WO2024055425A1 - Joint module of friction-type brake, and joint robot - Google Patents

Abstract

Disclosed in the present application are a joint module of a friction-type brake, and a joint robot. The joint module comprises: an electric motor assembly, which comprises a housing, an electric motor stator and an electric motor rotor, wherein the electric motor stator is mounted in the housing, the electric motor rotor is rotationally mounted on an inner peripheral side of the electric motor stator, a mounting groove is formed in the electric motor rotor, and an opening of the mounting groove faces an end wall of the housing; a brake assembly, which is mounted in the housing, the brake assembly comprising a brake pad and an electromagnetic assembly, wherein the brake pad is mounted in the mounting groove so as to rotate along with the electric motor rotor, and the electromagnetic assembly is mounted on one side of the brake pad in an axial direction and is used for attracting or releasing the brake pad; and a speed reducer, which is mounted at one end of the electric motor assembly, wherein the speed reducer is provided with an input shaft fixedly fitted to the electric motor rotor.

Description

Friction brake joint modules and joint robots

Related applications

This application claims priority to the Chinese patent application filed on September 16, 2022, with application number 202222462257.1 and titled "Joint Module and Joint Robot with Friction Brake", the full text of which is hereby incorporated by reference.

Technical field

The present application relates to the technical field of driving equipment, and in particular to a friction brake joint module and a joint robot.

Background technique

With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are receiving more and more attention and are used more and more widely. Among robot-related technologies, the control of robot joints and other moving parts is the most important and critical. In related art robot joint modules, the braking component is usually installed directly at the end of the motor rotor, that is, the braking component brakes the motor rotor from the end, and the structural strength of the end of the motor rotor is poor, which results in The motor rotor receives uneven force when it is braked, which affects the working life of the motor rotor and the stability of the braking process; and the braking component will also occupy the axial space of the joint module, which is not conducive to the axial size of the joint module. reduce.

Application content

The main purpose of this application is to propose a joint module of a friction brake, aiming to solve the technical problems of how to improve the working life of the motor rotor and the stability of the braking process and reduce the axial size of the joint module.

In order to achieve the above purpose, the joint module of the friction brake proposed in this application includes:

The motor assembly includes a housing, a motor stator and a motor rotor. The motor stator is installed in the housing, and the motor rotor is rotatably installed on the inner circumferential side of the motor stator; the motor rotor is formed with a mounting slot, so The notch of the mounting groove faces the end wall of the housing;

A brake assembly is installed in the housing. The brake assembly includes a brake pad and an electromagnetic assembly. The brake pad is installed in the installation slot to rotate with the motor rotor; the electromagnetic assembly is installed on The axially upward side of the brake pad is used to attract or release the brake pad;

A reducer is installed at one end of the motor assembly, the reducer has an input shaft, and the input shaft is fixedly matched with the motor rotor.

Optionally, the electromagnetic assembly includes a fixed base, an electromagnetic coil and a permanent magnet. The electromagnetic coil and the permanent magnet are installed on the fixed base. The permanent magnet is used to generate magnetic attraction to the brake pad. The electromagnetic coil is used to generate a magnetic field with a polarity opposite to that of the permanent magnet when energized, and the fixed seat has a friction surface opposite to the brake pad.

Optionally, the fixing seat is installed on the end wall of the housing, and the electromagnetic component partially extends into the installation groove.

Optionally, the fixing base is provided with a through hole, the end wall of the housing is provided with a fixing hole, and the through hole and the fixing hole are assembled through fasteners.

Optionally, the end wall of the housing is recessed with a positioning groove, and the fixing seat is partially located in the positioning groove.

Optionally, the fixed seat is installed on the end wall of the housing close to the reducer.

Optionally, an adjustment gasket is provided between the fixed seat and the end wall of the housing.

Optionally, the motor rotor includes a rotating shaft and a rotor magnet sleeved on the rotating shaft. The rotating shaft is formed with a mounting boss, and the mounting groove is formed by the mounting boss and the rotor magnet.

Optionally, the joint module further includes an electronic control component. An end of the housing facing away from the reducer is formed with a sinking groove, and the electronic control component is installed in the sinking groove.

Optionally, the motor rotor is configured as a hollow shaft, and an installation groove is formed between the outer circumferential wall of the input shaft and the inner circumferential wall of the motor rotor; the joint module also includes a clamping sleeve, which is embedded in the installation groove, the inner circumferential wall of the clamping sleeve abuts against the input shaft, and the outer circumferential wall of the clamping sleeve abuts against the motor rotor.

