Brake and robot

Abstract

The application provides a brake and a robot, which comprises a shell part, a first brake disc, a rotor and a second brake disc arranged in sequence in an axial direction, and a driving part capable of driving 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 arranged on two sides of the rotor in the axial direction, the first brake disc is provided with a first abutting surface, and the second brake disc is provided with a second abutting surface; at least one of the first friction surface and the second friction surface intersects a vertical plane; when the first brake disc is in the adsorption position, the first brake disc abuts against the shell part; when the first brake disc is in the braking position, the driving part applies pressure to the first brake disc in a direction pointing to one side where the second brake disc is located, so that the first abutting surface abuts against the first friction surface and the second abutting surface abuts against the second friction surface. According to the brake and the robot provided by the application, the volume quality of the brake can be greatly reduced under the condition of the same friction torque.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a brake and a robot. Background Technology

[0002] In intelligent devices such as industrial robots and collaborative robots, a brake is typically installed at the motor input for safety reasons. This is a redundant safety design that protects the robot itself or the environment in the event of a power outage. This type of power-off brake is also called a de-energized electromagnetic brake. Its principle is similar to an electromagnet: when energized, the coil current generates a magnetic field that attracts the armature; when de-energized, the armature is pushed out by a spring force. The brake contains a brake pad connected to the high-speed shaft of the motor. When the brake is open, the brake pad and the motor shaft rotate together. During braking, the brake pad is pressed against the armature by the movement of the armature, achieving power-off braking through the frictional torque of the pressing surface.

[0003] However, in order to ensure braking effect, modern non-excitation electromagnetic brakes require a large contact area between the brake pads and the armature. This results in a large volume for both the armature and the brake pads, leading to a large size and mass of modern non-excitation electromagnetic brakes and high power consumption. Summary of the Invention

[0004] In view of this, this application provides a brake and a robot to solve to some extent the technical problems of existing non-excitation electromagnetic brakes, which require a large contact area between the brake pads and the armature to ensure braking effect. This results in the armature and brake pads needing to maintain a large volume, leading to the large size and mass of the current non-excitation electromagnetic brake and high power consumption.

[0005] In a first aspect, embodiments of this application provide a brake, including a stator assembly, a first brake disc, and a rotor. The stator assembly includes a drive portion, a housing portion, and a second brake disc. The drive portion is embedded in the housing portion. The housing portion, the first brake disc, the rotor, and the second brake disc are arranged sequentially along the axial direction. The drive portion is capable of driving the first brake disc to move between an adsorption position and a braking position.

[0006] The rotor includes a first friction surface and a second friction surface respectively provided on both sides of the rotor in the axial direction. The first brake disc has a first contact surface on the side facing the rotor, and the second brake disc has a second contact surface on the side facing the rotor. At least one of the first friction surface and the second friction surface intersects a vertical plane, which 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 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 drive unit applies pressure to the first brake disc pointing towards the side where the second brake disc is located, so that the first contact surface is in contact with the first friction surface, and the second contact surface is in contact with the second friction surface.

[0009] Secondly, embodiments of this application also provide a robot that includes the brake of any of the above-mentioned technical solutions, and thus has all the beneficial technical effects of the brake, which will not be repeated here.

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

[0011] According to the brake provided in this application, by configuring at least one of the first friction surface and the second friction surface to intersect with a vertical plane, that is, by enabling at least one of the first friction surface and the second friction surface to 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, thereby increasing the frictional torque of the brake. This allows the rotor, the first brake disc, and the second brake disc of the brake provided in this application to be relatively thinner while still requiring the same frictional torque (i.e., to achieve the same braking effect), resulting in a significant reduction in the volume and mass of the brake.

[0012] See Figure 4 The diagram shows the force analysis of the first brake disc in the braking position, with the first friction surface as an inclined plane, where F... k The drive unit applies pressure to the first brake disc pointing towards the side where the second brake disc is located; F n The normal force between the first friction surface and the first contact surface; F f The static friction force (F) between the first friction surface and the first contact surface f This 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. Force analysis is performed in the axial direction, because relative to F... k and F n F f The value is small (i.e., F is ignored) f ), F k ≈F n ×cos(θ), where F n = [1 / cos(θ)]×F kIt is positively correlated with the frictional torque exerted by the first brake disc on the rotor. In other words, compared with the prior art where θ = 0°, the frictional torque of the brake provided in this application is increased by [1 / cos(θ)] times.

[0013] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a bottom view of the brake structure provided in an embodiment of this application;

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

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

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

[0019] Figure 5 This is a top view of the brake provided in an embodiment of this application;

[0020] Figure 6 This is a front view of the brake provided in an embodiment of this application;

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

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

[0023] Figure 9 This is a schematic diagram of the structure of the first brake disc provided in an embodiment of this application;

[0024] Figure 10 This is an exploded structural diagram of the brake provided in an embodiment of this application;

[0025] Figure 11 This is another exploded structural diagram of the brake provided in the embodiments of this application.

