机器人关节 - Google Patents

抱闸机构、机器人关节的抱闸机构、方法及机器人关节 Download PDF

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Publication number
WO2022056928A1
WO2022056928A1 PCT/CN2020/116592 CN2020116592W WO2022056928A1 WO 2022056928 A1 WO2022056928 A1 WO 2022056928A1 CN 2020116592 W CN2020116592 W CN 2020116592W WO 2022056928 A1 WO2022056928 A1 WO 2022056928A1
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WIPO (PCT)
Prior art keywords
brake
chute
piezoelectric ceramic
ceramic stack
sliding
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PCT/CN2020/116592
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English (en)
French (fr)
Inventor
张晟
姚吉隆
赵研峰
杨勇
刘小宽
Original Assignee
西门子（中国）有限公司
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Application filed by 西门子（中国）有限公司 filed Critical 西门子（中国）有限公司
Priority to CN202080103368.4A priority Critical patent/CN115917175A/zh
Priority to PCT/CN2020/116592 priority patent/WO2022056928A1/zh
Publication of WO2022056928A1 publication Critical patent/WO2022056928A1/zh

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    • 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
    • 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
    • F16D51/00—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like
    • F16D51/10—Brakes with outwardly-movable braking members co-operating with the inner surface of a drum or the like shaped as exclusively radially-movable brake-shoes

Definitions

  • the present application relates to the field of robots, in particular to a holding brake mechanism, a holding brake mechanism for a robot joint, a method, and a robot joint.
  • the current mainstream collaborative robots all adopt the joint design of "modular" idea, adopting the method of direct drive motor and harmonic reducer.
  • the internal structure of each joint usually includes motor, servo drive, harmonic Reducer, motor end encoder, joint end position sensor and torque sensor.
  • the motor and the reducer are usually directly connected.
  • the harmonic reducer and the torque sensor are two key components of the robot joint, which can make the collaborative robot compact in size, friendly in interface, and safe. But these two components also reduce the torque stiffness of the joint drivetrain.
  • the collaborative robot joint has two states: a motion state and a hold state, wherein the motion state is to drive the end of the robot arm to run to the target position, and the hold state is to keep the end of the robot arm at the target position.
  • collaborative robot joints work in a holding state most of the time, so that the treatment tool at the end of the robot arm can remain in a specific position.
  • Components inside the joint such as harmonic reducers and torque sensors, may accelerate the damage of harmonic reducers and torque sensors in severe cases.
  • the embodiments of the present invention provide a brake mechanism, a brake mechanism for a robot joint, and a robot joint on the one hand, and a brake method for a robot joint on the other hand, so as to improve the Torque stiffness of the joint drivetrain, which in turn protects the components inside the robot joint.
  • the brake mechanism proposed in the embodiment of the present invention includes: a piezoelectric ceramic stack, at least one end of which has a working end surface; and at least one sliding brake actuator, including: a force end, which can be connected with the pressure A working end face of the electric ceramic stack abuts against, a brake end, which can abut against a braking surface of a braked component; wherein, the piezoelectric ceramic stack can expand along its length direction and push the The force end of the sliding brake actuator.
  • two ends of the piezoelectric ceramic stack are respectively provided with a working end surface; the at least one sliding brake actuator is two sliding brake actuators.
  • a brake mechanism for a robot joint wherein the robot joint includes a rotor and a stator ring matched with the rotor; wherein, the rotor has a The rotor flange on which the stator ring rotates, there is an annular accommodating cavity between the outer edge surface of the rotor flange and the inner ring surface of the stator ring, and the rotor flange is provided with a radial extending along the cross section.
  • the brake mechanism includes: a piezoelectric ceramic stack, which is arranged in the chute, and at least one end of which has a working end surface; and at least one sliding brake actuator, including: a force A brake end, which is arranged in the chute and can abut against a working end face of the piezoelectric ceramic stack, and a brake end, which is arranged in the annular accommodating cavity and can be connected with the stator ring.
  • the inner ring surface abuts against, and a sliding rod connected to the force end and the brake end, the end connected to the force end is arranged in the chute, and the end connected to the brake end is arranged in the ring
  • the force-bearing end in the accommodating cavity can abut against the working end face of the piezoelectric ceramic stack, and the brake end can abut against the inner annular surface of the stator ring; wherein the piezoelectric ceramic stack can abut along the Its length direction expands and pushes the force-bearing end of the sliding brake actuator.
  • two ends of the piezoelectric ceramic stack are respectively provided with a working end surface; the at least one sliding brake actuator is two sliding brake actuators.
  • the piezoelectric ceramic stack can freely slide within the chute along the length of the chute.
  • a channel is provided between the sliding groove and the annular accommodating cavity; the middle part of the sliding rod is located in the channel.
  • the matching accuracy between the side wall of the sliding rod and the inner wall of the chute satisfies a preset high-precision threshold, and the high-precision threshold is set based on the principle of reducing the backlash when the brake is applied.
  • the piezoelectric ceramic stack has a set cross-sectional area and a length along the stroke direction, the length being determined according to the expansion stroke of the piezoelectric ceramic stack required by the holding brake, and the cross-sectional area is The area is determined according to the friction force required by the holding brake.
  • a robot joint proposed in an embodiment of the present invention includes: a rotor having a rotor flange, and the rotor flange is provided with at least one chute; the at least one chute includes two or more When the chutes are used, the two or more chutes are located on different planes; a stator ring, which cooperates with the rotor; and at least one holding brake for a robot joint as described in any of the above embodiments mechanism, one of the brake mechanism corresponds to one of the chute.