Optionally, a deformation gap is provided on the peripheral wall of the expansion sleeve, and the deformation gap extends along the axial direction of the expansion sleeve and penetrates both axial ends of the expansion sleeve; the deformation gap is This allows the expansion sleeve to undergo elastic deformation in the circumferential direction.

Optionally, in the natural state of the tightening sleeve, the ratio of the diameter of the deformation notch to the circumference of the tightening sleeve is 3% to 20%.

Optionally, the wall thickness of the clamping sleeve is 0.3mm to 6mm.

Optionally, the notch of the installation groove is away from the reducer, and the expansion sleeve is embedded in the installation groove from the notch of the installation groove.

Optionally, the width of the installation groove tapers from the part close to the notch to the part far away from the notch; the wall thickness of the expansion sleeve tapers from the part close to the notch of the installation groove to the part far away from the installation groove. The mouth is tapered.

Optionally, the inner peripheral wall of the motor rotor is also provided with an accommodating groove, the accommodating groove extends along the circumferential direction of the motor rotor and is connected with the notch of the mounting groove; the joint module also It includes a pressure ring installed in the accommodation groove, and the pressure ring presses and secures the expansion sleeve in the installation groove.

Optionally, the outer peripheral wall of the pressure ring and the inner peripheral wall of the motor rotor are threadedly engaged.

Optionally, the mounting groove is opened on the inner peripheral wall of the motor rotor.

Optionally, the tightening sleeve is configured as a stainless steel sleeve.

This application also proposes a joint robot, including a joint module. The joint module includes: a motor assembly, including a housing, a motor stator and a motor rotor. The motor stator is installed in the housing, and the motor rotor can The motor rotor is rotatably installed on the inner circumferential side of the motor stator; the motor rotor is formed with a mounting groove, and the notch of the mounting groove faces the end wall of the housing; a braking component is installed in the housing, and the brake assembly is installed in the housing. The dynamic assembly includes a brake pad and an electromagnetic assembly. The brake pad is installed in the mounting slot to rotate with the motor rotor; the electromagnetic assembly is installed on the axial side of the brake pad to rotate. The brake pad is attracted or released; a reducer is installed at one end of the motor assembly, the reducer has an input shaft, and the input shaft is fixedly matched with the motor rotor.

In the technical solution of the joint module of this application, a mounting groove is formed on the peripheral wall of the motor rotor, and then the brake pad of the braking assembly is installed in the mounting groove. When the brake pad is attracted by the electromagnetic component, it will be affected by the magnetic attraction and friction force. It stops rotating under the action of , so that the motor rotor stops together. Since the brake pad is installed in the mounting groove formed on the peripheral wall of the motor rotor, the braking force will also act on this position first. In this way, the end of the motor rotor can be avoided from being directly stressed, thereby making the braking process of the motor rotor more stressful. Uniform to improve the working life of the motor rotor and the stability of the braking process. In addition, installing the brake pads in the mounting groove instead of the end of the motor rotor can reduce the axial space occupied by the brake assembly in the joint module, thereby shortening the axial size of the joint module, thereby making the axis of the joint module Towards a more compact structure.

Description of drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without exerting creative efforts.

Figure 1 is a schematic cross-sectional view of an embodiment of the joint module of the present application;

Figure 2 is a cross-sectional exploded schematic diagram of an embodiment of the joint module of the present application;

Figure 3 is an exploded structural view of an embodiment of the joint module of the present application;

Figure 4 is an exploded cross-sectional view of the structure of an embodiment of the joint module of the present application;

Figure 5 is a schematic cross-sectional view of an embodiment of the joint module of the present application;

Figure 6 is a schematic structural diagram of an embodiment of the expansion sleeve in this application;

Figure 7 is a schematic projection view of an embodiment of the expansion sleeve in the present application.

