WO2023001087A1

WO2023001087A1 - Electric motor braking system, multi-joint robot and electric motor braking method

Info

Publication number: WO2023001087A1
Application number: PCT/CN2022/106163
Authority: WO
Inventors: 孙恺; 高瑜刚
Original assignee: 苏州艾利特机器人有限公司
Priority date: 2021-07-21
Filing date: 2022-07-18
Publication date: 2023-01-26
Also published as: CN113500629B; CN113500629A

Abstract

The present invention relates to an electric motor braking system, a multi-joint robot and an electric motor braking method. The electric motor braking system comprises an electric motor and a brake, wherein the electric motor has a conventional state and a deceleration state, and the rotation speed of the electric motor in the deceleration state is lower than the rotation speed of the electric motor in the conventional state; the brake comprises: a brake pad, which is fixed to an electric motor shaft to rotate along with the electric motor shaft, and a blocking element, which is movable between a blocking position and a non-blocking position; when at the non-blocking position, the blocking element allows the rotation of the brake pad; and after the electric motor is switched from the conventional state to the deceleration state, the blocking element moves to the blocking position to limit the rotation of the brake pad, thereby stopping the rotation of the electric motor shaft. The particular embodiments of the present invention have the beneficial effects of an electric motor braking system having a high braking efficiency, a brake having a small volume and being lightweight, and there being no dust falling.

Description

A motor braking system, multi-joint robot and motor braking method

technical field

The invention relates to the field of motor braking control, in particular to a motor braking system in which the state of the motor and the working state of the brake are coordinated, a multi-joint robot and a method for braking the motor.

Background technique

The motor braking system is one of the key components of the articulated robot, and for the articulated robot, the braking performance is an important indicator to measure its performance. Traditional articulated robots mostly use electromagnetic brakes. Electromagnetic brakes are clamped by friction plates and braked by friction. However, such brakes are often heavy and bulky, and friction will cause the brakes to generate dust. For robots For such precision instruments, the generation of dust can easily affect the normal work of internal sensors.

Therefore, it is necessary to design a motor braking system with high braking efficiency and good braking performance, a multi-joint robot and a motor braking method.

Contents of the invention

In view of this, the object of the present invention is to provide a motor braking system with high braking efficiency and good braking performance, a multi-joint robot and a motor braking method.

The present invention can adopt the following technical solutions: a motor brake system, including a motor and a brake, the motor has a normal state and a deceleration state, the speed of the motor in the deceleration state is smaller than the speed of the motor in the normal state, and the brake includes : a brake pad, fixed to the motor shaft to follow the rotation of the motor shaft; a blocking element, movable between a blocking position and a non-blocking position, in the blocking position, the blocking element engages with the brake pad to limit rotation of the brake pad; when in the non-blocking position, the blocking element allows rotation of the brake pad; when the motor is in a normal state, the blocking element allows rotation of the brake pad; When the motor is switched from the normal state to the deceleration state, the blocking element moves to a blocking position to limit the rotation of the brake pads, thereby stopping the rotation of the motor shaft.

Further, the motor includes a relay, and when the relay detects a power-off signal, it controls the short circuit of the motor, so that the motor switches from a normal state to a deceleration state.

Further, when the brake is activated, the blocking element moves from the non-blocking position to the blocking position, and when the rotation speed of the motor is lower than the first threshold, the blocking element moves to the blocking position to limit the rotation of the brake pad.

Further, the blocking element includes a blocking pin and an actuator, the blocking element is configured to move along the direction of the motor shaft, and the actuator moves the blocking pin from a non-blocking position to a blocking position when the brake is activated.

Further, the blocking element includes a stop pin and an actuator, and when the brake is activated, the actuator moves the stop pin to the blocking position, and the brake pad includes a plurality of protrusions distributed along the circumferential direction, The stop pin is engaged with the protrusion to limit the rotation of the brake pad, and the end of the stop pin includes a bevel contacting the protrusion, and the bevel is affected when the stop pin moves to the blocking position. When the force of the protrusion is greater than the second threshold, the blocking pin moves to the non-blocking position.

