Braking device, electric motor and robot

Abstract

Braking device for electric machines and robots, the braking device comprising: a first ring (10) connected to and rotatable with a shaft (12), the first ring (10) comprising a first set of magnets (101, 103, 10-1, 10-2, …, 10-N); a second ring (20) spaced apart from the first ring (10) by a gap and comprising a second set of magnets (201, 203, 20-1, 20-2, …, 20-N), the second set of magnets being magnetically coupled to the first set of magnets so that the second ring tends to rotate with the first ring; a first member (22) connected to the second ring (20); and a second member (30) switchable between a first state and a second state, wherein the second member (30) engages the first member (22) to prevent rotation of the first member in the first state and the second member (30) disengages from the first member (22) to allow rotation of the first member in the second state. A damping effect can be achieved during braking.

Description

Technical Field

[0001] The embodiments disclosed herein relate generally to the field of braking devices, and more specifically to braking mechanisms, motors, and robots. Background Technology

[0002] Electromechanical braking systems have been used for some time, for example, to stop the rotation of motors or the movement of robot arms. In the case of robots, electromechanical braking systems can stop the robot's movement immediately and keep the robot stationary when the power applied to the electromechanical braking system changes.

[0003] Figures 1 to 2 The illustration schematically depicts a conventional braking device in different states. For example... Figure 1-2 As shown, a conventional braking device includes a shaft 12A, a hub 20A, a disc 22A, an armature 30A, a spring 42A, and a coil 40A. The shaft 12A, hub 20A, and disc 22A are connected together. When power is applied to the coil 40A, a magnetic attraction is generated, drawing the armature 30A towards the coil 40A. This magnetic attraction pulls the armature 30A, compressing the spring 42A. An air gap is then created between the disc 22A and the armature 30A. In this configuration, the shaft 12A, hub 20A, and disc 22A can rotate together, as... Figure 1 As shown. When the power of coil 40A is cut off, the magnetic attraction will disappear, and spring 42A will expand to push armature 30A to press against disk 22A, as... Figure 2 As shown. This generates friction between the armature 30A and the disk 22A, thereby producing a braking torque to stop the rotation of the disk 22A. Therefore, the rotation of the shaft 12A can be stopped.

[0004] However, when the power to coil 40A is cut off, disk 22A is actually rotating, and armature 30A suddenly contacts disk 22A due to the elastic force of spring 42A. An impact force is applied to disk 22A, and the dynamic braking torque acting on disk 22A is uncontrollable. In the case of a braking device used in a robot, this would result in an unintended overload on the robot.

[0005] Therefore, an improved solution for braking devices is needed. Summary of the Invention

[0006] In a first aspect of the invention, a braking device is provided. The braking device includes: a first ring connected to and rotatable with a shaft, the first ring including a first set of magnets; a second ring spaced apart from the first ring by a gap and including a second set of magnets, the second set of magnets being magnetically coupled to the first set of magnets such that the second ring tends to rotate with the first ring; a first member connected to and rotatable with the second ring; and a second member switchable between a first state and a second state, wherein the second member engages with the first member to prevent rotation of the first member in the first state, and disengages from the first member to allow rotation of the first member in the second state.

[0007] In the above embodiment, the second ring can rotate together with the first ring via magnetic coupling. When the rotation of the shaft needs to be stopped, the second component can switch to a first state, in which the second component engages with the first component to prevent the rotation of the first component, thereby preventing the rotation of the second ring. In this way, the rotation of the first ring and the shaft can be prevented and then stopped by the magnetic coupling between the first and second rings.

[0008] Because of the gap between the first and second rings, impacts acting on the first member and the second ring will not be transmitted to the first ring and the shaft. Furthermore, if the braking torque generated between the first and second rings exceeds the maximum magnetic coupling force, relative slippage will occur between the first and second rings, thereby achieving a damping effect during braking.

[0009] In some embodiments, each of the first and second sets of magnets comprises a south pole magnet and a north pole magnet arranged alternately around a longitudinal axis of the shaft. Using these embodiments, the first and second rings can be stably coupled. In this way, wear on the first and second components can be reduced due to the magnetic coupling between the first and second rings.

[0010] In some embodiments, the first ring and the second ring are arranged side by side along the longitudinal axis of the shaft. Using these embodiments, the braking device can be easily manufactured, and the coupling between the first and second rings is reliable.

[0011] In some embodiments, the second ring is arranged radially around the first ring relative to the longitudinal axis of the shaft. Using these embodiments, the braking device will have a more compact size, and the coupling between the first and second rings will be reliable.

