WO2022156470A1 - 断电自锁装置和设备 - Google Patents

断电自锁装置和设备 Download PDF

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Publication number
WO2022156470A1
WO2022156470A1 PCT/CN2021/140125 CN2021140125W WO2022156470A1 WO 2022156470 A1 WO2022156470 A1 WO 2022156470A1 CN 2021140125 W CN2021140125 W CN 2021140125W WO 2022156470 A1 WO2022156470 A1 WO 2022156470A1
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Prior art keywords
component
power
self
blocking
locking device
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PCT/CN2021/140125
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English (en)
French (fr)
Inventor
柳云飞
姜超
韩武
苏睿
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北京字节跳动网络技术有限公司
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Publication of WO2022156470A1 publication Critical patent/WO2022156470A1/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
    • B25J19/06—Safety devices

Definitions

  • the present disclosure relates to the technical field of machinery, and in particular, to a power-off self-locking device and equipment.
  • the robotic arm may encounter unexpected power failures (such as poor power supply contact, external forces colliding with cables, etc.). If the robotic arm joints do not have a protection mechanism, the robotic arm will be free under the action of gravity at this time. Falling, the arm and the end load may be damaged in this case.
  • unexpected power failures such as poor power supply contact, external forces colliding with cables, etc.
  • the present disclosure provides a power-off self-locking device and equipment.
  • the present disclosure adopts the following technical solutions.
  • the present disclosure provides a power-off self-locking device, comprising:
  • the blocking part made of magnetic material, is located between the second part and the first part;
  • the surface of the second part close to the first part has a concave area
  • the second part includes an electromagnetic part, when the electromagnetic part is energized, the blocking part is adsorbed in the concave by the electromagnetic part and separated from the first part; When de-energized, the blocking member is caught between the second member and the first member.
  • the present disclosure provides a power-off self-locking device, comprising:
  • Motor including motor body and output parts
  • the first part is fixed on the motor body, and the second part is in driving connection with the output part.
  • the present disclosure provides a storage medium for storing program code for performing the above-described method.
  • the electromagnetic device when the power is turned on, the electromagnetic device can adsorb the blocking part, so that the moving part can move normally; when the power is off, the blocking part is stuck between the second part and the first part It prevents the moving parts from continuing to move, so as to realize self-locking when power off.
  • FIG. 1 is a schematic diagram of a power-off self-locking device according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic diagram of a power-off self-locking device according to an embodiment of the present disclosure.
  • the term “including” and variations thereof are open-ended inclusions, ie, "including but not limited to”.
  • the term “based on” is “based at least in part on.”
  • the term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment”; the term “some embodiments” means “at least some embodiments”. Relevant definitions of other terms will be given in the description below.
  • some embodiments of the present disclosure propose a power-off self-locking device, including: a first part 1 , a second part 2 and a blocking part 3 , the second part 2 and the first part 1 are rotatable connected, the second part 2 can rotate relative to the first part 1 and there is a space between them; the blocking part 3 is made of magnetic material and is located between the second part 2 and the first part 1; wherein, the second part 2 There is a recessed area on the surface close to the first part 1, and the second part includes an electromagnetic part 4. When the electromagnetic part 4 is energized, the blocking part 3 is adsorbed in the recess by the electromagnetic part 4 and separated from the first part 1; When the part 4 is powered off, the blocking part 3 is stuck between the second part 2 and the first part 1 .
  • the first part 1 is a fixed part
  • the second part 2 is a moving part.
  • the fixed part can be fixed On any object that is stationary immediately after the power failure or has been in a stationary state, the moving part moves relative to the fixed part.
  • Electromagnetic component 4 is arranged inside or on the surface of the component. Electromagnetic component 4 is, for example, an electromagnet. In the case of electrification, electromagnetic component 4 will adsorb blocking component 3 in the concave area. The maximum depth of the concave area is combined with the fixed component and the moving component.
  • the sum of the gaps between them is larger than the size of the blocking member 3, so the blocking member 3 will be separated from the fixed member when it is adsorbed in the recessed area, so that the blocking member 3 will not hinder the movement of the moving member, and the electromagnetic member 4 It uses the same power supply as the equipment that drives the moving parts. When the power supply is cut off, the electromagnetic force of the electromagnetic part 4 disappears immediately, so that the blocking part 3 is not adsorbed on the wall of the recessed area.
  • the moving part will move between the fixed part and the moving part, and the size of the blocking part 3 is larger than the size of the gap between the fixed part and the moving part, so the blocking part 3 will be stuck between the moving part and the fixed part, thus preventing the movement
  • the parts move relative to the fixed parts due to inertia, realizing the self-locking function after power failure, preventing the moving parts from continuing to move after the power failure.
  • the first part 1 is a moving part
  • the second part is a fixed part
  • the concave area is provided on the surface of the fixed part close to the moving part