  • the at least one chute includes two or more chute, and the two or more chute are distributed according to the principle of evenly dividing a circle.
  • a method for holding a brake for a robot joint proposed in an embodiment of the present invention includes: when the robot joint is in a holding state, applying a voltage to the piezoelectric ceramic stack; the piezoelectric ceramic stack is placed in a chute Expand along the length direction of the chute, and press the sliding brake actuator through the working end face toward the stator ring, and push the sliding brake actuator in the chute toward the stator ring move in the direction of the slidable brake actuator, so that the brake ends of the two sliding brake actuators abut on the inner ring surface of the stator ring; when the robot joint releases the holding state, disconnect the applied to the piezoelectric ceramic stack The piezoelectric ceramic stack shrinks and resets in the chute along the length direction of the chute, and the brake ends of the two sliding brake actuators leave the inner ring surface of the stator ring.
  • a piezoelectric ceramic stack disposed in the chute of the rotor flange is used to provide the braking energy, and most of the ends disposed in the chute can abut against the
  • the two sliding brake actuators on the inner ring surface of the stator ring perform the brake action, so the larger driving force from the piezoelectric ceramic stack can be converted into a normal force and transmitted to the inner ring surface of the stator ring, providing The friction force of the brake that meets the brake torque requirements of the joint output end improves the torque stiffness of the joint transmission system, thereby protecting the components inside the robot joint.
  • the tolerance requirements of the brake mechanism on the shaft system can be reduced, so the brake gap can be controlled below 10 ⁇ m to prevent collision, with less travel waste, and the piezoelectric ceramic stack 3 It can work at high stress points to achieve high brake torque.
  • the backlash during the brake can be reduced, and the bending from the sliding brake actuator and the The shear force will be borne by the channel, and the sliding brake actuator only applies normal force to the piezo ceramic stack, thus protecting the piezo ceramic stack from external force damage.
  • the brake torque can be made more uniform and the friction force of the brake can be larger.
  • FIG. 1 is a schematic structural diagram of a brake mechanism for a robot joint according to an embodiment of the present invention.
  • FIG. 2 is an effect diagram of the brake mechanism applied to a robot joint.
  • FIG. 3 is an exemplary flowchart of a method for holding a brake for a robot joint according to an embodiment of the present application.
  • stator ring 11 inner ring 12 annular chamber 2
  • Rotor flange twenty one Chute twenty two outer edge twenty three aisle 3
  • Piezo Stack 31
  • Sliding brake actuator 41
  • Force end 41
  • Contact surfaces 42
  • brake end 421 camber 43
  • slide bar S301 ⁇ S304 step
  • the brake mechanism in order to improve the torque stiffness of the joint transmission system and prevent the components inside the robot joints from being impacted by external forces, it is considered to provide a brake mechanism for the robot joints, which can not only improve the torque stiffness of the joint transmission system, but also the external force
  • the shock can be absorbed by the brake mechanism.
  • the friction force of the brake at the output end of the joint is usually 100 times larger than the friction force of the brake on the motor side, for example, it can be as high as tens to hundreds of Nm. In this case, the ordinary electromagnetic brake mechanism cannot be used. Therefore, , In the embodiment of the present application, it is considered to provide a new type of compact braking mechanism with ultra-high braking torque.
  • the brake mechanism is provided with brake energy by a piezoelectric ceramic stack, and the brake action is performed by a sliding brake actuator.
  • FIG. 1 is a schematic structural diagram of a brake mechanism for a robot joint in an embodiment of the present invention
  • FIG. 2 shows an effect diagram of the application of the brake mechanism on a robot joint from a cross-section.
  • the brake mechanism according to the present invention includes: a piezoelectric ceramic stack 3 and two sliding brake actuators 4 .
  • the piezoelectric ceramic stack 3 is a stacked piezoelectric ceramic group. It forms a long strip structure along the stacking direction, and the direction of the long side is its travel direction. In this embodiment, when a voltage is applied to the piezoelectric ceramic stack 3 , the piezoelectric ceramic stack 3 can freely expand to both ends, and at this time, there are two working end faces 31 at both ends of the piezoelectric ceramic stack 3 . In other embodiments, if only one-way braking is required, the piezoelectric ceramic stack 3 only needs to expand freely in one direction, and a working end face 31 may only be provided at one end of the piezoelectric ceramic stack 3 .
  • the length of the piezoelectric ceramic stack 3 along the stroke direction can be determined according to the expansion stroke of the piezoelectric ceramic stack required by the brake, and the cross-sectional area of the piezoelectric ceramic stack 3 can be determined according to the friction force required by the brake Sure.
  • the two sliding brake actuators 4 are configured to be symmetrically arranged at both ends of the piezoelectric ceramic stack 3 .
  • Each sliding brake actuator 4 has a force end 41 and a brake end 42 .
  • the force-receiving end 41 can abut against a working end face 31 of the piezoelectric ceramic stack 3
  • the brake end 42 can abut against a braking surface of a braked component.
  • only one sliding brake actuator 4 may be included.
  • the robot joint includes a rotor (not shown in the figure) and a stator ring 1 matched with the rotor.
  • the rotor is fixedly connected with a rotor flange 2, and the rotor flange 2 rotates relative to the stator ring 1 together with the rotor.
  • the annular accommodating cavity 12 Among them, the stator ring 1 is the component to be braked, and the inner ring surface 11 is the braking surface.
  • the rotor flange 2 is provided with a sliding groove 21 extending in the radial direction of the cross section.
