CN110815288A - Brake device of robot arm - Google Patents
Brake device of robot arm Download PDFInfo
- Publication number
- CN110815288A CN110815288A CN201810900925.XA CN201810900925A CN110815288A CN 110815288 A CN110815288 A CN 110815288A CN 201810900925 A CN201810900925 A CN 201810900925A CN 110815288 A CN110815288 A CN 110815288A
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- Prior art keywords
- gear
- robot arm
- ratchet wheel
- teeth
- ring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a brake device of a machine arm, which is characterized in that a combination plate is released during braking, the combination plate resists the elasticity of a return spring and slides along a guide pin, a combination block is carried by the combination plate to be close to a ratchet wheel, the combination block is firstly contacted with a lower-layer tooth system, the rotating speed of the ratchet wheel is reduced, the combination block is clamped into a large-interval double-layer tooth system and is continuously reduced to a low speed, and then the peripheral tooth systems at dense intervals of the ratchet wheel are meshed with a gear tooth system of the combination plate, so that the machine arm is stopped.
Description
Technical Field
The present invention relates to a robot arm, and more particularly, to a brake device for preventing the robot arm from moving when a motor stops rotating.
Background
The factory automation utilizes the robotic arm to snatch the work piece automatically, and the continuous round trip movement is assembled manufacturing to improve the efficiency of production. The back and forth moving robot arm needs to rely on a stable and effective brake device to stop the robot arm at a predetermined position for operation besides the driving module for providing power.
In the prior art, U.S. Pat. No. US8410732 uses a motor to rotate the rotating shaft of the robot arm, and a brake device is provided to fix a friction ring on the rotating shaft, the friction ring is covered with a ratchet wheel. And an electromagnetic valve clutch ratchet wheel is additionally arranged to stop the ratchet wheel from rotating so as to brake the motor to rotate and further stop the movement of the robot arm. However, the ratchet wheel of the brake device in the prior art is directly fixed on the rotating shaft and is too close to the rotating shaft, the brake torque generated by the electromagnetic valve and the ratchet wheel is small, the interval between the convex teeth of the ratchet wheel is large, the free moving angle of the robot arm after braking is large, and the robot arm cannot be stably and effectively stopped at a preset position.
As shown in fig. 6, in the chinese patent CN105626722 in the prior art, the driving module 1 sleeves the central hole of the braking device 2 on the rotating shaft 4 of the motor 3, and the fixed ratchet 5 rotates with the rotating shaft 4 at the rotating shaft 4. When the driving module 1 of the robot arm starts braking, the control electromagnetic valve 6 retracts to enable the actuating rod 7 to release the control panel 8, the return spring 9 pushes the combination plate 10 to move towards the ratchet wheel 5 along the guide pin 11, the combination pin 12 carried by the combination plate 10 invades into the rotation path of the ratchet wheel 5, the combination pin 12 is combined with the ratchet wheel 5, the rotation power of the rotating shaft 4 is transmitted to the combination pin 12 from the ratchet wheel 5, the combination pin 12 is transmitted to the brake disc 13 with a larger diameter through the guide pin 11, the brake force arm is extended, and a larger brake torque is generated, so that the rotation of the rotating shaft 4 is effectively stopped. Therefore, the diameter of the brake device 2 in the prior art can be far larger than the brake disc 13 of the ratchet wheel 5, so that large friction force is generated, and the combined pin 12 is used for prolonging the brake force arm to generate large brake torque, so that the aim of effectively stopping the mechanical arm is fulfilled.
However, the interval between the teeth of the ratchet 5 is too large, and after the robot arm is braked, the coupling pin 12 can move freely between the two teeth, so that the rotating shaft 4 can rotate freely by the angle between the two teeth. The free rotation angle is enlarged by the robot arm, so that the tail end of the robot arm can generate considerable angle shaking under the condition of external force or movement, and the robot arm cannot be stably stopped at a preset position, thereby causing the collision damage between the robot arm and an external object or the safety problem of personnel. Therefore, the problem of the robot arm on the brake device still needs to be solved.
Disclosure of Invention
The invention aims to provide a brake device of a machine arm, which reduces a ratchet wheel rotating at a high speed by contacting a combining block by a lower-layer tooth system through a double-layer tooth system structure of the ratchet wheel, and clamps the combining block by utilizing a large interval of the upper-layer tooth system and the lower-layer tooth system at a medium speed so as to facilitate the deceleration combination of the ratchet wheel.
