CN208663866U - A kind of brake gear, joint of robot arm and robot - Google Patents

Abstract

The utility model discloses a kind of brake gear, joint of robot arm and robot, wherein, the brake gear is used for joint of robot arm, driving device is equipped in joint of robot arm, the driving device has drive shaft, the brake gear includes brake block, electromagnet and armature, and elastic component is equipped between the electromagnet and the armature；It further include guide part, the armature is mounted on the electromagnet by the guide part, and can be fixed on the drive shaft axially away from or close to the electromagnet, the brake block along the guide part；Under energization operating condition, the armature is pulled on the electromagnet, and compresses the elastic component, powers off under operating condition, and the elastic component can discharge and the armature is pushed to compress the brake block, to limit the rotation of the drive shaft.The there is provided brake gear of the utility model, brake block are fixed on drive shaft, the unnecessary abrasion of brake block when can avoid operating normally, and then can extend the service life of brake block, reduce noise.

Description

Brake equipment, robot joint arm and robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a brake equipment, articulated arm of robot and robot.

Background

Be equipped with actuating mechanism in the articulated arm of robot to order about the articulated arm of robot and move, this actuating mechanism is the motor usually, is provided with brake equipment in its pivot, and brake equipment can lock the pivot under the outage operating mode, in order to prevent the unusual output under the outage operating mode, perhaps, also can be used to promptly lock the pivot.

Referring to fig. 1-2, fig. 1 is a schematic structural diagram of a brake device in the prior art under a power-on condition, and fig. 2 is a schematic structural diagram of a brake device in the prior art under a power-off condition.

As shown in fig. 1 and 2, in the prior art, a brake device includes an electromagnet 01, an armature 02 and a pressure plate 03, which are all sleeved on a rotating shaft 07 and do not rotate along with the rotating shaft 07; the connecting piece 05 can sequentially penetrate through the pressing plate 03 and the armature 02 and is inserted into the electromagnet 01 so as to fix the pressing plate 03 on the electromagnet 01, a specific distance is kept between the pressing plate 03 and the electromagnet 01, and the armature 02 can move along the axial direction of the connecting piece 05; a spring 06 is arranged between the armature 02 and the electromagnet 01; a brake pad 04 is arranged between the armature 02 and the pressure plate 03, the brake pad 04 is mounted on the rotating shaft 07 and can synchronously rotate along with the rotating shaft 07, and the brake pad 04 can move along the axial direction of the rotating shaft 07.

When the brake is in normal operation, as shown in fig. 1, the electromagnet 01 is electrified and attracts the armature 02, the spring 06 is compressed, the brake pad 04 can freely rotate in a gap between the armature 02 and the pressure plate 03, and the rotating shaft 07 can normally operate. Under outage operating mode or other abnormal operating mode, electro-magnet 01 cuts off the power supply, and under the effect of spring 06, armature 02 will keep away from electro-magnet 01 fast to promote brake block 04 and be close to clamp plate 03, until with clamp plate 03 cooperation in order to compress tightly brake block 04, and then lock pivot 07.

In the above-mentioned brake device, because the brake block 04 can be displaced along the axial direction of the rotating shaft 07, even when in normal operation, the brake block 04 inevitably rubs against the armature 02 or the pressing plate 03, and then causes unnecessary wear to the brake block 04, seriously affects the service life of the brake block 04, and also can generate noise, which is not favorable for popularization and use of the robot articulated arm.

Therefore, the technical problem to be solved by those skilled in the art is to provide a novel brake device that can reduce unnecessary wear of the brake pad during normal operation, so as to prolong the service life of the brake pad and reduce noise.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a brake equipment, articulated arm of robot and robot, wherein, this brake equipment's brake block is fixed in the drive shaft, can avoid the unnecessary wearing and tearing of normal operating in-process brake block, and then can prolong the life of brake block by a wide margin to noise abatement.

In order to solve the technical problem, the utility model provides a brake device, which is used for a robot joint arm, wherein a driving device is arranged in the robot joint arm, the driving device is provided with a driving shaft, the brake device comprises a brake pad, an electromagnet and an armature, and an elastic part is arranged between the electromagnet and the armature; the brake comprises a driving shaft, an armature, a driving shaft and a brake block, wherein the driving shaft is connected with the armature through a driving shaft; under the power-on working condition, the armature is attracted to the electromagnet and compresses the elastic piece, and under the power-off working condition, the elastic piece can release and push the armature to compress the brake pad so as to limit the rotation of the driving shaft.

The utility model provides a brake equipment, its brake block are fixed in the drive shaft, and the brake block can not carry out the displacement along the axial of drive shaft, can avoid the friction between brake block and the armature in the normal operating process to and unnecessary wearing and tearing that cause the brake block from this, and then can prolong the life of brake block by a wide margin, and reduce the noise of robot joint arm in the normal operating process.

Optionally, the dust collector further comprises an annular pressure plate, the inner edge of the annular pressure plate is mounted on the driving shaft, the outer edge of the annular pressure plate is provided with a dust collecting cover extending towards the electromagnet, and the dust collecting cover and the pressure plate are enclosed to form a dust collecting groove; the brake block is positioned in the dust collecting groove.

Optionally, the pressure plate is fixed to the driving shaft, and the brake pad is mounted to the pressure plate.

Optionally, an inner diameter of the dust collection cover is tapered in a direction approaching the electromagnet.

Optionally, the driving device comprises a motor, and the driving shaft is a rotating shaft of the motor; or, the driving device comprises a motor and a speed reducer in transmission connection with the motor, and the driving shaft is a rotating shaft of the motor and/or an output shaft of the speed reducer.

