Brake and robot

Abstract

The brake comprises a shell part, a first brake disc, a rotor and a second brake disc which are sequentially arranged in the axial direction, and a driving part can drive the first brake disc to move between an adsorption position and a braking position. The rotor comprises a first friction face and a second friction face which are arranged on the two sides of the rotor in the axial direction respectively, the first brake disc is provided with a first binding face, and the second brake disc is provided with a second binding face. At least one of the first friction surface and the second friction surface intersects with a vertical plane; when the first brake disc is located at the adsorption position, the first brake disc is attached to the shell part; when the first brake disc is in the brake position, the driving part applies pressure pointing to the side where the second brake disc is located to the first brake disc, so that the first attaching face is attached to the first friction face, and the second attaching face is attached to the second friction face. According to the brake and the robot provided by the invention, under the condition of the same friction torque, the volume mass of the brake can be greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a brake and a robot. Background Art

[0002] In smart devices, such as industrial robots and collaborative robots, a brake is usually installed at the motor input end for safety reasons. This is a redundant safety design that protects the robot body or the environment after the robot is powered off. This power-off brake is also called a non-excitation electromagnetic brake. The principle is similar to that of an electromagnet. When powered on, the coil current generates a magnetic field to attract the armature. When the power is off, the armature is pushed out by the spring force. There is a brake pad in the brake, which is connected to the high-speed shaft of the motor. When the brake is opened, the brake pad and the motor shaft rotate together. When braking, the brake pad is pressed by the movement of the armature, and the power-off braking is performed through the friction torque of the pressing surface.

[0003] However, in order to ensure the braking effect, the current non-excited electromagnetic brake needs to maintain a large contact area between the brake pad and the armature, which requires the armature and the brake pad to maintain a large volume, which in turn leads to a large volume and mass of the current non-excited electromagnetic brake and high brake power consumption. Summary of the invention

[0004] In view of this, the present application provides a brake and a robot to solve the problem of current non-excited electromagnetic brakes in the prior art to a certain extent. In order to ensure the braking effect, a large contact area needs to be maintained between the brake pad and the armature, which requires the armature and the brake pad to maintain a large volume, which in turn leads to the technical problems of large volume and mass of current non-excited electromagnetic brakes and high brake power consumption.

[0005] In a first aspect, an embodiment of the present application provides a brake, comprising a stator assembly, a first brake disc and a rotor, wherein the stator assembly comprises a driving portion, a shell portion and a second brake disc, wherein the driving portion is embedded in the shell portion, and the shell portion, the first brake disc, the rotor and the second brake disc are sequentially arranged in an axial direction, and the driving portion can drive the first brake disc to move between an adsorption position and a braking position;

[0006] The rotor comprises a first friction surface and a second friction surface respectively arranged on both sides of the rotor in the axial direction, a first contact surface is arranged on a side of the first brake disc facing the rotor, and a second contact surface is arranged on a side of the second brake disc facing the rotor; wherein at least one of the first friction surface and the second friction surface intersects with a vertical plane, and the vertical plane is a plane perpendicular to the axial direction;

[0007] When the first brake disc is in the adsorption position, the first brake disc is in contact with the shell, so that a movable space for the rotor to rotate is formed between the first brake disc and the second brake disc;

[0008] When the first brake disc is in the braking position, the driving unit applies pressure to the first brake disc toward the side where the second brake disc is located, so that the first contact surface contacts the first friction surface and the second contact surface contacts the second friction surface.

[0009] On the second aspect, an embodiment of the present application further provides a robot, comprising a brake of any of the above-mentioned technical solutions, and thus having all the beneficial technical effects of the brake, which will not be elaborated here.

[0010] Compared with the prior art, the beneficial effects of this application are:

[0011] According to the brake provided by the present application, by setting at least one of the first friction surface and the second friction surface to intersect with the vertical plane, that is, at least one of the first friction surface and the second friction surface can form an inclined surface relative to the vertical plane, the contact area between the rotor and the first brake disc and the second brake disc is effectively increased to increase the friction torque of the brake. When the same friction torque is required (that is, when the same braking effect is required), the rotor, the first brake disc and the second brake disc of the brake provided by the present application can be relatively thinned, so that the volume mass of the brake can be greatly reduced.