Another object of the present invention is to provide a brake apparatus for a robot arm, which uses the peripheral tooth system of the ratchet wheel to reduce the free swing angle of the robot arm by engaging the gear tooth system of the coupling plate with the closely spaced peripheral tooth system when the ratchet wheel is lowered to a low speed after the coupling block is clamped into the space between the upper and lower tooth systems.
In order to achieve the above object, the brake device for a robot arm according to the present invention comprises a ratchet wheel, a coupling plate and a brake disc, wherein the ratchet wheel has an inner gear ring and an outer gear ring which are concentric, a double-layer gear system is provided between the inner gear ring and the outer gear ring, the double-layer gear system is formed by alternately large-spaced ratchets of an upper gear system and a lower gear system, the ratchets of the upper gear system are coplanar with the inner gear ring and the outer gear ring, the ratchets of the lower gear system extend from the outer periphery of the inner gear ring and are bent to the lower side of the inner periphery of the outer gear ring, a small-spaced peripheral gear system is protruded from the outer periphery of the outer gear ring, and the inner periphery of the inner gear ring of the ratchet wheel is fixed on.
The combination plate is located under the ratchet wheel, and has several combining blocks in the position between the inner toothed ring and the outer toothed ring and teeth system in the position corresponding to the outer toothed ring.
The brake disc is fixedly arranged below the combination plate, a plurality of guide pins are convexly arranged on the upper surface of the brake disc at positions corresponding to the guide holes, the guide pins are sleeved with return springs and penetrate through the guide holes to support the combination plate, and the return springs are arranged between the combination plate and the brake disc to guide the combination plate to slide along the guide pins.
When the brake device of the robot arm brakes, the control electromagnetic valve retracts the actuating rod, the actuating flange of the combination plate is released, the combination plate resists the elasticity of the reset spring and slides along the guide pin, the combination plate bears the combination block and approaches the ratchet wheel, and the combination block contacts the lower-layer tooth system in advance. The combination block transfers the motionless resistance of the brake disc, generates contact friction with the lower-layer tooth system, reduces the rotation speed of the ratchet wheel, and clamps into the gap of the lower-layer tooth system in advance. Then the rotation speed of the ratchet wheel is reduced to clamp the combining block into the double-layer tooth system with large intervals, the ratchet wheel is continuously and rapidly reduced to low speed, the combining block moves at low speed, the reset spring pushes the combining plate to move along the guide pin, the gear tooth system is pushed into the peripheral tooth system with dense intervals, the peripheral tooth system of the ratchet wheel is meshed with the gear tooth system of the combining plate, and the robot arm is stopped.
One end of the ratchet of the upper-layer tooth system of the brake device of the robot arm is radially projected from the outer periphery of the inner tooth ring, and the other end of the ratchet is connected to the inner periphery of the outer tooth ring. One end of the ratchet of the lower-layer tooth system radially protrudes from the same plane of the outer periphery of the inner tooth ring, a low bending step is formed in the middle of the ratchet, and the ratchet extends to the lower part of the inner periphery of the outer tooth ring. The outer periphery of the outer gear ring is convexly provided with small densely spaced convex teeth to form an outer peripheral gear system, the combination plate is convexly provided with small densely spaced gear systems, and the gear systems are meshed with the outer peripheral gear system at intervals. And the combination block has two positions at two opposite ends of the same diameter.
Drawings
FIG. 1 is a perspective view of a brake apparatus of a robot arm according to the present invention;
FIG. 2 is a side view of the braking apparatus of the present invention in a braking deceleration state;
FIG. 3 is a side view of the brake apparatus of the present invention in an unbraked state;
FIG. 4 is a side view of the brake rigging of the present invention in a binding pin clinched condition;
FIG. 5 is a side view of the braking apparatus of the present invention in a braking state;
fig. 6 is a side cross-sectional view of a drive module of a prior art robot arm.