Explanation of reference numbers:

label	name	label	name	label		name
10	Motor components	11	shell	12	Motor stator
13	Motor rotor	131	Mounting slot	twenty one	brake pads
twenty two	Fixed seat	twenty three	Electromagnetic coil	twenty four	Permanent magnets
111	Fixing hole	40	Electronic control components	131	shaft
132	Rotor magnet	30	reducer	31	Input shaft
32	Assembly slot	60	expansion sleeve	121	accommodating tank
50	pressure ring	51	Cooperation Department	52	Crimping part
521	Bayonet	61	Deformation notch	​	​

The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It should be noted that if there are directional instructions (such as up, down, left, right, front, back...) in the embodiments of the present application, the directional instructions are only used to explain the position of a certain posture (as shown in the accompanying drawings). The relative positional relationship, movement conditions, etc. between the components under the display). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving “first”, “second”, etc. in the embodiments of this application, the descriptions of “first”, “second”, etc. are only for descriptive purposes and shall not be understood as indications or implications. Its relative importance or implicit indication of the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the entire text is to include three parallel solutions, taking "A and/or B as an example", including solution A, or solution B, or a solution that satisfies both A and B at the same time. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist. , nor is it within the scope of protection required by this application.

This application proposes a friction brake joint module, which is applied to joint robots.

In the embodiment of the present application, as shown in Figures 1 and 2, the joint module includes: a motor assembly 10, including a housing 11, a motor stator 12 and a motor rotor 13. The motor stator 12 is installed in the housing 11. , the motor rotor 13 is rotatably installed on the inner circumferential side of the motor stator 12; the motor rotor 13 is formed with a mounting groove 131, and the notch of the mounting groove 131 faces the end wall of the housing 11; brake The brake assembly is installed in the housing 11. The brake assembly includes a brake pad 21 and an electromagnetic assembly. The brake pad 21 is installed in the installation slot 131 to rotate with the motor rotor 13; the electromagnetic assembly The assembly is installed on the axial side of the brake pad 21 to attract or release the brake pad 21; the reducer 30 is installed on one end of the motor assembly 10, and the reducer 30 has Input shaft, the input shaft is fixedly matched with the motor rotor 13 .

The housing 11 is arranged in a cylindrical shape with openings at both ends. The motor stator 12 is fixedly installed in the housing 11 , and the motor rotor 13 can rotate with the housing 11 through bearings. Therefore, the motor rotor 13 can be rotated relative to the motor stator 12 through the phenomenon of electromagnetic induction. The reducer 30 is used to adjust the motor rotor 13 to a preset rotation speed before outputting work. Specifically, the reducer 30 also has an output wheel, and the input shaft is fixedly matched with the motor rotor 13 and differentially matched with the output wheel, so that the rotation speed of the output wheel can be controlled at a preset value to meet the output requirements. The input shaft is plugged into the motor rotor 13 to rotate synchronously with the motor rotor 13 .

The braking assembly is used to brake the motor rotor 13 to stop the output power of the reducer 30 . The electromagnetic component is used to attract or release the brake pad 21 by controlling the magnetic force. When the electromagnetic component generates magnetic force, the brake pad 21 will move or deform toward the electromagnetic component. Finally, the brake pad 21 will come into contact with the electromagnetic component, thereby causing friction through friction. Torque is generated to cause the motor rotor 13 to stop, so as to realize braking of the motor rotor 13 . When the electromagnetic component loses its magnetic force, the brake pad 21 will be released, so that the brake pad 21 can rotate normally with the motor rotor 13 . It can be understood that the stalling process of the motor rotor 13 is caused by receiving torque that is opposite to its rotation direction, rather than receiving axial pressure or radial pressure. Therefore, the stalling process of the motor rotor 13 can be made more stable.

The mounting groove 131 can be formed in the part of the electronic rotor surrounded by the motor stator 12, so that the direct force-receiving position of the motor rotor 13 when being braked can be closer to the direct force-receiving position of being driven, so that the motor rotor 13 can be controlled. The force received during movement is more even. The brake pad 21 may be arranged in an annular shape, so the mounting groove 131 also extends correspondingly along the circumferential direction of the motor rotor 13 .

In the technical solution of the joint module of this application, a mounting groove 131 is formed on the peripheral wall of the motor rotor 13, and the brake pad 21 of the braking assembly is installed in the mounting groove 131. When the brake pad 21 is attracted by the electromagnetic assembly, it will The rotation stops under the action of magnetic attraction and friction, so that the motor rotor 13 stops together. Since the brake pad 21 is installed in the mounting groove 131 formed on the peripheral wall of the motor rotor 13, the braking force will first act on this position. In this way, the end of the motor rotor 13 can be prevented from being directly stressed, thereby reducing the braking force of the motor rotor 13. The force during the dynamic process is more uniform, so as to improve the working life of the motor rotor 13 and the stability of the braking process. In addition, installing the brake pad 21 in the mounting groove 131 instead of the end of the motor rotor 13 can reduce the axial space occupied by the brake assembly in the joint module, thereby shortening the axial size of the joint module, thereby making the joint module The axial structure of the group is more compact.

