CN102371589B - Magnetic control type mechanical arm joint brake having outage self-locking function - Google Patents
Magnetic control type mechanical arm joint brake having outage self-locking function Download PDFInfo
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- CN102371589B CN102371589B CN 201010252582 CN201010252582A CN102371589B CN 102371589 B CN102371589 B CN 102371589B CN 201010252582 CN201010252582 CN 201010252582 CN 201010252582 A CN201010252582 A CN 201010252582A CN 102371589 B CN102371589 B CN 102371589B
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Abstract
The invention relates to a magnetic control type mechanical arm joint brake having an outage self-locking function, which comprises an inner-layer stator, an inner-layer rotor, an outer-layer rotor, an outer-layer stator and a fixing shaft, wherein the inner-layer rotor, the outer-layer rotor and the outer-layer stator are respectively provided with a plurality of permanent magnets; the fixing shaft simultaneously passes through the inner-layer stator, the inner-layer rotor, the outer-layer rotor and the outer-layer stator, thereby forming a coaxial configuration; and the inner-layer rotor rotates relative to the inner-layer stator for providing a power output of the brake. Accordingly, by utilizing a mutually attracted cogging effect of the permanent magnets of the outer-layer rotor and the outer-layer stator, the brake can be automatically switched to a high-cogging torque state during outage, thereby generating a higher locking power to lock the rotating state of the inner-layer rotor.
Description
Technical field
The present invention relates to a kind of robotic arm joint brake, relate in particular to a kind of magnet controlled robotic arm joint brake with the function of cutting off self-lock.
Background technology
In 1984, ISO/TC184/SC2/WG1 once defined robot: " but robot is the machinery of program, under automatically controlling, carries out the problem that comprises operation or shift action ".General industry has manipulator (manipulator) and memory storage per capita with machine, and memory storage can be variable order control device or permanent order control device.So, robot just can send signal by memory storage, so that the manipulator of robot is carried out various movements, rotation or the relevant action such as flexible.In addition, in 1994, in ISO8373 " industrial robot operation vocabulary ", illustrate that robot should comprise manipulator (manipulator), brake (actuator) and soft and hardware control system.
The research and development of robot core technology are the important development directions of the advanced countries such as Europe, the United States, day always.Past robot development is mainly industrial machine arm (industrial robot) and machine networked control systems, in recent years towards intellectuality and diversified development.The transmission mechanism of tradition anthropomorphic robot mostly be take motor as main, and the present practice has three, is respectively stepper motor, reductor and is combined with motor and the high torque (HT) brushless motor.
The kind of stepper motor is divided and can be divided into three kinds according to structure: permanent magnet (permanent magnet, PM), variable-reluctance (variable reluctance, VR) and combined type (hybrid).The rotor of permanent magnet stepper motor is to make with permanent magnet, and its characteristic is coil when excitatory, because rotor itself has magnetic, therefore still can produce holding torque.The rotor of variable-reluctance stepper motor is to be processed into high permeability material, because being utilizes stator coil to produce attraction rotor is rotated, and therefore can't holding torque when coil is not excitatory.In addition, because rotor can be raised the efficiency via design, therefore the variable-reluctance stepper motor can provide larger torque.The stepping angle of variable-reluctance stepper motor generally is 15 degree, usually apply to need to larger torque and pinpoint toolroom machine on.The combined type stepper motor structurally, is that the projection electrode of many gear-like is set in rotor periphery, axially also installs permanent magnet at it, can be considered the zoarium of permanent magnet and variable-reluctance, therefore title is the combined type stepper motor simultaneously.The combined type stepper motor has possessed the advantage of permanent magnet stepper motor and variable-reluctance stepper motor simultaneously, therefore possesses the characteristic of pinpoint accuracy and high torque (HT).The stepping angle of combined type stepper motor is less, generally between 1.8 degree～3.6 degree.Although adopt that stepper motor has that system architecture is simple, rotating speed and digital pulse wave frequency be directly proportional, control easily, without position feedback, price low (because of without position sensing apparatus), easily be combined with computer or digital machine and non-carbonate slip ring etc., reliability is high, life-span mainly is subject to the characteristics of bearing restriction, but also have efficiency low, easily under step-out, CF, easily produce under resonance and high capacity at a high speed or under high torque (HT) the shortcoming that reliability is poor.
