Brake assembly, driving device and robot

Abstract

The invention relates to the technical field of mechanical equipment, and discloses a brake assembly, a driving device and a robot. The brake assembly includes: a brake friction disc; a friction plate; the side, facing the brake friction disc, of the brake armature extends in the direction of the brake friction disc to form a first hook groove. The side, facing the brake friction disc, of the brake limiting plate extends in the direction of the brake friction disc to form a second hook groove. The first hook grooves and the second hook grooves form barrier structures on the inner side and the outer side of the friction plate, so that particulate dust generated by collision of the brake friction disc in the braking process is blocked and collected, the dust is prevented from entering key moving parts such as a rotating shaft, abrasion of accelerated moving parts is avoided, the service life of the accelerated moving parts is guaranteed, and the service life of the brake friction disc is prolonged. And the operation reliability of the driving device provided with the brake assembly is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a brake assembly, a drive device and a robot. Background Art

[0002] Servo motors are widely used in the field of robotics and are the power source of robots. The robot joints are driven by servo motors to run and stop. When the joints need to be in a running state, the brake assembly inside the servo motor will open and the motor can rotate normally; when the joints need to be in a stopped state, the brake assembly will "hold" the motor shaft so that the joints can remain in their current position.

[0003] When the brake assembly is opened and closed, the material on the brake friction disc will fall off in particles due to collision, thereby generating dust. Especially when the brake assembly needs to brake suddenly, a large amount of dust will appear. If such dust moves freely inside the motor, it may invade key moving parts such as bearings. Once it enters the bearing, it will accelerate the wear of the bearing and significantly reduce the bearing life. Summary of the invention

[0004] In view of this, the present invention provides a method for solving the problem that dust generated by the collision of the brake friction disc enters the interior of the motor, accelerates the wear of the moving parts, and shortens the service life thereof.

[0005] In a first aspect, the present invention provides a brake assembly, comprising:

[0006] Brake friction disc;

[0007] Friction plate;

[0008] A brake armature, extending toward one side of the brake friction disc and in the direction of the brake friction disc to form a first hook groove;

[0009] The brake limit plate has a second hook groove extending toward the brake friction disc on one side of the brake friction disc; the first hook groove and the second hook groove form a barrier structure on both the inner and outer sides of the friction plate, which is suitable for blocking and collecting dust generated by the brake friction disc during braking.

[0010] Beneficial effects: The brake armature of the brake assembly extends toward the direction of the brake friction disc to form a first hook groove, and the brake limit plate extends toward the direction of the brake friction disc to form a second hook groove; the first hook groove and the second hook groove form a barrier structure on the inner and outer sides of the friction plate, thereby blocking and collecting particulate dust generated by the collision of the brake friction disc during braking, preventing dust from entering key moving parts such as the rotating shaft, avoiding accelerated wear of the moving parts, ensuring their service life, and improving the operating reliability of the drive device equipped with the brake assembly.

[0011] In an optional embodiment, the number of the first hook grooves and the number of the second hook grooves are both plural, and the plurality of the first hook grooves are arranged at intervals, and the plurality of the second hook grooves are arranged at intervals.

[0012] Beneficial effect: A plurality of first hook grooves are arranged at intervals, and a plurality of second hook grooves are arranged at intervals, forming a multi-path barrier structure on the dust passage, improving the ability to block and collect dust, and being able to effectively prevent the intrusion of dust.

[0013] In an optional embodiment, the first hook groove is arranged at the edge of the brake armature, and the second hook groove is arranged at the edge of the brake limiting plate.

[0014] Beneficial effect: The hook groove is set at the edge of the brake armature and the edge of the brake limit plate, and is located on the periphery of the friction plate. It protects the friction plate from both the inside and the outside, so that the particle dust generated during the collision between the brake friction plate and the friction plate is blocked. The dust is collected by the concave structure of the hook groove and will not spread to the outside and enter the working surface of the key moving parts inside the drive device, thereby avoiding accelerated wear of the moving parts and improving the reliability of equipment operation.

[0015] In an optional embodiment, the first hook groove and the second hook groove are symmetrically arranged with the brake friction disc as a symmetry plane.

