CN111482988A - Robot joint module brake equipment - Google Patents
Robot joint module brake equipment Download PDFInfo
- Publication number
- CN111482988A CN111482988A CN202010513143.8A CN202010513143A CN111482988A CN 111482988 A CN111482988 A CN 111482988A CN 202010513143 A CN202010513143 A CN 202010513143A CN 111482988 A CN111482988 A CN 111482988A
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- China
- Prior art keywords
- electromagnetic valve
- brake
- joint module
- fixing seat
- brake disc
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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)
- Braking Arrangements (AREA)
Abstract
The invention provides a brake device for a robot joint module, which is simple in structure and good in reliability, optimizes the whole structure of the robot joint module, and improves the safety of a cooperative robot built by the joint modules. The brake generator comprises a normally-open type micro linear electromagnetic valve and an electromagnetic valve fixing seat, the electromagnetic valve is fixed on the electromagnetic valve fixing seat in a designated direction, the electromagnetic valve fixing seat is used for being fixed on the inner wall of a joint module shell, the electromagnetic valve comprises an electromagnetic valve pin shaft, and the electromagnetic valve is powered by a joint module motor power supply device; the brake actuating device comprises a brake pin column, a brake disc and a brake disc fixing seat, wherein the brake pin column is fixedly arranged at the front end of the electromagnetic valve pin shaft, the brake disc is fixed on the brake disc fixing seat, and the brake disc fixing seat is fixed at the end part of the input shaft of the joint module.
Description
Technical Field
The invention relates to the technical field of cooperative robot structures, in particular to a robot joint module braking device.
Background
With the development of industry, the industrial production modes of multiple varieties, small batch and customization become trends, higher requirements are provided for the flexibility and safety of production lines, the automatic production line mainly based on a special machine is difficult to meet the requirement of flexibility, and the automation transformation aiming at stations becomes the mainstream of industrial automation. Based on the continuous maturity of the robot technology, the man-machine cooperation becomes possible, and the cooperative robot is produced. The robot joint module is used as a hardware part of a cooperative robot to quickly build a module, and great advantages of the robot joint module are gradually brought into play. The brake comprises a hollow torque motor, a harmonic speed reducer, a servo driver, a feedback device, a brake device and the like, and compared with standard components such as motors, speed reducers, drivers, encoders and the like, the brake device has a plurality of selectable brands from domestic and foreign related industrial chain markets, the matched market of the brake device is extremely weak, and the brake which is small in size and light in weight and can be directly applied to a robot joint is not provided. However, the brake is an indispensable component of the robot joint module, the reliability of the brake directly determines the safety performance of the cooperative mechanical arm, and the mechanical arm is guaranteed to keep a certain constant posture in a power-off or sudden stop state without collapsing, so that the brake device capable of being applied to the robot joint module is urgently needed.
Disclosure of Invention
In order to solve the problems, the invention provides a robot joint module braking device which is simple in structure and good in reliability, optimizes the whole structure of the robot joint module and improves the safety of a cooperative robot built by the joint modules.
The utility model provides a robot joint module brake equipment which characterized in that: the brake generator comprises a normally-open type micro linear electromagnetic valve and an electromagnetic valve fixing seat, the electromagnetic valve is fixed on the electromagnetic valve fixing seat in a designated direction, the electromagnetic valve fixing seat is used for being fixed on the inner wall of a joint module shell, the electromagnetic valve comprises an electromagnetic valve pin shaft, and the electromagnetic valve is powered by a joint module motor power supply device; the brake actuating device comprises a brake pin column, a brake disc and a brake disc fixing seat, wherein the brake pin column is fixedly arranged at the front end of the electromagnetic valve pin shaft, the brake disc is fixed on the brake disc fixing seat, the brake disc fixing seat is fixed at the end part of the joint module input shaft, the brake disc fixing seat and the joint module input shaft form a whole, and the brake pin column is protruded in the rotating surface area of the brake disc in the front under the non-electrified state of the electromagnetic valve.
