WO2023123289A1 - Dispositif de freinage pour articulation de bras mécanique, articulation de bras mécanique et bras mécanique - Google Patents

Dispositif de freinage pour articulation de bras mécanique, articulation de bras mécanique et bras mécanique Download PDF

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Publication number
WO2023123289A1
WO2023123289A1 PCT/CN2021/143391 CN2021143391W WO2023123289A1 WO 2023123289 A1 WO2023123289 A1 WO 2023123289A1 CN 2021143391 W CN2021143391 W CN 2021143391W WO 2023123289 A1 WO2023123289 A1 WO 2023123289A1
Authority
WO
WIPO (PCT)
Prior art keywords
mechanical arm
fixing member
brake
base
joint
Prior art date
Application number
PCT/CN2021/143391
Other languages
English (en)
Chinese (zh)
Inventor
雷应波
王重彬
姜宇
Original Assignee
深圳市越疆科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市越疆科技有限公司 filed Critical 深圳市越疆科技有限公司
Priority to PCT/CN2021/143391 priority Critical patent/WO2023123289A1/fr
Priority to CN202180011958.9A priority patent/CN115135468B/zh
Publication of WO2023123289A1 publication Critical patent/WO2023123289A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints

Definitions

  • the present application relates to the field of mechanical arms, in particular to a braking device for a joint of a mechanical arm, a joint of a mechanical arm and a mechanical arm.
  • a robotic arm is a machine device that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, heavy, and complicated tasks.
  • the mechanical arm usually includes a plurality of joints, each joint is sequentially connected by transmission, each joint is provided with a motor and an electromagnetic brake, and the electromagnetic brake is sleeved on the motor shaft of the motor.
  • Electromagnetic brakes generally include a base, an iron core, a coil, an armature, a spring, a brake pad, a brake hub, and a cover plate. Located on the upper end surface of the base, the brake pad is located above the armature. When the coil is energized, the magnetized iron core will attract the armature, so that the armature is separated from the brake pad, and the brake pad can rotate with the motor shaft at this time. When the coil is de-energized, the spring will press on the armature, so that a friction torque will be generated between the armature, the brake pad and the brake hub, thereby stopping the rotation of the motor shaft.
  • the electromagnetic brake of the existing manipulator joint adopts the installation method of front installation: the cover plate faces the reading head assembly, and the base is placed on the motor shaft downward, and the electromagnetic brake is fastened to the joint shell through the fixing piece.
  • the fixing part first cooperates with the joint shell, and then fixes it with the joint shell after fitting in place. Then press down on the brake pad. If the brake pad is not in the center, that is, the brake pad and the base are not in the same axis, the brake pad cannot be installed normally with the brake hub, and then the brake pad needs to be adjusted repeatedly to make it in the center position, causing the electromagnetic brake to malfunction.
  • the installation is very inconvenient.
  • the electromagnetic brake of the existing mechanical arm joint has the technical problem of inconvenient installation.
  • the application proposes a braking device for the joint of the mechanical arm, the joint of the mechanical arm includes a reading head assembly, the braking device includes an electromagnetic brake and a fixing piece for connecting the electromagnetic brake with external parts, the electromagnetic brake It includes a brake pad and a base arranged adjacent to the brake pad.
  • the base is provided with a brake iron core and a coil. After the base is connected to the fixing piece, the end surface of the base away from the brake pad faces the reading head assembly.
  • the fixing part is used for connecting the electromagnetic brake with the shell of the mechanical arm joint.
  • the fixing part is connected with the reading head assembly.
  • the read head assembly includes a read head support for installing the read head, and the fixing part is connected with the read head support or shared with the read head support.
  • the end surface of the base away from the brake pad is provided with a plurality of first connection holes, and the fixing member is connected to the base through the first connection holes.
  • the fixing part includes an annular bottom plate and a side plate extending from the periphery of the annular bottom plate, the annular bottom plate and the side plates form an inner cavity for accommodating the electromagnetic brake, and the electromagnetic brake is located in the inner cavity.