[0012] See also Figure 4 FIG. 1 shows a force analysis diagram of a first brake disc in a braking position, taking the first friction surface as an inclined surface as an example, wherein F k The driving unit applies pressure to the first brake disc toward the side where the second brake disc is located; F n F is the positive pressure between the first friction surface and the first contact surface; f is the static friction between the first friction surface and the first contact surface (F f It refers to the static friction force that prevents the first friction surface and the first contact surface from moving relative to each other along the inclined direction of the inclined surface, rather than the friction force that prevents the rotor from rotating. k and F n , F f The value is small (i.e., ignoring F f ), F k ≈F n ×cos(θ), where F n =[1 / cos(θ)]×F kIt is positively correlated with the friction torque of the first brake disc acting on the rotor. In other words, compared with the prior art θ=0°, the friction torque of the brake provided by the present application is increased by [1 / cos(θ)] times.

[0013] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A bottom view schematic diagram of the brake provided in an embodiment of the present application;

[0016] Figure 2 for Figure 1 A schematic diagram of a cross-sectional structure of a brake obtained by cutting along the AA direction is provided;

[0017] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of the brake at B is provided;

[0018] Figure 4 for Figure 2 A schematic diagram of the enlarged structure of the brake at C is provided;

[0019] Figure 5 A schematic diagram of the top view of the brake provided in an embodiment of the present application;

[0020] Figure 6 A schematic diagram of the front structure of the brake provided in an embodiment of the present application;

[0021] Figure 7 for Figure 6 A schematic diagram of a cross-sectional structure of a brake obtained by cutting along the DD direction is provided;

[0022] Figure 8 for Figure 7 A schematic diagram of the enlarged structure of the brake at E is provided;

[0023] Fig. 9 A schematic diagram of the structure of a first brake disc provided in an embodiment of the present application;

[0024] Fig.10 A schematic diagram of the exploded structure of the brake provided in an embodiment of the present application;

[0025] Fig.11 A schematic diagram of another exploded structure of the brake provided in an embodiment of the present application.

[0026] Figure markings: 11-shell; 111-limiting guide groove; 112-cavity; 12-driving part; 121-coil; 122-elastic part; 13-second brake disc; 131-second fitting surface; 14-limiting guide part; 2-rotor; 211-first friction surface; 212-second friction surface; 22-transmission rib; 3-first brake disc; 31-braking part; 311-first fitting surface; 32-limiting raised part; 321-raised part; 322-connecting part; 4-driving sleeve; 41-receiving groove; 42-transmission groove; 5-elastic supporting part; 51-clamping part; 52-abutting part. DETAILED DESCRIPTION

[0027] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0028] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "provided with", "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] Refer to the following Figures 1 to 11 The present invention describes a brake and a robot according to some embodiments of the present application.

[0031] Figure 1 A bottom view structural diagram of a brake provided according to an embodiment of the present application is shown; Figure 2 Shown according to Figure 1 A schematic diagram of a cross-sectional structure of a brake obtained by cutting along the AA direction is provided;

[0032] Figure 3 Shown according to Figure 2 A schematic diagram of the enlarged structure of the brake at B is provided; Figure 4 Shown according to Figure 2 A schematic diagram of an enlarged structure of a brake at C is provided, wherein the double-dotted line in the figure shows the following center plane, the two dotted lines in the figure represent the extension surface of the first friction surface 211 and the extension surface of the second friction surface 212, respectively, the first affixed surface 311 and the first friction surface 211 overlap, and the number of the first affixed surface 311 is placed in brackets (similar to the representation of the second affixed surface 131 and the second friction surface 212, which will not be repeated); Figure 5 A schematic diagram of the top view of the brake provided according to an embodiment of the present application is shown; Figure 6 A schematic diagram of the front structure of a brake provided according to an embodiment of the present application is shown; Figure 7 Shows Figure 6 A schematic diagram of a cross-sectional structure of a brake obtained by cutting along the DD direction is provided, wherein, since the transmission rib 22 is disposed in the transmission groove 42, the structure of the transmission groove 42 is blocked by the transmission rib 22, and the number of the transmission groove 42 is set in brackets to indicate; Figure 8 Shows Figure 7 A schematic diagram of the enlarged structure of the brake at E is provided; Fig. 9 The structure schematic diagram of the first brake disc 3 provided according to the embodiment of the present application is shown, and five examples of the first brake disc 3 are shown according to five different forms of the limiting protrusion 32; Fig.10 A schematic diagram of an exploded structure of a brake provided according to an embodiment of the present application is shown; Fig.11Another exploded structural schematic diagram of a brake provided according to an embodiment of the present application is shown.