The electromagnetic component is used to control the magnetic field through electric current. Specifically, it can generate a magnetic field when the power is on or when the power is off, which is not limited here. Exemplarily, the electromagnetic assembly includes a fixed base 22, an electromagnetic coil 23 and a permanent magnet 24. The electromagnetic coil 23 and the permanent magnet 24 are installed on the fixed base 22. The permanent magnet 24 is used to brake the brake. The piece 21 generates magnetic attraction, and the electromagnetic coil 23 is used to generate a magnetic field with an opposite polarity to the permanent magnet 24 when energized. The fixed seat 22 has a friction surface opposite to the brake pad 21 .

The fixed base 22 is arranged in an annular shape corresponding to the brake pad 21. The electromagnetic coil 23 and the permanent magnet 24 are both arranged in an annular shape corresponding to the fixed base 22. The permanent magnet 24 can generate magnetic attraction to the brake pad 21, so as to The brake pad 21 is moved or deformed toward the fixed base 22 . The material of the brake pad 21 is not specifically limited, as long as it can be magnetically attracted by the permanent magnet 24 . When the electromagnetic coil 23 is energized, it will generate a magnetic field with the opposite polarity to that of the permanent magnet 24. This magnetic field will reduce the magnetic field of the permanent magnet 24, thereby weakening the magnetic attraction of the permanent magnet 24 to the brake pad 21. At this time, the holder 22 will loosen Brake pads 21.

That is to say, during the operation of the motor rotor 13, if the electromagnetic coil 23 is kept energized, the brake pad 21 will not be affected by the magnetic attraction of the permanent magnet 24, that is, the brake pad 21 will not be attracted and rubbed by the fixed seat 22. , at this time the brake pad 21 rotates normally with the motor rotor 13; if the electromagnetic coil 23 is powered off, the electromagnetic coil 23 will not generate a magnetic field, the magnetic field of the permanent magnet 24 will not be affected, and the magnetic attraction of the permanent magnet 24 to the brake pad 21 will Recovery, at this time the brake pad 21 will move or deform towards the fixed seat 22, and finally the brake pad 21 will come into contact with the friction surface, thereby generating torque through friction and causing the motor rotor 13 to stop, so as to brake the motor rotor 13. .

When it is necessary to control the operation of the joint module, the motor stator 12 and the brake assembly can be powered together. At this time, the electromagnetic assembly releases the brake pad 21 and the motor rotor 13 rotates. When it is necessary to control the joint module to stop, the motor stator 12 and the brake assembly can be powered off together. At this time, the motor rotor 13 loses the driving force, and the brake pad 21 will also be attracted by the electromagnetic assembly, so that the motor rotor 13 can be more stable. Stop quickly.

Exemplarily, as shown in Figure 2, the motor rotor 13 includes a rotating shaft 131 and a rotor magnet 132 sleeved on the rotating shaft 131. The rotating shaft 131 is formed with a mounting boss, and the mounting groove 131 is formed by the mounting boss. The boss and the rotor magnet 132 are enclosed and formed. When the motor stator 12 is powered on, the rotor magnet 132 will start to rotate under the influence of the magnetic field of the motor stator 12, thereby driving the rotating shaft 131 to rotate together. The mounting slot 131 is formed by the mounting boss of the rotating shaft 131 and the rotor magnet 132, so that the brake pad 21 installed in the mounting slot 131 can be closer to the rotor magnet 132, that is, the position where the rotor is subject to the braking force is the same as the position where the rotor is driven by the rotor magnet 132. The positions are closer, thus improving braking sensitivity.

The fixing base 22 can be fixed through the peripheral wall of the housing 11 or through the end wall of the housing 11, which is not limited here. For example, as shown in FIG. 2 , the fixing base 22 is installed on the end wall of the housing 11 , and the electromagnetic component partially extends into the installation groove 131 . Installing the fixing base 22 on the end wall of the housing 11 can simplify the installation of the electromagnetic component in the housing 11 , and extending the electromagnetic component partially into the installation groove 131 can make the internal structure of the motor component 10 more compact.

The fixing base 22 and the end wall of the housing 11 can be fixed by bonding or other methods. For example, as shown in FIG. 2 , the fixing base 22 is provided with a through hole, and the end wall of the housing 11 is provided with a fixing hole 111 . The through hole and the fixing hole 111 are assembled through fasteners. The number of via holes can be multiple and spaced along the circumferential direction of the fixing base 22. The number and position of the fixing holes 111 correspond to the via holes. In this way, the fixing positions of the fixing base 22 and the end wall of the housing 11 can be increased to improve The fixing strength of the fixing base 22 and the end wall of the housing 11.