[0016] Beneficial effect: The first hook groove and the second hook groove are symmetrically arranged. Compared with the staggered manner, the hook grooves on both sides of the brake friction disc are in the same plane, without escape gaps, and the effect of preventing dust diffusion is better.

[0017] In an optional embodiment, the cross-section of the first hook groove and / or the second hook groove is L-shaped.

[0018] Beneficial effects: the cross-sectional shape of the hook groove is L-shaped, the blocked dust can be conveniently stored at the bending part of the L-shape, and the structure is simple and convenient to form.

[0019] In an optional embodiment, the cross-section of the first hook groove and / or the second hook groove is T-shaped.

[0020] Beneficial effect: The cross-sectional shape of the hook groove is T-shaped, and the blocked dust can be conveniently stored at the bending part of the T-shape.

[0021] In an optional embodiment, the cross-section of the first hook groove and / or the second hook groove is arc-shaped.

[0022] Beneficial effect: The hook groove with an arc-shaped cross section can also block and collect dust at the arc-shaped bend.

[0023] In an optional embodiment, an annular boss is formed on the brake friction disc in an area corresponding to the barrier structure, and the annular boss and the barrier structure are alternately arranged to form a labyrinth sealing structure suitable for blocking oil mist from entering the friction surface.

[0024] Beneficial effect: An annular boss is formed on the brake friction disc in the area corresponding to the barrier structure. The annular boss and the barrier structure are alternately arranged to form a labyrinth sealing structure. The labyrinth sealing structure can block oil mist from entering the friction surface, thereby avoiding accidents caused by brake failure.

[0025] In an optional embodiment, the gap between the first hook groove and the brake friction disc and the gap between the annular boss and the brake armature are equal, both being s1.

[0026] Beneficial effects: the gap between the first hook groove and the brake friction disc and the gap between the annular boss and the brake armature are equal, which is convenient for design.

[0027] In an optional implementation, the gap between the brake limit plate and the brake friction disc and the gap between the annular boss and the brake limit plate are equal, both being s2.

[0028] Beneficial effect: the gap between the brake limit plate and the brake friction disc and the gap between the annular boss and the brake limit plate are equal, which is convenient for design and calculation.

[0029] In an optional implementation, s1=s2.

[0030] Beneficial effect: s1=s2, the sealing consistency on both sides of the brake friction disc is good, and it is also convenient to design the sealing structure.

[0031] In an optional implementation, s1=s2≤0.3 mm.

[0032] Beneficial effect: The values ​​of s1 and s2 affect the sealing effect of the labyrinth seal structure. Obviously, if the gap is too large, the sealing effect will be relatively poor.

[0033] In a second aspect, the present invention further provides a driving device, comprising:

[0034] driving shaft;

[0035] The brake assembly described in any of the above items has a braking state in which the brake assembly holds the driving shaft tightly and a non-braking state in which the brake assembly is separated from the driving shaft.

[0036] Beneficial effect: Since the driving device includes the brake assembly of the present invention, the first hook groove and the second hook groove of the brake assembly form a barrier structure on the inner and outer sides of the friction plate, thereby blocking and collecting particulate dust generated by the collision of the brake friction disc during the braking process, preventing dust from entering key moving parts such as the rotating shaft, avoiding accelerated wear of the moving parts, and ensuring their service life, thereby improving the operating reliability of the driving device. The driving device can work reliably in the non-braking state, and can stop promptly and reliably in the braking state.

[0037] In an optional embodiment, the driving device includes a servo motor.

[0038] Beneficial effect: The servo motor includes the brake assembly of the present invention, and dust generated during the braking process of the brake assembly will not enter the interior of the servo motor to affect the life of moving parts such as the rotating shaft, and the reliability is high.

[0039] In a third aspect, the present invention further provides a robot, comprising:

[0040] Motion joints;

[0041] Any of the above-mentioned driving devices is connected to the motion joint in a transmission manner.