  • the piezoelectric ceramic stack 3 can be arranged in the chute 21 .
  • the stroke direction of the piezoelectric ceramic stack 3 is consistent with the length direction of the sliding groove 21 , and the piezoelectric ceramic stack 3 can slide along the sliding groove 21 in the sliding groove 21 .
  • Two sliding brake actuators 4 are symmetrically arranged at both ends of the piezoelectric ceramic stack 3 .
  • Each sliding brake actuator 4 has a sliding rod 43 connected between the force end 41 and the brake end 42 between the force end 41 and the brake end 42 .
  • the force end 41 is provided with a contact surface 411 that can abut against the working end surface 31 of the piezoelectric ceramic stack 3; 421, used to abut on the inner annular surface 11 of the stator ring 1 during braking.
  • each sliding brake actuator 4 can slidably extend into the chute 21 , and the contact surface 411 of the force-bearing end 41 of the force-bearing end 41 can contact the piezoelectric force located in the chute 21 .
  • the working end face 31 of the ceramic stack 3 abuts against each other, the end of the sliding rod 43 connected to the force end 41 is arranged in the chute 21, and the remaining part extends from the chute 21 to the inner ring surface 11 of the stator ring 1, so that the brake end 42 is located at the inner ring surface 11 of the stator ring 1.
  • the arc surface 421 of the brake end 42 faces the inner annular surface 11 of the stator ring 1 .
  • the piezoelectric ceramic stack 3 expands in the chute 21 along the length of the chute 21 , and squeezes toward both ends through its two working end faces 31 Press the two sliding brake actuators 4, push the two sliding brake actuators 4 to move in the direction of the stator ring 1 at both ends in the chute 21, and then make the two sliding brake actuators 4 hold the brakes.
  • the end 42 abuts on the inner annular surface 11 of the stator ring 1, thereby converting the driving force of the piezoelectric ceramic stack 3 into a braking force and transmitting it to the inner annular surface 11 of the stator ring 1, so that the gap between the stator ring 1 and the rotor is The relative rotation is prevented, thus realizing the brake on the joint output.
  • the piezoelectric ceramic stack 3 shrinks and resets in the chute 21 along the length direction of the chute 21, and the brake ends of the two sliding brake actuators 4 leave the stator.
  • the inner ring surface 11 of ring 1 releases the brake at the output end of the joint.
  • the piezoelectric ceramic stack 3 can freely slide in the chute 21 along the length direction of the chute 21 , that is, the piezoelectric ceramic stack 3 is floatingly installed in the chute 21 .
  • the floating design makes the brake mechanism less demanding on the shafting tolerance, that is, only the roundness between the arc surface 421 of the brake end 42 of the sliding brake actuator 4 and the inner ring surface 11 of the stator ring 1 needs to be considered (cylindricity) tolerance, so the brake gap can be controlled below 10 ⁇ m to prevent collision, with less stroke waste, and the piezoelectric ceramic stack 3 can work at high force points to achieve high brake torque.
  • a channel 23 is provided between the chute 21 and the annular accommodating cavity 12 for the sliding rod 43 of the sliding brake actuator 4 to pass through, and the sliding rod 43 cooperates with the inner wall of the channel 23
  • the accuracy satisfies a preset high-precision threshold, wherein the high-precision threshold is set based on the principle of reducing the backlash when holding the brake.
  • the bending and shearing force of the sliding brake actuator 4 caused by the braking force in the tangential direction will be borne by the channel 23, and the sliding brake actuator
  • the contact surface 411 of 4 is always parallel to the working end face 31 of the piezoelectric ceramic stack 3, so during the braking period, the sliding brake actuator 4 only applies a normal force to the piezoelectric ceramic stack 3, so that the piezoelectric ceramic stack can be protected. 3 Not damaged by external force.
  • the rotor flange 2 may consist of at least one flange. And the rotor flange 2 may have at least one or more than one chute, for example, when there are two or more chute, at this time, the two or more chute are located on different planes. . And in order to make the brake torque more balanced, the two or more chutes can be distributed according to the principle of evenly dividing a circle. For example, if two chutes are included, the two chutes may be distributed in such a way that their projections intersect vertically as shown in Figure 2, that is, the angle between the projections of the two chutes is 90 degrees. If three chutes are included, the three chutes can be distributed according to the positional relationship that the angle between the chutes after projection is 60 degrees.
  • the robot joint includes a brake mechanism with the same number of chutes, that is, one brake mechanism corresponds to one chute.
  • FIG. 3 is an exemplary flowchart of a method for holding a brake for a robot joint according to an embodiment of the present application. This method can be implemented on the robot joint shown in Figure 2. As shown in Figure 3, the method may include the following steps:
  • Step S301 when the robot joint is in the holding state, apply a voltage to the piezoelectric ceramic stack.
  • Step S302 the piezoelectric ceramic stack expands in the chute along the length direction of the chute, and presses the two sliding brake actuators through the two working ends facing both ends, pushing the two The sliding brake actuator moves to both ends in the chute, so that the brake ends of the two sliding brake actuators abut on the inner ring surface of the stator ring.
  • the driving force of the piezoelectric ceramic stack is converted into a normal force and transmitted to the inner ring surface of the stator ring, so that the relative rotation between the stator ring and the rotor is prevented, thereby realizing the brake on the output end of the joint.
  • Step S303 when the robot joint is released from the holding state, the voltage applied to the piezoelectric ceramic stack is disconnected.
  • Step S304 the piezoelectric ceramic stack is retracted and reset in the chute along the length direction of the chute, the brake ends of the two sliding brake actuators leave the inner ring surface of the stator ring, and the joint is released. Holding brake on the output.