Exemplarily, the end wall of the housing 11 is recessed with a positioning groove, and the fixing base 22 is partially located in the positioning groove. The positioning groove can pre-fix the fixing base 22, thereby preventing the fixing base 22 from being displaced when the fixing base 22 is formally assembled.

The fixed base 22 can be installed on the same end wall as the reducer 30, or can be installed on different end walls. For example, as shown in FIG. 1 , the fixed seat 22 is installed on the end wall of the housing 11 close to the reducer 30 .

Exemplarily, an adjustment gasket is provided between the fixed seat 22 and the end wall of the housing 11 . The adjustment shim is used to adjust the distance between the fixed seat 22 and the brake pad 21. The thicker the adjustment shim, the smaller the distance between the fixed seat 22 and the brake pad 21; the thinner the adjustment shim, the smaller the distance between the fixed seat 22 and the brake pad 21. The larger the spacing between the brake pads 21 is. Therefore, by selecting an adjustment shim of appropriate specifications, the distance between the fixed seat 22 and the brake pad 21 can be controlled within an optimal range, thereby ensuring that the fixed seat 22 can effectively engage or release the brake pad 21.

Exemplarily, the joint module further includes an electronic control assembly 40. An end of the housing 11 facing away from the reducer 30 is formed with a sinking groove, and the electronic control assembly 40 is installed in the sinking groove. The electronic control component 40 is electrically connected to the motor stator 12 and the electromagnetic component to control the motor component 10 and the braking component. The electronic control assembly 40 and the reducer 30 are respectively installed at both ends of the motor assembly 10. Installing the electronic control assembly 40 in the sink can further shorten the overall axial size of the joint module, thereby increasing the overall axial size of the joint module. The structure is more compact.

As shown in Figures 3 to 5, Figure 3 is a structural exploded view of an embodiment of the joint module of the present application; Figure 4 is a structural exploded cross-sectional view of an embodiment of the joint module of the present application; Figure 5 is a structural exploded view of the joint module of the present application. Schematic cross-sectional view of an embodiment.

The motor rotor 13 is configured as a hollow shaft, and an assembly groove 32 is formed between the outer peripheral wall of the input shaft 31 and the inner peripheral wall of the motor rotor 13; the joint module also includes an expansion sleeve 60. The tightening sleeve 60 is embedded in the assembly groove 32 , the inner peripheral wall of the tightening sleeve 60 is in contact with the input shaft 31 , and the outer peripheral wall of the tightening sleeve 60 is in contact with the motor rotor 13 .

The housing 11 is arranged in a cylindrical shape with openings at both ends. The motor stator is fixedly installed in the housing 11. The motor rotor 13 can rotate with the housing 11 through bearings, so that the motor rotor 13 can rotate relative to the motor stator through electromagnetic induction. The reducer 20 is used to adjust the motor rotor 13 to a preset rotation speed before outputting work. Specifically, the reducer 20 has an input shaft 31 and an output shaft. The input shaft 31 is fixedly matched with the motor rotor 13 and differentially matched with the output shaft, so that the rotation speed of the output shaft can be controlled at a preset value to meet the output requirements. . The input shaft 31 is plugged into the motor rotor 13 to rotate synchronously with the motor rotor 13 . The assembly groove 32 can be provided on the inner peripheral wall of the motor rotor 13 or on the outer peripheral wall of the input shaft 31 . There is no restriction here, as long as the assembly groove 32 extends along the circumferential direction of the input shaft 31 .

The expansion sleeve 60 is installed in the assembly groove 32. When the motor rotor 13 and the input shaft 31 rotate, if the axis center of the motor rotor 13 and the input shaft 31 are offset, a certain part of the expansion sleeve 60 will be squeezed. The force will increase. At this time, the expansion sleeve 60 can adapt to the change of the extrusion force through elastic deformation to exert corresponding reaction force on the motor rotor 13 and the input shaft 31, thereby adjusting the relative position of the motor rotor 13 and the input shaft 31. , to improve the coaxiality between the motor rotor 13 and the input shaft 31, thereby avoiding vibration when the input shaft 31 rotates, thereby improving the working stability of the joint module.