Further, the bevel at the end of the stop pin makes the stop pin have a cone-shaped structure.

Further, the raised portion is formed as a hollow structure, and the raised portion includes an oblique angle with the stop pin. The present invention can also adopt the following technical solution: a multi-joint robot, including a plurality of robot joints and connecting parts , the robot joint includes an output shaft and/or an output flange for connecting to an adjacent robot joint or an adjacent connection component, and the robot joint includes the motor braking system described in any one of the preceding paragraphs.

The present invention can also adopt the following technical solutions: a motor braking method, applied to the braking control of the robot joint, the robot joint includes a motor and a brake, the motor has a normal state and a deceleration state, and the motor speed in the deceleration state The rotation speed of the motor is lower than the normal state; the brake includes: a brake pad, fixed on the motor shaft to follow the rotation of the motor shaft; a blocking element, which can move between a blocking position and a non-blocking position, and in the blocking position, the The blocking element engages the brake pad to limit rotation of the brake pad; in the non-blocking position, the blocking element allows rotation of the brake pad; the method includes: reducing the motor speed so that The motor switches from the normal state to the deceleration state; when the motor is in the deceleration state, the blocking element moves to a blocking position to limit the rotation of the brake pads, thereby stopping the rotation of the motor shaft.

Further, the motor includes a relay, and reducing the speed of the motor includes: the relay detects a power-off signal, and controls the short circuit of the motor to reduce the speed of the motor.

Further, the blocking element includes an actuator and a stop pin, and the method includes: activating the brake, and the stop pin moves from a non-blocking position to a blocking position; when the rotation speed of the motor is lower than a first threshold, the The stop pin moves to the blocking position to limit the rotation of the brake pad.

Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are: the present invention provides a motor braking system, including a light and thin brake structure, and at the same time, when the motor is at high speed, it is decelerated by the deceleration mechanism of the motor itself, when the motor When decelerating and entering a low-speed state, the brake plays a role to finally complete the braking of the motor. This type of motor braking system can overcome the problems of traditional brake powder dropping and large volume on the one hand, and on the other hand, it can also avoid the brake from being overloaded and damaging the brake. In the case of the motor braking system, the brake of the motor braking system is light and thin, small in size, free of dust, and has good overload life and good overall performance.

Description of drawings

The purpose, technical solution and beneficial effects of the present invention described above can be realized by the following drawings:

Fig. 1 is a schematic diagram of a motor braking system in a braking state according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of a motor braking system in an embodiment of the present invention in a debraking state;

Fig. 3 is a schematic diagram of a blocking element moving to a blocking position according to an embodiment of the present invention;

Fig. 4 is a partial enlarged view of position A of the motor braking system in Fig. 3;

Fig. 5 is a sectional view of the motor braking system shown in Fig. 3;

Fig. 6 is a partial enlarged view of position C of the sectional view of the motor brake system in Fig. 5;

Fig. 7a is a schematic diagram of the change of the motor speed during the conventional motor deceleration process;

Fig. 7b is a schematic diagram of the speed change during the deceleration process of the motor according to an embodiment of the present invention;