Utilizing reductor to be combined with motor is framework the most general on robot application.General reductor must have minimum back clearance in very high axially reaching under radial load, high input speed can be converted to lower output speed and transmit large output torque.Reductor need easily be installed on motor, and keeps accurate contraposition, guarantees that the system noise and the vibration that produce are minimum.Generally speaking, this reductor is combined framework and is had the high torsion occasion of the low speed of being applicable to, motor and can design in high efficiency region, control easily with motor, can adopt simple and easy FEEDBACK CONTROL, easily with computer or digital machine, be combined and can apply brushless motor, the tool high reliability, life-span mainly is subject to the characteristics of bearing restriction, but the disappearance that adopts this framework has system architecture to be difficult for flat thinning, stationkeeping ability is limited to reducing gear, and mechanism often needs to safeguard, the system architecture complexity, reductor high expensive and external large factory grasp key technology.
Brushless motor adopts Nd-Fe-B magnet (NdFeB), has that volume is little, high power and a high torsion density feature, adds non-carbonate design, can reduce the advantages such as electromagnetic interference and system maintenance.But on robot application, especially under the high torque (HT) design premises, adopt that the disappearance of this framework has that required motor volume is excessive, electric current easily too high derivative problems of excessive heat and motor operations efficiency on the low side etc.
Summary of the invention
Technical problem to be solved by this invention is, a kind of magnet controlled robotic arm joint brake with the function of cutting off self-lock is provided, that utilizes that permanent magnet inhales mutually turns effect, provide described brake in high start and stop torque state, produce larger locking strength, and can be when outage, the described brake that automatically switches, in high start and stop torque state, produces larger locking strength to pin the rotary state of this internal layer mover.
In order to achieve the above object, the invention provides a kind of magnet controlled robotic arm joint brake with the function of cutting off self-lock, this brake comprises an internal layer stator, an internal layer mover, an outer mover, an outer stator and a fixed axis.This internal layer stator pack is the unshakable in one's determination and winding of winding on this iron core containing one.This internal layer mover is socketed on this internal layer stator outer diameter, and this internal layer mover is crisscross arranged and is formed by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material.This skin mover is socketed on this internal layer mover external diameter, and this skin mover is crisscross arranged and is formed by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material.This skin stator sleeve is connected to this internal layer mover external diameter, and splices with this skin mover, and this skin stator is crisscross arranged and is formed by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material.This fixed axis is arranged in this internal layer stator.
This brake also comprises an outer mover upper cover, an internal layer mover upper cover, an internal layer mover lower cover and an outer stator lower cover.Housing on this skin mover is should outer mover, and this skin mover upper cover top surface is provided with a U-shaped opening slot.This internal layer mover upper cover is covered in a side of this internal layer mover, and this internal layer mover upper cover top surface is provided with a projection.This internal layer mover lower cover is covered in the opposite side of this internal layer mover.This skin stator lower cover is should outer stator.Wherein, this projection of this internal layer mover upper cover wears this U-shaped opening slot of this skin mover upper cover, and rotates and drive this projection and rotate in this U-shaped opening slot by this internal layer mover, to determine the rotational travel of described brake.In addition, be covered with one first center drilling on this internal layer mover, be covered with one second center drilling under this internal layer mover.
This brake also comprises a clutch shaft bearing and one second bearing.This clutch shaft bearing build-in is in this first center drilling, and this fixed axis is located in this clutch shaft bearing.This second bearing build-in is in this second center drilling, and this fixed axis is located in this second bearing.