[0012] In some embodiments, each of the first and second sets of magnets comprises a plurality of magnet arrays coaxially arranged along the longitudinal axis of the axis, and each magnet array comprises south pole magnets and north pole magnets alternately arranged around the longitudinal axis of the axis. Using these embodiments, the magnetic coupling force between the first and second rings can be further increased, and the first and second rings can be stably coupled.

[0013] In some embodiments, the first component includes a disk; and the second component includes a plate configured to contact the disk in a first state of the second component to prevent rotation of the disk by frictional force applied by the plate. Using these embodiments, the first and second components have simple structures, and the coupling between the first and second rings is reliable.

[0014] In some embodiments, the braking device further includes: an electromagnet configured to release the plate when de-energized, causing the second member to be in a first state, and to attract the plate away from the disc when energized, causing the second member to be in a second state; and a spring disposed between the electromagnet and the plate and configured to push the plate toward the disc when the electromagnet is de-energized. Using these embodiments, the second member can switch quickly and reliably between the first and second states.

[0015] In some embodiments, the braking device further includes: an electromagnet configured to release the plate when de-energized, causing the second member to be in a second state, and to attract the plate to press against the disc when energized, causing the second member to be in a first state; and a spring disposed between the electromagnet and the plate and configured to push the plate away from the disc when the electromagnet is de-energized.

[0016] In some embodiments, the first member includes at least one protrusion extending away from the second ring; and the second member includes a telescopic rod configured to protrude in a first state of the second member to prevent rotation of the at least one protrusion, and to retract in a second state of the second member to allow rotation of the at least one protrusion. Using these embodiments, the switching of the state of the second ring can be achieved in a simple and reliable manner.

[0017] In some embodiments, at least one protrusion includes a plurality of protrusions spaced apart from each other about a longitudinal axis of the shaft, such that a space exists between these adjacent protrusions; and a telescopic rod is adapted to be inserted into this space in a first state of the second member to prevent rotation of the plurality of protrusions. Using these embodiments, rotation of the second ring can be stopped quickly and reliably.

[0018] In a second aspect of the invention, an electric motor is provided. The motor includes: a housing for housing a rotor and a stator; an output shaft coupled to the rotor; and a braking device according to a first aspect of the invention; wherein the output shaft is attached to the shaft of the braking device such that rotation of the output shaft can be stopped by the braking device. Using the above embodiment, when the shaft is rotating and the second member switches from a second state to a first state, the impact acting on the second ring will not be transmitted to the shaft, thus achieving a damping effect.

[0019] In a third aspect of the invention, a robot is provided. The robot includes: a plurality of arms connected via joints; and a motor according to a second aspect of the present disclosure for driving one of the plurality of arms. Using the above embodiment, impacts acting on the second ring during braking will not be transmitted to the shaft and the robot, and the robot can operate reliably. Attached Figure Description

[0020] The above and other objects, features, and advantages of the exemplary embodiments disclosed herein will become more readily understood from the following detailed description with reference to the accompanying drawings. In the drawings, several exemplary embodiments disclosed herein are illustrated by way of example, not limitation, in which:

[0021] Figure 1 The illustration schematically depicts a conventional braking device in its normal operating state.

[0022] Figure 2 The illustration schematically depicts a vehicle in a braking state. Figure 1 Traditional braking devices;

[0023] Figure 3 An example braking device according to some embodiments of the present disclosure is schematically illustrated;

[0024] Figure 4 The illustration schematically depicts a vehicle in a braking state. Figure 3 Braking device;

[0025] Figure 5 The diagram shows... Figure 3 A partial schematic diagram of the braking device;

[0026] Figure 6 schematically illustrated Figure 3 A partial side view of the braking device;

[0027] Figure 7 Another example braking device according to some embodiments of the present disclosure is schematically illustrated;

[0028] Figure 8 schematically illustrated Figure 7 A partial side view of the braking device;

[0029] Figure 9 Another example braking device according to some embodiments of the present disclosure is schematically illustrated;

[0030] Figure 10 The illustration schematically depicts a vehicle in a braking state. Figure 9 Braking device; and

[0031] Figure 11 schematically illustrated Figure 10 A side view of the first component of the braking device.

[0032] Throughout the accompanying drawings, the same or similar reference numerals are used to denote the same or similar elements. Detailed Implementation

[0033] The principles of this disclosure will now be described with reference to several exemplary embodiments illustrated in the accompanying drawings. Although exemplary embodiments of this disclosure are illustrated in the drawings, it should be understood that these embodiments are described only to enable those skilled in the art to better understand and implement this disclosure, and not to limit the scope of this disclosure in any way.