  • the fixed part includes an electromagnetic part 4, when the electromagnetic part 4 is energized, the blocking part 3 is adsorbed in the concave by the electromagnetic part 4 and Separated from the moving part, when the electromagnetic part 4 is powered off, the blocking part 3 is stuck between the moving part and the fixed part.
  • the blocking part 3 since the recessed area is located on the fixed part, the blocking part 3 will not move with the moving part when the moving part moves, and the blocking part 3 is not easy to shake due to inertia, causing the blocking part 3 to hinder the movement of the moving part. Therefore, the requirement for the magnetic force of the electromagnetic component 4 is relatively low, and it can be ensured that the normal movement of the moving component will not be hindered.
  • the blocking component 3 includes: a blocking sphere, which may be a steel ball, the diameter of the blocking sphere is greater than the distance between the first component 1 and the second component 2, and a recessed area A groove is included, the recessed area is located on the surface of the second part 2 , and the groove depth of the groove gradually decreases from the maximum groove depth of the groove in the opposite direction of the movement direction of the second part 2 .
  • the electromagnetic component 4 when the electromagnetic component 4 is powered on, the blocking sphere can be adsorbed near the deepest part of the concave area. When the power is off, the electromagnetic component 4 loses the electromagnetic force, and the blocking component 3 is under the action of inertial force or gravity The lower part is separated from the inner wall of the groove.
  • the second part 2 When the concave area is located on the surface of the second part 2, due to the inertial force, the second part 2 will continue to move in the direction of movement, and the blocking part 3 will move relative to the first part due to the loss of power.
  • the second part 2 moves in the opposite direction of the moving direction, because the diameter of the blocking sphere is larger than that between the first part 1 and the second part 2 because the groove gradually decreases along the opposite direction of the moving direction of the second part 2 from the deepest part of the groove. Therefore, the blocking sphere will eventually be stuck between the first part 1 and the second part 2, and is still located in the groove, so that when the electromagnetic part 4 is energized, the blocking part 3 can be easily adsorbed to release the resistance.
  • the groove depth of the groove gradually decreases from the middle part to the two ends of the groove.
  • the second part 2 can usually move forward and reversely relative to the first part 1. Since the groove depth of the groove gradually decreases from the middle part of the groove to the two ends, that is, the maximum groove depth of the groove is the middle part, so No matter the second part 2 moves in the forward direction or the reverse direction, the blocking ball will be stuck between the first part 1 and the second part 2 .
  • the grooves comprise wedge-shaped grooves or arcuate grooves.
  • the first part 1 includes: friction plates arranged at intervals from the second part 2 .
  • the friction plate can be located close to the surface of the second part 2, and the friction coefficient of the friction plate is relatively large, which can help the blocking part 3 to quickly stop the movement of the second part 2 when the power is turned off.
  • the second part 2 includes: a turntable.
  • the shape of the first part 1 may be circular or annular.
  • the number of the recessed areas is at least two, and the at least two recessed areas are arranged rotationally symmetrically with respect to the central axis of the turntable; each recessed area has a blocking member 3 respectively.
  • the second part 2 can be quickly prevented from moving relative to the first part 1 after the power is turned off. Since the concave areas are arranged symmetrically with respect to the central axis of the turntable, the force on the turntable is evenly distributed , it is not easy to cause the tilting deformation of the turntable due to the blocking member 3 .
  • the concave area is located on the surface of the second part 2 close to the first part 1, and there is a first magnetic attraction between the first part 1 and the blocking part 3; when the electromagnetic part 4 is energized, the electromagnetic part There is a second magnetic attractive force between 4 and the blocking member 3; the first magnetic attractive force is smaller than the second magnetic attractive force.
  • some surfaces of the first part 1 close to the second part 2 may be coated with a permanent magnet material, or the first part 1 is made of a permanent magnet material, so as to generate a hostile magnetic attraction to the blocking part 3, so that When the electromagnetic part 4 is powered off, the first magnetic attraction force can attract the blocking part 3 between the first part 1 and the second part 2, and the second part is accelerated and stopped.
  • the first magnetic attraction force is greater than the gravitational force of the blocking member 3 .
  • the gap between the first part 1 and the second part 2 may be on a horizontal plane.
  • the blocking part 3 needs to overcome gravity to move to the gap between the first part 1 and the second part 2.
  • the present disclosure also proposes a power-off self-locking device, including: a motor 5 and any one of the power-off self-locking devices proposed in the present disclosure; wherein the motor 5 includes a motor
  • the motor 5 includes a motor
  • the main body 51 and the output part 52; the output part 52 can be, for example, the rotating shaft of the motor, the first part 1 is fixed on the motor body 51, for example, can be fixed on the casing of the motor body 51, the second part 2 and the output part 52 are drive-connected, That is, the second part 2 can move under the drive of the output part 52, and the motor 5 and the electromagnetic part 4 use the same power supply, so that when the power is cut off, the motor 5 loses power and the electromagnetic part 4 loses the electromagnetic force, and the blocking part 3 can The second part 2 is prevented from continuing to move, so as to realize the function of self-locking after power off.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Casings For Electric Apparatus (AREA)