The utility model also provides a robot joint arm, which comprises a housin, be equipped with drive arrangement and brake equipment in the casing, brake equipment is foretell brake equipment.

Since the brake device has the technical effects as described above, the articulated arm of the robot having the brake device also has similar technical effects, and therefore, the detailed description thereof is omitted here.

Optionally, a driving board is further disposed in the housing, and the driving board is provided with a heating element; the heat dissipation plate is pressed between the inner wall of the shell and the driving plate and can wrap the heating element.

Optionally, an encoder module is further arranged in the housing, and the encoder module comprises an encoder board and an encoder which are used in a matched manner; the encoder board is characterized by further comprising a wiring board, wherein two ends of the wiring board are respectively fixed to the encoder board and the drive board in an inserted mode, so that signal connection of the encoder board and the drive board is achieved.

Optionally, the encoder module further comprises a second mounting seat, and the encoder is mounted on the second mounting seat; the second mounting base is provided with an observation hole for observing whether the encoder is mounted in place.

Optionally, the housing includes a cylindrical portion, one end of the cylindrical portion is provided with a rear cover, and the other end is provided with a flange; the driving device comprises a motor and a speed reducer in transmission connection with the motor, the speed reducer is provided with an input shaft and an output shaft, the input shaft is a rotating shaft of the motor, the output shaft penetrates through the flange and extends out of the shell, and the speed reducer and the rotating shaft are of an integrated structure.

The utility model also provides a robot, including the articulated arm, the articulated arm is foretell robot articulated arm.

Since the above-mentioned articulated arm of the robot has the above technical effects, the robot having the articulated arm of the robot also has similar technical effects, and therefore, the detailed description thereof is omitted here.

Drawings

FIG. 1 is a schematic structural diagram of a brake device in the prior art under a power-on condition;

FIG. 2 is a schematic structural diagram of a brake device under a power-off condition in the prior art;

fig. 3 is a schematic structural diagram of the brake device provided by the present invention under the power-on condition;

fig. 4 is a schematic structural diagram of the brake device provided by the present invention under the power-off condition;

fig. 5 is a schematic structural diagram of an embodiment of a robot joint arm provided by the present invention;

FIG. 6 is a view of the connection structure of the back cover and the heat sink in FIG. 5;

FIG. 7 is a coupling structure diagram of a driving board and first and second encoder boards;

FIG. 8 is a schematic diagram of a first encoder;

FIG. 9 is a left side view of FIG. 8;

FIG. 10 is a view showing a connection structure of a second encoder plate, a second mount, and a flange shaft;

fig. 11 is a schematic structural diagram of another embodiment of a robot joint arm provided by the present invention;

fig. 12 is a schematic structural diagram of another embodiment of a robot joint arm provided by the present invention;

FIG. 13 is a schematic diagram of energy consumption in a prior art articulated arm of a robot;

fig. 14 is a schematic structural diagram of a robot joint arm according to an embodiment of the present disclosure;

FIG. 15 is a schematic structural diagram of another articulated arm of a robot according to an embodiment of the present disclosure;

FIG. 16 is a schematic diagram of a robot joint arm according to an embodiment of the present application;

fig. 17 is a schematic structural diagram of another robot joint arm according to an embodiment of the present disclosure.

The reference numerals in fig. 1-2 are illustrated as follows:

01 electromagnet, 02 armature, 03 pressing plate, 04 brake block, 05 connecting piece, 06 spring and 07 rotating shaft.

The reference numerals in fig. 3-17 are illustrated as follows:

1, a shell and 11 a rear cover;

2, a motor, a 21 rotating shaft and a 211 supporting bearing;

3 brake device, 31 brake block, 32 electromagnet, 33 armature, 34 elastic element, 35 guiding element, 36 pressing plate, 361 dust collecting cover, 362 dust collecting groove;

4 reducer, 41 output shaft;

5, a flange;

6 a first encoder module, a 61 first encoder, a 611 magnetic encoder, a 612 photoelectric encoder, a 62 first encoder board, a 63 first socket and a 64 first mounting seat;

7 a second encoder module, 71 a second encoder, 72 a second encoder plate, 73 a second socket, 74 a second mount, 741 a sight hole;

8 drive board, 81 heating element, 82 heat sink, 83 drive board socket;

9, a wiring bar;

100 robots, 101 energy consumption modules, 101a control sub-modules and 101b feedback absorption sub-modules;

vsup power supply, W cable, S switch, CON controller.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

The terms "first", "second", and the like, as used herein are used for convenience only to describe two or more structures or components that are the same or similar in structure, and do not denote any particular limitation on the order.

Example 1

Referring to fig. 3-4, fig. 3 is a schematic structural view of the braking device provided by the present invention under the power-on condition, and fig. 4 is a schematic structural view of the braking device provided by the present invention under the power-off condition.

As shown in fig. 3 and 4, the utility model provides a brake device for the articulated arm of robot, the articulated arm of robot is equipped with drive arrangement, and drive arrangement has the drive shaft for do work to external output. The brake device 3 comprises a brake pad 31, an electromagnet 32 and an armature 33, wherein an elastic part 34 is arranged between the electromagnet 32 and the armature 33; the brake further comprises a guide member 35, the armature 33 is hung on the electromagnet 32 through the guide member 35 and can be far away from or close to the electromagnet 32 along the axial direction of the guide member 35, and the brake pad 31 is fixed on the driving shaft.