Description of the symbols
20 brake device
21 ratchet wheel
22 combined board
23 brake disc
24 center hole
25 rotating shaft
26 inner gear ring
27 external gear ring
28 upper gear system
29 lower dentition
32 bending ladder
33 peripheral dentition
35 combining block
36-gear tooth system
37 actuating flange
38 guide hole
39 guide pin
40 return spring
41 spring leaf
42 solenoid valve
43 actuating rod
Detailed Description
The technical means and effects of the present invention for achieving the above objects will be described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, fig. 1 is a perspective view of a brake device 20 of a robot arm according to the present invention, and fig. 2 is a side view of the brake device 20 of the robot arm in a non-braking state. The brake device 20 of the robot arm of the present invention includes a ratchet 21, a coupling plate 22, a brake disc 23, and the like. The brake 20 has a central hole 24 that fits around the shaft 25 of the motor of the robot arm.
The ratchet 21 of the brake device 20 has concentric inner ring gear 26 and outer ring gear 27, there is a double-layer tooth system between the inner ring gear 26 and the outer ring gear 27, the double-layer tooth system is formed by alternately arranging the ratchet teeth of the upper layer tooth system 28 and the lower layer tooth system 29 at large intervals, one end of each ratchet tooth of the upper layer tooth system 28 is radially protruded from the outer periphery of the inner ring gear 26, the other end is connected to the inner periphery of the outer ring gear 27, and the ratchet teeth of the upper layer tooth system 28 are on the same plane with the inner ring gear 26 and the outer ring gear 27. One end of each ratchet tooth of the lower-layer tooth system 29 radially protrudes from the same plane of the outer periphery of the inner toothed ring 26, a low bent step 32 is formed in the middle of the ratchet tooth of the lower-layer tooth system 29, and the bent end extends to the lower part of the inner periphery of the outer toothed ring 27. The outer periphery of the outer ring gear 27 of the ratchet 21 is provided with an outer peripheral teeth system 33 in a protruding manner, and the protruding teeth of the outer peripheral teeth system 33 are densely arranged at small intervals.
The coupling plate 22 of the brake device 20 is substantially circular, is concentrically located below the ratchet wheel 21, and has a diameter slightly larger than that of the ratchet wheel 21, and a plurality of coupling blocks 35 are convexly provided on the coupling plate 22 in the direction of the ratchet wheel 21 at positions between the inner toothed ring 26 and the outer toothed ring 27, for example, two coupling blocks 35 are convexly provided at positions at two opposite ends of the same diameter. The outer periphery of the coupling plate 22 is provided with a gear tooth system 36 at a position opposite to the outer periphery gear tooth system 33 of the ratchet 21 in a protruding manner in the ratchet direction, and the gear tooth system 36 can be engaged with the outer periphery gear tooth system 33. In this embodiment, the gear teeth system 36 is protruded from the whole circumference, and the gear teeth of the gear teeth system 36 are closely and closely engaged with the outer circumference gear teeth system 33. The coupling plate 22 forms an operating flange 37 at the outer periphery of the gear train 36. The inner periphery of the coupling plate 22 is further provided with a plurality of guide holes 38.
The brake disc 23 of the brake device 20 is substantially circular and concentrically located below the coupling plate 22, and the upper surface thereof is provided with a plurality of guide pins 39 protruding toward the coupling plate 22 at positions corresponding to the guide holes 38, and the guide pins 39 are sleeved with the return springs 40 and pass through the guide holes 38, so that the return springs 40 are located between the coupling plate 22 and the brake disc 23 to guide the coupling plate 22 to slide along the guide pins 39.
In the brake device 20 of the robot arm, after the central hole 24 is sleeved on the rotating shaft 25 of the motor, the ratchet wheel 21 is fixed on the rotating shaft 25 by utilizing the reed 41 to go up and down from the inner periphery of the inner gear ring 26 of the ratchet wheel 21, the ratchet wheel rotates along with the rotating shaft 25, the brake disc 23 is fixed on the robot arm (not shown), the guide pin 39 penetrates through the guide hole 38, and the support combination plate 22 is arranged below the ratchet wheel 21. And an electromagnetic valve 42 provided in the robot arm extends and retracts an actuating rod 43 to press or release the actuating flange 37 of the engaging plate 22, so that the engaging plate 22 slides along the guide pin 39 toward or away from the ratchet 21 against the elastic force of the return spring 40.
Fig. 3 is a side view of the brake apparatus of the present invention in a non-braking state. When the robot arm needs to rotate normally, the extending actuating rod 43 of the robot arm control electromagnetic valve 42 pushes the connecting plate 22, the connecting plate 22 slides downwards along the guide pin 39, the return spring is compressed, the connecting plate 22 moves towards the brake disc 23 along the guide pin 39, the carried connecting block 35 is far away from the rotation path of the ratchet wheel 21, and when the ratchet wheel 21 is not blocked, the rotating shaft 25 can rotate freely to move the robot arm.