[0042] Beneficial effect: Since the robot includes the driving device of the present invention, the barrier structure formed in the braking assembly can prevent the dust generated during the braking process from entering the interior of the driving device and will not affect the driving reliability of the driving device. The driving device can reliably drive the movement of the moving joints and can also stop the movement of the moving joints in time, thereby improving the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a cross-sectional structural diagram of a motor in the related art;

[0045] Figure 2 A cross-sectional structural diagram of a driving device according to an embodiment of the present invention;

[0046] Figure 3 for Figure 2 A is a partial enlarged schematic diagram;

[0047] Figure 4 for Figure 3 A partial enlarged schematic diagram of B in the middle;

[0048] Figure 5 It is a schematic diagram of the structure of the brake assembly of the present invention after it moves to the left;

[0049] Figure 6 for Figure 5 A partial enlarged schematic diagram of C in the middle;

[0050] Figure 7 A schematic diagram of the principle of the hook groove blocking and collecting dust according to an embodiment of the present invention;

[0051] Figure 8 for Figure 7 A partial enlarged schematic diagram of D in the middle;

[0052] Fig. 9 for Figure 7 A partial enlarged schematic diagram of middle E;

[0053] Fig.10 It is a partial enlarged structural diagram of the brake assembly with a T-shaped hook groove of the present invention;

[0054] Fig.11 It is a partially enlarged structural diagram of the brake assembly with an arc-shaped hook groove of the present invention.

[0055] Description of reference numerals:

[0056] 10-1. Braking assembly (in the related art);

[0057] 101-1, brake friction disc (in the related art); 103-1, brake armature (in the related art); 104-1, brake limit plate (in the related art);

[0058] 10. Braking components;

[0059] 101. Brake friction disc;

[0060] 1011, annular boss;

[0061] 102, friction plate;

[0062] 103. Braking armature;

[0063] 1031, first hook groove;

[0064] 104. Braking limit plate;

[0065] 1041, second hook groove;

[0066] 105. Braking stator;

[0067] 106. Brake hub;

[0068] 20. Encoder;

[0069] 30. Rear bearing;

[0070] 40. Motor housing;

[0071] 50. Rotor core;

[0072] 60. Rotating shaft;

[0073] 70. stator core;

[0074] 80, front bearing;

[0075] 90. Oil seal;

[0076] 100. Dust. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0078] In the description of the invention, it should be noted that, unless otherwise specified, the meaning of "plurality" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0079] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] Servo motors are widely used in the field of robotics and are the power source of robots. The robot joints are driven by servo motors to run and stop. When the joints need to be in a running state, the brake assembly inside the servo motor will open and the motor can rotate normally; when the joints need to be in a stopped state, the brake assembly will "hold" the motor shaft so that the joints can remain in their current position.

[0081] In the related art, when the brake assembly 10-1 is opened and closed, the material on the brake friction disc 101-1 will fall off in particles due to collision, thereby generating dust. In particular, when the brake assembly 10-1 needs to brake suddenly, a large amount of dust will appear. If such dust moves freely inside the motor, it may invade key moving parts such as bearings. Once it enters the bearing, it will accelerate the wear of the bearing, greatly reduce the life of the bearing, and affect the reliability of the motor. Therefore, it is necessary to prevent the friction disc powder from reaching the key moving parts.

[0082] In addition, since the motor bearings heat up during operation, the grease inside the bearings will volatilize faster at high temperatures to form oil mist. Since the interior of the motor is generally a closed space, once the oil mist reaches the friction surface, it will attenuate the braking torque. If it attenuates to a level lower than the holding torque of the robot joint, an accident of "losing the arm" will occur, causing economic losses or even casualties. Therefore, the oil mist should be prevented from reaching the friction disc surface. In view of this, the present invention is proposed.

[0083] Figure 1 The structure of the servo motor in the related art is given. There is an air gap between the motor stator and the motor rotor. The motor rotor generally has a magnet. When the coil on the motor stator is supplied with an alternating current, the motor rotor will rotate. The motor rotor and the rotating shaft 60 are interference fit. The rotating shaft 60 is supported on the front bearing 80 and the rear bearing 30. Generally, the direction from the rotor to the front bearing 80 is defined as the forward direction, and the direction from the rotor to the rear bearing 30 is defined as the rearward direction.