Under the power-on working condition, under the action of electromagnetic force, the electromagnet 32 can attract the armature 33 and compress the elastic piece 34, at the moment, the armature 33 and the brake pad 31 have a gap, the brake pad 31 can freely rotate, and the driving shaft can normally do work outwards. Under the power-off condition, the electromagnetic force disappears, the elastic piece 34 can be released, and the armature 33 is pushed to press the brake pad 31, so that the rotation of the driving shaft is limited, and the abnormal output of the driving shaft under the power-off condition can be prevented.

Compared with the prior art, the brake device related to the embodiment has the advantages that the brake pad 31 is fixed on the driving shaft, the brake pad 31 cannot be displaced along the axial direction of the driving shaft, friction between the brake pad 31 and the armature 33 in the normal operation (namely under the power-on working condition) process can be avoided, unnecessary abrasion to the brake pad 31 is avoided, the service life of the brake pad 31 can be greatly prolonged, and noise of a robot joint arm in the normal operation process can be reduced.

It should be known that, in the process of pressing and grinding the brake pad 31 and other components, the brake pad 31 will generate powder, that is, in the prior art, even if in normal operation, the brake pad 31 will uninterruptedly drop powder, and the dropped powder will fall into the components such as the encoder along with the rotation of the driving shaft, which affects the use accuracy and the service life of these components. In this embodiment, the brake pad 31 is not worn during normal operation, so that the powder dropping phenomenon can be reduced, and further, the components inside the articulated arm of the robot can be effectively protected.

Furthermore, the brake shoe further comprises an annular pressure plate 36, the inner edge of which can be mounted on the driving shaft, the outer edge of which can be provided with a dust collecting cover 361 extending towards the electromagnet 32, the dust collecting cover 361 and the pressure plate 36 can enclose a dust collecting groove 362, and the brake shoe 31 can be positioned in the dust collecting groove 362.

By the arrangement, under the power-off working condition, powder falling generated by extrusion and friction of the armature 33 on the brake pad 31 can be collected by the dust collection groove 362, and the influence of normal brake powder falling on components inside the robot knuckle arm can be prevented. In combination with the design that the brake pad 31 is fixed on the driving shaft, that is, in the brake device provided by this embodiment, the influence of the brake pad 31 falling powder on the components inside the robot joint arm can be basically overcome, and the reliable operation of the robot joint arm can be ensured to a greater extent.

In the first embodiment, the inner edge of the pressing plate 36 may be mounted to the driving shaft through a bearing, and then a limiting member in the form of a limiting rod, a limiting block, or the like may be provided in the articulated arm of the robot to prevent the pressing plate 36 from rotating synchronously with the driving shaft, i.e., the dust collecting groove 362 may not rotate synchronously with the driving shaft. By adopting the structure, the powder collected in the dust collection groove 362 is not easy to generate secondary flying, and the powder can be better collected so as to form more effective protection for components in the robot articulated arm.

In a second embodiment, the pressure plate 36 may be fixed to the drive shaft, i.e., the pressure plate 36 may rotate synchronously with the drive shaft. In this embodiment, the pressing plate 36 may be a mounting plate of the brake pad 31, and the brake pad 31 may be mounted on the pressing plate 36 to be fixed to the driving shaft through the pressing plate 36, so that the mounting structure between the brake pad 31 and the driving shaft may be simplified, and the axial size of the brake apparatus may be reduced.

In comparison, the first embodiment can largely prevent the powder collected in the dust collecting groove 362 from secondary flying, which is more beneficial to dust collection; in the second embodiment, the mounting structure of the brake pad 31, the pressure plate 36 and the driving shaft can be greatly simplified, the axial dimension of the brake device is small, and the axial length of the whole robot joint arm can be shortened. In specific implementation, the two implementation manners can both achieve the technical effect of collecting the normal brake powder falling of the brake pad 31, and a person skilled in the art can select the brake pad according to actual needs. In fact, in the second embodiment, the brake pad 31 and the pressure plate 36 may be independent of each other and fixedly mounted to the driving shaft, respectively.

Further, the dust collecting groove 362 may have a tapered shape in a direction approaching the electromagnet 32, that is, the inner diameter of the dust collecting cover 361 may be gradually reduced in a direction approaching the electromagnet 32. Thus, the dust collection cover 361 also has a dust blocking effect, and can prevent the powder collected in the dust collection groove 362 from falling out of the dust collection groove 362 to a certain extent. Alternatively, an annular baffle extending radially inward may be provided at the end of the dust collection cover 361 remote from the pressure plate 36, which also achieves the technical effect of dust retention. However, it should be understood that the dust collection cover 361 is not arranged to interfere with the operation of the armature 33, and therefore, in practical applications, the inner diameter and the outer diameter of the dust collection cover 361 may be kept constant in the axial direction to reduce the radial dimension of the brake device.

The elastic member 34 may be a spring, or an elastic element having compressible and resilient capabilities such as an elastic ball. Taking a spring as an example, when the spring is installed, at least one of two opposite end surfaces of the electromagnet 32 and the armature 33 can be provided with a positioning groove, and then the end part of the spring can be installed in the positioning groove, so that the spring can be stably arranged between the electromagnet 32 and the armature 33; meanwhile, the positioning groove has a guiding function, and can guide the extension and compression of the spring so as to avoid the spring from moving and dislocating along the radial direction in the telescopic process.