[0033] It should be noted that the above-mentioned directions such as looking down, looking up, and looking straight ahead are only for the convenience of describing the relative directions of the given brakes, and such directions have nothing to do with the directions in which the brakes are used.

[0034] See also Figures 1 to 6 As shown, an embodiment of the first aspect of the present application provides a brake, which includes a stator assembly, a first brake disc 3 and a rotor 2, wherein the stator assembly includes a driving portion 12, a shell 11 and a second brake disc 13, the driving portion 12 is embedded in the shell 11, the shell 11, the first brake disc 3, the rotor 2 and the second brake disc 13 are arranged in sequence along the axial direction, and the driving portion 12 can drive the first brake disc 3 to move between an adsorption position and a braking position to realize the switching of the brake between a non-braking state (i.e., the first brake disc 3 is in the adsorption position) and a braking state (i.e., the first brake disc 3 is in the braking position).

[0035] Specifically, the rotor 2 includes a first friction surface 211 and a second friction surface 212 respectively disposed on both sides of the rotor 2 in the axial direction, a first abutting surface 311 is disposed on the side of the first brake disc 3 facing the rotor 2, and a second abutting surface 131 is disposed on the side of the second brake disc 13 facing the rotor 2. At least one of the first friction surface 211 and the second friction surface 212 intersects with a vertical plane, which is a plane perpendicular to the axial direction.

[0036] When the first brake disc 3 is in the adsorption position, the first brake disc 3 is fitted with the shell 11, so that a movable space for the rotor 2 to rotate is formed between the first brake disc 3 and the second brake disc 13, so as to ensure that the rotor 2 can rotate normally in the non-braking state; when the first brake disc 3 is in the braking position, the driving unit 12 applies pressure to the first brake disc 3 directed to the side where the second brake disc 13 is located, so that the first fitting surface 311 is fitted with the first friction surface 211, and the second fitting surface 131 is fitted with the second friction surface 212, so that the rotor 2 is braked through the friction between the first friction surface 211 and the first fitting surface 311 and the friction between the second friction surface 212 and the second fitting surface 131.

[0037] According to the brake provided by the present application, by setting at least one of the first friction surface 211 and the second friction surface 212 to intersect with the vertical plane, that is, at least one of the first friction surface 211 and the second friction surface 212 can form an inclined surface relative to the vertical plane, the contact area between the rotor 2 and the first brake disc 3 and the second brake disc 13 is effectively increased to increase the friction torque of the brake. When the same friction torque is required (that is, when the same braking effect is required), the rotor 2, the first brake disc 3 and the second brake disc 13 of the brake provided by the present application can be relatively thinned, so that the volume mass of the brake can be greatly reduced.

[0038] See also Figure 4 FIG. 2 shows a force analysis diagram of a state where the first brake disc 3 is in a braking position, taking the first friction surface 211 as an inclined surface as an example, wherein F k The driving unit 12 applies pressure to the first brake disc 3 toward the side where the second brake disc 13 is located; F n F is the positive pressure between the first friction surface 211 and the first contact surface 311; f is the static friction force (F) between the first friction surface 211 and the first contact surface 311 f It refers to the static friction force that prevents the first friction surface 211 and the first contact surface 311 from being displaced relative to each other along the inclined direction of the inclined surface, rather than the friction force that prevents the rotor 2 from rotating. The force analysis in the axial direction is carried out because relative to F k and F n , F f The value is small (i.e., ignoring F f ), F k ≈F n ×cos(θ), where F n =[1 / cos(θ)]×F k It is positively correlated with the friction torque of the first brake disc 3 acting on the rotor 2. In other words, compared with the prior art θ=0°, the friction torque of the brake provided by the present application is increased by [1 / cos(θ)] times.

[0039] Preferably, if Figures 2 to 4 As shown, both the first friction surface 211 and the second friction surface 212 intersect with the vertical plane to further increase the contact area between the rotor 2 and the first brake disc 3 and the second brake disc 13, thereby further increasing the friction torque of the brake.

[0040] like Figure 4 The vertical plane where the intersection line of the extended surface where the first friction surface 211 is located and the extended surface where the second friction surface 212 is located is defined as the central plane.

[0041] Preferably, if Figures 2 to 4 As shown, the first friction surface 211 and the second friction surface 212 are symmetrical about the central plane to ensure the balance and stability of the forces exerted by the first brake disc 3 and the second brake disc 13 on both sides of the rotor 2 .