  • the technical solutions in the embodiments of the present application can be applied not only to the joints of collaborative robots, but also to the joints of light robots, or to other devices that can be applied to the brake mechanism. It is not limited here.
  • a piezoelectric ceramic stack disposed in the chute of the rotor flange is used to provide the brake energy, and most of the ends disposed in the chute can abut against the
  • the two sliding brake actuators on the inner ring surface of the stator ring perform the brake action, so the larger driving force from the piezoelectric ceramic stack can be converted into a normal force and transmitted to the inner ring surface of the stator ring, providing The friction force of the brake that meets the brake torque requirements of the joint output end improves the torque stiffness of the joint transmission system, thereby protecting the components inside the robot joint.
  • the tolerance requirements of the brake mechanism on the shaft system can be reduced, so the brake gap can be controlled below 10 ⁇ m to prevent collision, with less travel waste, and the piezoelectric ceramic stack 3 It can work at high stress points to achieve high brake torque.
  • the backlash at the time of the brake can be reduced, and the bending from the sliding brake actuator and the The shear force will be borne by the channel, and the sliding brake actuator only applies normal force to the piezo ceramic stack, thus protecting the piezo ceramic stack from external force damage.
  • the brake torque can be made more uniform and the friction force of the brake can be larger.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Braking Arrangements (AREA)
  • Manipulator (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

一种抱闸机构、用于机器人关节的抱闸机构、方法及机器人关节。抱闸机构包括：一压电陶瓷堆栈（3），其至少一端具有一工作端面（31）；和至少一个滑动式抱闸执行件（4），包括：一受力端（41），其能够与压电陶瓷堆栈（3）的一个工作端面（31）抵靠，一抱闸端（42），其能够与一个被制动部件（1）的一个制动面（11）抵靠；其中，压电陶瓷堆栈（3）能够沿其长度方向膨胀，并推动滑动式抱闸执行件（4）的受力端（41）。该抱闸机构能够提高关节传动系统的扭矩刚度。

Description

抱闸机构、机器人关节的抱闸机构、方法及机器人关节 技术领域
本申请涉及机器人领域，特别是一种抱闸机构、用于机器人关节的抱闸机构、方法及机器人关节。
背景技术
在传统的工业机器人逐渐取代单调、重复性高、危险性强的工作之时，协作机器人(Cobot)也开始慢慢渗入各个工业领域，与人共同工作。
当前主流的协作机器人都采用“模块化”思想的关节设计，采用直驱电机加谐波减速器的方式，每个关节的内部结构除了定子和转子之外，通常包括电机、伺服驱动、谐波减速器、电机端编码器、关节端位置传感器和力矩传感器。其中，电机和减速器通常采用直连方式。其中，谐波减速器和力矩传感器是机器人关节的两个关键部件，二者可以使协作机器人的尺寸紧凑、界面友好、安全。但这两个部件同时也降低了关节传动系统的扭矩刚度。