The guide 35 may be a rod, which may be fixed to one of the electromagnet 32 and the armature 33, and accordingly, the other of the electromagnet 32 and the armature 33 may be provided with a guide groove or a guide hole, and the guide 35 may be inserted into the guide groove or the guide hole to guide the moving direction of the armature 33. The fixed connection end of the guide 35 to the electromagnet 32 or armature 33 may be provided with a tapered thread structure, similar to the tail of a screw, for the fixed mounting of the guide 35 to other parts.

With respect to the brake device according to each of the above embodiments, the following embodiment will also describe the mounting position and mounting structure of the brake device in the robot articulated arm.

The installation position and the installation structure of the brake device are related to the specific structure of the driving device, the driving device may only include the motor 2, at this time, the rotating shaft 21 of the motor 2 is the aforementioned driving shaft, and the brake pad 31 may be directly fixed to the rotating shaft 21, or fixed to the rotating shaft 21 through the pressing plate 36; the electromagnet 32 and the armature 33 can be sleeved on the rotating shaft 21 and do not rotate synchronously with the rotating shaft 21.

Specifically, in this embodiment, the driving device may further include a speed reducer 4 in transmission connection with the motor 2, and further may perform work externally through an output shaft 41 of the speed reducer 4. Based on this, in addition to the above-described configuration in which the brake device is attached to the rotating shaft 21, the brake device may be attached to the output shaft 41 of the speed reducer 4, that is, the brake pad 31 may be fixed to the output shaft 41; alternatively, the rotating shaft 21 and the output shaft 41 may be provided with braking devices, that is, two sets of braking devices, to ensure the braking effect.

In practical applications, the braking force acting on the output shaft 41 is much greater than the braking force acting on the rotating shaft 21 due to the presence of the speed reducer 4 to achieve the same braking effect, and for example, when the transmission ratio of the speed reducer 4 is 100, the braking force acting on the output shaft 41 is approximately 100 times the braking force acting on the rotating shaft 21. Thus, in order to achieve the same braking effect, the brake pad 31 mounted on the output shaft 41 needs to have a large radial dimension, which in turn leads to an increase in the radial dimension of the brake device and the entire articulated arm of the robot. Therefore, in the present embodiment, it is preferable to adopt a scheme of mounting the brake device on the rotating shaft 21 of the motor 2 to reduce the braking force and reduce the radial size of the brake device.

Example 2

Please refer to fig. 5-10, fig. 5 is a schematic structural diagram of an embodiment of a robot joint arm provided by the present invention, fig. 6 is a schematic structural diagram of a connection structure between a rear cover and a heat sink in fig. 5, fig. 7 is a schematic structural diagram of a connection structure between a driving board and a first encoder board and a second encoder board, fig. 8 is a schematic structural diagram of a first encoder, fig. 9 is a left side view of fig. 8, and fig. 10 is a schematic structural diagram of a connection structure between a second encoder board, a second mounting seat and a flange shaft.

The utility model also provides a robot joint arm, including casing 1, be equipped with drive arrangement and brake equipment 3 in the casing 1, this brake equipment 3 is the brake equipment 3 that involves in embodiment 1. Then, the technical effect that can be achieved by the brake device 3 in embodiment 1 is also achieved by the robot articulated arm provided in this embodiment, and details are not described herein.

As shown in fig. 5, in the present embodiment, the housing 1 includes a cylindrical portion having one end (left end in the drawing) provided with a rear cover 11 and the other end (right end in the drawing) provided with a flange 5 to be connected to another articulated arm. The driving device inside the housing 1 may include a motor 2 and a speed reducer 4 in transmission connection with the motor 2, a rotating shaft 21 of the motor 2 is an input shaft of the speed reducer 4, and an output shaft 41 of the speed reducer 4 may pass through the flange 5 and extend out of the housing 1 for applying work to the external output.

The rotary shaft 21 and the output shaft 41 may take the form of a sleeve shaft for space saving and improved integration. In detail, the rotating shaft 21 and the output shaft 41 may be coaxially disposed, the rotating shaft 21 may be a hollow shaft, and the output shaft 41 may pass through the inside of the rotating shaft 21 and may rotate relatively without interfering with each other. Of course, parallel shaft transmission or coaxial arrangement (non-sleeve shaft type) transmission scheme can be adopted between the motor 2 and the speed reducer 4, and in the specific implementation, the skilled person can select the transmission scheme according to the actual needs.

The driving plate 8 can be arranged in the housing 1, the driving plate 8 is provided with heating elements 81 such as a Metal Oxide Semiconductor (MOS) transistor, and when the driving plate 8 operates normally, the heating elements 81 generate more heat, and if the heat cannot be dissipated in time, the normal use of each component on the driving plate 8 can be affected.

In contrast, in the conventional art, the driving plate 8 and the rear cover 11 are spaced apart from each other, and the air therebetween is used to dissipate heat. However, the heat dissipation effect of air is poor, and when the robot knuckle arm runs for a long time, heat accumulation is easily generated on the driving plate 8, which can affect the normal running of the driving plate 8; and also causes a waste in space, resulting in an increase in the axial size of the articulated arm of the robot.

For this reason, in the present embodiment, heat dissipation can be performed by providing the heat dissipation fins 82. The heat sink 82 may be made of silicone, and may be mounted between the inner wall (back cover 11) of the housing 1 and the driving board 8 by press-fitting, and may wrap the heat generating element 81. So set up, on the one hand, do not have idle space, on the other hand, the radiating effect of the fin 82 of silica gel material is good, and can with back lid 11 and heating element 81 in close contact with, the produced heat accessible fin 82 of heating element 81 directly transmits to back lid 11 and discharges, and the radiating effect obtains improving by a wide margin, more is favorable to guaranteeing work efficiency and the life of each components and parts on the drive plate 8.