Abstract

本公开提供在一些实施例中，本公开提供一种断电自锁装置和设备，其中装置包括：第一部件；第二部件，第一部件和第二部件可转动连接；阻动部件，采用磁性材料制备，位于第二部件和第一部件之间；其中，第二部件靠近第一部件的表面上具有凹陷区，第二部件包括电磁部件，在电磁部件通电时，阻动部件被电磁部件吸附在凹陷内并与固定部件相分离；在电磁部件断电时，阻动部件卡在第二部件与第一部件之间。本公开能够实现断电自锁功能。

Description

断电自锁装置和设备
相关申请的交叉引用
本申请基于申请号为202110081307.9、申请日为2021年01月21日，名称为“断电自锁装置和设备”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及机械技术领域，尤其涉及一种断电自锁装置和设备。
背景技术
机械臂在工作过程中，有可能遇到意外情况突然掉电(如供电接触不良、外力碰撞线缆等意外情况)，如果机械臂关节没有保护机构，则此时机械臂会在重力作用下自由下落，机械臂及末端的负载在这种情况下有可能被损坏。
发明内容
本公开提供一种断电自锁装置和设备。
本公开采用以下的技术方案。
在一些实施例中，本公开提供一种断电自锁装置，包括：
第一部件；
第二部件，第一部件和第二部件可转动连接；
阻动部件，采用磁性材料制备，位于第二部件和第一部件之间；
其中，第二部件靠近第一部件的表面上具有凹陷区，第二部件包括电磁部件，在电磁部件通电时，阻动部件被电磁部件吸附在凹陷内并与第一部件相分离；在电磁部件断电时，阻动部件卡在第二部件与第一部件之间。
在一些实施例中，本公开提供一种断电自锁设备，包括：
电机，包括电机本体和输出部件；
本公开提出的任一项所述的断电自锁装置；
其中，第一部件固定在电机本体上，所述第二部件与输出部件传动连接。在一些实施例中，本公开提供一种存储介质，所述存储介质用于存储程序代码，所述程序代码用于执行上述的方法。
本公开实施例提供的断电自锁装置和设备，在通电时，电磁装置能够吸附阻动部件，使得运动部件正常运动，在断电时，阻动部件卡在第二件与第一部件之间阻碍运动部件继续运动，从而实现断电自锁。
附图说明
结合附图并参考以下具体实施方式，本公开各实施例的上述和其他特征、优点及方面将变得更加明显。贯穿附图中，相同或相似的附图标记表示相同或相似的元素。应当理解附图是示意性的，元件和元素不一定按照比例绘制。
图1是本公开实施例的一种断电自锁装置的示意图。
图2是本公开实施例的一种断电自锁设备的示意图。
附图标记：1、第一部件；2、第二部件；3、阻动部件；4、电磁部件；5、电机；51、电机本体；52、输出部件。
具体实施方式
下面将参照附图更详细地描述本公开的实施例。虽然附图中显示了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例，相反提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。
应当理解，本公开的方法实施方式中记载的各个步骤可以按和/或并行执行。此外，方法实施方式可以包括附加的步骤和/或省略执行示出的步骤。本公开的范围在此方面不受限制。
本文使用的术语“包括”及其变形是开放性包括，即“包括但不限于”。术语“基于”是“至少部分地基于”。术语“一个实施例”表示“至少一个实施 例”；术语“另一实施例”表示“至少一个另外的实施例”；术语“一些实施例”表示“至少一些实施例”。其他术语的相关定义将在下文描述中给出。
需要注意，本公开中提及的“第一”、“第二”等概念仅用于对不同的装置、模块或单元进行区分，并非用于限定这些装置、模块或单元所执行的功能的顺序或者相互依存关系。