  • the annular bottom plate is provided with a plurality of second connecting holes, and the end surface of the base away from the brake pad is provided with a plurality of threaded holes matching with the second connecting holes.
  • the fixing member is provided with a mounting hole for installing the reading head assembly toward the top surface of the reading head support.
  • the free end of the side plate is provided with an outturned edge, and the outturned edge is provided with a plurality of third connecting holes for connecting with the joint shell.
  • the fixing part includes an annular bottom plate and several connecting columns extending from the periphery of the annular bottom plate.
  • the electromagnetic brake also includes a cover plate, and the cover plate is located between the fixing part and the base.
  • a hollow limiting column is arranged between the fixing part and the base, and the end surface of the limiting column protrudes from the end surface of the cover plate.
  • the fixing part is provided with several fourth connecting holes for connecting with the joint shell.
  • the present application also proposes a mechanical arm joint, which includes a motor and the aforementioned braking device for the mechanical arm joint, the motor includes a motor stator and a motor shaft, and the motor shaft passes through the reading head assembly, the fixing piece and the electromagnetic brake device.
  • the fixing part is connected with the reading head assembly, and the reading head assembly includes a reading head support for installing the reading head, and the fixing part is connected with or shared with the reading head support.
  • the fixing part includes an annular bottom plate and side plates extending from the periphery of the annular bottom plate, the bottom plate and the side plates form an inner cavity for accommodating the electromagnetic brake, and the electromagnetic brake is located in the inner cavity.
  • the fixing part includes an annular bottom plate and several connecting columns extending from the periphery of the annular bottom plate.
  • the electromagnetic brake also includes a cover plate, and the cover plate is located between the fixing part and the base.
  • the mechanical arm joint includes a joint shell, and the joint shell is provided with a number of screw connection holes that cooperate with the fixing parts.
  • the present application further proposes a mechanical arm, which includes the aforementioned mechanical arm joint.
  • the electromagnetic brake is installed upside down on the motor shaft through the fixing piece.
  • the upside down means that when the electromagnetic brake is installed, the end surface of the base away from the brake pad faces the read head assembly.
  • the brake pad of the electromagnetic brake can be matched with the brake hub first. After the brake pad and the brake hub are matched in place, the electromagnetic brake can be locked on the joint shell through the fixing piece, so as to facilitate the installation of the electromagnetic brake. .
  • FIG. 1 is an exploded view of a braking device for a mechanical arm joint in an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a mechanical arm joint in an embodiment of the present application
  • Fig. 3 is an exploded diagram of the joint of the mechanical arm shown in Fig. 2;
  • Fig. 4 is a schematic structural view of the joint housing shown in Fig. 3;
  • Fig. 5 is an exploded view of a mechanical arm joint in another embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a mechanical arm joint in another embodiment of the present application.
  • Fig. 7 is an exploded view of the mechanical arm joint shown in Fig. 6;
  • Fig. 8 is a schematic structural diagram of a mechanical arm joint in another embodiment of the present application.
  • FIG. 9 is an exploded view of the joint of the robotic arm shown in FIG. 8 .
  • the invention of the brake device for the joint of the manipulator proposed by this application lies in the inversion of the electromagnetic brake 30.
  • Inversion means that the end face of the base 33 close to the brake pad 31 is installed on the motor shaft 62 toward the motor stator 61 side. After the base 33 is connected with the fixing member 40, the end surface of the base 33 away from the brake pad 31 faces the read head assembly.
  • Figure 1 is an exploded view of a braking device for a robotic arm joint in an embodiment of the present application. An exploded view of the joint of the manipulator shown in .