Fig. 8 is a schematic diagram of a multi-joint robot according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of a motor braking method according to an embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the present invention clearer, the solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the embodiment of the present invention Some examples but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The present invention protects a motor braking system, referring to Figures 1-6, the motor braking system includes a motor 1 and a brake 2, the motor 1 provides a power source, and the brake 2 is used to brake the motor 1 to stop its rotation, the The motor 1 has a normal state and a deceleration state. The speed of the motor 1 in the deceleration state is lower than the speed of the motor 1 in the normal state. The deceleration state is relative to the normal state. When the motor 1 is in the normal state, the motor 1 Normal rotation, for example, the motor rotates at a roughly constant speed; when the motor 1 is in a deceleration state, that is, due to the occurrence of some predetermined conditions, the rotation speed of the motor 1 is reduced compared with the normal state, and the deceleration state of the motor 1 can be A relatively static process, that is, the motor 1 keeps running at a low speed, or a relatively dynamic process, where the speed of the motor 1 decreases until it approaches 0, or the deceleration state of the motor 1 can be the combination of the above two processes fusion. Wherein, when the motor switches from the normal state to the deceleration state, the rotation speed of the motor decreases, for example, the motor switches from the uniform motion state to the deceleration state. The brake 2 includes a brake pad 21, the brake pad 21 is fixed on the motor shaft to follow the rotation of the motor shaft; the blocking element 22 is movable between a blocking position and a non-blocking position, and in the blocking position, the blocking element and The brake pads 21 are engaged to limit the rotation of the brake pads 21. FIG. 1 shows a schematic diagram of a blocking element in an embodiment of the present invention in a blocking position, and the motor brake system is in a braking state; In the blocking position, the blocking element allows the rotation of the brake pad 21. FIG. 2 shows a schematic diagram of an embodiment of the present invention in which the blocking element is in a non-blocking position, and the motor brake system is in a debraking state; When the motor is in the normal state, the motor 1 rotates at a high speed, and the blocking element 22 allows the rotation of the brake pad 21; when the motor 1 is switched from the normal state to the deceleration state, the blocking element 22 moves to the blocking position to The rotation of the brake pad 21 is restricted, thereby making the motor shaft stop rotating. That is, when the motor 1 is in a normal state, the motor 1 is first decelerated, and after the motor is decelerated, the brake 2 plays a role, and the blocking element 22 moves to the blocking position and engages with the brake pad 21 to limit the rotation of the brake pad, and finally Realize the braking of the motor. This kind of brake structure brakes the motor 1 by blocking the rotation of the brake pad 21 by the blocking element 22. The brake itself has a relatively simple structure, small size and light weight. At the same time, compared with the electromagnetic brake, it does not rely on friction Braking is also not easy to generate dust. At the same time, the brake disc 21 rotates with the motor shaft. When the motor shaft rotates at a high speed, direct braking may easily cause the brake to be overloaded, or even damage the brake. By reducing the speed first and then braking, the overload performance of the brake is good.

In a specific embodiment, the motor 1 includes a controller, and the controller is used to control the motor to decelerate after receiving the braking signal, so that the motor is switched from the normal state to the deceleration state. At this time, the motor is controlled by servo slow down. In another embodiment, the motor includes a relay. When the relay detects a power-off signal, it controls the short circuit of the motor, so that the motor is switched from a normal state to a deceleration state. At this time, the motor is in an abnormal power-off state. , the relay plays a role in controlling the short circuit of the motor 1, that is, the relay short-circuits one or more of the motor windings so as to inhibit the rotation of the motor 1. When the motor 1 is running at high speed, the speed of the motor 1 can be reduced rapidly by short-circuiting the motor 1 through the relay. In the way of short-circuiting the motor with the relay, the deceleration power of the relay is positively correlated with the square of the motor speed, and the speed of the motor 1 When it is larger, the effect of reducing the speed of the motor through the relay short circuit is very significant, so that the motor can be quickly reduced to a lower speed, and then the brake pad 21 that is rotating at a low speed is blocked by the blocking element, thereby achieving braking. The deceleration efficiency is high at high speed, and the brake 2 plays a role at low speed, that is, the blocking element 22 blocks the rotation of the brake pad 21, and then blocks the motor shaft that rotates with the brake pad 21, and finally realizes the braking of the motor. The method has high deceleration efficiency when the motor rotates at high speed, and at the same time, the brake has a long overload life. Referring to Figures 7a and 7b, the variation trend of the motor rotation speed in the conventional deceleration mode and the variation trend of the motor speed in the relay short-circuit mode are shown respectively. It can be seen that in the latter In this way, the efficiency of motor deceleration is higher. At the same time, the speed of the motor is reduced by short-circuiting the motor through the relay, and the kinetic energy of the motor is converted into electric energy and then consumed by the stator resistance. The stator is large in size and can absorb more heat, which is beneficial to the heat dissipation of the motor control system and robot joints. The motor 1 realizes final braking by limiting the rotation of the brake pad 21 through the blocking element 22, wherein the blocking element 22 includes a stopper pin and an actuator 222, and the blocking element 22 is set to move along the direction of the motor shaft. When activated, that is, when the brake enters the braking state, the actuator 222 moves the stop pin from the non-blocking position to the blocking position; position; when the brake enters the non-braking state from the braking state, the stop pin moves from the blocking position to the non-blocking position. It can be understood that the actuator includes a solenoid valve, and when the solenoid valve is energized, it absorbs the The blocking pin is used so that the blocking pin is in the non-blocking position, and the blocking pin is released when the solenoid valve is de-energized so that the blocking pin moves to the blocking position. The brake pad 21 is fixed on the motor shaft to follow the rotation, and the blocking element 22 moves along the direction of the motor shaft, that is, the blocking element 22 moves in a direction perpendicular to the movement direction of the brake pad 21 to limit the rotation of the brake pad 21. When the brake 2 is When activated, the blocking pin 221 moves from the non-blocking position to the blocking position, and when the blocking pin 221 moves to the blocking position, the rotation of the brake pad is restricted, thereby realizing the braking of the motor.