The heat radiating fin 82 made of the silica gel material has viscosity, and can be directly attached to one of the rear cover 11 and the drive plate 8 when being installed, and then the heat radiating fin 82 is tightly attached to the other one of the rear cover 11 and the drive plate 8 in a press-fitting mode; alternatively, the heat sink 82 may be directly pressed between the rear cover 11 and the drive plate 8 by press fitting.

It should be understood that there is usually more than one heating element 81 disposed on the driving board 8, and the above-mentioned heat dissipation fins 82 made of silicone rubber should cover all the heating elements 81 sufficiently to ensure that each heating element 81 has a good heat dissipation effect. Thus, when the heat sink 82 is processed and installed, the heat sink 82 can be arranged as a whole, specifically, referring to fig. 6, and then all the heating elements 81 are attached to the whole heat sink 82 at the same time, by adopting the scheme, the processing and installation processes of the heat sink 82 are simple and convenient; the plurality of heat dissipation fins 82 may be provided, and then the heat dissipation fins 82 may be attached to the heat generating elements 81 in a one-to-one correspondence, so that the heat generating elements 81 can be ensured to have a good heat dissipation effect, and the total amount of the heat dissipation fins 82 can be reduced.

It can be understood that except using the silica gel material, this fin 82 can also use other materials, for example, metal fin such as aluminum alloy, but considering the compressibility of silica gel material and the effect of closely laminating, the fin 82 of silica gel material is the utility model discloses the preferred scheme of embodiment.

The casing 1 may further include an encoder module for detecting parameters such as the rotation speed of the rotating shaft 21 and the output shaft 41, and the encoder module may include an encoder board and an encoder that are used in a matched manner.

The encoder board and the driving board 8 can be connected by a wiring board 9 to realize signal transmission between the encoder board and the driving board 8. Particularly, as shown in fig. 7, the two ends of the wiring bar 9 can be connected with the encoder board and the drive board 8 in a plug-in fixing mode, and compared with the common wiring harness connection in the prior art, the connection mode is simpler, the installation or the disassembly can be completed only through simple plug-in operation, the connection reliability is higher, and the anti-interference capability is stronger.

Referring to fig. 5, the encoder modules may include a first encoder module 6 and a second encoder module 7, where the first encoder module 6 is used to detect parameters such as a position and a rotation speed of the rotating shaft 21 of the motor 2, and the second encoder module 7 is used to detect parameters such as a position and a rotation speed of the output shaft 41. The encoder may be an optical encoder or other encoders capable of achieving the corresponding technical effects.

Taking the first encoder module 6 as an example, it may include the first encoder 61 and the first encoder board 62 which are used in a matching manner, the first encoder board 62 is provided with the first socket 63, the driving board 8 is provided with the driving board socket 83, both ends of the wiring bar 9 may be provided with the wiring terminals, and then the wiring terminals may be plugged into the corresponding sockets. In binding post and corresponding socket, one can be equipped with first joint spare, and the other can be equipped with second joint spare, when binding post pegs graft in corresponding socket, first joint spare can with second joint spare looks joint to fix the binding post of pegging graft in corresponding socket, can avoid binding post to deviate from in corresponding socket along the plug direction in the use, and then guarantee wiring row 9 and encoder board, drive plate 8's reliability of being connected.

The second encoder module 7 may also include a second encoder 71 and a second encoder board 72, which are configured to be matched with each other, the second encoder board 72 is provided with a second socket 73 for connecting with the terminal block 9, and the connection structure of the second encoder board 72 and the driving board 8 is similar to that of the first encoder board 62, which is not repeated here.

It should be noted that the embodiment does not limit the specific forms of the first and second clamping members, and in practical application, a person skilled in the art can refer to a clamping structure in the prior art to set the first and second clamping members; for example, the two may be a hook and a groove that are matched with each other, or a hook and a snap ring that are matched with each other.

For the motor 2, a magnetic encoder 611 for detecting a phase change point of the motor 2 is usually further provided, and the magnetic encoder 611 may be specifically a hall sensor or the like, in the prior art, the magnetic encoder 611 and the first encoder module 6 are both separately installed, which results in a larger axial dimension of the motor 2. For this reason, in the present embodiment, a multiplex encoder in which the magnetic encoder 611 and the photoelectric encoder 612 are integrated may be provided, and the multiplex encoder may be used as the first encoder 61 to reduce the axial size of the motor 2.

As shown in fig. 8 and 9, the multiplexing encoder may be annular, an inner annular portion of the annular encoder may be a photoelectric encoder 612, an outer annular portion of the annular encoder may be a magnetic encoder 611, the two are integrated into a whole, and an axial width of the multiplexing encoder is only equal to an axial width of the original photoelectric encoder 612, so that an axial dimension of the motor 2 can be greatly reduced, and a functional density of the motor 2 can be improved; the photoelectric encoder 612 and the magnetic encoder 611 do not affect each other, so that the multiplex encoder can simultaneously detect the rotation speed and position of the rotating shaft 21 and the commutation point of the motor 2.

Above-mentioned multiplex encoder can also be provided with first mount pad 64, combine fig. 5, when the installation, multiplex encoder accessible first mount pad 64 is installed this multiplex encoder at the tip that rotary shaft 21 stretches out brake equipment 3, make brake equipment 3 be located between multiplex encoder and the motor 2, so, multiplex encoder can install the position far away relatively apart from motor 2 to avoid motor 2 to run and generate heat and cause the influence to the performance of encoder.