Specifically, the expansion sleeve 60 is configured as a stainless steel sleeve, but of course it can also be an iron or copper or other metal sleeve. The stainless steel sleeve can improve the structural strength of the expansion sleeve 60 to ensure the strength of the reaction force on the motor rotor 13 and the input shaft 31, thereby improving the working stability of the expansion sleeve 60.

In the technical solution of the joint module of this application, the expansion sleeve 60 is provided at the mating portion 51 of the motor rotor 13 and the input shaft 31 of the reducer 20, so that the expansion sleeve 60 can effectively compensate for the friction between the motor rotor 13 and the input shaft 31. The matching error can effectively improve the coaxiality between the motor rotor 13 and the input shaft 31 to improve the working stability of the joint module.

The tightening sleeve 60 can be a complete annular sleeve or a C-shaped sleeve with an opening, which is not limited here. For example, as shown in Figure 6, Figure 6 is a schematic structural diagram of an embodiment of the expansion sleeve 60 in the present application. A deformation notch 61 is provided on the peripheral wall of the expansion sleeve 60. The deformation notch 61 extends along the axial direction of the expansion sleeve 60 and penetrates both axial ends of the expansion sleeve 60; the deformation notch 61 61 is used to allow the expansion sleeve 60 to elastically deform in the circumferential direction. Since the deformation notch 61 is provided, the projection of the expansion sleeve 60 is arranged in a C shape. When installing the expansion sleeve 60, the expansion sleeve 60 can be squeezed in the radial or circumferential direction to elastically deform the expansion sleeve 60 to temporarily reduce the radial size of the expansion sleeve 60; The sleeve 60 can be put into the assembly groove 32 more easily and smoothly. After being put into the assembly groove 32, the expansion sleeve 60 will undergo elastic recovery deformation. The radial size of the expansion sleeve 60 that undergoes elastic recovery deformation will increase, thereby making the expansion The tight sleeve 60 is tightly fitted to the groove wall of the assembly groove 32 . It can be understood that the minimum radial size of the expansion sleeve 60 after being compressed should be greater than the outer diameter of the input shaft 31 and smaller than the inner diameter of the output shaft. The size of the expansion sleeve 60 in its natural state should be greater than or equal to the inner diameter of the input shaft 31. In this way, it is ensured that the expansion sleeve 60 can be loaded into the assembly groove 32 while being compressed, and can be tightly fitted into the groove wall of the assembly groove 32 after elastic recovery.

Illustratively, as shown in Figure 7, Figure 7 is a schematic projection view of an embodiment of the expansion sleeve 60 in the present application. In the natural state of the tightening sleeve 60, the ratio of the diameter d of the deformation notch 61 to the circumference of the tightening sleeve 60 is 3% to 20%, for example, it can be 3%, 5%, 10%, 15%, 20%. If the ratio of the diameter d of the deformation notch 61 to the circumference D of the expansion sleeve 60 is less than 3%, the radial size of the expansion sleeve 60 can be reduced to a small extent, making it difficult to ensure that it can smoothly enter the assembly groove 32 after being compressed; If the ratio of the diameter d of the deformation notch 61 to the circumference D of the expansion sleeve 60 is greater than 20%, the matching area between the expansion sleeve 60 and the assembly groove 32 is too small, and the input shaft 31 and the motor rotor 13 cannot be squeezed. Effect; therefore, setting the ratio of the diameter d of the deformation notch 61 to the circumference D of the expansion sleeve 60 to 3% to 20% can not only reduce the installation difficulty of the expansion sleeve 60, but also improve the input shaft of the expansion sleeve 60. 31 and the extrusion effect of the motor rotor 13.

For example, as shown in Figure 7, the wall thickness T of the clamping sleeve 60 is 0.3mm to 6mm, for example, it can be 0.3mm, 0.5mm, 1mm, 2mm, 3mm, 4mm, 5mm, or 6mm. If the wall thickness T of the expansion sleeve 60 is less than 0.3mm, the squeezing effect on the input shaft 31 and the motor rotor 13 will not be obvious; if the wall thickness T of the expansion sleeve 60 is greater than 6mm, the force required for elastic deformation will be relatively large. It is large and difficult to install; therefore, setting the wall thickness T of the expansion sleeve 60 to 0.3mm to 6mm can not only reduce the installation difficulty of the expansion sleeve 60, but also improve the connection between the expansion sleeve 60 and the input shaft 31 and the motor rotor. 13 extrusion effect.