[0042] Preferably, the angle between the first friction surface 211 and the above-mentioned central plane (i.e. Figure 4 The angle ∠θ) shown is 10° to 80°, which effectively ensures the fitting stability between the first friction surface 211 and the first fitting surface 311 .

[0043] In order to more intuitively clarify that the structure of the brake provided by the present application can effectively increase the friction torque, the following is an explanation in combination with simulation / actual data.

[0044] Using the control variable method, all parameters of the brakes to be tested are equal except for the inclination angles of the first friction surface 211 and the second friction surface 212 (i.e., the inner diameters of the first brake disc 3 of each brake are relative, the inner diameters of the second brake disc 13 of each brake are relative, the outer diameters of the first brake disc 3 of each brake are relative, the outer diameters of the second brake disc 13 of each brake are relative, and the friction coefficients of the first friction surface 211, the second friction surface 212, the first contact surface 311 and the second contact surface 131 of each brake). k =20N, compare the friction torque when the friction surface inclination angles are ∠θ=75°, ∠θ=65° and ∠θ=0°, see Appendix 1;

[0045] Schedule 1

[0046]

[0047] According to the data shown in Appendix 1, at a given F k When the value is the same and other conditions remain unchanged, compared with the prior art (i.e. ∠θ=0°), the friction torque of the brake with the first friction surface 211 / the second friction surface 212 being an inclined surface is significantly increased. And the inclination angle of the first friction surface 211 / the second friction surface 212 relative to the vertical plane is positively correlated with the friction torque.

[0048] According to the above conclusion, preferably, the angle between the first friction surface 211 and the above center plane (i.e. Figure 4 The angle ∠θ) shown is 60° to 70°. While ensuring the fitting stability between the first friction surface 211 and the first fitting surface 311 , ∠θ is increased as much as possible to increase the friction torque of the first friction surface 211 on the rotor 2 .

[0049] Correspondingly, the angle between the second friction surface 212 and the central plane is opposite to the angle between the first friction surface 211 and the central plane, and will not be described in detail.

[0050] Further, in an embodiment, preferably, as Figure 2 As shown, the brake may further include a drive sleeve 4 that is transmission-connected to the rotor 2, and the drive sleeve 4 is sleeved on the outer side of the rotor 2 to drive the rotor 2 to rotate. Figure 2 As shown, the rotor 2 is annular, and the first friction surface 211 and the second friction surface 212 are arranged on the inner side of the rotor 2. In this way, the driving position of the drive sleeve 4 driving the rotor 2 to rotate is arranged on the outer side of the rotor 2, so that the rotor 2 can be frictionally braked with the first brake disc 3 and the second brake disc 13 from the outer sides of both the first brake disc 3 and the second brake disc 13, effectively lengthening the friction arm, thereby further increasing the friction torque of the first brake disc 3 and / or the second brake disc 13 acting on the rotor 2.

[0051] Optionally, the drive sleeve 4 may be connected to a rotation drive device to provide the power required for the rotor 2 to rotate. The rotation drive device may be a motor.

[0052] Preferably, if Figure 7 As shown, the outer side of the rotor 2 may be provided with a plurality of transmission ribs 22 , and correspondingly, the inner side of the drive sleeve 4 may be provided with a plurality of transmission grooves 42 matched with the upper transmission ribs 22 , so as to facilitate the torque transmission between the drive sleeve 4 and the rotor 2 .

[0053] Preferably, the transmission rib 22 extends in the axial direction to avoid interfering with the relative movement between the rotor 2 and the driving sleeve 4 in the axial direction.

[0054] Preferably, if Figure 7 An example is shown in which the number of the transmission ribs 22 is 8, but it is not limited thereto. As long as the stability of the torque transmission between the drive sleeve 4 and the rotor 2 is ensured, the number of the transmission ribs 22 can be adaptively adjusted. For example, the number of the transmission ribs 22 can also be 2, 3, 4, 5, 6, 7, 9, 10, 11, 12 ... 16 ... or more. In addition, as Figure 7 An example is shown in which the cross-sectional shape of the transmission rib 22 is an arc shape, but it is not limited to this. The circumferential clamping stability between the transmission rib 22 and the transmission groove 42 ensures the stability of the torque transmission between the drive sleeve 4 and the rotor 2. The shape of the transmission rib 22 can also be other forms. The cross-sectional form of the transmission rib 22 can be similar to the deformation form of the raised portion 321 described below, which will not be repeated.