When the motor 1 is switched to the deceleration state, the speed of the motor decreases at this time, and the blocking element 22 moves to the blocking position to limit the rotation of the brake pad, and the brake is in the braking state. Specifically, the blocking element 22 is activated by the non-blocking The position moves to the blocking position. When the speed of the motor 1 is lower than the first threshold, the blocking element 22 moves to the blocking position to limit the rotation of the brake pad 21. Exemplarily, the first threshold can be set according to the factory default parameters It is determined that the first threshold is associated with performance of the electric machine. Wherein, the condition of activating the brake 2 includes that the brake detects a power-off signal, or that the brake 2 detects other signals for activating the brake, for example, a signal of a low speed is detected. After the motor has entered the deceleration state, the blocking element 22 moves to the blocking position to limit the rotation of the brake pad 21 when the speed of the motor is lower than the first threshold, and when the speed is not lower than the first threshold, the blocking element 22 moves to the blocking position. The element 22 does not move, or the blocking element 22 moves but does not function to limit the rotation of the brake pad.

In a specific embodiment, the blocking element 22 includes a blocking pin 221 and an actuator 222. The actuator 222 moves the blocking pin 221 from a non-blocking position to a blocking position when the brake is activated. The blocking pin 221 and the brake pad 21 engages to limit the rotation of the brake pad 21 . The brake pad 21 includes a plurality of protrusions distributed along the circumferential direction, the stop pin 221 engages with the protrusions to limit the rotation of the brake pad 21, and the end of the stop pin 221 includes a joint with the protrusions. Contact bevel 2211, when the stop pin 221 is moved to the blocking position, when the force of the bevel 2211 is greater than the second threshold, the stop pin 221 moves to the non-blocking position, that is, when the brake pad 21 When the force exerted by the protruding portion on the oblique angle 2211 of the stop pin 221 is greater than the second threshold value, the force exerted by the protruding portion on the stop pin is relatively large, so that the stop pin 221 cannot move to the blocking position, and braking cannot be realized, and When the force exerted by the protruding portion of the brake pad 21 on the oblique angle 2211 of the stop pin 221 is less than the second threshold, the stop pin 221 can overcome the force of the protruding portion, and then move to the blocking position to realize braking of the motor. Referring to Figures 3-6, it shows a schematic diagram of the movement of the blocking pin to the blocking position in this embodiment. Wherein, the higher the rotation speed of the brake pad 21, the greater the force exerted by the protruding part of the brake pad 21 on the oblique angle 2211 of the stop pin 221, and the determination of the second threshold varies according to different brakes. The second threshold is the limit value of the active force that the stop pin 221 of the brake can move normally. If the force is greater than the second threshold, the stop pin 221 of the brake will not be able to extend normally, that is, the stop pin cannot normally move from the non-blocking position to the blocking position. position, the size of the second threshold will be determined according to the characteristics of the brake itself. Wherein, the first threshold value and the second threshold value are positively correlated, that is, the higher the rotation speed of the motor, the greater the force exerted by the protrusion of the brake pad on the stop pin. Preferably, the protrusion includes a hollow structure. When the protrusion of the brake pad 21 is in contact with the stop pin 221, it is more flexible and has a deformable space, so that the brake pad 21 is not easy to be damaged. For example, the protrusion can Formed as a hollow triangular frame structure. Furthermore, the protrusion includes a cut surface that matches the bevel 2211 of the stop pin 221, so that when the protrusion contacts the bevel 2211 of the stop pin 221, the contact area is larger, and the effect of the protrusion on the bevel 2211 Force is relatively balanced. Further, the slope of the stop pin 221 makes the stop pin 221 form a truncated conical structure, and the transition of the truncated conical structure is relatively smooth. No matter from which angle the boss contacts the truncated conical structure of the stop pin, it will exert force on the stop pin. When the force is large enough, the force causes the stop pin to move to the non-blocking position.