需要注意，本公开中提及的“一个”的修饰是示意性而非限制性的，本领域技术人员应当理解，除非在上下文另有明确指出，否则应该理解为“一个或多个”。
本公开实施方式中的多个装置之间所交互的消息或者信息的名称仅用于说明性的目的，而并不是用于对这些消息或信息的范围进行限制。
以下将结合附图，对本申请实施例提供的方案进行详细描述。
请参考图1，本公开的一些实施例中提出了一种断电自锁装置，包括：第一部件1、第二部件2和阻动部件3，第二部件2与第一部件1可转动连接，第二部件2能够相对第一部件1转动且两者之间具有间隔区域；阻动部件3采用磁性材料制备，位于第二部件2和第一部件1之间；其中，第二部件2靠近第一部件1的表面上具有凹陷区，第二部件包括电磁部件4，在电磁部件4通电时，阻动部件3被电磁部件4吸附在凹陷内并与第一部件1相分离；在电磁部件4断电时，阻动部件3卡在第二部件2与第一部件1之间。
在本公开的一些实施例中，第一部件1为固定部件，第二部件2为运动部件，一些实施例中，在使用本公开实施例中提出的断电自锁装置时，固定部件可以固定在任何断电后立即处于静止的物体上或者一直处于静止状态的的物体上，运动部件相对固定部件进行运动，运动部件例如可以是机械臂或者转盘等可以在电力带动下进行运动的物体，运动部件的内部或者表面上设置电磁部件4，电磁部件4例如是电磁铁，在通电的情况下，电磁部件4将阻动部件3吸附在凹陷区，凹陷区的最大深度加上固定部件与运动部件之间间隙的和，大于阻动部件3的尺寸，因此阻动部件3在被吸附在凹陷区内时会与固定部件相分离，这样阻动部件3不会阻碍运动部件进行运动，电磁部件4与带动运动部件的设备使用同一电源，在电源断电时，电磁部件4的电磁力立即消失导致阻动部件3 不在被吸附在凹陷区的壁面上，此时在重力或惯性力的作用下阻动部件会移动到固定部件与运动部件之间，阻动部件3的尺寸大于固定部件与运动部件之间的间隙尺寸，因此阻动部件3会卡在运动部件与固定部件之间，从而阻止运动部件因为惯性相对固定部件运动，实现断电自锁功能，防止断电后运动部件继续运动。
在本公开的一些实施例中，第一部件1为运动部件，第二部件为固定部件。在本公开的另一些实施例中，凹陷区设置在固定部件靠近运动部件的表面上，固定部件包括电磁部件4，在电磁部件4通电时，阻动部件3被电磁部件4吸附在凹陷内并与运动部件相分离，在电磁部件4断电时，阻动部件3卡在运动部件与固定部件之间。在本实施例中，由于凹陷区位于固定部件上，因此阻动部件3在运动部件运动时不会随运动部件运动，阻动部件3不易因为惯性而晃动导致阻动部件3阻碍运动部件运动，因此对于电磁部件4的磁性力的要求较低，并能保证运动部件的正常运动不会受到妨碍。
在本公开的一些实施例中，阻动部件3包括：阻动球体，阻动球体可以是钢球，阻动球体的直径大于第一部件1与第二部件2之间的间隔距离，凹陷区包括凹槽，凹陷区位于第二部件2的表面上，凹槽的槽深从所述凹槽的最大槽深处沿第二部件2运动方向的反方向逐渐减小。在一些实施例中，在电磁部件4通电时，阻动球体可以被吸附在凹陷区的最深处附近，在断电时，电磁部件4失去电磁力，阻动部件3在惯性力或重力的作用下与凹槽的内壁相脱离，当凹陷区位于第二部件2的表面上时，由于惯性力的作用，第二部件2会继续沿运动方向运动，阻动部件3由于失去动力会相对于第二部件2向运动方向的反方向移动，由于从凹槽的最深处沿第二部件2运动方向的反方向逐渐减小且阻动球体的直径大于第一部件1与第二部件2之间的间隔距离，因此阻动球体最终会卡在第一部件1与第二部件2之间，且仍然位于凹槽内，这样当电磁部件4通电后可以很容易的将阻动部件3吸附从而解除阻动部件3对于第二部件2的阻碍。