As for the second encoder module 7, it may be provided with a second mounting seat 74, as shown in fig. 10, the second mounting seat 74 is substantially cylindrical and is mounted to the output shaft 41, and one end (upper end in the drawing) of the second mounting seat 74 may be further provided with a coaxial groove in which the second encoder 71 may be mounted. The side wall of the second mounting seat 74 may further be provided with a radial observation hole 741, and the observation hole 741 is communicated with the groove so as to observe whether the second encoder 71 in the groove is mounted in place, and specifically, the distance between the bottom wall of the groove and the second encoder 71 can be determined according to whether the distance meets a specified distance. The "predetermined distance" is related to the type, specification, and the like of the second encoder 71, and is not limited herein.

In this embodiment, too, the shape and number of the observation holes 741 are not limited, and the number of the observation holes 741 may be one or a plurality of observation holes provided in the circumferential direction, and the cross-sectional shape of the observation holes 741 may be rectangular, circular, stepped, or the like; however, in any arrangement, it is sufficient to ensure that the installation position of the second encoder 71 can be clearly observed through the observation hole 741, so as to avoid that the second encoder 71 cannot be installed in place due to a blind spot during installation.

Referring to fig. 11, fig. 11 is a schematic structural diagram of another embodiment of a robot joint arm according to the present invention.

As shown in fig. 11, in the present embodiment, the rotating shaft 21 of the motor 2 may penetrate through the braking device 3 and the motor 2 and extend into the speed reducer 4, and in order to prevent the lubricant inside the speed reducer 4 from leaking along the rotating shaft 21 and contaminating the encoder module and the driving plate 8 inside the robot joint arm, an oil blocking member 211 may be disposed at the connection between the casing of the speed reducer 4, the casing of the motor 2, and the casing of the braking device 3 and the rotating shaft 21.

In a specific scheme, the oil blocking member 211 may be a support bearing, that is, the support bearing may be disposed at a connection between a housing of the speed reducer 4, a housing of the motor 2, and a housing of the brake device 3 and the rotating shaft 21, so as to prevent oil leaked from the speed reducer 4 from entering the encoder module and the drive plate 8; meanwhile, each support bearing can also limit and support the rotating shaft 21 to form a multi-point support structure, so that the jumping of the rotating shaft 21 in the normal operation process can be avoided, the stable operation of the motor 2 can be further ensured, and the service life and the reliability of the robot joint arm can be improved; in addition, the leaked oil of the speed reducer 4 can lubricate the support bearing so as to ensure the normal operation of the support bearing.

The number of the above-mentioned support bearings should be at least two to form at least two barriers to oil leakage of the reducer 4. And particularly to this embodiment, adjacent ends of the shell of the speed reducer 4, the shell of the motor 2 and the shell of the brake device 3 can share one support bearing, and fig. 11 is taken as a view angle, that is, the left end of the shell of the speed reducer 4 and the right end of the shell of the motor 2 can share one support bearing, and the left end of the shell of the motor 2 and the right end of the shell of the brake device 3 can share the same support bearing, so as to reduce the number of the support bearings, and meanwhile, the compactness among all the parts can be improved, so as to reduce the axial size of the robot joint arm. Of course, the number of the support bearings may also be more than two, for example, the support bearings may be separately disposed at the joints of the housing of the speed reducer 4, the housing of the motor 2, the housing of the brake device 3, and the rotating shaft 21, and at this time, five support bearings are required to be disposed to plug the left end of the housing of the speed reducer 4, the left and right ends of the housing of the motor 2, and the left and right ends of the housing of the brake device 3.

Referring to fig. 12, fig. 12 is a schematic structural diagram of another embodiment of a robot joint arm according to the present invention.

In the robot joint arm, the installation requirements of the speed reducer 4 are 0.01mm of perpendicularity and 0.01mm of concentricity, but it is difficult to achieve the above requirements in the installation of the rotating shaft 21 and the installation surface of the speed reducer 4 in actual installation. For this reason, as shown in fig. 12, in the present embodiment, the speed reducer 4 and the rotating shaft 21 of the motor 2 may be provided as an integral structure, so as to avoid the difficulty in assembling the rotating shaft 21 and the speed reducer 4, and further meet the installation requirement of the speed reducer 4 in the robot joint arm. In the present embodiment, the type of the speed reducer 4 is not limited, and it may be a gear speed reducer, a worm speed reducer, a harmonic speed reducer, or the like.

On the basis, the flange 5 and the reducer 4 can also be provided as an integrated structure, so as to simplify the assembly process of the robot articulated arm provided by the embodiment to a greater extent.

With respect to the robot joint arm according to the above embodiments, the following embodiments of the present invention will also describe a control process of the robot joint arm.

During normal operation, the motors 2 in the articulated arm of the robot operate mostly during acceleration or deceleration. Further, the posture of the robot also changes, and the potential energy of the robot body and the load thereof also changes with the change in the posture of the robot. This results in the electric motor 2 sometimes applying positive work to the outside and sometimes applying negative work to the outside.

When the motor 2 applies negative work to the outside, the mechanical energy is converted into electric energy to be output. However, the power supply for supplying power to the robot is usually unidirectional energy conversion, and the electric energy converted from the mechanical energy can only be accumulated on the capacitor at the power supply continuously, resulting in the energy accumulation on the capacitor, as shown in fig. 13. When the electric energy fed back by the motor 2 is accumulated to the extent that the capacitor and the power supply can not bear, the power supply or hardware of the robot joint arm can be damaged.