  • the present application proposes a braking device for a mechanical arm joint.
  • the mechanical arm includes a read head assembly 20.
  • the braking device includes an electromagnetic brake 30 and a fixing piece 40 for connecting the electromagnetic brake 30 to external parts.
  • the electromagnetic brake 30 includes The brake pad 31 and the base 33 adjacent to the brake pad 31 are provided with a brake core and a coil. After the base 33 is connected to the fixing member 40 , the end of the base 33 away from the brake pad 32 faces the read head assembly 20 .
  • the electromagnetic brake 30 is flip-mounted on the motor shaft 62 through the fixing member 40.
  • the end face of the base 33 close to the brake pad 31 is first installed on the motor shaft 62 toward the motor stator 61, and the The brake pad 31 on the base 33 is clamped on the brake hub 1A. Since the brake hub 1A is fixed on the motor shaft 62, the brake hub 1A and the motor shaft 62 are in a coaxial state, and the brake pad 31 is clamped again. On the brake hub 1A, the brake pads 31 and the motor shaft 62 are also in a coaxial state.
  • the fixing member 40 is connected to the base 33, and after the fixing member 40 is connected to the base 33, the fixing member 40 and the base 33 are rotated so that the fixing member 40 cooperates with the joint housing 10, when the fixing part 40 and the joint housing 10 are in place, the fixing part 40 and the joint housing 10 are in a coaxial state, and because the base 33 is connected with the fixing part 40, the base 33 and the joint housing 10 are also in a coaxial state.
  • the joint housing 10 and the motor shaft 62 are set coaxially, so the base 33 and the motor shaft 62 are in the coaxial state, thereby ensuring that the base 33 and the brake pad 31 are in the coaxial state, and this flipping method does not need to repeatedly adjust the brake
  • the sheet 31 facilitates the installation of the electromagnetic brake 30.
  • the through hole 311 constructed in the middle of the base 33 will be close to the read head assembly 20, and the read head assembly 20 can be partially installed in the through hole 311 , so that the axial length of the motor shaft 62 can be shortened, so that the axial space of the mechanical arm joint is more compact.
  • the motor shaft 62 passes through the base 33 from the end of the base 33 close to the end where the brake pad 31 is located toward the end where the fixture 40 is located. At this time, the end of the motor shaft 62 is flush with the end of the base 33 away from the end where the brake pad 31 is located.
  • the end of the motor shaft 62 is slightly lower than the end of the base 33 away from the end of the brake pad 31, because the through hole 311 in the middle of the base 33 can be used when flipping, so the motor shaft 62 does not need to exceed the base 33 and away from the brake pad 31.
  • the end portion at one end can shorten the shaft length of the motor shaft 62 and make the axial space of the mechanical arm joint more compact.
  • the fastener proposed in the present application is used to connect the electromagnetic brake with the housing of the joint of the mechanical arm.
  • the electromagnetic brake 30 proposed in this application has four different flip-chip solutions, and the four flip-chip solutions of the electromagnetic brake 30 will be described respectively below with reference to the accompanying drawings.
  • the first inversion scheme of the electromagnetic brake 30 is as follows:
  • FIG. 5 is an exploded view of a mechanical arm joint in another embodiment of the present application.
  • the fixing part 40 is shared with the reading head support 21 or connected with the reading head support 21, and the fixing part 40 and the reading head support 21 can be two separate structural parts, or can be an integrated structural part. When installed separately, the fixing member 40 and the reading head support 21 can be stacked up and down, and when arranged integrally, the fixing member 40 is simultaneously used for the installation of the electromagnetic brake 30 and the reading head assembly 20 .
  • the fixing part 40 is arranged in the shape of a disc, which is located at the end of the base 33 away from the brake pad 31 and connected thereto.
  • the fixing part 40 is also connected with the joint housing 10 to fix the electromagnetic brake 30 and the joint housing 10 .