协作机器人关节具有运动状态和保持状态两个状态，其中，运动状态是为了驱动机器臂的端部运行至目标位置，而保持状态则是为了将机器臂的端部保持在所述目标位置。例如，在一些医疗等应用中，协作机器人关节大部分时间工作在保持状态，以使机器臂端部的治疗工具能够保持在特定位置工作。然而由于相对较低的扭矩刚度，使得端部一旦遇到外力如端部治疗工具的振动、手部推力或工具驱动引起的反作用力等时，很容易发生振动，该振动进而也会影响协作机器人关节内部的组件，如谐波减速器和力矩传感器等，严重时可能会加速谐波减速器和力矩传感器的损坏。
发明内容
有鉴于此，本发明实施例中一方面提出了一种抱闸机构、用于机器人关节的抱闸机构和机器人关节，另一方面提出了一种用于机器人关节的抱闸方法，用以提高关节传动系统的扭矩刚度，进而保护机器人关节内部的组件。
本发明实施例中提出的抱闸机构，包括：一压电陶瓷堆栈，其至少一端具有一工作端面；和至少一个滑动式抱闸执行件，包括：一受力端，其能够与所述压电陶瓷堆栈的 一个工作端面抵靠，一抱闸端，其能够与一个被制动部件的一个制动面抵靠；其中，所述压电陶瓷堆栈能够沿其长度方向膨胀，并推动所述滑动式抱闸执行件的受力端。
在一个实施方式中，所述压电陶瓷堆栈的两端分别设有一个工作端面；所述至少一个滑动式抱闸执行件为两个滑动式抱闸执行件。
本发明实施例中提出的一种用于机器人关节的抱闸机构，所述机器人关节包括转子和与所述转子相配合的定子环；其中，所述转子具有一与所述转子一起相对所述定子环旋转的转子法兰，所述转子法兰的外缘面和所述定子环的内环面之间具有一环形容纳腔，所述转子法兰设有沿着横截面的径向延伸的一滑槽；所述抱闸机构包括：一压电陶瓷堆栈，其设置在所述滑槽内，且其至少一端具有一工作端面；和至少一个滑动式抱闸执行件，包括：一受力端，其设置在所述滑槽内，并能够与所述压电陶瓷堆栈的一个工作端面抵靠，一抱闸端，其设置在所述环形容纳腔内，并能够与所述定子环的内环面抵靠，和一连接在所述受力端和抱闸端的滑动杆，其连接所述受力端的一端设置在所述滑槽内，连接所述抱闸端的一端设置在所述环形容纳腔内所述受力端能够与所述压电陶瓷堆栈的工作端面相抵靠，所述抱闸端能够与所述定子环的内环面抵靠；其中，所述压电陶瓷堆栈能够沿其长度方向膨胀，并推动所述滑动式抱闸执行件的受力端。
在一个实施方式中，所述压电陶瓷堆栈的两端分别设有一个工作端面；所述至少一个滑动式抱闸执行件为两个滑动式抱闸执行件。
在一个实施方式中，所述压电陶瓷堆栈能够在所述滑槽内沿所述滑槽的长度方向自由滑动。
在一个实施方式中，在所述滑槽与所述环形容纳腔之间设有一个通道；所述滑动杆的中间部分位于所述设置在所述通道内。
在一个实施方式中，所述滑动杆的侧壁与所述滑槽内壁之间的配合精度满足预设的高精度阈值，所述高精度阈值基于减少抱闸时的反向间隙的原则设置。
在一个实施方式中，所述压电陶瓷堆栈具有设定的横截面积和沿行程方向的长度，所述长度根据抱闸所需的所述压电陶瓷堆栈的膨胀行程确定，所述横截面积根据抱闸所需的摩擦力确定。
本发明实施例中提出的一种机器人关节，包括：转子，其具有一转子法兰，所述转子法兰上具有至少一个滑槽；在所述至少一个滑槽包括两个或两个以上的滑槽时，所述两个或两个以上的滑槽位于不同的平面；定子环，其与所述转子相配合；和至少一个如上任一实施方式中所述的用于机器人关节的抱闸机构，一个所述抱闸机构对应一个所述滑 槽。
在一个实施方式中，所述至少一个滑槽包括两个或两个以上的滑槽，所述两个或两个以上的滑槽按照将一个圆周均匀切分的原则分布。
本发明实施例中提出的一种用于机器人关节的抱闸方法，包括：在机器人关节处于保持状态时，将电压施加到所述压电陶瓷堆栈上；所述压电陶瓷堆栈在滑槽内沿所述滑槽的长度方向膨胀，并通过所述工作端面向朝定子环的方向挤压所述滑动式抱闸执行件，推动所述滑动式抱闸执行件在滑槽内向朝定子环的方向移动，使所述两个滑动式抱闸执行件的抱闸端抵靠在所述定子环的内环面上；在机器人关节解除保持状态时，断开施加到所述压电陶瓷堆栈上的电压；所述压电陶瓷堆栈在滑槽内沿所述滑槽的长度方向收缩复位，所述两个滑动式抱闸执行件的抱闸端离开所述定子环的内环面。
从上述方案中可以看出，由于本发明实施例中采用一设置在转子法兰的滑槽内的压电陶瓷堆栈提供抱闸能量，采用大部分设置在所述滑槽内一端能够抵靠在定子环内环面的两个滑动式抱闸执行件执行抱闸动作，因此可以将来自压电陶瓷堆栈的较大的驱动力转换为法向力传递到定子环的内环面上，提供了满足关节输出端抱闸扭矩要求的抱闸摩擦力，从而提高了关节传动系统的扭矩刚度，进而保护了机器人关节内部的组件。
此外，通过将压电陶瓷堆栈浮动安装在滑槽内，可降低抱闸机构对轴系的公差要求较低，因此抱闸间隙可控制在10μm以下以防碰撞，行程浪费少，压电陶瓷堆栈3可在高受力点工作，实现高抱闸扭矩。
另外，通过在滑动式抱闸执行件的滑动杆与所述通道之间采用高精度配合，可以减少抱闸时的反向间隙，并且在抱闸期间，来自滑动式抱闸执行件的弯曲以及剪切力将由通道来承受，滑动式抱闸执行件仅对压电陶瓷堆栈施加法向力，从而可保护压电陶瓷堆栈不受外力损坏。
进一步地，通过在机器人关节中设置至少一个抱闸机构，可以满足各种抱闸扭矩要求，增强了该抱闸机构的应用灵活性。并且，通过将各抱闸机构沿圆周方向均匀分布，可以使得抱闸扭矩更加均匀，抱闸摩擦力更大。
附图说明
下面将通过参照附图详细描述本发明的优选实施例，使本领域的普通技术人员更清楚本发明的上述及其它特征和优点，附图中：