In order to solve this problem, a feedback energy consumption device is added to the power supply part to convert the redundant accumulated energy in the capacitor into heat energy and emit the heat energy to the air or other heat dissipation devices. However, the utility model discloses a people is under study and is found that usually the power supply can be connected to robot (for example motor 2) power supply through a long cable. Due to the existence of the equivalent inductance of the cable, transient inconsistency occurs between the voltage at the end of the robot (such as the motor 2) and the output voltage of the power supply during high-speed dynamic conditions, and the protection capability of the feedback energy consumption device on the robot body is influenced.

Therefore, the embodiment of the application provides a robot joint arm, wherein a device consuming motor feedback energy is arranged in a robot body, so that the influence of a cable equivalent inductor on the output voltage of a power supply is avoided, the inconsistency of transient voltages of a robot end and a power supply end is eliminated, and the safety of the robot and the power supply end is protected to the maximum extent.

Referring to fig. 14, the figure is a schematic structural diagram of a robot articulated arm according to an embodiment of the present application.

The robot articulated arm that this application embodiment provided includes: at least one electric machine 2 and an energy consumption module 10;

the motor 2 is connected with a power supply Vsup;

and the energy consumption module 101 is used for consuming the electric energy generated by the electric motor 2.

The power supply Vsup supplies electric energy to the motor 2 on the robot through the cable W, and the motor 2 converts the electric energy into mechanical energy to do positive work outwards. When the motor 2 performs negative work outwards, the mechanical energy is converted into electric energy which is directly output to the energy consumption module 101 on the robot 100 body and consumed and absorbed by the energy consumption module 101, the condition that transient voltages at the robot 100 end and the power supply Vsup end are inconsistent in transmission through the cable W is not influenced, the influence of equivalent inductance of the cable W on the protection capability of the energy consumption module 101 can be effectively avoided, and the safety of the robot 100 and the power supply Vsup is protected to the maximum extent.

In this application embodiment, the articulated arm of robot includes at least one motor and energy consumption module, the motor is connected power supply, power supply provides the energy for the outside positive power of doing of motor, and when the outside negative power of doing of motor, the energy of motor feedback is direct to be absorbed and consumed by the energy consumption module that sets up on the robot body, electric quantity accumulation too high on the electric capacity has been avoided, and the energy of motor feedback need not directly export to the energy consumption module through long cable, the influence of the equivalent inductance of having avoided the cable to transient voltage, the stability of voltage on the robot body has been guaranteed, and then the normal work of power supply and robot body has been guaranteed.

Referring to fig. 15, the figure is a schematic structural diagram of another robot power supply system provided in the embodiment of the present application. A more specific robot power supply system is provided compared to fig. 14.

In some possible implementation manners of the embodiment of the present application, the energy consumption module 101 may specifically include: a control sub-module 101a and a feedback absorption sub-module 101 b.

The control submodule 101a is connected in series between the motor 2 and the feedback absorption submodule 101b and is used for controlling the connection and disconnection of a loop between the motor 2 and the feedback absorption submodule 101b according to the voltage of the power supply Vsup and the voltage of the motor 2;

and the feedback absorption submodule 101b is used for consuming the electric energy fed back by the motor 2.

It will be appreciated that when the motor 2 is doing negative work externally, i.e. the motor 2 is generating electricity externally, the voltage value at its port is greater than the voltage value at the supply source Vsup. If the voltage difference between the voltage of the motor 2 and the voltage of the power supply Vsup is greater than or equal to the preset threshold value, the control submodule 101a conducts a loop between the motor 2 and the feedback absorption submodule 101b, and controls the feedback absorption submodule 101b to consume the electric energy fed back by the motor 2, so that the electric quantity is prevented from accumulating on the capacitor; on the contrary, if the voltage difference between the voltage of the motor 2 and the voltage of the power supply Vsup is smaller than the preset threshold, the control submodule 101a controls the turn-off of the loop between the motor 2 and the feedback absorption submodule 101b, so as to avoid the waste of electric energy.

In one example, the feedback absorption submodule 101b may include a heating resistor.

In another example, the feedback absorption submodule 101b may further include a heating resistor and a capacitor connected in parallel.

During normal operation, the current flowing through the cable W may fluctuate greatly due to the influence of the continuous change of the motion state of the robot 100 and the external electromagnetic interference, which may affect the operation of the motor 2. Therefore, in some possible implementation manners of the embodiment of the present application, in order to avoid the influence of the current fluctuation on the motor 2, the capacitor in the feedback absorption submodule 101b may also be used to filter the current output to the motor 2, so as to ensure the stability of the current.

In practical applications, as an example, the energy consuming module 101 may be disposed on a Printed Circuit Board (PCB), which may be disposed in the robot base.

The specific structure of the control sub-module 101a is described in detail below.

In some possible implementations of the embodiment of the present application, the control sub-module 101a has at least the following two possible implementations.

In a first possible implementation manner, as shown in fig. 16, the control sub-module 101a includes: a switch S and a controller CON;

the switch S is connected in series between the motor 2 and the feedback absorption submodule 101 b;

a controller CON for detecting a voltage of the power supply Vsup and a voltage of the motor 2; and also for switching the switch S on or off according to the voltage difference between the voltage of the supply source Vsup and the voltage of the motor 2.