  • the fixing part 40 is provided with a number of connection holes, which include a casing connection hole for connecting with the joint casing 10 and a base connection hole for connecting with the base 33, the casing connection holes are arranged at the edge of the fixing part 40,
  • the base connection hole is provided in the area where the fixing member 40 is in contact with the base 33 .
  • the connecting holes of the base correspond to the first connecting holes one by one, and the fixing member 40 and the base 33 are respectively fixed through the connecting holes of the base and the first connecting holes by screws.
  • the fixing member 40 can also be provided with several clamping posts corresponding to the first connecting holes one by one, and the fixing member 40 is fixedly connected to the base 33 through the interference fit between the clamping posts and the first connecting holes.
  • the second flip-chip solution of the electromagnetic brake 30 is as follows:
  • the fixing member 40 is covered on the electromagnetic brake 30, which includes an annular bottom plate 41 and a side plate 42.
  • the annular bottom plate 41 has a shaft hole through which the power supply shaft 62 and/or the reducer shaft 1B pass.
  • a side plate 42 extends around the bottom plate 41 , and the annular bottom plate 41 and the side plate 42 enclose to form an inner chamber for accommodating the electromagnetic brake 30 , and the electromagnetic brake 30 is located in the inner cavity.
  • the fixing part 40 and the electromagnetic brake 30 can be connected to the base 33 through the annular bottom plate 41 , can also be connected to the base 33 through the side plate 42 , and can also be connected to the base 33 through the annular bottom plate 41 and the side plate 42 at the same time.
  • the fixing part 40 and the electromagnetic brake 30 are connected to the base 33 through the annular base plate 41, several second connection holes 43 are provided on the annular base plate 41, and several threaded holes 34 are provided on the end surface of the base 33 away from the brake pad 32.
  • the bottom plate 41 is screwed to the second connecting hole 43 and the threaded hole 34 .
  • the free end of side plate 42 is provided with outward turning edge 45, and outward turning edge 45 is annularly arranged, and outer turning edge 45 is provided with some third connecting holes 46, and outward turning edge 45 passes through these third connecting holes 46 and
  • the joint housing 10 is connected to fix the electromagnetic brake 30 on the joint housing 10 .
  • An annular positioning step is arranged on the joint housing 10 , and the positioning step is adapted to the outer flange 45 for installation of the outer flange 45 . Simultaneously, the positioning step is also coaxial with the center hole of the joint housing 10, and the center hole is used for installing the motor 60 and the speed reducer. In this way, after the outer flange 45 is matched with the positioning step, it can be ensured that the fixing member 40 is aligned with the joint housing 10. coaxial.
  • the top surface of the fixing member 40 is provided with a plurality of installation holes 44 for installing the read head assembly 20 .
  • the reading head bracket 21 is connected with the fixing part 40 through the mounting hole 44. After the reading head bracket 21 is connected with the fixing part 40, the reading head 22 is installed on the reading head bracket 21, or the reading head 22 is installed on the reading head bracket 21 first. After that, the read head support 21 is connected to the fixing member 40 through the mounting hole 44 .
  • the installation hole 44 is configured as a countersunk hole, and the countersunk hole forms a groove on the top surface of the fixing member 40 , and the groove can be used for placing a gasket when installing the read head assembly 20 .
  • the distance between the read head assembly 20 and the code disc assembly which generally adjusts the height of the read head assembly 20 by adding gaskets, so as to achieve the adjustment of the read head assembly 20 and the code disc assembly.
  • the purpose of component distance In order to prevent the gasket from shifting during or after installation, in this embodiment, the gasket can be placed in the groove to limit the location of the gasket.
  • the difference between the second flip-chip solution and the first flip-chip solution is that the fixing part 40 in the first flip-chip solution is a plate-shaped structure, and the fixing part 40 in the second flip-chip solution is a shell structure , and based on the difference in the structure of the two fixing parts 40, the connection structure between the corresponding fixing part 40 and the base 33 is different.