[0034] As per the above reference Figure 1 and Figure 2 The description states that during braking, an impact is applied to disc 22A, and the dynamic braking torque acting on disc 22A is uncontrollable. Therefore, an improved solution for the braking device is needed.

[0035] Figure 3 Example braking devices according to some embodiments of the present disclosure are schematically illustrated. Figure 3 As shown, the braking device includes a first ring 10, a second ring 20, a first component 22, and a second component 30. The first ring 10 is connected to the shaft 12 and is rotatable with the shaft 12. The first ring 10 includes a first set of magnets.

[0036] The second ring 20 is spaced apart from the first ring 10 by a gap. The second ring 20 includes a second set of magnets, and the second set of magnets is magnetically coupled to the first set of magnets. Therefore, the second ring 20 tends to rotate together with the first ring 10.

[0037] Reference Figure 3 The first component 22 is connected to the second ring 20 and is capable of rotating together with the second ring 20. The second component 30 can switch between the first state and the second state.

[0038] In such Figure 3In the second state shown, the second member 30 disengages from the first member 22 to allow the first member 22 to rotate. Therefore, the shaft 12 can rotate without any braking force. Due to the magnetic coupling force present between the first and second rings 10 and 20, the second ring 20 and the first member 22 can rotate together with the shaft 12.

[0039] Figure 4 The diagram schematically illustrates the first state, i.e., the braking state. Figure 3 Braking devices. For example... Figure 4 As shown, in the first state, the second member 30 engages with the first member 22 to prevent the rotation of the first member 22. In this way, the second ring 20 can prevent the rotation of the first ring 10 by the magnetic coupling force between the first and second rings 10 and 20, thereby preventing the rotation of the shaft 12.

[0040] Using the above embodiment, when it is necessary to stop the rotation of shaft 12, the second component 30 can switch to a first state. In the first state, the second component 30 engages with the first component 22 to prevent the rotation of the first component 22, thereby preventing the rotation of the second ring 20. In this way, the rotation of the first ring 10 and shaft 12 can be prevented and then stopped by the magnetic coupling force between the first ring 10 and the second ring 20.

[0041] Because of the gap between the first and second rings 10 and 20, the impact force acting on the first member 22 and the second ring 20 will not be transmitted to the first ring 10 and the shaft 12. Furthermore, if the braking torque generated between the first and second rings 10 and 20 exceeds the maximum magnetic coupling force generated by the first and second sets of magnets, relative slippage will occur between the first and second rings 10 and 20, thereby achieving a damping effect during braking.

[0042] In some embodiments, such as Figure 4 As shown, the second component 30 contacts the first component 22 to prevent the first component 22 from rotating in the first state. (Refer to the following...) Figure 5 Explain the braking principle.

[0043] Figure 5 The diagram shows... Figure 3 A partial schematic diagram of the braking device, illustrating the braking principle. (See attached diagram.) Figure 5 As shown, shaft 12 rotates about its longitudinal axis X in the direction Ro. During braking, the second member 30 applies a force F to the first member 22 in a direction parallel to the longitudinal axis X. The force F generates a torque T opposite to the direction Ro. This torque T stops the rotation of the second ring 20, which in turn stops the rotation of the first ring 10 and shaft 12 through the magnetic coupling force between the first and second rings 10 and 20.

[0044] It should be understood that the direction of force F can be any suitable direction other than the example above. This invention is not intended to limit the direction of force F.

[0045] In some embodiments, such as Figure 3-5 As shown, the second ring 20 can be arranged around the first ring 10 in the radial direction R relative to the longitudinal axis X of the shaft 12. In some embodiments, the first ring 10 and the second ring 20 can be arranged concentrically in the radial direction R relative to the longitudinal axis X, such as... Figure 6 As shown, Figure 6 schematically illustrated Figure 3 A partial side view of the braking device.

[0046] In some embodiments, such as Figure 6 As shown, the first ring 10 includes a south pole magnet 101 and a north pole magnet 103 arranged alternately around the longitudinal axis X of the shaft 12. In some embodiments, the south pole magnet 101 may be arranged uniformly around the longitudinal axis X of the shaft 12.

[0047] It should be understood that the arrangement of the south pole magnet 101 and the north pole magnet 103 can be suitable in ways other than those described above. This invention is not intended to limit the arrangement of the south pole magnet 101 and the north pole magnet 103.

[0048] In some embodiments, spacers may be provided in each gap between adjacent north and south pole magnets 103, 101 to improve the manufacturing process of the first ring 10.

[0049] In some embodiments, such as Figure 6 As shown, the second group of magnets includes a south pole magnet 201 and a north pole magnet 203 arranged alternately around the longitudinal axis X of axis 12. In some embodiments, the south pole magnet 201 may be arranged uniformly around the longitudinal axis X of axis 12.