[0084] Among them, there is a brake assembly 10-1 in front of the rear bearing 30, and the brake assembly 10-1 is composed of a brake stator 105, a brake armature 103-1, a brake friction disc 101-1, a brake limit plate 104-1, a brake hub 106, etc., wherein friction plates 102 are pasted on both sides of the brake friction disc 101-1, and the brake friction disc 101-1 is connected to the rotating shaft 60 through the brake hub 106 fixed on the rotating shaft 60. The brake friction disc 101-1 allows axial displacement on the brake hub 106 but cannot rotate relatively. When the brake assembly 10-1 loses power, the brake armature 103-1 will be under the action of the spring. The brake limit plate 104-1 and the brake friction disc 101-1 are clamped together at the bottom, and the friction torque generated is greater than the torque of the motor. The brake assembly 10-1 is in a braking state and the motor cannot rotate. At this time, the gap between the brake armature 103-1 and the brake stator 105 is generally 0.1~0.2mm; when the brake assembly 10-1 is energized, the brake armature 103-1 will overcome the spring force under the action of electromagnetic attraction and separate from the brake friction disc 101-1, so that the brake assembly 10-1 is in an open state and the motor can rotate freely. At this time, the gap between the brake armature 103-1 and the brake stator 105 is 0.

[0085] There is an encoder 20 component behind the brake component 10-1, and the encoder 20 is a precision angle sensor.

[0086] Depend on Figure 1 It can be seen that in the related technology, the motor bearing and the brake assembly 10-1 are both in the internal space of the motor, and the friction surfaces of the bearing and the brake assembly 10-1 are connected. Therefore, the dust 100 generated by the brake assembly 10-1 may move to the vicinity of the bearing and affect the bearing, and the oil mist of the bearing can easily reach the friction surface of the brake assembly 10-1 and affect the braking performance.

[0087] Combine the following Figures 2 to 11 , describing an embodiment of the present invention.

[0088] According to an embodiment of the present invention, on the one hand, a brake assembly 10 is provided, comprising:

[0089] Braking friction disc 101;

[0090] Friction plate 102;

[0091] The brake armature 103 extends toward the brake friction disc 101 on one side thereof and forms a first hook groove 1031 in the direction of the brake friction disc 101;

[0092] The brake limit plate 104 extends toward the brake friction disc 101 on one side thereof to form a second hook groove 1041; the first hook groove 1031 and the second hook groove 1041 form a barrier structure on both the inner and outer sides of the friction plate 102, which is suitable for blocking and collecting dust 100 generated by the brake friction disc 101 during braking.

[0093] The brake armature 103 of the brake assembly 10 extends toward the direction of the brake friction disc 101 to form a first hook groove 1031, and the brake limit plate 104 extends toward the direction of the brake friction disc 101 to form a second hook groove 1041; the first hook groove 1031 and the second hook groove 1041 form a barrier structure on both the inner and outer sides of the friction plate 102, thereby blocking and collecting particulate dust 100 generated by the collision of the brake friction disc 101 during the braking process, preventing the dust 100 from entering key moving parts such as the rotating shaft 60, avoiding accelerated wear of the moving parts, ensuring their service life, and improving the operating reliability of the drive device equipped with the brake assembly 10.

[0094] In some embodiments, the number of the first hook groove 1031 and the number of the second hook groove 1041 are both plural, and the plurality of first hook grooves 1031 are disposed at intervals, and the plurality of second hook grooves 1041 are disposed at intervals.

[0095] The plurality of first hook grooves 1031 are arranged at intervals, and the plurality of second hook grooves 1041 are arranged at intervals, forming a multi-pass barrier structure on the passage of the dust 100 , thereby improving the ability to block and collect the dust 100 , and being able to effectively prevent the intrusion of the dust 100 .

[0096] It should be noted that the specific number of the first hook grooves 1031 and the second hook grooves 1041 can be selected and designed according to the actual application scenario. Figure 2 As shown, in this embodiment, two first hook grooves 1031 and two second hook grooves 1041 are respectively provided on the inner side and the outer side of the friction plate 102 .