在本公开的一些实施例中，凹槽的槽深从凹槽的中部到两端逐渐减小。第二部件2通常可以相对于第一部件1正向运动和反向运动，由于 凹槽的槽深从凹槽的中部到两端逐渐减小，即凹槽的最大槽深处为中部，因此无论第二部件2沿正向运动或反向运动，阻动球体都会卡在第一部件1与第二部件2之间。在本公开的一些实施例中，凹槽包括楔形槽或弧形槽。
在本公开的一些实施例中，第一部件1包括：与第二部件2间隔设置的摩擦片。摩擦片可以位于靠近第二部件2的表面，摩擦片的摩擦系数较大，从而能够在断电时帮助阻动部件3快速的停止第二部件2的运动。
在本公开的一些实施例中，第二部件2包括：转盘。此时第一部件1的形状可以是圆形或圆环形。
在本公开的一些实施例中，凹陷区的个数为至少两个，至少两个凹陷区以转盘的中心轴旋转对称设置；各个凹陷区中分别具有阻动部件3。通过设置至少两个凹陷区和阻动部件3可以在断电后快速的阻止第二部件2相对第一部件1运动，由于凹陷区以转盘的中心轴旋对称设置，因此转盘受到的力均匀分布，不易因为阻动部件3导致转盘倾斜变形。
在本公开的一些实施例中，凹陷区位于第二部件2靠近第一部件1的表面上，第一部件1与阻动部件3之间具有第一磁性吸引力；电磁部件4通电时电磁部件4与阻动部件3之间具有第二磁性吸引力；第一磁性吸引力小于第二磁性吸引力。在一些实施例中，第一部件1靠近第二部件2的一些的表面可以涂覆永磁材料，或者第一部件1采用永磁材料制备，从而对阻动部件3产生敌意磁性吸引力，这样当电磁部件4断电后，第一磁性吸引力可以将阻动部件3吸引到第一部件1与第二部件2之间，加速停止第二部件。
在本公开的一些实施例中，第一磁性吸引力大于阻动部件3的重力。在一些使用场景中，第一部件1与第二部件2之间的间隙可能位于水平面，此时阻动部件3要移动到第一部件1与第二部件2之间的间隙时需要克服重力，通过控制第一磁性吸引力大于阻动部件3的重力可以保证阻动部件3能够顺利的卡在第一部件1与第二部件2之间。
在本公开的一些实施例中，请参考图2，本公开还提出一种断电自锁设备，包括：电机5和本公开提出的任一项的断电自锁装置；其中电机5 包括电机本体51和输出部件52；输出部件52例如可以是电机的转轴，第一部件1固定在电机本体51上，例如可以固定在电机本体51的外壳上，第二部件2与输出部件52传动连接，即第二部件2可以在输出部件52的带动下运动，电机5与电磁部件4使用同一电源，这样当电源断电时，电机5失去动力的同时电磁部件4失去电磁力，阻动部件3能够阻止第二部件2继续运动，实现断电自锁功能。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的公开范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述公开构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。
此外，虽然采用特定次序描绘了各操作，但是这不应当理解为要求这些操作以所示出的特定次序或以顺序次序执行来执行。在一定环境下，多任务和并行处理可能是有利的。同样地，虽然在上面论述中包含了若干具体实现细节，但是这些不应当被解释为对本公开的范围的限制。在单独的实施例的上下文中描述的某些特征还可以组合地实现在单个实施例中。相反地，在单个实施例的上下文中描述的各种特征也可以单独地或以任何合适的子组合的方式实现在多个实施例中。
尽管已经采用特定于结构特征和/或方法逻辑动作的语言描述了本主题，但是应当理解所附权利要求书中所限定的主题未必局限于上面描述的特定特征或动作。相反，上面所描述的特定特征和动作仅仅是实现权利要求书的示例形式。