[0050] It should be understood that the arrangement of the south pole magnet 201 and the north pole magnet 203 can be suitable in ways other than those described above. This invention is not intended to limit the arrangement of the south pole magnet 201 and the north pole magnet 203.

[0051] In some embodiments, spacers may be arranged in each gap between adjacent north and south pole magnets 203, 201.

[0052] In some embodiments, reference Figures 3 to 6 Especially Figure 5 , Figure 5The diagram shows an enlarged view of a portion of the braking device. Each of the first and second groups of magnets may include multiple magnet arrays 10-1, 10-2…10-N; 20-1, 20-2…20-N arranged coaxially along the longitudinal axis X of axis 12. Each magnet array 10-1, 10-2…10-N; 20-1, 20-2…20-N includes south pole magnets 101, 201 and north pole magnets 103, 203 arranged alternately around the longitudinal axis X of axis 12 as described above. Using these embodiments, the magnetic coupling force between the first and second rings 10, 20 can be further increased, and the first and second rings 10, 20 can be stably coupled.

[0053] In some embodiments, the first component 22 may include a disk, while the second component 300 may include a plate. Return to Reference Figures 3 to 4 The plate is configured to contact the disk in a first state of the second member 30 to prevent the disk from rotating by the frictional force applied by the plate.

[0054] It should be understood that the types of the first and second components 22 and 30 can be suitable types other than those described above. This disclosure is not intended to limit the types of the first and second components 22 and 30.

[0055] In some embodiments, such as Figure 3 and 4 As shown, the braking device may further include an electromagnet 40 and a spring 42. The electromagnet 40 may be configured to release the plate of the second member 30 when power is off, such that the second member 30 is in a position as shown in the figure. Figure 4 The first state is shown. The electromagnet 40 is also configured to attract the plate away from the disk of the first member 22 when energized, causing the second member 30 to be in the state shown. Figure 3 The second state is shown.

[0056] In an alternative embodiment, the electromagnet 40 may be configured to release the plate when power is off, causing the second member 30 to be in a second state, and to attract the plate to press against the disk when power is on, causing the second member 30 to be in a first state.

[0057] It should be understood that the switching method of the electromagnet 40 can be any suitable type other than the example above.

[0058] Spring 42 can be arranged between the electromagnet 40 and the plate of the second component 30. When the electromagnet 40 is de-energized, spring 42 expands to push the plate against the disk of the first component 22, as shown. Figure 4 As shown. In an alternative embodiment, when the electromagnet 40 is de-energized, the spring 42 expands to push the plate away from the disk.

[0059] Figure 7 Another example braking device is schematically illustrated. Figure 8 schematically illustrated Figure 7 A partial side view of the braking device. In some embodiments, such as Figures 7 to 8 As shown, the first ring 10 and the second ring 20 are arranged side by side along the longitudinal axis X of the shaft 12. During braking, a braking torque, such as the torque T discussed above, acts on the first member 22 and the second ring 20. Therefore, rotation of the shaft 12 can be stopped by the magnetic coupling force between the first and second rings 10 and 20.

[0060] Figures 9 to 10 Another example braking device according to some embodiments of the present disclosure is schematically illustrated. Figures 9 to 10 As shown, the first member 22 may include at least one protrusion 23, and the second member 30 may include a telescopic rod 31. At least one protrusion 23 extends away from the second ring 20.

[0061] like Figure 9 As shown, in the second state of the second member 30, the retractable rod 31 retracts to allow rotation of at least one protrusion 23. Figure 10 As shown, in the first state of the second member 30, the telescopic rod 31 protrudes to prevent rotation of at least one protrusion 23.

[0062] Figure 11 schematically illustrated Figure 10 A side view of the first component of the braking device. (See image) Figure 11 As shown, at least one protrusion 23 includes a plurality of protrusions 23, such as four protrusions, which are spaced apart from each other about the longitudinal axis X of shaft 12. This arrangement creates a space between adjacent protrusions 23. In a first state of the second member 30, a retractable rod 31 can be inserted into the space to prevent rotation of the plurality of protrusions 23 and the first member 22.

[0063] With the first and second rings 10 and 20 magnetically coupled to each other, the dynamic braking torque acting on the second ring 20 and the first component 22 is controllable.

[0064] According to an embodiment of the present invention, an electric motor is provided. The electric motor includes a housing, an output shaft, and a braking device as discussed above. The housing houses the rotor and the stator, and the output shaft is connected to the rotor. The output shaft is attached to the shaft 12 of the braking device, such that rotation of the output shaft can be stopped by the braking device. The braking device as discussed above prevents the transmission of shocks generated during braking to the electric motor.