[0097] In some embodiments, the first hook groove 1031 is disposed at an edge of the brake armature 103 , and the second hook groove 1041 is disposed at an edge of the brake limiting plate 104 .

[0098] The hook groove is arranged at the edge of the brake armature 103 and the edge of the brake limit plate 104, and is located on the periphery of the friction plate 102, protecting from the inner and outer sides of the friction plate 102, so that the particulate dust 100 generated during the collision between the brake friction plate 102 and the friction plate 102 is blocked, and the dust 100 is collected by the concave structure of the hook groove and will not diffuse to the outside and enter the working surface of the key moving parts inside the drive device, thereby avoiding accelerated wear of the moving parts and improving the reliability of equipment operation.

[0099] In some embodiments, the first hook groove 1031 and the second hook groove 1041 are symmetrically arranged with the brake friction disc 101 as a symmetric plane.

[0100] The first hook groove 1031 and the second hook groove 1041 are symmetrically arranged. Compared with the staggered arrangement, the hook grooves on both sides of the brake friction disc 101 are in the same plane without escape gaps, and the effect of preventing the dust 100 from spreading is better.

[0101] It should be noted that the cross-sectional shape of the first hook groove 1031 and the cross-sectional shape of the second hook groove 1041 can be set as needed, as long as they can block the dust 100 and form a concave structure for collecting the dust 100, and are not limited here. In addition, the cross-sectional shape of the first hook groove 1031 and the cross-sectional shape of the second hook groove 1041 can be the same or different. When the cross-sectional shapes of the two are the same, the consistency of blocking the dust 100 will be better. The following provides several embodiments of the cross-sectional shapes of the first hook groove 1031 and the second hook groove 1041.

[0102] Embodiment 1:

[0103] like Figure 3 As shown, the cross-sectional shapes of the first hook groove 1031 and the second hook groove 1041 are both L-shaped.

[0104] The cross-sectional shape of the hook groove is L-shaped, and the blocked dust 100 can be conveniently stored at the bending part of the L-shape, and the structure is simple and easy to shape.

[0105] Embodiment 2:

[0106] like Fig.10 As shown, the cross-sections of the first hook groove 1031 and the second hook groove 1041 are both T-shaped.

[0107] The cross-sectional shape of the hook groove is T-shaped, and the blocked dust 100 can be conveniently stored at the bend of the T-shape.

[0108] Embodiment 3:

[0109] like Fig.11 As shown, the cross-sections of the first hook groove 1031 and the second hook groove 1041 are arc-shaped.

[0110] The hook groove with an arc-shaped cross section can also block and collect dust 100 at the curved part.

[0111] Specifically, the curvature radius of the arc can be selected and designed according to the amount of dust 100 generated.

[0112] Of course, in some other embodiments, when the cross-section of the first hook groove 1031 is L-shaped, the cross-section of the second hook groove 1041 can be T-shaped or arc-shaped; it can also be that the cross-section of the first hook groove 1031 is T-shaped, and the cross-section of the second hook groove 1041 is L-shaped or arc-shaped; of course, it can also be that when the cross-section of the first hook groove 1031 is arc-shaped, the cross-section of the second hook groove 1041 is L-shaped or T-shaped.

[0113] In some embodiments, Figures 2 to 11 As shown, an annular boss 1011 is formed on the brake friction disc 101 in the area corresponding to the barrier structure. The annular boss 1011 and the barrier structure are alternately arranged to form a labyrinth sealing structure, which is suitable for preventing the oil mist generated by the grease inside the motor bearing at high temperature from entering the friction surface.

[0114] An annular boss 1011 is formed on the brake friction disc 101 in the area corresponding to the barrier structure. The annular boss 1011 and the barrier structure are alternately arranged to form a labyrinth sealing structure. The labyrinth sealing structure can block oil mist from entering the friction surface, thereby avoiding accidents caused by brake failure.

[0115] In some embodiments, the gap between the first hook groove 1031 and the brake friction disc 101 and the gap between the annular boss 1011 and the brake armature 103 are equal, both being s1.