In the embodiment of the present application, when the controller CON detects that the voltage difference between the voltage of the power supply Vsup and the voltage of the motor 2 is greater than or equal to the preset threshold, the controller CON controls the switch S to be turned on, so as to turn on the path between the motor 2 and the feedback absorption submodule 101b, and consume the electric energy generated by the power generation of the motor 2 by using the feedback absorption submodule 101 b; when the controller CON detects that the voltage difference between the voltage of the power supply Vsup and the voltage of the motor 2 is smaller than the preset threshold, the control switch S is turned off, so that the path between the motor 2 and the feedback absorption submodule 101b is disconnected, and the waste of electric energy is avoided.

In a second possible implementation manner, as shown in fig. 17, the control sub-module 101a may include: a P-channel insulated gate bipolar transistor;

the emitter of the P-channel insulated gate bipolar transistor MP is connected to the motor 2, the collector of the P-channel insulated gate bipolar transistor MP is connected to the feedback absorption submodule 101b, and the base of the P-channel insulated gate bipolar transistor MP is connected to the power supply Vsup.

In the embodiment of the present application, when the controller CON detects that the voltage difference between the voltage of the power supply Vsup and the voltage of the motor 2 is greater than or equal to the preset threshold, the P-channel igbt MP is turned on, so that the path between the motor 2 and the feedback absorption submodule 101b is turned on, and the feedback absorption submodule 101b is used to consume the electric energy generated by the power generation of the motor 2; when the controller CON detects that the voltage difference between the voltage of the power supply Vsup and the voltage of the motor 2 is smaller than the preset threshold, the P-channel insulated gate bipolar transistor MP is turned off, so that the path between the motor 2 and the feedback absorption submodule 101b is disconnected, and the waste of electric energy is avoided.

Example 3

The utility model also provides a robot, including one or more articulated arms, this articulated arm is the articulated arm of robot that involves in embodiment 2.

Since the articulated arm of the robot in embodiment 2 has the above technical effects, the robot having the articulated arm of the robot also has similar technical effects, and therefore, the detailed description thereof is omitted here.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (11)

1. A brake device is used for a robot joint arm, a driving device is arranged in the robot joint arm, the driving device is provided with a driving shaft, the brake device (3) comprises a brake pad (31), an electromagnet (32) and an armature (33), an elastic piece (34) is arranged between the electromagnet (32) and the armature (33), the brake device is characterized by further comprising a guide piece (35), the armature (33) is hung on the electromagnet (32) through the guide piece (35) and can be far away from or close to the electromagnet (32) along the axial direction of the guide piece (35), and the brake pad (31) is fixed on the driving shaft;

under the on-state condition, armature (33) actuation in electro-magnet (32), and compress elastic component (34), under the off-state condition, elastic component (34) can release and promote armature (33) compresses tightly brake block (31), with the restriction the rotation of drive shaft.

2. The brake apparatus of claim 1, further comprising an annular pressure plate (36) having an inner edge mounted to the driving shaft and an outer edge provided with a dust collection cover (361) extending toward the electromagnet (32), wherein the dust collection cover (361) and the pressure plate (36) enclose a dust collection groove (362);

the brake block (31) is positioned in the dust collection groove (362).

3. A brake arrangement according to claim 2, wherein the pressure plate (36) is fixed to the drive shaft and the brake pads (31) are mounted to the pressure plate (36).

4. The brake apparatus of claim 2, wherein the dust collection cover (361) has an inner diameter that is gradually reduced in a direction approaching the electromagnet (32).

5. A braking device according to any one of claims 1-4, characterized in that the drive means comprise an electric motor (2), the drive shaft being a rotating shaft (21) of the electric motor (2); or,

the driving device comprises a motor (2) and a speed reducer (4) in transmission connection with the motor (2), and the driving shaft is a rotating shaft (21) of the motor (2) and/or an output shaft (41) of the speed reducer (4).

6. A robot joint arm comprising a housing (1), inside which housing (1) there are drive means and brake means (3), characterized in that the brake means (3) is a brake means (3) according to any of claims 1-5.

7. The articulated robot arm according to claim 6, characterized in that a drive plate (8) is also provided inside the housing (1), the drive plate (8) being provided with heating elements (81);

the heating device is characterized by further comprising a radiating fin (82), wherein the radiating fin (82) is pressed between the inner wall of the shell (1) and the driving plate (8) and can wrap the heating element (81).

8. The articulated robot arm according to claim 7, characterized in that an encoder module is further provided in the housing (1), the encoder module comprising a matching encoder board and encoder;

the encoder is characterized by further comprising a wiring bar (9), wherein two ends of the wiring bar (9) are respectively inserted and fixed to the encoder board and the drive board (8) so as to realize signal connection of the encoder board and the drive board (8).

9. The robotic articulated arm of claim 8, wherein the encoder module further comprises a second mount (74), the encoder being mounted to the second mount (74);

the second mounting seat (74) is provided with a viewing hole (741) for observing whether the encoder is mounted in place.

10. The articulated robot arm according to claim 6, characterized in that the housing (1) comprises a cylindrical part provided with a back cover (11) at one end and a flange (5) at the other end;

the driving device comprises a motor (2) and a speed reducer (4) in transmission connection with the motor (2), the speed reducer (4) is provided with an input shaft and an output shaft (41), the input shaft is a rotating shaft (21) of the motor (2), the output shaft (41) penetrates through a flange (5) and extends out of the shell (1), and the speed reducer (4) and the rotating shaft (21) are of an integrated structure.

11. A robot comprising an articulated arm, characterized in that the articulated arm is a robot articulated arm according to any of claims 6-10.