The assembly groove 32 may be located at an end of the input shaft 31 close to the reducer 20 , or may be located at an end of the input shaft 31 away from the reducer 20 . The assembly groove 32 may be formed in the motor rotor 13 or the input shaft 31 , or may be partially formed in the motor rotor 13 and partially formed in the input shaft 31 . For example, the notch of the assembly groove 32 is away from the reducer 20 , and the expansion sleeve 60 is embedded in the assembly groove 32 from the notch of the assembly groove 32 . In this way, after the joint installation of the reducer 20 and the motor assembly 10 is completed, the expansion sleeve 60 can be installed from the end of the motor assembly 10 away from the reducer 20 , thereby simplifying the installation process of the expansion sleeve 60 and improving the performance of the expansion sleeve 60 installation efficiency. Specifically, the assembly groove 32 is opened in the inner peripheral wall of the motor rotor 13 to reduce cutting of the input shaft 31 and thereby ensure the structural strength of the input shaft 31 .

For example, as shown in FIG. 4 , the width of the assembly groove 32 tapers from the part close to the notch to the part far away from the notch; the wall thickness of the expansion sleeve 60 decreases from the part close to the notch of the assembly groove 32 . The portion is tapered toward the portion away from the notch of the mounting groove 32 . On the axial cross-section of the joint module, the assembly groove 32 and the expansion sleeve 60 are both tapered, and the width of the groove is larger. In this way, the expansion sleeve 60 can be easily inserted into the assembly groove 32 and the effective mating area between the expansion sleeve 60 and the assembly groove 32 can be ensured.

For example, as shown in Figures 3 and 5, the inner peripheral wall of the motor rotor 13 is also provided with an accommodating groove 121. The accommodating groove 121 extends along the circumferential direction of the motor rotor 13 and is connected with the motor rotor 13. The slots of the assembly groove 32 are connected; the joint module also includes a pressure ring 50 installed in the accommodation groove 121 , and the pressure ring 50 presses the expansion sleeve 60 into the assembly groove 32 . The accommodating groove 121 is located on the side of the assembly groove 32 away from the reducer 20, and the accommodating groove 121 is adjacent to the assembly groove 32 in a step shape. After the pressure ring 50 is installed in the accommodating groove 121, it will be pressed against the expansion sleeve 60 and close to the assembly. One end of the notch of the groove 32 is used to press the expansion sleeve 60 in the assembly groove 32 , thereby improving the installation stability of the expansion sleeve 60 in the assembly groove 32 .

The pressure ring 50 and the accommodating groove 121 can be fitted through an interference fit or through a fastener, which is not limited here. Exemplarily, the outer peripheral wall of the pressure ring 50 and the inner peripheral wall of the motor rotor 13 are threadedly engaged. Specifically, the pressing ring 50 may include a crimping part 52 and a fitting part 51 connected to the outer periphery of the crimping part 52. The outer peripheral wall of the fitting part 51 is provided with external threads, and the groove wall of the assembly groove 32 is provided with internal threads. 51 is threaded with the assembly groove 32, so that the entire pressure ring 50 can gradually approach the expansion sleeve 60 through spiral advancement. In the process of approaching the expansion sleeve 60, the crimping portion 52 will gradually press the expansion sleeve 60. After the pressing ring 50 is installed in place, the pressing portion 52 can also press the expansion sleeve 60 synchronously. In this way, the installation process of the pressure ring 50 can be simplified, and the force during the pressure-joining process of the expansion sleeve 60 can be uniform, preventing the crimping force from being concentrated on a single position of the expansion sleeve 60, so as to improve the pressure on the expansion sleeve 60. solid stability. A bayonet 521 can be provided on the inner periphery of the crimping portion 52 to facilitate tool engagement to apply torque.

This application also proposes an articulated robot. The articulated robot includes a joint module. The specific structure of the joint module refers to the above-mentioned embodiments. Since this joint robot adopts all the technical solutions of all the above-mentioned embodiments, it at least has the characteristics of the above-mentioned embodiments. All the beneficial effects brought by the technical solutions will not be repeated here.

The above are only optional embodiments of the present application, and are not intended to limit the patent scope of the present application. Under the inventive concept of the present application, any equivalent structural transformation made by using the contents of the description and drawings of the present application, or direct/indirect Application in other related technical fields is included in the scope of patent protection of this application.