[0116] The gap between the first hook groove 1031 and the brake friction disc 101 and the gap between the annular boss 1011 and the brake armature 103 are equal, which is convenient for design.

[0117] In some embodiments, the gap between the brake limit plate 104 and the brake friction disc 101 and the gap between the annular boss 1011 and the brake limit plate 104 are equal, both being s2.

[0118] The gap between the brake limit plate 104 and the brake friction disc 101 and the gap between the annular boss 1011 and the brake limit plate 104 are equal, which is convenient for design and calculation.

[0119] In some embodiments, s1=s2.

[0120] s1=s2, the sealing consistency on both sides of the brake friction disc 101 is good, and it is also convenient to design the sealing structure.

[0121] In an optional implementation, s1=s2≤0.3 mm.

[0122] The values ​​of s1 and s2 affect the sealing effect of the labyrinth seal structure. Obviously, if the gap is too large, the sealing effect will be relatively poor.

[0123] According to an embodiment of the present invention, on the other hand, Figure 2 As shown, a driving device is provided, comprising:

[0124] Motor housing 40;

[0125] Rotor core 50;

[0126] Stator core 70;

[0127] Oil seal 90;

[0128] Driving shaft 60;

[0129] The brake assembly 10 has a braking state of holding the driving shaft 60 and a non-braking state of being separated from the driving shaft 60 .

[0130] Since the driving device includes the brake assembly 10 of the present invention, the first hook groove 1031 and the second hook groove 1041 of the brake assembly 10 form a barrier structure on the inner and outer sides of the friction plate 102, thereby blocking and collecting the particulate dust 100 generated by the collision of the brake friction disc 101 during the braking process, preventing the dust 100 from entering key moving parts such as the rotating shaft 60, avoiding accelerated wear of the moving parts, and ensuring their service life, thereby improving the operating reliability of the driving device, allowing the driving device to work reliably in the non-braking state and to stop promptly and reliably in the braking state.

[0131] Specifically, the driving device is a servo motor.

[0132] The servo motor includes the brake assembly 10 of the present invention. The dust 100 generated during the braking process of the brake assembly 10 will not enter the interior of the servo motor to affect the life of moving parts such as the rotating shaft 60, and the reliability is high.

[0133] Figure 2 The schematic diagram of the structure of the servo motor of the present invention is shown in FIG. 1 , in which a barrier structure is provided in the brake assembly 10. The permanent magnet motor comprises a stator, a permanent magnet rotor, a rotating shaft 60, a magnetic induction brake assembly 10 and an encoder 20, etc.

[0134] The brake friction disc 101 of the magnetic induction brake assembly 10 is connected to the brake hub 106 fixed on the motor shaft 60. When the brake assembly 10 loses power, the brake armature 103 will clamp the brake friction disc 101 together with the brake limit plate 104 under the action of the spring, and the generated friction torque is greater than the torque of the motor. The brake assembly 10 is in a braking state, and the motor cannot rotate at this time; when the brake assembly 10 is energized, the brake armature 103 will overcome the spring force and separate from the friction disc under the action of electromagnetic attraction, so that the brake assembly 10 is in an open state, and the motor can rotate freely at this time.

[0135] If you zoom in on the structure Figure 4As shown, the brake armature 103 of the brake assembly 10 is provided with a plurality of annular first hook grooves 1031 along the circumferential direction on the side close to the friction disc, and the cross section is L-shaped, and two are provided on the inner side and the outer side of the friction plate 102, respectively, and the first hook groove 1031 on the inner side and the first hook groove 1031 on the outer side are symmetrical structures. A second hook groove 1041 is provided on the brake limit plate 104 close to the friction disc, and the second hook groove 1041 is symmetrical to the first hook groove 1031; at the same time, a plurality of annular bosses 1011 are provided on both the front and rear sides of the brake friction disc 101, and the cross section is I-shaped, and two are provided on the inner side and the outer side of the friction plate 102, respectively. The first hook groove 1031, the second hook groove 1041 and the annular boss 1011 together form an alternating labyrinth sealing structure, wherein the gap between the first hook groove 1031 and the brake friction disc 101, and the gap between the annular boss 1011 and the brake armature 103 are all set to s1; the gap between the brake limit plate 104 and the brake friction disc 101, and the gap between the annular boss 1011 and the brake limit plate 104 are all set to s2, and s1=s2 is designed. The values ​​of s1 and s2 directly affect the sealing effect of the labyrinth sealing structure, which will be further calculated later.