Whereby, effect of the present invention is, that utilizes that this skin mover and the plurality of permanent magnet of this skin stator inhale mutually turns effect, and can be when outage, automatically switch described brake in high start and stop torque state, produce larger locking strength to pin the rotary state of this internal layer mover.
Below in conjunction with the drawings and specific embodiments, describe the present invention, but not as a limitation of the invention.
The accompanying drawing explanation
The explosive view of the magnet controlled robotic arm joint brake of Fig. 1 the present invention one;
The profile of this magnet controlled robotic arm joint brake of Fig. 2 the present invention;
One outer mover of this magnet controlled robotic arm joint brake of Fig. 3 A the present invention is the constitutional diagram before not rotating with respect to an outer stator operation;
This skin mover of this magnet controlled robotic arm joint brake of Fig. 3 B the present invention is 7.5 constitutional diagrams while spending with respect to this skin stator operation in the anglec of rotation;
This skin mover of this magnet controlled robotic arm joint brake of Fig. 3 C the present invention is 15 constitutional diagrams while spending with respect to this skin stator operation in the anglec of rotation;
The oscillogram of pinning torque that produces after this skin mover rotation of this magnet controlled robotic arm joint brake of Fig. 3 D the present invention;
The constitutional diagram of this magnet controlled robotic arm joint brake of Fig. 4 the present invention;
This internal layer stator core pattern of this magnet controlled robotic arm joint brake of Fig. 5 A the present invention and the first embodiment of method for winding;
This internal layer stator core pattern of this magnet controlled robotic arm joint brake of Fig. 5 B the present invention and the second embodiment of method for winding; And
This internal layer stator core pattern of this magnet controlled robotic arm joint brake of Fig. 5 C the present invention and the 3rd embodiment of method for winding.
Wherein, Reference numeral
100 magnet controlled robotic arm joint brakes
10 internal layer stators
102 iron cores
104 windings
20 internal layer movers
202 internal layer mover upper covers
2022 projections
204 internal layer mover lower covers
206 clutch shaft bearings
208 second bearings
30 outer movers
302 outer mover upper covers
3022 U-shaped opening slots
40 outer stators
402 outer stator lower covers
50 fixed axis
θ curl angle
Cv1 the first curve
Cv2 the second curve
Cv3 the 3rd curve
The specific embodiment
Hereby, about the technical content and a detailed description, coordinate graphic being described as follows:
Refer to explosive view and profile that Fig. 1 and Fig. 2 are respectively the magnet controlled robotic arm joint brake of the present invention one.This magnet controlled robotic arm joint brake 100 mainly comprises an internal layer stator 10, internal layer mover 20, the outer stator 40 of outer mover 30, one and a fixed axis 50.
This internal layer stator 10 comprises an iron core 102 and the winding 104 of winding on this iron core.And this internal layer stator 10 is multipole winding stator structure.This internal layer mover 20 is socketed on this internal layer stator 10 external diameters, and by a plurality of N utmost point permanent magnets (not indicating), a plurality of S utmost point permanent magnet (not indicating), with a plurality of ferrous metal materials (not indicating), be crisscross arranged forms this internal layer mover 20.Wherein, being crisscross arranged of this internal layer mover 20 refers to sequentially repeated arrangement of each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material, that is, each this N utmost point permanent magnet and each this S utmost point permanent magnet, in abutting connection with this ferrous metal material, make the plurality of N utmost point permanent magnet, the plurality of S utmost point permanent magnet and the plurality of ferrous metal material form circular sequentially repeated arrangement.