Claims (20)

1. A friction brake joint module, which includes:

   The motor assembly includes a housing, a motor stator and a motor rotor. The motor stator is installed in the housing, and the motor rotor is rotatably installed on the inner circumferential side of the motor stator; the motor rotor is formed with a mounting slot, so The notch of the mounting groove faces the end wall of the housing;

   A brake assembly is installed in the housing. The brake assembly includes a brake pad and an electromagnetic assembly. The brake pad is installed in the installation slot to rotate with the motor rotor; the electromagnetic assembly is installed on The axially upward side of the brake pad is used to attract or release the brake pad;

   A reducer is installed at one end of the motor assembly, the reducer has an input shaft, and the input shaft is fixedly matched with the motor rotor.
2. The joint module of the friction brake according to claim 1, wherein the electromagnetic assembly includes a fixed base, an electromagnetic coil and a permanent magnet, the electromagnetic coil and the permanent magnet are installed on the fixed base, and the permanent magnet is To generate magnetic attraction to the brake pad, the electromagnetic coil is used to generate a magnetic field with a polarity opposite to that of the permanent magnet when energized, and the fixed base has a friction surface opposite to the brake pad.
3. The friction brake joint module of claim 2, wherein the fixing seat is installed on the end wall of the housing, and the electromagnetic component partially extends into the installation groove.
4. The friction brake joint module of claim 3, wherein the fixing seat is provided with a through hole, the end wall of the housing is provided with a fixing hole, and the through hole and the fixing hole are connected by fasteners. assembly.
5. The friction brake joint module of claim 3, wherein a positioning groove is recessed in the end wall of the housing, and the fixed seat is partially located in the positioning groove.
6. The friction brake joint module of claim 3, wherein the fixed seat is installed on an end wall of the housing close to the reducer.
7. The friction brake joint module of claim 3, wherein an adjustment washer is provided between the fixed seat and the end wall of the housing.
8. The friction brake joint module of claim 1, wherein the motor rotor includes a rotating shaft and a rotor magnet sleeved on the rotating shaft, the rotating shaft is formed with a mounting boss, and the mounting groove is formed by the The mounting boss is formed by enclosing the rotor magnet.
9. The joint module of the friction brake according to claim 1, wherein the joint module further includes an electronic control component, a sinking groove is formed on one end of the housing away from the reducer, and the electronic control component is installed on The sinking tank.
10. The friction brake joint module of claim 1, wherein the motor rotor is configured as a hollow shaft, and a mounting groove is formed between the outer peripheral wall of the input shaft and the inner peripheral wall of the motor rotor; The joint module also includes an expansion sleeve, which is embedded in the installation groove. The inner peripheral wall of the expansion sleeve is in contact with the input shaft, and the outer peripheral wall of the expansion sleeve is in contact with the input shaft. The motor rotor.
11. The joint module using a single expansion sleeve to connect the motor and the reducer as claimed in claim 10, wherein the peripheral wall of the expansion sleeve is provided with a deformation gap, and the deformation gap extends along the axial direction of the expansion sleeve, And penetrates both ends of the expansion sleeve in the axial direction; the deformation notch is used for elastic deformation of the expansion sleeve in the circumferential direction.
12. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 10, wherein in the natural state of the expansion sleeve, the ratio of the diameter of the deformation gap to the circumference of the expansion sleeve is is 3% to 20%.
13. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 10, wherein the wall thickness of the expansion sleeve is 0.3 mm to 6 mm.
14. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 10, wherein the notch of the mounting groove faces away from the reducer, and the expansion sleeve extends from the notch of the mounting groove. Embed into the mounting slot.
15. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 14, wherein the width of the installation groove gradually shrinks from the part close to the notch to the part far away from the notch; The wall thickness tapers from a portion close to the notch of the mounting groove to a portion far away from the notch of the mounting groove.
16. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 14, wherein the inner peripheral wall of the motor rotor is also provided with an accommodating groove, and the accommodating groove is along the circumferential direction of the motor rotor. Extends and communicates with the notch of the installation groove; the joint module also includes a pressure ring installed in the accommodation groove, and the pressure ring presses and secures the expansion sleeve in the installation groove.
17. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 16, wherein the outer peripheral wall of the pressure ring and the inner peripheral wall of the motor rotor are threaded.
18. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 14, wherein the mounting groove is opened on the inner peripheral wall of the motor rotor.
19. The joint module using a single expansion sleeve to connect a motor and a reducer as claimed in claim 14, wherein the expansion sleeve is a stainless steel sleeve.
20. An articulated robot, which includes a joint module of the friction brake according to claim 1.

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