Wherein, the stop pin 221 includes a bevel 2211 structure, and the protruding portion includes a tangent surface matched with the bevel. When the stopper pin moves from the non-blocking position to the blocking position, the bevel generates force when it contacts the tangent surface. When the motor When the rotating speed is large, the force is large, so that the stop pin cannot continue to move to the blocking position; at the same time, due to the matching structure of the bevel and the cut surface, a force is generated between the stop pin and the raised part, and the stop pin is stressed. Move to the direction where the non-blocking position is located; wherein, as mentioned above, the actuator exemplary includes a solenoid valve, when the stop pin is forced to move to the non-blocking position, since the solenoid valve is in a power-off state at this time, After the stop pin moves to the non-blocking position for a certain distance, due to the action of the actuator, the stop pin moves to the blocking position again. When the stop pin and the raised part contact again, and the force between the stop pin and the raised part When it is smaller than the second threshold, the stop pin can move to the blocking position to realize braking. Wherein, the stop pin can also be configured to move to the blocking position only when the rotational speed of the motor satisfies the first threshold requirement. At this time, the force between the stop pin and the protrusion is smaller than the second threshold, and the stop pin can smoothly move to blocking position.

The beneficial effects of the above preferred embodiments are: the motor braking system first decelerates the motor, and then restricts the rotation of the brake pads through the blocking element 22 of the brake to achieve braking of the motor. Compared with the traditional electromagnetic brake, it does not produce dust, has small size, light weight, and good overload performance. Further, the motor is decelerated by means of a relay short-circuiting the motor. The motor decelerates efficiently at high speeds, and at low speeds, the brakes function to finally achieve braking. The motor braking system has high braking efficiency and good performance.

The present invention also protects a multi-joint robot. Referring to FIG. 8, the multi-joint robot 100 includes a plurality of robot joints 10 and connecting parts 20, wherein the robot joint 10 includes an output shaft and/or an output flange for connecting to a relative Adjacent robot joints 10 or connecting parts 20, the robot joints include the motor brake system described in any of the foregoing to improve the braking performance of the multi-joint robot, while the multi-joint robot has good flexibility and light volume. Preferably, The articulated robot is a collaborative robot.

The present invention also protects a motor braking method. Referring to FIG. 9, it is applied to the braking control of the robot joint 10. The robot joint includes a motor 1 and a brake 2. The motor 1 has a normal state and a deceleration state. The speed of the motor 1 in the deceleration state is The rotational speed of the motor under normal conditions; the brake 2 includes: a brake pad 21, fixed on the motor shaft to follow the rotation of the motor shaft; a blocking element 22, movable between a blocking position and a non-blocking position, when in the blocking position , the blocking element 22 is engaged with the brake pad 21 to limit the rotation of the brake pad 21; in the non-blocking position, the blocking element 22 allows the rotation of the brake pad 21; in this method, the motor The structure and principle of the brake are the same as those mentioned above, and will not be described in detail here. This method can be applied to the motor brake system described in any one of the above. The method includes: S1, reducing the speed of the motor, so that the motor is switched from a normal state to a deceleration state; S2, when the motor is in a deceleration state, the blocking element 22 moves to a blocking position to limit the rotation of the brake pad 21, and then Make the motor shaft stop rotating. Reduce the speed of the motor first, and then brake the motor through the brake. The blocking element and the brake pad will not collide at high speed, and the brake has a long overload life.