This skin mover 30 is socketed on this internal layer mover 20 external diameters, and by a plurality of N utmost point permanent magnets (not indicating), a plurality of S utmost point permanent magnet (not indicating), with a plurality of ferrous metal materials (not indicating), be crisscross arranged forms this skin mover 30.Similarly, being crisscross arranged of this skin mover 30 refers to that each this N utmost point permanent magnet and each this S utmost point permanent magnet, in abutting connection with this ferrous metal material, make the plurality of N utmost point permanent magnet, the plurality of S utmost point permanent magnet and the plurality of ferrous metal material form circular sequentially repeated arrangement.This skin stator 40 is socketed on this internal layer mover 20 external diameters, and with this skin mover 30, splice, by a plurality of N utmost point permanent magnets (not indicating), a plurality of S utmost point permanent magnet (not indicating), with a plurality of ferrous metal materials (not indicating), be crisscross arranged forms this skin stator 40.Similarly, being crisscross arranged of this skin stator 40 refers to that each this N utmost point permanent magnet and each this S utmost point permanent magnet, in abutting connection with this ferrous metal material, make the plurality of N utmost point permanent magnet, the plurality of S utmost point permanent magnet and the plurality of ferrous metal material form circular sequentially repeated arrangement.This fixed axis 50 is arranged in this internal layer stator 10.Therefore, by the profile of this magnet controlled robotic arm joint brake of Fig. 2, can be found out significantly, this internal layer stator 10, this internal layer mover 20, this skin mover 30, this skin stator 40 are worn by this fixed axis 50 simultaneously and form arranged coaxial.
Cooperation is referring to the constitutional diagram of this magnet controlled robotic arm joint brake of Fig. 4 the present invention.This magnet controlled robotic arm joint brake 100 also comprises an outer mover upper cover 302, an internal layer mover upper cover 202, the outer stator lower cover 402 of an internal layer mover lower cover 204 and.This skin mover upper cover 302 covers are should outer mover 30, and these skin mover upper cover 302 end faces are provided with a U-shaped opening slot 3022.This internal layer mover upper cover 202 is covered in a side (according to the present embodiment, this internal layer mover upper cover 202 is covered in the direction of principal axis first half of this internal layer mover 20) of this internal layer mover 20, and these internal layer mover upper cover 202 end faces are provided with a projection 2022.This internal layer mover lower cover 204 is covered in the opposite side (with the present embodiment, this internal layer mover lower cover 204 is covered in the direction of principal axis Lower Half of this internal layer mover 20) of this internal layer mover 20.These skin stator lower cover 402 covers are should outer stator 40.Wherein, this projection 2022 of this internal layer mover upper cover 202 wears this U-shaped opening slot 3022 of this skin mover upper cover 302, and rotate and drive this projection 2022 in the interior rotation of this U-shaped opening slot 3022, to determine the rotational travel of described brake 100 by this internal layer mover 20.And, also by this projection 2022 of this internal layer mover upper cover 202 in the interior rotation of this U-shaped opening slot 3022, the power output of these magnet controlled robotic arm joint brake 100 reality is provided.In addition, the rotational travel of this brake 100 is how many, can be according to the demand elasticity adjustment of power accessory.And, can, by the relative displacement of this skin stator 40 and this skin mover 30, can limit the handoff angle of this skin stator 40 and this skin mover 30.By designing the accommodating groove of this internal layer mover, this skin stator and this skin mover, to increase the air gap flux density between this internal layer mover, this skin stator and this skin mover, and improve the torque capacity of this actuator.
In addition, this internal layer mover upper cover 202 is provided with one first center drilling (not indicating), and this internal layer mover lower cover 204 is provided with one second center drilling (not indicating).
This magnet controlled robotic arm joint brake 100 also comprises a clutch shaft bearing 206 and one second bearing 208.These clutch shaft bearing 206 build-ins are in this first center drilling of this internal layer mover upper cover 202, and this fixed axis 50 is located in this clutch shaft bearing 206.In addition, these the second bearing 208 build-ins are in this second center drilling of this internal layer mover lower cover 204, and this fixed axis 50 is located in this second bearing 208.