  • the fixing parts 40 in the two flip-chip solutions are connected to the base 33 of.
  • the third inversion scheme of the electromagnetic brake 30 is as follows:
  • FIG. 6 is a schematic structural diagram of a mechanical arm joint in another embodiment of the present application
  • FIG. 7 is an exploded view of the mechanical arm joint shown in FIG. 6 .
  • Connecting columns 43 , several connecting columns 43 are arranged around the center of the annular bottom plate 41 .
  • the annular bottom plate 41 is provided with several threaded holes
  • the base 33 is provided with several through holes
  • the annular bottom plate 41 and the base 33 are fixed through the through holes and the threaded holes successively by fastening screws.
  • fastening screws penetrate through holes and threaded holes sequentially from bottom to top, and after the annular bottom plate 41 and the base 33 are fixed, the electromagnetic brake 30 is connected with external parts through the connecting column 43 .
  • the external part is the shell of the mechanical arm joint, and may also be other structures of the mechanical arm joint.
  • the fourth inversion scheme of the electromagnetic brake 30 is as follows:
  • FIG. 8 is a schematic structural diagram of a mechanical arm joint in another embodiment of the present application
  • FIG. 9 is an exploded view of the mechanical arm joint shown in FIG. 8 .
  • the electromagnetic brake also includes a cover plate 32, and the fixing member 40 is arranged between the cover plate 32 and the motor stator 61, that is, the fixing member 40 is connected to the cover plate 32 instead of the fixing member 40 as in the above three solutions.
  • a limiting column 50 is arranged between the fixing member 40 and the base 33, and one end of the limiting column 50 is connected with the end face of the base 33 close to the cover plate 32, and the other end passes through the cover plate 32 and the fixing member 40 respectively, and the fixing member 40 is provided with The through hole is used for passing the fastener so as to connect the fixing member 40 with the cover plate 32 .
  • the fastener is a screw, and a threaded segment is arranged inside the limiting column 50 , and the screw is threadedly connected with the limiting column 50 after passing through the through hole from bottom to top.
  • the present embodiment uses the limit post
  • the end surface of the 50 protrudes from the end surface of the cover plate 32, so that the fastener will not be pressed and held on the surface of the cover plate 32.
  • the fixing part 40 is a plate-shaped structure, and the outer edge of the fixing part 40 protrudes from the outer edge of the cover plate 32 and is provided with a plurality of fourth connecting holes, through which the fixing part 40 is connected with the joint housing 10 .
  • the mechanical arm joint includes a motor 60 and the braking device for the mechanical arm joint described in the previous embodiments, the mechanical arm joint
  • the specific structure of the braking device refers to the above-mentioned embodiments. Since this mechanical arm joint adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the technical effects brought by the technical solutions of the above-mentioned embodiments, and will not be described here one by one. repeat.
  • the motor 60 includes a motor stator 61 and a motor shaft 62, and the motor shaft 62 passes through the reading head assembly 20, the fixing member 40 and the braking device for the joint of the mechanical arm.
  • FIG. 4 is a schematic structural diagram of the joint housing shown in FIG. 3 .
  • the joint shell 10 is provided with several screw connection holes 11 that cooperate with the fixing member 40 .
  • a plurality of screw connection holes 11 are provided on the joint housing 10, and a plurality of through holes are correspondingly provided on the fixing member 40. connect.
  • a mechanical arm further proposed by the present application includes the mechanical arm joint described above, and the mechanical arm joint includes the braking device for the mechanical arm joint described in the foregoing embodiments, the braking device for the mechanical arm joint
  • the mechanical arm since the mechanical arm adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the technical effects brought by the technical solutions of the above-mentioned embodiments, and will not repeat them here.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Braking Arrangements (AREA)
  • Manipulator (AREA)