Further, the motor 1 includes a relay, and the reducing the speed of the motor 1 includes: the relay detects a power-off signal, and controls the short circuit of the motor to reduce the speed of the motor. The motor speed is reduced by the relay short circuit, and the power of the relay speed reduction is positively correlated with the motor speed. Therefore, when the motor speed is high, the relay speed reduction efficiency is higher.

Further, the blocking element 22 includes an actuator 222 and a blocking pin 221. When the actuator 222 activates the brake, it controls the blocking pin 221 to move to the blocking position. The method includes: activating the brake, and the blocking pin 221 moves from the non-blocking position to The blocking position moves; when the rotation speed of the motor is lower than the first threshold, the blocking pin 221 moves to the blocking position to limit the rotation of the brake pad 21 . Further, when the rotational speed of the motor 1 is higher than the first threshold, the stop pin 221 moves toward the non-blocking position or the stop pin 221 does not move. In one embodiment, when the brake detects a power-off signal, the actuator 222 controls the stop pin 221 to move to the blocking position to block the rotation of the brake pad 21. When the motor speed is high, the rotation of the brake pad 21 blocks the stopper. The pin 221 moves to the blocking position. When the rotation speed of the motor 1 is lower than the first threshold, the rotation of the brake pad 21 cannot stop the stop pin 221 from moving to the blocking position, and the stop pin 221 moves to the blocking position to limit the rotation of the brake pad 21. The determination of the threshold is determined according to the characteristics of the brake.

Specifically, the blocking element includes a blocking pin and an actuator, and when the brake is activated, the blocking pin moves along the direction of the motor shaft to move from a non-blocking position to a blocking position. Wherein, the brake pad includes a plurality of protrusions distributed along the circumferential direction, and the stopper pin is engaged with the protrusions to limit the rotation of the brake pad, wherein, when the stopper pin moves from the non-blocking position to the blocking position, it is in contact with the protrusion When the parts are engaged, there is a force between the stop pin and the protrusion, the end of the stop pin includes a bevel that contacts the protrusion, and correspondingly, the protrusion includes a bevel that matches the bevel of the stop pin Cutting plane, when the bevel angle of the stop pin receives the force from the raised part greater than the second threshold, the stop pin is subjected to a greater blocking force, and the stop pin cannot continue to move to the blocking position, and then moves to the non-blocking position . And when the active force from the raised part that the oblique angle of the stop pin is subjected to is less than the second threshold value, the active force that the stop pin is subjected to is less, and the stop pin can overcome the active force of the raised part and move to the blocking position, and the stop pin moves to The rotation of the brake pads can be restricted in the blocking position.

That is, when the blocking pin 221 is about to move to the blocking position, if the received blocking force is large, it cannot continue to move, and when the received blocking force is small, it can continue to move until it moves to the blocking position. When the motor 1 When the rotation speed is high, the brake pad 21 rotates with the motor 1 and exerts a large force on the blocking element 22, and the blocking element 22 cannot move to the blocking position. When the rotation speed of the motor 1 is low, specifically, the normal extension of the blocking element 22 can withstand When the force is applied, the blocking element moves to reach the blocking position, thereby restricting the rotation of the motor to achieve braking.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims

A motor braking system, comprising a motor and a brake, characterized in that the motor has a normal state and a deceleration state, the speed of the motor in the deceleration state is lower than the speed of the motor in the normal state, and the brake includes: a brake pad , fixed to the motor shaft to follow the rotation of the motor shaft; a blocking element, movable between a blocking position and a non-blocking position, in the blocking position, the blocking element engages with the brake pad to limit the movement of the brake pad rotation; in said non-blocking position, said blocking element allows rotation of said brake pad;

said blocking element allows rotation of said brake pad when said motor is in a normal state;