[0065] According to embodiments of this disclosure, a robot is provided. The robot includes a plurality of arms connected via joints; and a motor as discussed above. The motor is used to drive one of the plurality of arms. With the motor discussed above, the robot can operate reliably, and shocks generated during braking are not transmitted to the robot.

[0066] As discussed above, the dynamic braking torque acting on the second ring 20 and the first component 22 can be controllable, and therefore the dynamic braking torque can be controlled so as not to reach the maximum permissible dynamic braking torque required for safe operation of the robot.

[0067] It should be understood that the detailed embodiments described above are merely illustrative or explanatory of the principles of this disclosure and are not intended to limit the scope of this disclosure. Therefore, any modifications, equivalent substitutions, and improvements should be included within the scope of this disclosure without departing from its spirit and scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and limits of the claims or their equivalents.

Claims

1. A braking device, comprising: A first ring (10) is connected to a shaft (12) and is rotatable with the shaft (12), the first ring (10) comprising a first set of magnets; The second ring (20) is spaced apart from the first ring (10) by a gap and includes a second set of magnets magnetically coupled to the first set of magnets such that the second ring (20) tends to rotate together with the first ring (10), wherein the second ring (20) is arranged in the radial direction (R) around the first ring (10) relative to the longitudinal axis (X) of the shaft (12); The first component (22) is connected to the second ring (20) and is capable of rotating together with the second ring (20); as well as The second component (30) is capable of switching between a first state and a second state, wherein the second component (30) engages with the first component (22) to prevent the first component (22) from rotating in the first state, and the second component (30) disengages from the first component (22) to allow the first component (22) to rotate in the second state.

2. The braking device according to claim 1, wherein each of the first group of magnets and the second group of magnets comprises a south pole magnet (101, 201) and a north pole magnet (103, 203), the south pole magnet (101, 201) and the north pole magnet (103, 203) being arranged alternately around the longitudinal axis (X) of the shaft (12).

3. The braking device according to claim 1, wherein the first ring (10) and the second ring (20) are arranged side by side along the longitudinal axis (X) of the shaft (12).

4. The braking device according to claim 1, wherein each of the first group of magnets and the second group of magnets comprises a plurality of magnet arrays arranged coaxially along the longitudinal axis (X) of the shaft (12), and each magnet array comprises a south pole magnet (101, 201) and a north pole magnet (103, 203), the south pole magnet (101, 201) and the north pole magnet (103, 203) being arranged alternately around the longitudinal axis (X) of the shaft (12).

5. The braking device according to claim 1, wherein, The first component (22) includes a disk; and The second member (30) includes a plate configured to contact the disk in the first state of the second member (30) to prevent the rotation of the disk by frictional force applied by the plate.

6. The braking device according to claim 5, further comprising: The electromagnet (40) is configured to: release the plate when power is off, causing the second member (30) to be in the first state, and attract the plate away from the disk when power is on, causing the second member (30) to be in the second state; as well as A spring (42) is arranged between the electromagnet (40) and the plate and is configured to push the plate toward the disk when the electromagnet (40) is de-energized.

7. The braking device according to claim 5, further comprising: The electromagnet (40) is configured to: release the plate when power is off, so that the second member (30) is in the second state, and attract the plate against the disk when power is on, so that the second member (30) is in the first state; as well as A spring (42) is arranged between the electromagnet (40) and the plate and is configured to push the plate away from the disk when the electromagnet (40) is de-energized.

8. The braking device according to claim 1, wherein, The first member (22) includes at least one protrusion (23) extending away from the second ring (20); and The second member (30) includes a telescopic rod (31) configured to protrude in the first state of the second member (30) to prevent rotation of the at least one protrusion (23), and to retract in the second state of the second member (30) to allow rotation of the at least one protrusion (23).

9. The braking device according to claim 8, wherein, The at least one protrusion (23) includes a plurality of protrusions (23) spaced apart from each other about the longitudinal axis (X) of the shaft (12) such that there is space between these adjacent protrusions (23); and The telescopic rod (31) is adapted to be inserted into the space in the first state of the second member (30) to prevent rotation of the plurality of protrusions (23).

10. An electric motor, comprising: The housing, used to house the rotor and stator; The output shaft is coupled to the rotor; Braking device according to any one of claims 1 to 9; The output shaft is attached to the shaft (12) of the braking device, such that the rotation of the output shaft can be stopped by the braking device.

11. A robot comprising: Multiple arms connected via a connector; as well as The motor according to claim 10 is used to drive one of the plurality of arms.

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