[0055] As an example not shown in the figure, the transmission connection between the rotor and the drive sleeve can also be that the transmission rib is arranged on the inner side of the drive sleeve, and the transmission groove is arranged on the outer surface of the rotor. This transmission connection method is similar to the above principle and will not be described in detail.

[0056] In an embodiment, the brake may further include an elastic support portion 5. The elastic support portion 5 is compressed and arranged between the drive sleeve 4 and the rotor 2, so that the rotor 2 is effectively prevented from shaking in the drive sleeve 4 during the process of the drive sleeve 4 driving the rotor 2 to rotate, causing the rotor 2 to scrape and collide with other parts during high-speed rotation, thereby effectively reducing the probability of abnormal noise during the operation of the rotor 2, reducing the wear of the rotor 2 caused by scraping, and improving the service life of the brake.

[0057] Preferably, there are multiple elastic support parts 5 , and the multiple elastic support parts 5 are evenly distributed along the circumferential direction of the rotor 2 to ensure the coaxiality of the rotor 2 and the driving sleeve 4 .

[0058] Furthermore, the elastic support portion 5 is connected to one of the above-mentioned drive sleeve 4 and the rotor 2, and the elastic support portion 5 is in line contact with the other of the drive sleeve 4 and the rotor 2. In this way, the contact area between the elastic support portion 5 and the other of the drive sleeve 4 and the rotor 2 is reduced, thereby reducing the influence of the elastic support portion 5 on the relative movement of the rotor 2 and the drive sleeve 4 in the axial direction, so as to reduce the supporting effect of the elastic support portion 5 interfering with the process in which the above-mentioned first brake disc 3 pushes the rotor 2 to abut against the second brake disc 13.

[0059] Preferably, if Figure 7 and Figure 8 As shown, the elastic support portion 5 may be a compression spring, which may include an abutting portion 52 and clamping portions 51 located at both sides of the abutting portion 52 .

[0060] Correspondingly, if Figure 8 As shown, the inner side of the drive sleeve 4 is provided with placement grooves 41 equal to the number of the compression springs. Figure 8 As shown, the placement groove 41 includes an inner groove extending along the circumferential direction of the drive sleeve 4 and an opening facing the inner side of the drive sleeve 4, and the opening is located in the middle of the inner groove. The clamping parts 51 of the compression spring are respectively clamped with the inner grooves on both sides of the opening. The abutting part 52 of the compression spring extends from the opening so that the abutting part 52 protrudes inward relative to the inner wall of the drive sleeve 4, so as to abut against the rotor 2.

[0061] Preferably, if Figure 8 As shown, in the radial direction of the drive sleeve 4 from the outside to the inside (ie, Figure 8 The span of the abutting portion 52 gradually decreases to achieve line contact between the compression spring and the rotor 2. It should be noted that the span of the abutting portion 52 can be understood as the size of the abutting portion in the circumferential direction of the drive sleeve 4.

[0062] It should be noted that the elastic support portion 5 is not limited to the form of the compression spring. As long as it has the elastic support function and can avoid interfering with the process of the first brake disc 3 pushing the rotor 2 to abut against the second brake disc 13, the elastic support portion 5 can also be other elastic support structures, such as a spring ejector.

[0063] like Figure 7 An example is shown in which the number of the elastic support parts 5 is two, but it is not limited thereto, as long as the elastic support parts 5 can ensure the stability of the support for both the drive sleeve 4 and the rotor 2 while ensuring the smoothness of the relative movement of the drive sleeve 4 and the rotor 2 in the axial direction, the number of the elastic support parts 5 can also be three, four, five, six, seven, ... or more.

[0064] In an embodiment, Figure 5 and Fig. 9 As shown, a limiting guide groove 111 may be provided on one side of the shell 11 facing the first brake disc 3. The depth of the limiting guide groove 111 in the axial direction is greater than or equal to the distance between the adsorption position and the braking position in the axial direction. The first brake disc 3 includes a limiting protrusion 32 matched with the limiting guide groove 111. The limiting protrusion 32 is provided on the side of the first brake disc 3 facing away from the first abutting surface 311, so as to ensure that the limiting protrusion 32 is located in the limiting guide groove 111 during the movement of the first brake disc 3 between the adsorption position and the braking position, so as to improve the precision of the movement of the first brake disc 3 along the axial direction.