图1为本发明实施例中一种用于机器人关节的抱闸机构的结构示意图。
图2为所述抱闸机构应用在机器人关节上的效果图。
图3为本申请实施例中一种用于机器人关节的抱闸方法的示例性流程图。
其中，附图标记如下：
标号 含义
1 定子环
11 内环面
12 环形容纳腔
2 转子法兰
21 滑槽
22 外缘面
23 通道
3 压电陶瓷堆栈
31 工作端面
4 滑动式抱闸执行件
41 受力端
411 接触面
42 抱闸端
421 弧面
43 滑动杆
S301～S304 步骤
具体实施方式
本发明实施例中，为了提高关节传动系统的扭矩刚度，避免机器人关节内部的组件受到外力的冲击，考虑为机器人关节设置一抱闸机构，这样不仅可以提高关节传动系统的扭矩刚度，而且外力的冲击可以由该抱闸机构承受。考虑到通常情况下关节输出端的抱闸摩擦力比电机侧的抱闸摩擦力大100倍，例如可高达几十到几百牛米，这样的话普通的电磁抱闸机构是无法使用的，为此，本申请实施例中考虑提供一种新型的紧凑型超高抱闸力矩的抱闸机构。具体实现时，该抱闸机构由一压电陶瓷堆栈提供抱闸能量，由一滑动式抱闸执行机构执 行抱闸动作。
为使本发明的目的、技术方案和优点更加清楚，以下举实施例对本发明进一步详细说明。
图1为本发明实施例中一种用于机器人关节的抱闸机构的结构示意图，图2从横截面示出了所述抱闸机构应用在机器人关节上的效果图。
如图1所示，依据本发明的抱闸机构包括：压电陶瓷堆栈3和两个滑动式抱闸执行件4。
其中，压电陶瓷堆栈3为堆叠的压电陶瓷组。其沿着堆叠方向形成一长条形结构，长边所在的方向即为其行程方向。本实施例中，当电压施加到压电陶瓷堆栈3上时，压电陶瓷堆栈3可以向两端自由膨胀，此时在压电陶瓷堆栈3的两端具有两个工作端面31。在其他实施方式中，若只需单向制动的话，则压电陶瓷堆栈3只需单向自由膨胀，则可仅在在压电陶瓷堆栈3的一端具有一工作端面31。具体实现时，压电陶瓷堆栈3沿行程方向的长度可根据抱闸所需的所述压电陶瓷堆栈的膨胀行程确定，压电陶瓷堆栈3的横截面积可根据抱闸所需的摩擦力确定。
两个滑动式抱闸执行件4被构造为能够对称地设置在压电陶瓷堆栈3的两端。每个滑动式抱闸执行件4均具有一受力端41和一抱闸端42。其中，受力端41能够与压电陶瓷堆栈3的一个工作端面31抵靠，抱闸端42能够与一个被制动部件的一个制动面抵靠。在其他实施方式中，若只需单向制动的话，则可仅包括一个滑动式抱闸执行件4。
当将上述抱闸机构应用于机器人关节时，则可参见图2。如图2所示，该机器人关节包括转子(图中未示出)和与所述转子相配合的定子环1。其中，所述转子固定连接有一转子法兰2，转子法兰2与转子一起相对于定子环1旋转，在转子法兰2的外缘面22与定子环1的内环面11之间形成一环形容纳腔12。其中，定子环1为被制动部件，内环面11为制动面。根据图2所示，在该转子法兰2上设有沿着横截面的径向延伸的滑槽21。
其中，压电陶瓷堆栈3可设置在该滑槽21内。压电陶瓷堆栈3的行程方向与滑槽21的长度方向一致，并且压电陶瓷堆栈3能够在滑槽21内沿滑槽21滑动。
两个滑动式抱闸执行件4被对称地设置在压电陶瓷堆栈3的两端。每个滑动式抱闸执行件4在受力端41和抱闸端42之间具有一连接在受力端41和抱闸端42之间的滑动杆43。其中，在受力端41设有能够与压电陶瓷堆栈3的工作端面31相抵靠的接触面411，；在抱闸端42设有能够与定子环1的内环面11形状配合的弧面421，用于制动时抵靠在 定子环1的内环面11上。
如图2所示，每个滑动式抱闸执行件4的受力端41可滑动地伸入在滑槽21内，其受力端41的接触面411能够与位于滑槽21内的压电陶瓷堆栈3的工作端面31相抵靠，滑动杆43连接受力端41的一端设置在滑槽21内，剩余部分从滑槽21向定子环1的内环面11延伸，使抱闸端42位于环形容纳腔12内，抱闸端42的弧面421朝向定子环1的内环面11。
如图2所示，当电压施加到压电陶瓷堆栈3上时，压电陶瓷堆栈3在滑槽21内沿滑槽21的长度方向膨胀，并通过自身的两个工作端面31向两端挤压两个滑动式抱闸执行件4，推动两个滑动式抱闸执行件4在滑槽21内向两端朝定子环1的方向移动，进而使两个滑动式抱闸执行件4的抱闸端42抵靠在定子环1的内环面11上，从而将压电陶瓷堆栈3的驱动力转换为制动力传递到定子环1的内环面11上，使定子环1与转子之间的相对转动被阻止，从而实现对关节输出端的抱闸。当断开施加到压电陶瓷堆栈3上的电压时，压电陶瓷堆栈3在滑槽21内沿滑槽21的长度方向收缩复位，两个滑动式抱闸执行件4的抱闸端离开定子环1的内环面11，解除关节输出端的抱闸。
其中，压电陶瓷堆栈3能够在滑槽21内沿滑槽21的长度方向自由滑动，即压电陶瓷堆栈3浮动安装在滑槽21内。该浮动设计使得抱闸机构对轴系的公差要求较低，即只需考虑滑动式抱闸执行件4的抱闸端42的弧面421和定子环1的内环面11之间的圆度(圆柱度)公差，因此抱闸间隙可控制在10μm以下以防碰撞，行程浪费少，压电陶瓷堆栈3可在高受力点工作，实现高抱闸扭矩。
此外，在滑槽21与环形容纳腔12之间设有一个通道23，用于滑动式抱闸执行件4的滑动杆43通过，该滑动杆43与所述通道23的内壁与之间的配合精度满足预设的高精度阈值，其中所述高精度阈值基于减少抱闸时的反向间隙的原则设置。基于该高精度配合，在优选的情况下，在抱闸期间，由于切线方向的制动力导致的滑动式抱闸执行件4的弯曲以及剪切力将由通道23来承受，滑动式抱闸执行件4的接触面411总是平行于压电陶瓷堆栈3的工作端面31，因此抱闸期间，滑动式抱闸执行件4仅对压电陶瓷堆栈3施加法向力，从而可保护压电陶瓷堆栈3不受外力损坏。