[0136] When the brake assembly 10 is powered, Figure 5 As shown in FIG. 1 , the brake armature 103 will be moved to the left by the electromagnetic attraction of the brake stator 105, and the gap between the brake armature 103 and the brake stator 105 will become 0. At this time, the friction pressure on both sides of the brake friction disc 101 is eliminated, and the brake friction disc 101 can rotate at a high speed driven by the motor; at this time, as shown in FIG. Figure 6 As shown, the gap between the first hook groove 1031 and the brake friction disc 101, and the gap between the annular boss 1011 and the brake armature 103 are all changed to s1′, and the gap between the brake limit plate 104 and the brake friction disc 101, and the gap between the annular boss 1011 and the brake limit plate 104 are all changed to s2′; since the brake friction disc 101 can be axially displaced, s1′ and s2′ will change according to the position of the brake friction disc 101, when s1′ is the minimum value s1′ min =s1, s2′ is the maximum value s2′ max =s2+0.2 (as mentioned above, the gap between the brake armature 103 and the brake stator 105 is generally 0.1mm-0.2mm, so the maximum value is 0.2mm); when s1′ is the maximum value s1′ max =s1+0.2, s2′ is the minimum value s2′ min =s2, that is, s1′+s2′=s1+s2+0.2.

[0137] According to the principle of labyrinth seal, annular sealing teeth are set between the rotating parts and the fixed parts, and interception gaps and expansion cavities are formed between the teeth. When the sealed medium passes through the gap of the labyrinth, a throttling effect is produced to achieve the purpose of leakage prevention. Therefore, the size of the gap has a great influence on the sealing effect. The gap is generally ≤0.5mm (value determined by experiment). In summary, the maximum value of s1′ or s2′ should meet ≤0.5mm. Since s1=s2, s1=s2≤0.5mm-0.2mm=0.3mm, that is, s1=s2≤0.3mm.

[0138] Through the above-mentioned labyrinth seal design, and the labyrinth seal structure protects both the inner and outer sides of the friction plate 102, it is possible to completely prevent the oil mist of the bearing grease from volatilizing due to heat from entering the friction plate 102, that is, to prevent the oil mist from entering the friction surface, which is beneficial to the reliability of the braking performance of the brake assembly 10.

[0139] The friction plate 102 of the brake friction disc 101 will generate dust 100 due to collision during braking, and the solid dust 100 can be stored through the L-shaped hook groove. Figure 7 As shown, since the dust 100 is generated on the friction surface, the concave surface of the hook groove should be set directly below the friction surface, that is, on the brake armature 103 and the brake limit plate 104, and the dust 100 is affected by gravity. The dust 100 generated near the top of the motor shaft 60 will accumulate in the hook groove on the inner side of the friction plate 102, while the dust 100 generated near the bottom of the motor shaft 60 will accumulate in the hook groove on the outer side of the friction plate 102, thereby achieving the isolation of the dust 100 on the friction plate 102 and the outside of the brake assembly 10.

[0140] In summary, the brake assembly 10 is provided with a labyrinth sealing structure formed by an L-shaped hook groove and an I-shaped boss, and the gap of the sealing structure is s1=s2≤0.3mm; this structure will effectively isolate the external oil mist of the brake from entering the friction surface, and isolate the internal dust 100 from reaching the outside of the brake assembly 10 to affect the external moving parts.

[0141] The brake armature 103 and the brake limit plate 104 of the brake assembly 10 are both provided with a plurality of L-shaped hook grooves, which can store the dust 100 generated by the collision of the friction disc. At the same time, a plurality of I-shaped bosses are arranged on the friction disc, together with the L-shaped hook grooves on the brake armature 103 and the brake limit plate 104, to form an interlaced labyrinth sealing structure, which can prevent oil mist from entering the friction surface when the motor is running, thereby avoiding other accidents caused by brake failure.