[0065] Preferably, if Figure 3 As shown, the first brake disc 3 may include a braking portion 31 and the limiting protrusion 32 connected to each other in the axial direction, and the first fitting surface 311 is arranged at an end of the braking portion 31 facing away from the limiting protrusion 32 .

[0066] Alternatively, if Figure 3 As shown, the outer diameter of the above-mentioned limiting protrusion 32 is larger than the outer diameter of the braking part 31, which effectively reduces the volume of the first brake disc 3 while ensuring the effective area of ​​the force applied by the driving part 12 to the first limiting disc, and further reduces the weight of the brake.

[0067] Preferably, if Figure 5 and Fig. 9 As shown, the limiting protrusion 32 may include a connecting portion 322 , and the limiting protrusion 32 is connected to the braking portion 31 via the connecting portion 322 . The outer diameter of the limiting protrusion 32 may be understood as the outer diameter of the connecting portion 322 .

[0068] Preferably, if Figure 5 and Fig. 9As shown, the limiting protrusion 32 may include a protrusion 321 arranged on the outer side of the connecting portion 322 to limit the rotation of the first brake disc 3 through the above-mentioned limiting guide groove 111 to further ensure the braking performance of the first brake disc 3 on the rotor 2.

[0069] Preferably, there are multiple raised portions 321, which are evenly distributed along the circumferential direction of the connecting portion 322 to ensure the stability of the shell 11 limiting the first brake disc 3 in the circumferential direction and the uniformity of the force on the first brake disc 3 in the circumferential direction.

[0070] See also Fig. 9 Five examples of the first brake disc 3 are shown according to five different forms of the limiting protrusion 32:

[0071] Example 1: Fig. 9 (1) shows an example in which the cross-section of the connecting portion 322 is annular and the cross-section of the protruding portion 321 is sharp. Optionally, the angle of the sharp angle may be 30° to 150° to ensure the limiting stability of the protruding portion 321. For example, Fig. 9 (1) shows an example in which the tip angle of the convex portion 321 is 90°.

[0072] Example 2: Fig. 9 (2) shows an example in which the cross-sectional shape of the connection portion 322 is annular, and the cross-sectional shape of the convex portion 321 is an arc.

[0073] Example 3: Fig. 9 (3) shows an example in which the cross-sectional shape of the connection portion 322 is annular, and the cross-sectional shape of the convex portion 321 is an isosceles trapezoid.

[0074] Example 4: Fig. 9 (4) shows that the connecting portion 322 is in the shape of an outer tangent edge of a ring, which can be understood as the shape of the overlapping portion of a ring and a regular polygon after the two are coaxially placed. The predetermined regular polygon can be understood as a regular polygon whose radius of the inscribed circle is smaller than the radius of the outer circle of the ring and larger than the radius of the inner circle of the ring.

[0075] Example 5: Fig. 9 (5) shows an example in which the shape of the cross section of the outer edge contour of the connection portion 322 is a regular polygon (for example, a regular triangle, a square, a regular pentagon, etc.).

[0076] It should be noted that the cross-sectional shape of the above-mentioned limiting protrusion 32 is not limited to the above-mentioned five examples. As long as the rotation of the first brake disc 3 can be limited, the cross-sectional shape of the limiting protrusion 32 can also be other irregular shapes.

[0077] In an embodiment, preferably, Figure 2 and Figure 7 As shown, the stator assembly may further include a limiting guide portion 14 extending in the axial direction, the limiting guide portion 14 penetrates the first brake disc 3 in the axial direction, and the two ends of the limiting guide portion 14 are respectively connected to the shell portion 11 and the second brake disc 13. On the one hand, the limiting guide portion 14 penetrates the first brake disc 3 in the axial direction, and can guide the movement of the first brake disc 3 in the axial direction; on the other hand, the two ends of the limiting guide portion 14 are respectively connected to the shell portion 11 and the second brake disc 13, fixing the relative positions of the shell portion 11 and the second brake disc 13 in the axial direction.

[0078] Optionally, the limiting guide portion 14 can be a guide rod extending in the axial direction, and the outer sides of both ends of the guide rod are provided with external threads to be threadedly connected to the shell 11 and the second brake disc 13 respectively, thereby fixing the relative positions of the shell 11 and the second brake disc 13 in the axial direction.