Referring to fig. 2 and 4, fig. 4 is a side view of the brake apparatus according to the present invention in a state where the coupling pin is clamped. In fig. 2, when the robot arm starts the brake, the robot arm control solenoid valve 42 retracts the actuating rod 43 to release the connecting plate 22, the return spring 40 presses the connecting plate 22 to move towards the ratchet 21 rotating at high speed along the guide pin 39, the loaded connecting block 35 approaches the rotating path of the ratchet 21, the connecting block 35 firstly touches the lower-level dentition 29 at the lower position in the double-layer dentition, and the ratchet 21 cannot be immediately clamped into the double-layer dentition due to high-speed rotation. However, the coupling plate 22 carrying the coupling block 35 is supported by the guide pin 39 of the stationary brake disc 23, and the coupling block 35 transmits the stationary resistance of the brake disc 23 to generate friction in contact with the lower teeth 29, thereby reducing the rotational speed of the ratchet 21, so that the coupling block 35 can be clamped into the gap of the lower teeth 29 with the maximum spacing, and further reducing the rotational speed of the ratchet 21. In fig. 4, when the ratchet wheel 21 is continuously decelerated to a medium rotation speed, the combining block 35 can further clamp into the gap between the upper layer tooth system 28 and the lower layer tooth system 29 to alternately form a large-interval double-layer tooth system, so as to completely transmit the motionless resistance of the brake disc 23, and continuously and rapidly reduce the rotation speed of the ratchet wheel 21.
Fig. 5 is a side view of the brake apparatus of the present invention in a braking state. Since the outer peripheral teeth 33 of the ratchet 21 are closely spaced, even if the ratchet 21 decelerates, the outer peripheral teeth 33 having a rotational speed hardly engage with the stopper teeth 36 of the coupling plate 22. When the ratchet wheel 21 must be continuously decelerated to a low rotation speed, the coupling block 35 is allowed to move at a low speed in the gap of the double-layer tooth system clamped into the large space, and the return spring 40 can press the coupling plate 22 to move along the guide pin 39, so that the gear tooth system 36 is pushed into the outer peripheral tooth system 33 of the small space, and the outer peripheral tooth system 33 is engaged with the gear tooth system 36 of the coupling plate 22. Once the peripheral tooth system 33 is engaged with the gear tooth system 36, the ratchet wheel 21 is combined with the combination plate 22, only a tiny tooth gap between the peripheral tooth system 33 and the gear tooth system 36 is left for play, the free movement amplitude of the tail end of the robot arm is relatively tiny, the robot arm can be stably stopped, and the aim of avoiding the shaking of the robot arm is achieved.
Therefore, the brake device of the robot arm can generate friction to reduce the speed of the ratchet wheel rotating at high speed by the lower layer tooth system contacting the combining block in advance through the double-layer tooth system structure of the ratchet wheel, clamp the combining block by utilizing the large interval of the upper layer tooth system and the lower layer tooth system at medium speed to enable the ratchet wheel to continuously and rapidly reduce to low speed, and then utilize the peripheral tooth system of the ratchet wheel at dense intervals to engage the gear tooth system of the combining plate to stably stop the robot arm, thereby achieving the purpose of reducing the free shaking angle of the robot arm.