[0142] According to an embodiment of the present invention, on the other hand, there is provided a robot, comprising:

[0143] Motion joints;

[0144] A driving device is connected to the motion joint by transmission.

[0145] Since the robot includes the driving device of the present invention, the barrier structure formed in the braking assembly 10 can prevent the dust 100 generated during the braking process from entering the interior of the driving device and will not affect the driving reliability of the driving device. The driving device can reliably drive the movement of the moving joints and can also stop the movement of the moving joints in time, thereby improving the control accuracy.

[0146] Due to the adoption of the structure of the present invention, the brake friction disc dust 100 can be confined to a certain space, effectively preventing the friction disc dust 100 from reaching key moving parts such as bearings, thereby preventing motor failures; at the same time, the special sealing structure can effectively prevent the bearing oil mist from reaching the friction surface, preventing the brake torque from attenuating, and preventing the robot from "dropping the arm" accident.

[0147] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined in this application.

Claims

1. A brake assembly, characterized in that: include: Braking friction disc (101); Friction plate (102); A brake armature (103) is formed with a first hook groove (1031) extending toward the brake friction disc (101) on one side of the brake friction disc (101); The brake limit plate (104) has a second hook groove (1041) extending toward the brake friction disc (101) on one side thereof; the first hook groove (1031) and the second hook groove (1041) form a barrier structure on both the inner and outer sides of the friction plate (102), which is suitable for blocking and collecting dust (100) generated by the brake friction disc (101) during braking.

2. The brake assembly according to claim 1, characterized in that: The number of the first hook groove (1031) and the number of the second hook groove (1041) are both multiple, and the multiple first hook grooves (1031) are arranged at intervals, and the multiple second hook grooves (1041) are arranged at intervals.

3. The brake assembly according to claim 1, characterized in that: The first hook groove (1031) is arranged at the edge of the brake armature (103), and the second hook groove (1041) is arranged at the edge of the brake limit plate (104).

4. The brake assembly according to claim 1, characterized in that: The first hook groove (1031) and the second hook groove (1041) are symmetrically arranged with the brake friction disc (101) as a symmetry plane.

5. The brake assembly according to any one of claims 1 to 4, characterized in that: The cross section of the first hook groove (1031) and / or the second hook groove (1041) is L-shaped.

6. The brake assembly according to any one of claims 1 to 4, characterized in that: The cross section of the first hook groove (1031) and / or the second hook groove (1041) is T-shaped.

7. The brake assembly according to any one of claims 1 to 4, characterized in that: The cross section of the first hook groove (1031) and / or the second hook groove (1041) is arc-shaped.

8. The brake assembly according to any one of claims 1 to 7, characterized in that: An annular boss (1011) is formed on the brake friction disc (101) in an area corresponding to the barrier structure. The annular boss (1011) and the barrier structure are alternately arranged to form a labyrinth seal structure suitable for blocking oil mist from entering the friction surface.

9. The brake assembly according to claim 8, characterized in that The gap between the first hook groove (1031) and the brake friction disc (101) and the gap between the annular boss (1011) and the brake armature (103) are equal, both being s1.

10. The brake assembly according to claim 9, characterized in that The gap between the brake limit plate (104) and the brake friction disc (101) and the gap between the annular boss (1011) and the brake limit plate (104) are equal, both being s2.

11. The brake assembly according to claim 10, characterized in that s1=s2.

12. The brake assembly according to claim 11, characterized in that s1=s2≤0.3mm.

13. A driving device, characterized in that: include: A driving shaft (60); The brake assembly (10) according to any one of claims 1 to 12, wherein the brake assembly (10) has a braking state of clamping the drive shaft (60) and a non-braking state of disengaging from the drive shaft (60).

14. The driving device according to claim 13, characterized in that: The driving device comprises a servo motor.

15. A robot, characterized in that: include: Motion joints; The driving device according to claim 13 or 14 is connected to the motion joint through transmission.

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