[0079] In an embodiment, Figure 2 , Fig.10 and Fig.11 As shown, the driving unit 12 may include a coil 121 and an elastic portion 122, the coil 121 is embedded in the shell 11, the elastic portion 122 is compressed and arranged between the shell 11 and the first brake disc 3, one end of the elastic portion 122 is embedded in the shell 11, and the other end of the elastic portion 122 is connected to the first brake disc 3, so that when the coil 121 is energized, the electromagnetic field generated by the coil 121 can adsorb the first brake disc 3, so that the first brake disc 3 is in an adsorbed position; when the coil 121 is de-energized, the electromagnetic field disappears, the first brake disc 3 is released, and the first brake disc 3 moves to the second brake disc 13 to the braking position under the action of the elastic portion 122, and the elastic portion 122 provides the first brake disc 3 with a pressure (i.e., F) directed to the second brake disc 13. k ).

[0080] Alternatively, if Fig.10 As shown, the shell 11 may be provided with a cavity 112 , the coil 121 may be disposed in the cavity 112 , and an end of the limiting protrusion 32 facing away from the braking portion 31 is covered in the cavity 112 .

[0081] Optionally, the elastic portion 122 is a spring.

[0082] Preferably, if Figure 7 As shown, the number of the elastic parts 122 and the limiting guide parts 14 are both multiple, and the elastic parts 122 and the limiting guide parts 14 can be alternately evenly distributed in the circumferential direction of the brake, thereby ensuring the stability of the brake while avoiding interference between the elastic parts 122 and the limiting guide parts 14.

[0083] The embodiment of the second aspect of the present application also provides a robot, comprising a brake of any of the above embodiments, and thus having all the beneficial technical effects of the brake, which will not be elaborated here.

[0084] Based on the characteristics described above, Figures 1 to 11 The brake shown is described as an example, and the working principle of the brake will be described in detail below.

[0085] When the robot is powered on and working, the coil 121 is energized, and the first brake disc 3 is attracted by the electromagnetic field generated by the coil 121 and moves to an adsorption position that fits the shell 11. At this time, gaps will appear between the first brake disc 3 and the rotor 2, and between the second brake disc 13 and the rotor 2. At this time, the driving sleeve 4 can drive the rotor 2 to rotate to execute the robot's movements.

[0086] When the robot is working without power, the coil 121 is powered off, the suction force used to adsorb the first brake disc 3 disappears, and the first brake disc 3 is pressed toward the second brake disc 13 under the elastic action of the elastic part 122, so that the second friction surface 212 abuts against the second contact surface 131, and the first friction surface 211 abuts against the first contact surface 311. Under the action of friction force, the rotor 2 is braked, which prevents the rotor 2 from continuing to rotate due to inertia after power is cut off, thereby ensuring the accuracy and safety of the robot's movement.

[0087] The brake and robot provided by this application have the following beneficial effects:

[0088] 1. The first friction surface 211 and / or the second friction surface 212 are inclined surfaces. From the perspective of friction force, the positive pressure between the friction surface (i.e., the first friction surface 211 and the second friction surface 212) and the corresponding contact surface (i.e., the first contact surface 311 and the second contact surface 131) is increased by [1 / cos(θ)] times, preferably increasing the friction force between the friction surface and the contact surface, thereby increasing the friction torque of the brake disc acting on the rotor 2;

[0089] 2. The drive shaft sleeve 4 is sleeved on the outer side of the rotor 2, so that the rotor 2 can be braked by friction with the brake discs (i.e., the first brake disc 3 and the second brake disc 13) from the outer side, effectively increasing the friction arm and further increasing the friction torque of the brake disc on the rotor 2;

[0090] 3. A plurality of elastic support parts 5 are arranged between the rotor 2 and the drive sleeve 4, which effectively prevents the rotor 2 from shaking inside the drive sleeve 4 when the drive sleeve 4 drives the rotor 2 to rotate, causing the rotor 2 to rub and collide with other parts during high-speed rotation, thereby effectively reducing the probability of abnormal noise during the operation of the rotor 2, and reducing the wear of the rotor 2 caused by rubbing, thereby increasing the service life of the brake;

[0091] 4. The limiting guide groove 111 and the limiting protrusion 32 cooperate with each other, so that the shell 11 can not only guide the movement of the first brake disc 3 in the axial direction, but also effectively limit the rotation of the first brake disc 3.