In summary, the preferred embodiments of the present invention are only for convenience of description, and the scope of the present invention is not limited to the preferred embodiments, and any modifications made according to the present invention shall fall within the scope of the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. The utility model provides a brake equipment of robot arm, has the centre bore, overlaps the pivot of establishing the motor of robot arm, and robot arm establishes solenoid valve control flexible actuating rod, its characterized in that, this brake equipment contains:
the ratchet wheel is fixed on the rotating shaft and is provided with an inner gear ring and an outer gear ring which are concentric, a double-layer gear system is arranged between the inner gear ring and the outer gear ring and consists of ratchet teeth of an upper layer gear system and ratchet teeth of a lower layer gear system which are alternately arranged at large intervals, the ratchet teeth of the upper layer gear system are on the same plane with the inner gear ring and the outer gear ring, the ratchet teeth of the lower layer gear system extend from the outer periphery of the inner gear ring and are bent to be below the inner periphery of the outer gear ring, and the outer periphery of the outer gear ring is convexly provided with a peripheral gear system at small intervals;
a combination plate, which is positioned below the ratchet wheel, a plurality of combination blocks are convexly arranged in the direction of the ratchet wheel at the position corresponding to the space between the inner gear ring and the outer gear ring, the periphery of the combination plate is convexly provided with a gear system in the direction of the ratchet wheel at the position corresponding to the gear system of the periphery of the ratchet wheel, the gear system can be meshed with the gear system of the periphery, the combination plate forms an operation flange at the periphery of the gear system, and the inner periphery of the combination plate is additionally provided with a plurality of guide holes;
the brake disc is fixedly positioned below the combination plate, a plurality of guide pins are convexly arranged on the upper surface of the brake disc at positions corresponding to the guide holes, the guide pins are sleeved with return springs and then penetrate through the guide holes to support the combination plate, and the return springs are positioned between the combination plate and the brake disc and used for guiding the combination plate to slide along the guide pins;
when the mechanical arm is braked, the electromagnetic valve is controlled to retract the actuating rod, the actuating flange of the combining plate is released, the combining plate resists the elastic force of the return spring and slides along the guide pin, the combining plate bears the combining block to be close to the ratchet wheel, the combining block contacts with the lower-layer tooth system in advance, the rotating speed of the ratchet wheel is reduced, the combining block is clamped into the large-interval double-layer tooth system, the ratchet wheel is continuously and quickly reduced to the low speed, and then the dense-interval peripheral tooth system of the ratchet wheel is meshed with the gear tooth system of the combining plate to stop the mechanical arm.
2. The brake apparatus for robot arm as claimed in claim 1, wherein the ratchet teeth of the upper teeth system have one end radially protruded from an outer circumference of the inner ring gear and the other end connected to an inner circumference of the outer ring gear.
3. The brake apparatus for robot arm as claimed in claim 1, wherein the ratchet teeth of the lower set of teeth have one end radially protruding from the same plane as the outer circumference of the inner toothed ring, and a stepped bent step is formed in the middle to extend below the inner circumference of the outer toothed ring.
4. The brake apparatus for robot arm as claimed in claim 1, wherein the outer ring has outer teeth with small and dense intervals.
5. The brake apparatus for robot arm as claimed in claim 1, wherein the coupling plate is provided with a plurality of closely spaced gear teeth, the gear teeth of the gear teeth being spaced to engage the peripheral gear teeth.
6. The brake apparatus for robot arm as claimed in claim 1, wherein the combining blocks are two blocks located at opposite ends of the same diameter.
7. The brake apparatus for robot arm of claim 1, wherein the engaging piece is engaged with the lower teeth in advance, and the engaging piece transmits the stationary resistance of the brake disc to generate contact friction with the lower teeth to reduce the rotation speed of the ratchet wheel, so that the engaging piece is engaged with the gap of the lower teeth in advance.
8. The brake apparatus for robot arm as claimed in claim 1, wherein the ratchet wheel has inner toothed ring with upper and lower edges fixed to the shaft via spring plates.
9. The brake apparatus for robot arm as claimed in claim 1, wherein the engaging piece slides at a low speed when being clamped into the gap of the double-layered rack system, and the return spring presses the engaging plate to move along the guide pin to push the rack gear system into the peripheral rack gear system, so that the peripheral rack gear system engages with the rack gear system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900925.XA CN110815288B (en) | 2018-08-09 | 2018-08-09 | Brake device of robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900925.XA CN110815288B (en) | 2018-08-09 | 2018-08-09 | Brake device of robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110815288A true CN110815288A (en) | 2020-02-21 |
| CN110815288B CN110815288B (en) | 2022-06-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810900925.XA Active CN110815288B (en) | 2018-08-09 | 2018-08-09 | Brake device of robot arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN110815288B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500629A (en) * | 2021-07-21 | 2021-10-15 | 苏州艾利特机器人有限公司 | Motor braking system, multi-joint robot and motor braking method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500629A (en) * | 2021-07-21 | 2021-10-15 | 苏州艾利特机器人有限公司 | Motor braking system, multi-joint robot and motor braking method |
| CN113500629B (en) * | 2021-07-21 | 2022-12-20 | 苏州艾利特机器人有限公司 | Motor braking system, multi-joint robot and motor braking method |
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| Publication number | Publication date |
|---|---|
| CN110815288B (en) | 2022-06-21 |
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