The more detailed action specification of this magnet controlled robotic arm joint brake 100, refer to hereinafter.Be located at these winding 104 energization excitations of this internal layer stator 10 by opposing connection, cut mutually in the magnetic field that winding 104 energization excitations of the plurality of N utmost point that this internal layer mover 20 is crisscross arranged, the magnetic field that S utmost point permanent magnet produces and this internal layer stator 10 produce, make this internal layer mover 20 rotate and drive this projection 2022 in the interior rotation of this U-shaped opening slot 3022, so that this magnet controlled robotic arm joint brake 100 can, to produce displacement, provide power output.
Refer to an outer mover that Fig. 3 A to Fig. 3 C is respectively this magnet controlled robotic arm joint brake of the present invention with respect to an outer stator operation before rotation not, to operate in the anglec of rotation be 7.5 while spending and to operate in the anglec of rotation be 15 constitutional diagrams while spending.The block action principle of this magnet controlled robotic arm joint brake of the present invention is that cut mutually in the plurality of N utmost point that is crisscross arranged of the plurality of N utmost point, S utmost point permanent magnet and this skin stator 40 that utilize this skin mover 30 to be crisscross arranged, the magnetic field that S utmost point permanent magnet produces, and makes this skin mover 30 this skin stator 40 motionless with respect to static determinacy produce an anglec of rotation θ.According to the present embodiment, Fig. 3 C means that this skin mover 30 rotates in a counter-clockwise direction 15 degree (this anglec of rotation θ=15 °), Fig. 3 B means that this skin mover 30 rotates in a counter-clockwise direction 7.5 degree (this anglec of rotation θ=7.5 °), and Fig. 3 A means that this skin mover 30 does not rotate (this anglec of rotation θ=0 °).
In addition, these skin mover upper cover 302 covers are should outer mover 30 is secured to one another with a plurality of pilot pins (position pin); These skin stator lower cover 402 covers are should outer stator 40 is also secured to one another with a plurality of pilot pins.The plurality of pilot pin of this skin mover upper cover 302 and this skin stator lower cover 402 also forms the use of sign, that is, when outer mover 30 does not rotate, the plurality of pilot pin of this skin mover upper cover 302 is to align with the plurality of pilot pin of this skin stator lower cover 402; Yet, when this skin mover 30 rotation, the plurality of pilot pin forms the dislocation state.
When the position of magnetic pole of this skin stator 40 and this skin mover 30 is identical, this skin stator 40 is closed state with the magnetic circuit that this skin mover 30 produces, produce larger pausing and turn (cogging) effect, so that utilize this characteristic to make this magnet controlled robotic arm joint brake 100 in high start and stop torque state, produce larger locking strength, to pin the rotary state of this internal layer mover 20, therefore can be under outage enduring high capacity.When this skin stator 40 is spent electrical angle with the position of magnetic pole skew 180 of this skin mover 30, (that is, this skin stator 40 and this skin mover 30 of for structure, being 24 utmost points, be 15 degree Space Angle), this skin stator 40 is semi-open state with the magnetic circuit that this skin mover 30 produces, produce less pausing and turn effect, making this magnet controlled robotic arm joint brake 100 is the low start and stop torque state, can present mobile controllable state.Under this mode of operation, as long as opposing connection is located at these winding 104 energization excitations of this internal layer stator 10, just can make this internal layer mover 20 rotate and drive this projection 2022 in the interior rotation of this U-shaped opening slot 3022, so that this magnet controlled robotic arm joint brake 100 can, to produce displacement, provide power output.