It is further characterized in that:
the inner end of the brake pin is positioned in a guide hole of the electromagnetic valve fixing seat, the front end of the electromagnetic valve pin shaft is fixedly connected with the inner end of the brake pin through a threaded structure, and the guide hole ensures the accurate advancing track of the brake pin;
the brake pin column is made of wear-resistant materials;
the brake pin column is made of wear-resistant material tin bronze, the center of the inner end face is recessed inwards to form an internal thread hole, external threads at the front end of the electromagnetic valve pin shaft are fixedly inserted into the internal thread hole, and the electromagnetic valve pin shaft and the brake pin column are required to be fixed by thread glue when being connected to prevent loosening;
the electromagnetic valve fixing seat comprises a valve body connecting plate and a mounting plate, the valve body of the electromagnetic valve is fixedly connected with the mounting plate of the electromagnetic valve seat, the connecting plate is used for integrally positioning the electromagnetic valve fixing seat, a guide hole is formed in the connecting plate, the connecting position of the electromagnetic valve pin shaft and the brake pin is located in the guide hole, the inner wall of the connecting plate, facing the shell of the joint module, is an arc surface which is arranged along the shell in a copying mode, at least two positioning holes are formed in the corresponding position of the arc surface of the connecting plate, corresponding positioning connecting holes are formed in the position, corresponding to the positioning holes, of the shell of the joint module, bolts or screws penetrate through the positioning connecting holes and then are fastened to the positioning holes, and the arc surface of the connecting plate is;
the brake disc is specifically a plane thin sheet structure with side convex claws and is made of a material with good toughness and good wear resistance, the brake disc fixing seat is provided with a connecting flange and fixedly connected to the connecting flange, and the brake disc fixing seat is fixedly arranged at the end part of the input shaft of the joint module.
After the structure of the invention is adopted, the normally-open type miniature linear electromagnetic valve has the characteristics of small volume, light weight, low heat productivity, sensitive response and long service life, the power supply voltage of the normally-open type miniature linear electromagnetic valve is kept consistent with the power supply voltage of a joint module motor, and the power is supplied by the same power supply device; when the joint module is in a power-off state (including a power-off state after sudden stop in case of failure) or the joint module servo motor does not enter a servo enabling state after power-on, a brake device is in an original state, namely a brake state, and at the moment, a brake pin column is clamped into a rotating plane of a brake disc to limit the rotation of an input shaft of the joint module; in this state, the braking force is completely borne by the brake pin column, and the electromagnetic valve pin shaft is not impacted by radial force during braking; when the joint module servo motor enters a servo enabling state, the electromagnetic valve is in a power-on state, the electromagnetic coil is powered on to generate magnetic force to overcome the elastic force of the spring, the spring of the electromagnetic valve is contracted, the pin shaft of the electromagnetic valve is contracted to drive the brake pin post to be contracted, at the moment, the brake device is in a working state, the brake pin post is separated from the rotating plane of the brake disc, and the joint module can normally run; the joint module has the advantages of simple structure and good reliability, optimizes the whole structure of the robot joint module, and improves the safety of the cooperative robot built by the joint modules.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the components of the brake apparatus of the present invention with the joint module housing removed;
the names corresponding to the sequence numbers in the figure are as follows:
the brake device comprises a brake generating device 1, a brake executing device 2, an electromagnetic valve 3, an electromagnetic valve pin 31, an electromagnetic valve fixing seat 4, a connecting plate 41, an installing plate 42, an arc surface 43, a positioning hole 44, a shell 5, a brake pin column 6, a brake disc 7, a side convex claw 71, a brake disc fixing seat 8, a connecting flange 81, a joint module input shaft 9, a guide hole 10, an internal thread hole 11 and a positioning connecting hole 12.