此外，在其他实施方式中，转子法兰2可以由至少一个法兰组成。并且转子法兰2上可具有至少一个或多于一个的滑槽，例如，两个或两个以上的滑槽时，此时，所述两个或两个以上的滑槽位于不同的平面上。并且为了使抱闸扭矩更加均衡，所述两个或两个以上的滑槽可按照将一个圆周均匀切分的原则分布。例如，若包括两个滑槽，则两个 滑槽可按照如图2中所示的投影垂直相交的方式分布，即两个滑槽的投影之间的夹角为90度。若包括三个滑槽，则三个滑槽可按照投影后滑槽之间夹角为60度的位置关系分布。
相应地，机器人关节包括与滑槽数量一致的抱闸机构，即一个抱闸机构对应一个滑槽。
以上对本申请实施例中用于机器人关节的抱闸机构进行了详细描述，下面再对本申请实施例中用于机器人关节的抱闸方法进行描述，对于下述方法实施例中未详细披露的细节可参考上述机构实施例中的相应描述，此处不再一一赘述。
图3为本申请实施例中一种用于机器人关节的抱闸方法的示例性流程图。该方法可在图2所示机器人关节上实施。如图3所示，该方法可包括如下步骤：
步骤S301，在机器人关节处于保持状态时，将电压施加到所述压电陶瓷堆栈上。
步骤S302，所述压电陶瓷堆栈在滑槽内沿所述滑槽的长度方向膨胀，并通过所述两个工作端面向两端挤压所述两个滑动式抱闸执行件，推动两个滑动式抱闸执行件在滑槽内向两端移动，使所述两个滑动式抱闸执行件的抱闸端抵靠在所述定子环的内环面上。这样，压电陶瓷堆栈的驱动力便转换为法向力传递到定子环的内环面上，使定子环与转子之间的相对转动被阻止，从而实现对关节输出端的抱闸。
步骤S303，在机器人关节解除保持状态时，断开施加到所述压电陶瓷堆栈上的电压。
步骤S304，所述压电陶瓷堆栈在滑槽内沿所述滑槽的长度方向收缩复位，所述两个滑动式抱闸执行件的抱闸端离开所述定子环的内环面，解除关节输出端的抱闸。
本申请实施例中的技术方案除了可以适用于协作机器人的关节之外，也可适用于轻型机器人的关节，或者其他可适用该抱闸机构的装置。此处不对其进行限定。
从上述方案中可以看出，由于本发明实施例中采用一设置在转子法兰的滑槽内的压电陶瓷堆栈提供抱闸能量，采用大部分设置在所述滑槽内一端能够抵靠在定子环内环面的两个滑动式抱闸执行件执行抱闸动作，因此可以将来自压电陶瓷堆栈的较大的驱动力转换为法向力传递到定子环的内环面上，提供了满足关节输出端抱闸扭矩要求的抱闸摩擦力，从而提高了关节传动系统的扭矩刚度，进而保护了机器人关节内部的组件。
此外，通过将压电陶瓷堆栈浮动安装在滑槽内，可降低抱闸机构对轴系的公差要求较低，因此抱闸间隙可控制在10μm以下以防碰撞，行程浪费少，压电陶瓷堆栈3可在高受力点工作，实现高抱闸扭矩。
另外，通过在滑动式抱闸执行件的滑动杆与所述通道之间采用高精度配合，可以减少抱闸时的反向间隙，并且在抱闸期间，来自滑动式抱闸执行件的弯曲以及剪切力将由通道来承受，滑动式抱闸执行件仅对压电陶瓷堆栈施加法向力，从而可保护压电陶瓷堆栈不受外力损坏。
进一步地，通过在机器人关节中设置至少一个抱闸机构，可以满足各种抱闸扭矩要求，增强了该抱闸机构的应用灵活性。并且，通过将各抱闸机构沿圆周方向均匀分布，可以使得抱闸扭矩更加均匀，抱闸摩擦力更大。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (11)

  1. 抱闸机构，其特征在于，所述抱闸机构包括：
    一压电陶瓷堆栈(3)，其至少一端具有一工作端面(31)；和
    至少一个滑动式抱闸执行件(4)，包括：
    一受力端(41)，其能够与所述压电陶瓷堆栈(3)的一个工作端面(31)抵靠，
    一抱闸端(42)，其能够与一个被制动部件的一个制动面抵靠；
    其中，所述压电陶瓷堆栈(3)能够沿其长度方向膨胀，并推动所述滑动式抱闸执行件(4)的受力端(41)。
  2. 根据权利要求1所述的抱闸机构，其特征在于，所述压电陶瓷堆栈(3)的两端分别设有一个工作端面(31)；所述至少一个滑动式抱闸执行件(4)为两个滑动式抱闸执行件(4)。
  3. 用于机器人关节的抱闸机构，其特征在于，所述机器人关节包括转子和与所述转子相配合的定子环(1)；其中，所述转子具有一与所述转子一起相对所述定子环(1)旋转的转子法兰(2)，所述转子法兰(2)的外缘面(22)和所述定子环(1)的内环面(11)之间具有一环形容纳腔(12)，所述转子法兰(2)设有沿着横截面的径向延伸的一滑槽(21)；所述抱闸机构包括：
    一压电陶瓷堆栈(3)，其设置在所述滑槽(21)内，且其至少一端具有一工作端面(31)；和
    至少一个滑动式抱闸执行件(4)，包括：
    一受力端(41)，其设置在所述滑槽(21)内，并能够与所述压电陶瓷堆栈(3)的一个工作端面(31)抵靠，
    一抱闸端(42)，其设置在所述环形容纳腔(12)内，并能够与所述定子环(1)的内环面(11)抵靠；和
    一连接在所述受力端(41)和所述抱闸端(42)的滑动杆(43)，其连接所述受力端(41)的一端设置在所述滑槽(21)内，连接所述抱闸端(42)的一端设置在所述环形容纳腔(12)内；
    其中，所述压电陶瓷堆栈(3)能够沿其长度方向膨胀，并推动所述滑动式抱闸执行件(4)的受力端(41)。
  4. 根据权利要求1所述的抱闸机构，其特征在于，所述压电陶瓷堆栈(3)的两端分别设有一个工作端面(31)；所述至少一个滑动式抱闸执行件(4)为两个滑动式抱闸 执行件(4)。