The oscillogram of institute's generation pinning torque after this skin mover rotation that cooperation is this magnet controlled robotic arm joint brake of the present invention referring to Fig. 3 D.In figure, abscissa represents this internal layer mover 20 anglecs of rotation, and ordinate represents the pinning level of torque that this skin mover produces, and three curves shown in figure represent that respectively this magnet controlled robotic arm joint brake 100 operates in not (the first curve C v1) before rotation, operates in the anglec of rotation is 7.5 while spending (the second curve C v2) and to operate in the anglec of rotation be the 15 pinning torque variation diagrams of (the 3rd curve C v3) while spending.By Fig. 3 D, can obviously be found out, when the position of magnetic pole of this skin stator 40 and this skin mover 30 is identical (this skin mover 30 operate in not rotation with respect to this skin stator 40 before), can know that by this first curve C v1 magnet controlled robotic arm joint brake 100 is in high start and stop torque state, and torque capacity can reach about 30 Newton meter (n.m.)s (N-m).Relatively, when the position of magnetic pole skew 180 degree electrical angle of this skin stator 40 and this skin mover 30 (it is 15 while spending that this skin mover 30 operates in the anglec of rotation with respect to this skin stator 40), can know that by the 3rd curve C v3 magnet controlled robotic arm joint brake 100 is in the low start and stop torque state, and torque capacity only reaches about 5 Newton meter (n.m.)s (N-m).In addition, if when the position of magnetic pole of this skin stator 40 and this skin mover 30 is offset between 0 degree to 180 degree electrical angle, with this example, to be 7.5 while spending for this skin mover 30 operates in the anglec of rotation with respect to this skin stator 40, can know that by this second curve C v2 magnet controlled robotic arm joint brake 100 is between high start and stop torque and low start and stop torque state, and torque capacity reaches about 20 Newton meter (n.m.)s (N-m).
Refer to Fig. 5 A to Fig. 5 C and be respectively this internal layer stator core pattern of this magnet controlled robotic arm joint brake of the present invention and three kinds of embodiment of method for winding.This internal layer stator 10 for this magnet controlled robotic arm joint brake 100 is designed to different patterns, so that feasible pattern unshakable in one's determination and method for winding to be provided.By the change of magnetic structure, to make up defect born on motor magnetic circuit and structure, make motor meet easy brake and high demand of pinning torque (holding torque) simultaneously.
In brief, this magnet controlled robotic arm joint brake 100 and organization's integration provided by the present invention, adopt with modularized design, and make this magnet controlled robotic arm joint brake 100 have the function of cutting off self-lock (auto-locking).When outage, pausing of inhaling mutually by these magnet controlled robotic arm joint brake 100 internal magnets turns (cogging) effect, make the robotic arm joint present locking-in state (holding status), be not subject to load effect to produce displacement, but whole these magnet controlled robotic arm joint brake 100 miniaturization ands and possess the demand of high self-locking torsion.
In sum, cording of the present invention has following advantage:
1, this brake has low speed superelevation torsion ability, can carry out the switching of high/low start and stop torque, during outage, can present stationary state because high start and stop torque makes this brake, but the power and energy saving effect;
But 2, this brake thinning design, without any reducing gear, effectively improve the long-pending and cost of traditional braking body, and, because of without reducing gear, so maintenance cost is lower;
3, during system cut-off, because this brake can automatically switch to the high torque mode of pinning, i.e. automatic locking, this can increase security of system and reliability is high;
4, can adopt simple and easy FEEDBACK CONTROL and can realize this brake is easily controlled.
Certainly; the present invention also can have other various embodiments; in the situation that do not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art are when making according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (10)
1. the magnet controlled robotic arm joint brake with the function of cutting off self-lock, is characterized in that, comprises:
One internal layer stator, comprise the unshakable in one's determination and winding of winding on this iron core;
One internal layer mover, be socketed on this internal layer stator outer diameter, and this internal layer mover is crisscross arranged and is formed by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material;
One outer mover, be socketed on this internal layer mover external diameter, and this skin mover is crisscross arranged and is formed by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material;
One outer stator, be socketed on this internal layer mover external diameter, and splice with this skin mover, and this skin stator is crisscross arranged and is formed by a plurality of N utmost point permanent magnets, a plurality of S utmost point permanent magnet and a plurality of ferrous metal material; And
One fixed axis, be arranged in this internal layer stator;
Whereby, that utilizes that this skin mover and the plurality of permanent magnet of this skin stator inhale mutually turns effect, and can be when outage, and the described brake that automatically switches, in high start and stop torque state, produces larger locking strength to pin the rotary state of this internal layer mover.
2. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, is characterized in that, this magnet controlled robotic arm joint brake also comprises:
One outer mover upper cover, cover is should outer mover, and this skin mover upper cover top surface is provided with a U-shaped opening slot;
One internal layer mover upper cover, be covered in a side of this internal layer mover, and this internal layer mover upper cover top surface is provided with a projection;
One internal layer mover lower cover, be covered in the opposite side of this internal layer mover; And
One outer stator lower cover, cover is should outer stator;
Wherein, this projection of this internal layer mover upper cover wears this U-shaped opening slot of this skin mover upper cover, and rotates and drive this projection and rotate in this U-shaped opening slot by this internal layer mover, to determine the rotational travel of described brake.
3. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, it is characterized in that, be covered with one first center drilling on this internal layer mover, and described magnet controlled robotic arm joint brake also comprises a clutch shaft bearing, this clutch shaft bearing build-in is in this first center drilling, and this fixed axis is located in this clutch shaft bearing.
4. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, it is characterized in that, be covered with one second center drilling under this internal layer mover, and described magnet controlled robotic arm joint brake also comprises one second bearing, this the second bearing build-in is in this second center drilling, and this fixed axis is located in this second bearing.
5. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, is characterized in that, this internal layer stator is multipole winding stator structure.
6. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, it is characterized in that being crisscross arranged as each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement sequentially of this internal layer mover.
7. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, it is characterized in that being crisscross arranged as each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement sequentially of this skin mover.
8. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, it is characterized in that being crisscross arranged as each this N utmost point permanent magnet, each this ferrous metal material, each this S utmost point permanent magnet and each this ferrous metal material repeated arrangement sequentially of this skin stator.
9. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, is characterized in that, by the relative displacement of this skin stator and this skin mover, can limit the handoff angle of this skin stator and this skin mover.
10. the magnet controlled robotic arm joint brake with the function of cutting off self-lock according to claim 1, it is characterized in that, by designing the accommodating groove of this internal layer mover, this skin stator and this skin mover, to increase the air gap flux density between this internal layer mover, this skin stator and this skin mover, and improve the torque capacity of this magnet controlled robotic arm joint brake.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010252582 CN102371589B (en) | 2010-08-13 | 2010-08-13 | Magnetic control type mechanical arm joint brake having outage self-locking function |
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| CN 201010252582 CN102371589B (en) | 2010-08-13 | 2010-08-13 | Magnetic control type mechanical arm joint brake having outage self-locking function |
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| CN108199527A (en) * | 2018-01-31 | 2018-06-22 | 湖北环电磁装备工程技术有限公司 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
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| DE102008004019A1 (en) * | 2007-01-31 | 2008-08-07 | Denso Corp., Kariya | Jochaufbau for the stator of a starter motor |
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| JP4250878B2 (en) * | 2001-08-08 | 2009-04-08 | パナソニック株式会社 | Vernier type brushless motor |
| JP4158024B2 (en) * | 2002-04-30 | 2008-10-01 | 株式会社富士通ゼネラル | Induction motor |
| US7999432B2 (en) * | 2007-08-17 | 2011-08-16 | Kura Laboratory Corporation | Field controllable rotating electric machine system with magnetic excitation part |
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| US5783893A (en) * | 1995-10-20 | 1998-07-21 | Newport News Shipbuilding And Dry Dock Company | Multiple stator, single shaft electric machine |
| CN101000446A (en) * | 2006-01-12 | 2007-07-18 | 尼司卡股份有限公司 | Magnet rotor and electromagnetically-driving device using the same, and optical apparatus with light quantity-control device |
| DE102008004019A1 (en) * | 2007-01-31 | 2008-08-07 | Denso Corp., Kariya | Jochaufbau for the stator of a starter motor |
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