Abstract

Dispositif de freinage pour une articulation de bras mécanique, articulation de bras mécanique et bras mécanique. L'articulation de bras mécanique comprend un ensemble tête de lecture (20). Le dispositif de freinage comprend un frein électromagnétique (30) et un élément de fixation (40) pour relier le frein électromagnétique (30) à un composant externe. Le frein électromagnétique (30) comprend une plaquette de frein (31) et une base (33) disposée à proximité de la plaquette de frein (31). La base (33) est pourvue d'un noyau de fer de freinage et d'une bobine. Une fois que la base (33) est reliée à l'élément de fixation (40), une surface d'extrémité de la base (33) à l'opposé de la plaquette de frein (31) fait face à l'ensemble tête de lecture (20).
PCT/CN2021/143391 2021-12-30 2021-12-30 Dispositif de freinage pour articulation de bras mécanique, articulation de bras mécanique et bras mécanique WO2023123289A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2021/143391 WO2023123289A1 (fr) 2021-12-30 2021-12-30 Dispositif de freinage pour articulation de bras mécanique, articulation de bras mécanique et bras mécanique
CN202180011958.9A CN115135468B (zh) 2021-12-30 2021-12-30 用于机械臂关节的制动装置、机械臂关节及机械臂

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/143391 WO2023123289A1 (fr) 2021-12-30 2021-12-30 Dispositif de freinage pour articulation de bras mécanique, articulation de bras mécanique et bras mécanique

Publications (1)

Publication Number Publication Date
WO2023123289A1 true WO2023123289A1 (fr) 2023-07-06

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Application Number Title Priority Date Filing Date
PCT/CN2021/143391 WO2023123289A1 (fr) 2021-12-30 2021-12-30 Dispositif de freinage pour articulation de bras mécanique, articulation de bras mécanique et bras mécanique

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CN (1) CN115135468B (fr)
WO (1) WO2023123289A1 (fr)

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CN204597710U (zh) * 2015-04-30 2015-08-26 苏州灵猴机器人有限公司 一种机械手外置电机刹车装置
CN106217405A (zh) * 2016-08-26 2016-12-14 苏州元谋智能机器人系统有限公司 一种协作机器人模块化串联关节
CN108223623A (zh) * 2018-02-27 2018-06-29 遨博（北京）智能科技有限公司 一种盘式电磁制动器及机器人关节
CN110561490A (zh) * 2019-07-30 2019-12-13 江苏开璇智能科技有限公司 一种内嵌电磁制动的机器人关节模组
JP2020205742A (ja) * 2019-06-14 2020-12-24 日本電産シンポ株式会社 回転アクチュエータおよびロボット
CN113618776A (zh) * 2021-08-26 2021-11-09 伯朗特机器人股份有限公司 一种新型协作机器人关节模组

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JP5696542B2 (ja) * 2011-03-17 2015-04-08 株式会社デンソーウェーブ 多関節ロボット
CN212825484U (zh) * 2020-05-26 2021-03-30 深圳市大象机器人科技有限公司 一种协作机器人关节传动结构
CN112008761B (zh) * 2020-08-27 2022-01-11 中科新松有限公司 具有制动检测功能的制动器模组及制动功能检测方法
CN112873267A (zh) * 2021-02-18 2021-06-01 上海节卡机器人科技有限公司 协作机器人一体化关节
CN113370196A (zh) * 2021-06-25 2021-09-10 成都航空职业技术学院 一种力控关节电机驱动模块

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Publication number Priority date Publication date Assignee Title
CN204597710U (zh) * 2015-04-30 2015-08-26 苏州灵猴机器人有限公司 一种机械手外置电机刹车装置
CN106217405A (zh) * 2016-08-26 2016-12-14 苏州元谋智能机器人系统有限公司 一种协作机器人模块化串联关节
CN108223623A (zh) * 2018-02-27 2018-06-29 遨博（北京）智能科技有限公司 一种盘式电磁制动器及机器人关节
JP2020205742A (ja) * 2019-06-14 2020-12-24 日本電産シンポ株式会社 回転アクチュエータおよびロボット
CN110561490A (zh) * 2019-07-30 2019-12-13 江苏开璇智能科技有限公司 一种内嵌电磁制动的机器人关节模组
CN113618776A (zh) * 2021-08-26 2021-11-09 伯朗特机器人股份有限公司 一种新型协作机器人关节模组

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