  5. 根据权利要求4所述的抱闸机构，其特征在于，所述压电陶瓷堆栈(3)能够在所述滑槽(21)内沿所述滑槽(21)的长度方向自由滑动。
  6. 根据权利要求1所述的抱闸机构，其特征在于，在所述滑槽(21)与所述环形容纳腔(12)之间设有一个通道(22)；
    所述滑动杆(43)的中间部分位于所述设置在所述通道(23)内。
  7. 根据权利要求6所述的抱闸机构，其特征在于，所述滑动杆(43)的侧壁与所述通道(23)内壁之间的配合精度满足预设的高精度阈值，所述高精度阈值基于减少抱闸时的反向间隙的原则设置。
  8. 根据权利要求1所述的抱闸机构，其特征在于，所述压电陶瓷堆栈(3)具有设定的横截面积和沿行程方向的长度，所述长度根据抱闸所需的所述压电陶瓷堆栈的膨胀行程确定，所述横截面积根据抱闸所需的摩擦力确定。
  9. 一种机器人关节，其特征在于，包括：
    转子，其具有一转子法兰(2)，所述转子法兰(2)上具有至少一个滑槽(21)；在所述至少一个滑槽(21)包括两个或两个以上的滑槽(21)时，所述两个或两个以上的滑槽(21)位于不同的平面；
    定子环(1)，其与所述转子相配合；和
    至少一个如权利要求3至8中任一项所述的抱闸机构，一个所述抱闸机构对应一个所述滑槽(21)。
  10. 根据权利要求9所述的机器人关节，其特征在于，所述至少一个滑槽(21)包括两个或两个以上的滑槽(21)，所述两个或两个以上的滑槽(21)按照将一个圆周均匀切分的原则分布。
  11. 一种用于如权利要求9或10所述的机器人关节的抱闸方法，其特征在于，包括：
    在机器人关节处于保持状态时，将电压施加到所述压电陶瓷堆栈上；
    所述压电陶瓷堆栈在滑槽内沿所述滑槽的长度方向膨胀，并通过所述工作端面向朝定子环的方向挤压所述滑动式抱闸执行件，推动所述滑动式抱闸执行件在滑槽内向朝定子环的方向移动，使所述两个滑动式抱闸执行件的抱闸端抵靠在所述定子环的内环面上；
    在机器人关节解除保持状态时，断开施加到所述压电陶瓷堆栈上的电压；
    所述压电陶瓷堆栈在滑槽内沿所述滑槽的长度方向收缩复位，所述两个滑动式抱闸 执行件的抱闸端离开所述定子环的内环面。
PCT/CN2020/116592 2020-09-21 2020-09-21 抱闸机构、机器人关节的抱闸机构、方法及机器人关节 WO2022056928A1 (zh)

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DE19906798A1 (de) * 1999-02-18 2000-08-24 Continental Teves Ag & Co Ohg Radialkolbenbremse
JP2006131157A (ja) * 2004-11-08 2006-05-25 Toyota Motor Corp 車両の制動装置
JP2010069565A (ja) * 2008-09-18 2010-04-02 Tokai Rubber Ind Ltd ロボット関節およびトルク伝達力可変装置
US20100310305A1 (en) * 2009-06-09 2010-12-09 Samir Mekid Spherical joint with internal brake
CN207315912U (zh) * 2017-10-12 2018-05-04 河北艾斯特瑞亚科技有限责任公司 一种鼓式制动器
CN209781524U (zh) * 2019-04-09 2019-12-13 无锡市锡达电子科技有限公司 蝶式太阳能制动装置
CN209818594U (zh) * 2019-04-01 2019-12-20 呼和浩特职业学院 一种压电式精密制动器

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BE903444A (nl) * 1985-10-15 1986-02-03 Velghe Frank Drukmedium geschakelde rem- of klemkoppeling
DE19906798A1 (de) * 1999-02-18 2000-08-24 Continental Teves Ag & Co Ohg Radialkolbenbremse
JP2006131157A (ja) * 2004-11-08 2006-05-25 Toyota Motor Corp 車両の制動装置
JP2010069565A (ja) * 2008-09-18 2010-04-02 Tokai Rubber Ind Ltd ロボット関節およびトルク伝達力可変装置
US20100310305A1 (en) * 2009-06-09 2010-12-09 Samir Mekid Spherical joint with internal brake
CN207315912U (zh) * 2017-10-12 2018-05-04 河北艾斯特瑞亚科技有限责任公司 一种鼓式制动器
CN209818594U (zh) * 2019-04-01 2019-12-20 呼和浩特职业学院 一种压电式精密制动器
CN209781524U (zh) * 2019-04-09 2019-12-13 无锡市锡达电子科技有限公司 蝶式太阳能制动装置

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