Detailed Description
A robot joint module brake device is shown in figures 1 and 2: the brake system comprises a brake generating device 1 and a brake executing device 2, wherein the brake generating device 1 comprises a normally-open type micro linear electromagnetic valve 3 and an electromagnetic valve fixing seat 4, the electromagnetic valve 3 is fixed on the electromagnetic valve fixing seat 4 in a specified direction, the electromagnetic valve fixing seat 4 is used for being fixed on the inner wall of a joint module shell 5, the electromagnetic valve 3 comprises an electromagnetic valve pin 31, and the electromagnetic valve 3 is powered by a joint module motor power supply device; the brake actuating device 2 comprises a brake pin column 6, a brake disc 7 and a brake disc fixing seat 8, the brake pin column 6 is fixedly arranged at the front end of the electromagnetic valve pin shaft 31, the brake disc 7 is fixed on the brake disc fixing seat 8, the brake disc fixing seat 8 is fixed at the end part of the joint module input shaft 9, the brake disc 7, the brake disc fixing seat 8 and the joint module input shaft 9 form a whole, and the brake pin column 6 protrudes forwards in the rotating plane of the brake disc 7 when the electromagnetic valve is in the non-electrified state.
The inner end of the brake pin 6 is positioned in the guide hole 10 of the electromagnetic valve fixing seat 4, the front end of the electromagnetic valve pin 31 is fixedly connected with the inner end of the brake pin 6 through a thread structure, and the guide hole 10 ensures the accurate advancing track of the brake pin 6;
the brake pin 6 is made of wear-resistant materials;
the brake pin 6 is made of wear-resistant material tin bronze, the center of the inner end face is recessed inwards to form an internal thread hole 11, external threads at the front end of the electromagnetic valve pin 31 are fixedly inserted into the internal thread hole, and the electromagnetic valve pin 31 and the brake pin 6 are connected by screwing to be fixed so as to prevent loosening;
the electromagnetic valve fixing seat 4 comprises a valve body connecting plate 41 and a mounting plate 42, the valve body of the electromagnetic valve 3 is fixedly connected with the mounting plate 42 of the electromagnetic valve seat 4, the connecting plate 41 is used for integrally positioning the electromagnetic valve fixing seat 4, a guide hole 10 is formed in the connecting plate 41, the connecting position of the electromagnetic valve pin 31 and the brake pin 6 is located in the guide hole 10, the inner wall of the connecting plate 41 facing the shell 5 of the joint module is an arc surface 43 which is arranged along the shell 5 in a copying mode, at least two positioning holes 44 are formed in the corresponding position of the arc surface 43 of the connecting plate 41, corresponding positioning connecting holes 12 are formed in the position, corresponding to the positioning holes 44, of the shell 5 of the joint module, bolts or screws are fastened to the positioning holes 44 after penetrating through the positioning connecting holes 12, the arc;
the brake disc 7 is a planar sheet structure with side convex claws 71 and is made of a material with good toughness and good wear resistance, the brake disc fixing seat 8 is provided with a connecting flange 81, the brake disc 7 is fixedly connected to the connecting flange 81, and the brake disc fixing seat 8 is fixedly arranged at the end part of the joint module input shaft 9.
The working principle is as follows: the overall performance of the robot joint module is remarkably improved. It uses the combination of jack catch formula brake disc and solenoid valve, satisfies characteristics small, light in weight, good reliability, and low in manufacturing cost, very easily volume production has solved the problem that traditional robot joint module braking structure is weak relatively. When the joint module is in a power-off state (including a power-off state after sudden stop in case of failure) or a servo enabling state of a servo motor of the joint module after power-on is not achieved, a brake device is in an original state, namely a brake state, and at the moment, a brake pin column is clamped into an adjacent clamping jaw of a brake disc to limit the rotation of an input shaft of the joint module; in this state, the braking force is completely borne by the brake pin column, and the electromagnetic valve pin shaft is not impacted by radial force during braking; when the joint module servo motor enters a servo enabling state, the electromagnetic valve is in a power-on state, the electromagnetic coil is powered on to generate magnetic force to overcome the elastic force of the spring, the spring of the electromagnetic valve is contracted, the pin shaft of the electromagnetic valve is contracted to drive the brake pin post to be contracted, at the moment, the brake device is in a working state, the brake pin post is separated from the rotating plane of the brake disc, and the joint module can normally run; the joint module has the advantages of simple structure and good reliability, optimizes the whole structure of the robot joint module, and improves the safety of the cooperative robot built by the joint modules.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. The utility model provides a robot joint module brake equipment which characterized in that: the brake generator comprises a normally-open type micro linear electromagnetic valve and an electromagnetic valve fixing seat, the electromagnetic valve is fixed on the electromagnetic valve fixing seat in a designated direction, the electromagnetic valve fixing seat is used for being fixed on the inner wall of a joint module shell, the electromagnetic valve comprises an electromagnetic valve pin shaft, and the electromagnetic valve is powered by a joint module motor power supply device; the brake actuating device comprises a brake pin column, a brake disc and a brake disc fixing seat, wherein the brake pin column is fixedly arranged at the front end of the electromagnetic valve pin shaft, the brake disc is fixed on the brake disc fixing seat, the brake disc fixing seat is fixed at the end part of the joint module input shaft, the brake disc fixing seat and the joint module input shaft form a whole, and the brake pin column is protruded in the rotating surface area of the brake disc in the front under the non-electrified state of the electromagnetic valve.