Claims (11)

  1. 一种断电自锁装置，其特征在于，包括：
    第一部件(1)；
    第二部件(2)，所述第一部件(1)与第二部件(2)可转动连接；
    阻动部件(3)，采用磁性材料制备，位于所述第二部件(2)和所述第一部件(1)之间；
    其中，所述第二部件(2)靠近所述第一部件(1)的表面上具有凹陷区，所述第二部件包括电磁部件(4)，在所述电磁部件(4)通电时，所述阻动部件(3)被所述电磁部件(4)吸附在所述凹陷内并与所述第一部件(1)相分离；在所述电磁部件(4)断电时，所述阻动部件(3)卡在所述第二部件(2)与所述第一部件(1)之间。
  2. 根据权利要求1所述的断电自锁装置，其特征在于，
    所述第一部件(1)为固定部件，所述第二部件(2)为运动部件。
  3. 根据权利要求1或2所述的断电自锁装置，其特征在于，
    所述阻动部件(3)包括：阻动球体，所述阻动球体的直径大于所述第一部件(1)与所述第二部件(2)之间的间隔距离；
    所述凹陷区包括凹槽；
    所述凹陷区位于所述第二部件(2)的表面上，所述凹槽的槽深从最大槽深处沿所述第二部件(2)运动方向的反方向逐渐减小。
  4. 根据权利要求3所述的断电自锁装置，其特征在于，所述凹槽的槽深从所述凹槽的中部到两端逐渐减小。
  5. 根据权利要求3所述的断电自锁装置，其特征在于，所述凹槽包括楔形槽或弧形槽。
  6. 根据权利要求1所述的断电自锁装置，其特征在于，
    所述第一部件(1)包括：与所述第二部件(2)间隔设置的摩擦片。
  7. 根据权利要求1所述的断电自锁装置，其特征在于，
    所述第二部件(2)包括：转盘。
  8. 根据权利要求7所述的断电自锁装置，其特征在于，
    所述凹陷区的个数为至少两个，至少两个凹陷区以所述转盘的中心轴旋转对称设置；
    各个所述凹陷区中分别具有阻动部件(3)。
  9. 根据权利要求1所述的断电自锁装置，其特征在于，
    所述凹陷区位于所述第二部件(2)靠近所述第一部件(1)的表面上，所述第一部件(1)与所述阻动部件(3)之间具有第一磁性吸引力；所述电磁部件(4)通电时所述电磁部件(4)与所述阻动部件(3)之间具有第二磁性吸引力；所述第一磁性吸引力小于所述第二磁性吸引力。
  10. 根据权利要求9所述的断电自锁装置，其特征在于，
    所述第一磁性吸引力大于所述阻动部件的重力。
  11. 一种断电自锁设备，包括：
    电机(5)，包括电机本体(51)和输出部件(52)；
    如权利要求1-10任一项所述的断电自锁装置；
    其中，所述第一部件(1)固定在所述电机本体(51)上，所述第二部件(2)与所述输出部件(52)传动连接，所述电机(5)与所述电磁部件(4)使用同一电源。
PCT/CN2021/140125 2021-01-21 2021-12-21 断电自锁装置和设备 WO2022156470A1 (zh)

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