[0092] 5. The cooperation between the transmission rib 22 and the transmission groove 42 ensures the stability of the torque transmission between the rotor 2 and the drive shaft sleeve 4, while effectively avoiding interference with the relative movement of the rotor 2 and the drive shaft sleeve 4 in the axial direction.

[0093] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A brake, characterized in that: The invention comprises a stator assembly, a first brake disc and a rotor, wherein the stator assembly comprises a driving part, a shell part and a second brake disc, wherein the driving part is embedded in the shell part, and the shell part, the first brake disc, the rotor and the second brake disc are sequentially arranged in an axial direction, and the driving part can drive the first brake disc to move between an adsorption position and a braking position; The rotor comprises a first friction surface and a second friction surface respectively arranged on both sides of the rotor in the axial direction, a first contact surface is arranged on a side of the first brake disc facing the rotor, and a second contact surface is arranged on a side of the second brake disc facing the rotor; wherein at least one of the first friction surface and the second friction surface intersects with a vertical plane, and the vertical plane is a plane perpendicular to the axial direction; When the first brake disc is in the adsorption position, the first brake disc is in contact with the shell, so that a movable space for the rotor to rotate is formed between the first brake disc and the second brake disc; When the first brake disc is in the braking position, the driving unit applies pressure to the first brake disc toward the side where the second brake disc is located, so that the first contact surface contacts the first friction surface and the second contact surface contacts the second friction surface.

2. The brake according to claim 1, characterized in that It also includes a drive sleeve that is transmission-connected to the rotor, and the drive sleeve is sleeved on the outer side of the rotor to drive the rotor to rotate; The first friction surface and the second friction surface are arranged on the inner side of the rotor.

3. The brake according to claim 2, characterized in that It also includes an elastic support portion, or a plurality of elastic support portions evenly distributed along the circumferential direction of the rotor; The elastic support portion is compressively disposed between the drive sleeve and the rotor; The elastic support portion is connected to one of the drive sleeve and the rotor, and the elastic support portion is in line contact with the other of the drive sleeve and the rotor.

4. The brake according to claim 3, characterized in that The inner side of the driving sleeve is provided with placement grooves equal in number to the elastic support parts; The elastic support part is a compression spring, and the compression spring includes an abutting portion and clamping portions located on both sides of the abutting portion, the clamping portions are clamped in the placement groove, and the abutting portions protrude inwardly relative to the inner wall of the drive shaft sleeve; In a direction from the outer side to the inner side in the radial direction of the drive sleeve, the span of the abutting portion gradually decreases.

5. The brake according to any one of claims 1 to 4, characterized in that Both the first friction surface and the second friction surface intersect the vertical plane.

6. The brake according to claim 5, characterized in that The first friction surface and the second friction surface are symmetrical about a central plane; the central plane is the vertical plane where the intersection line of the extension surface where the first friction surface is located and the extension surface where the second friction surface is located.

7. The brake according to claim 6, characterized in that The included angle between the first friction surface and the central plane is 10° to 80°.

8. The brake according to claim 7, characterized in that The angle between the first friction surface and the central plane is 60° to 70°.

9. The brake according to claim 1, characterized in that A limiting guide groove is provided on one side of the shell portion facing the first brake disc, and a depth of the limiting guide groove in the axial direction is greater than or equal to a distance between the adsorption position and the braking position in the axial direction; The first brake disc includes a limiting protrusion that cooperates with the limiting guide groove. The limiting protrusion is arranged on the side of the first brake disc that is away from the first fitting surface. When the first brake disc moves between the adsorption position and the braking position, the limiting protrusion is located in the limiting guide groove.

10. The brake according to claim 9, characterized in that The limiting protrusion includes a connecting portion and one or more protruding portions, and the one or more protruding portions are arranged on the outer side of the connecting portion.

11. The brake according to claim 1, characterized in that The stator assembly further includes a limiting guide portion extending along the axial direction, the limiting guide portion penetrates the first brake disc along the axial direction, and two ends of the limiting guide portion are respectively connected to the shell portion and the second brake disc.

12. The brake according to claim 1, characterized in that The driving part includes a coil and an elastic part, the coil is embedded in the shell part, the elastic part is compressed and arranged between the shell part and the first brake disc, one end of the elastic part is embedded in the shell part, and the other end of the elastic part is connected to the first brake disc.

13. A robot, characterized in that: A brake comprising the brake according to any one of claims 1 to 12.

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