2. The robot joint module brake apparatus of claim 1, wherein: the inner end of the brake pin is located in the guide hole of the electromagnetic valve fixing seat, and the front end of the electromagnetic valve pin shaft is fixedly connected with the inner end of the brake pin through a threaded structure.
3. The robot joint module brake apparatus of claim 2, wherein: the brake pin column is made of wear-resistant materials.
4. The robot joint module brake apparatus of claim 3, wherein: the brake pin column is made of wear-resistant material tin bronze, the center of the inner end face is recessed inwards to form an internal thread hole, external threads at the front end of the electromagnetic valve pin shaft are fixedly inserted into the internal thread hole, and the electromagnetic valve pin shaft and the brake pin column are connected through threaded glue and fixed.
5. The robot joint module brake apparatus of claim 1, wherein: the electromagnetic valve fixing seat comprises a valve body connecting plate and a mounting plate, the valve body of the electromagnetic valve is fixedly connected with the mounting plate of the electromagnetic valve seat, the connecting plate is used for overall positioning of the electromagnetic valve fixing seat, a guide hole is formed in the connecting plate, the connecting position of an electromagnetic valve pin shaft and a brake pin is located in the guide hole, the inner wall of the connecting plate, facing the shell of the joint module, is a cambered surface which is formed by copying the shell, at least two positioning holes are formed in the corresponding position of the cambered surface of the connecting plate, corresponding positioning connecting holes are formed in the position, corresponding to the positioning holes, of the shell of the joint module, a bolt or a screw penetrates through the positioning connecting holes and then is fastened to the positioning holes, and.
6. The robot joint module brake apparatus of claim 1, wherein: the brake disc is specifically a plane thin sheet structure with side convex claws and is made of a material with good toughness and good wear resistance, the brake disc fixing seat is provided with a connecting flange and fixedly connected to the connecting flange, and the brake disc fixing seat is fixedly arranged at the end part of the input shaft of the joint module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010513143.8A CN111482988A (en) | 2020-06-08 | 2020-06-08 | Robot joint module brake equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010513143.8A CN111482988A (en) | 2020-06-08 | 2020-06-08 | Robot joint module brake equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111482988A true CN111482988A (en) | 2020-08-04 |
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ID=71810565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010513143.8A Pending CN111482988A (en) | 2020-06-08 | 2020-06-08 | Robot joint module brake equipment |
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| CN (1) | CN111482988A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022155887A1 (en) * | 2021-01-22 | 2022-07-28 | Abb Schweiz Ag | Brake apparatus, motor and robot |
| CN114851242A (en) * | 2022-06-13 | 2022-08-05 | 深圳市飞瑶电机科技有限公司 | High integration robot joint module based on harmonic reducer |
-
2020
- 2020-06-08 CN CN202010513143.8A patent/CN111482988A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022155887A1 (en) * | 2021-01-22 | 2022-07-28 | Abb Schweiz Ag | Brake apparatus, motor and robot |
| CN114851242A (en) * | 2022-06-13 | 2022-08-05 | 深圳市飞瑶电机科技有限公司 | High integration robot joint module based on harmonic reducer |
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