When the motor is switched from the normal state to the deceleration state, the blocking element moves to a blocking position to limit the rotation of the brake pads, thereby stopping the rotation of the motor shaft.
The motor braking system according to claim 1, wherein the motor includes a relay, and when the relay detects a power-off signal, the motor is controlled to short-circuit, so that the motor is switched from a normal state to a deceleration state.
The motor braking system according to claim 1, wherein when the brake is activated, the blocking element moves from a non-blocking position to a blocking position, and when the rotational speed of the motor is lower than a first threshold, the blocking The element moves to a blocking position to limit rotation of the pad.
The motor braking system according to claim 1, wherein the blocking element comprises a stop pin and an actuator, the blocking element is configured to move in the direction of the motor shaft, and the actuator when the brake is activated Move the stop pin from the non-blocking position to the blocking position.
The motor braking system according to claim 1, wherein the blocking element comprises a blocking pin and an actuator, and when the brake is activated, the actuator moves the blocking pin to the blocking position; The plate includes a plurality of protrusions distributed along the circumferential direction, and the stop pin engages with the protrusions to limit the rotation of the brake plate; the end of the stop pin includes a bevel that contacts the protrusions, so When the blocking pin moves to the blocking position, when the force exerted by the protruding portion on the bevel is greater than a second threshold, the blocking pin moves to the non-blocking position.
The motor brake system according to claim 5, characterized in that, the raised portion is formed as a hollow structure, and the raised portion includes a cut surface matched with the oblique angle of the stop pin.
A multi-joint robot, including a plurality of robot joints and connecting parts, the robot joints include output shafts and/or output flanges for connecting to adjacent robot joints or adjacent connecting parts, characterized in that the The robot joint comprises the motor brake system according to any one of claims 1-6.
A motor braking method, which is applied to the braking control of robot joints, is characterized in that the robot joints include a motor and a brake, the motor has a normal state and a deceleration state, and the speed of the motor in the deceleration state is smaller than that of the motor in the normal state The speed of rotation; the brake includes: a brake pad, fixed on the motor shaft to follow the rotation of the motor shaft; a blocking element, movable between a blocking position and a non-blocking position, and in the blocking position, the blocking element and the engaging the brake pad to limit rotation of the brake pad; in the non-blocking position, the blocking member permits rotation of the brake pad;

The methods include:

Decrease the motor speed so that the motor switches from normal state to deceleration state;

When the motor is in a decelerating state, the blocking element moves to a blocking position to limit the rotation of the brake pad, thereby stopping the rotation of the motor shaft.
The motor braking method according to claim 8, wherein the motor includes a relay, and the reducing the speed of the motor comprises: the relay detects a power-off signal, and controls the motor to short circuit to reduce the speed of the motor.
The motor braking method according to claim 8, characterized in that the method comprises: when the brake is activated, controlling the blocking element to move from a non-blocking position to a blocking position; When a threshold value is reached, the blocking element moves to a blocking position to limit the rotation of the brake pad.
The motor braking method according to claim 8, wherein the blocking element comprises a stop pin and an actuator, and the actuator is used to make the stop pin move along the direction of the motor shaft, and the method comprises: when the brake When activated, the stop pin is controlled to move from a non-blocking position to a blocking position.
The motor braking method according to claim 8, wherein the blocking element comprises a blocking pin and an actuator, and when the brake is activated, the actuator moves the blocking pin to the blocking position; The plate includes a plurality of protrusions distributed along the circumferential direction, the stopper pin engages with the protrusions to limit the rotation of the brake pad, and the end of the stopper pin includes a bevel contacting with the protrusions; the method The method includes: when the stop pin moves to the blocking position, if the force of the protruding portion received by the bevel is greater than a second threshold value, the stop pin moves to the non-blocking position.
The motor braking method according to claim 8, characterized in that, the raised portion is formed as a hollow structure, and the raised portion includes a cut surface matched with the oblique angle of the stop pin.