Robot joint module brake device
A technology of robot joints and braking devices, applied in the directions of manipulators, manufacturing tools, etc., can solve problems such as the weak supporting market of braking devices
Pending Publication Date: 2020-08-04
ZHEJIANG UNIV KUNSHAN INNOVATION INST
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Problems solved by technology
It includes hollow torque motors, harmonic reducers, servo drives, feedback devices, braking devices, etc. From the perspective of related industrial chain markets at home and abroad, compared with standard parts such as motors, reducers, drives, and encoders, there are different There are few brands to choose from, and the matching market for brake devices is extremely weak. There is no brake that can be directly applied to robot joints with small size and light weight.
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Embodiment Construction
[0016] A robot joint module brake device, see figure 1 , figure 2 : It includes a brake generating device 1 and a brake actuator 2, the brake generating device 1 includes a normally open miniature linear solenoid valve 3, a solenoid valve fixing seat 4, the solenoid valve 3 is fixed on the solenoid valve fixing seat 4 according to a specified direction, and the solenoid valve The fixing seat 4 is used to be fixed on the inner wall of the joint module shell 5, the solenoid valve 3 includes a solenoid valve pin shaft 31, and the power supply of the solenoid valve 3 is supplied by the joint module motor power supply device; the brake actuator 2 includes a brake pin 6, a brake disc 7. The brake disc fixing seat 8, the brake pin 6 is fixed on the front end of the solenoid valve pin shaft 31, the brake disc 7 is fixed on the brake disc fixing seat 8, and the brake disc fixing seat 8 is fixed on the end of the input shaft 9 of the joint module , the brake disc 7, the brake disc fix...
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The invention provides a robot joint module brake device. The brake device is simple in structure and good in reliability, the overall structure of a robot joint module is optimized, and the safety ofa collaborative robot built by joint modules is improved. The brake device comprises a brake generation device and a brake execution device, wherein the brake generation device comprises a normally-on miniature linear electromagnetic valve and an electromagnetic valve fixing seat; the electromagnetic valve is fixed to the electromagnetic valve fixing seat in the designated direction, and the electromagnetic valve fixing seat is used for being fixed to the inner wall of a shell of the joint module; the electromagnetic valve comprises an electromagnetic valve hinge pin, and the electromagneticvalve is powered by a motor power supply device of the joint module; and the brake execution device comprises a brake pin column, a brake disc and a brake disc fixing seat, the brake pin column is fixedly arranged at the front end of the electromagnetic valve hinge pin, the brake disc is fixed to the brake disc fixing seat, and the brake disc fixing seat is fixed to the end part of an input shaftof the joint module.
Description
technical field [0001] The invention relates to the technical field of collaborative robot structures, in particular to a braking device for robot joint modules. Background technique [0002] With the development of industry, multi-variety, small-batch, and customized industrial production methods have become a trend, which puts forward higher requirements for the flexibility and safety of the production line. It is difficult for the automatic production line mainly based on special planes to meet the flexible requirements. The automation transformation of workstations will become the mainstream of industrial automation. Based on the continuous maturity of robot technology, human-machine cooperation has become possible, and collaborative robots have emerged as the times require. As the hardware part of the collaborative robot, the robot joint module can quickly build modules, and it is gradually exerting its huge advantages. It includes hollow torque motors, harmonic reduc...
Claims
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IPC IPC(8): B25J19/00
CPCB25J19/0004
Inventor 张振兴吴俊峰张慧明
Owner ZHEJIANG UNIV KUNSHAN INNOVATION INST