[0026] Reference numerals: 11-Shell; 111-Limiting guide groove; 112-Cavity; 12-Drive unit; 121-Coil; 122-Elastic part; 13-Second brake disc; 131-Second contact surface; 14-Limiting guide part; 2-Rotor; 211-First friction surface; 212-Second friction surface; 22-Transmission rib; 3-First brake disc; 31-Brake unit; 311-First contact surface; 32-Limiting protrusion; 321-Protrusion; 322-Connecting part; 4-Drive shaft sleeve; 41-Installation groove; 42-Transmission groove; 5-Elastic support part; 51-Snap-fit ​​part; 52-Abutting part. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "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 commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] In the description of the embodiments of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "provided with," "installed," "connected," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] The following reference Figures 1 to 11 This application describes a brake and a robot according to some embodiments.

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

[0032] Figure 3 It shows according to Figure 2 A schematic diagram of the enlarged structure of the brake at point B; Figure 4 It shows according to Figure 2 The provided schematic diagram of the enlarged structure of the brake at point C shows the following center plane, with the double-dotted line indicating the center plane. The two dashed lines represent the extension surfaces of the first friction surface 211 and the second friction surface 212, respectively. The first contact surface 311 and the first friction surface 211 overlap. The label of the first contact surface 311 is placed in parentheses to indicate that it is similar to the representation of the second contact surface 131 and the second friction surface 212, and will not be described again. Figure 5 A top view of the brake provided according to an embodiment of this application is shown; Figure 6 A front view structural schematic diagram of the brake provided according to an embodiment of this application is shown; Figure 7 It shows Figure 6 The provided schematic diagram shows the cross-sectional structure obtained by cutting the brake along the DD direction. Since the transmission rib 22 is set in the transmission groove 42, the structure of the transmission groove 42 is blocked by the transmission rib 22. The label of the transmission groove 42 is set in parentheses. Figure 8 It shows Figure 7 A schematic diagram of the enlarged structure of the brake at point E; Figure 9 A schematic diagram of the structure of a first brake disc 3 according to an embodiment of this application is shown. The diagram shows five examples of the first brake disc 3 in five different forms according to the limiting protrusion 32. Figure 10 An exploded structural diagram of a brake provided according to an embodiment of this application is shown; Figure 11A further exploded structural schematic diagram of the brake provided according to an embodiment of this application is shown.

[0033] It should be noted that the above-view, upward-view, and front-view orientations are only for the convenience of describing the relative orientation of the brake, and these orientations are unrelated to the orientation of the brake in use.

[0034] See Figures 1 to 6 As shown, an embodiment of the first aspect of this application provides a brake, which includes a stator assembly, a first brake disc 3, and a rotor 2. The stator assembly includes a drive part 12, a housing part 11, and a second brake disc 13. The drive part 12 is embedded in the housing part 11. The housing part 11, the first brake disc 3, the rotor 2, and the second brake disc 13 are arranged sequentially along the axial direction. The drive part 12 can drive the first brake disc 3 to move between an adsorption position and a braking position, so as 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 provided on both sides of the rotor 2 in the axial direction. The first brake disc 3 has a first contact surface 311 on the side facing the rotor 2, and the second brake disc 13 has a second contact surface 131 on the side facing the rotor 2. At least one of the first friction surface 211 and the second friction surface 212 intersects 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 attached to the housing 11, so that a 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 drive unit 12 applies pressure to the first brake disc 3 pointing to the side where the second brake disc 13 is located, so that the first contact surface 311 is attached to the first friction surface 211, and the second contact surface 131 is attached to the second friction surface 212. The rotor 2 is braked by the friction between the first friction surface 211 and the first contact surface 311 and the friction between the second friction surface 212 and the second contact surface 131.

[0037] According to the brake provided in this application, by configuring at least one of the first friction surface 211 and the second friction surface 212 to intersect with a vertical plane, that is, by enabling at least one of the first friction surface 211 and the second friction surface 212 to 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, thereby increasing the frictional torque of the brake. This allows the rotor 2, the first brake disc 3, and the second brake disc 13 of the brake provided in this application to be relatively thinner when the same frictional torque is required (i.e., when the same braking effect is required), resulting in a significant reduction in the volume and mass of the brake.

[0038] See Figure 4 The diagram shows the force analysis of the first brake disc 3 in the braking position, with the first friction surface 211 as an inclined surface, where F... k The drive unit 12 applies pressure to the first brake disc 3, pointing towards the side where the second brake disc 13 is located; F n The normal force between the first friction surface 211 and the first contact surface 311; F f The static friction force (F) between the first friction surface 211 and the first contact surface 311 f This refers to the static friction force that prevents the first friction surface 211 and the first contact surface 311 from moving relative to each other along the inclined direction of the inclined surface, rather than the friction force that prevents the rotor 2 from rotating. Force analysis is performed in the axial direction, because relative to F... k and F n F f The value is small (i.e., F is ignored) f ), F k ≈F n ×cos(θ), where F n = [1 / cos(θ)]×F k The frictional torque is positively correlated with the frictional torque exerted by the first brake disc 3 on the rotor 2. In other words, compared with the prior art where θ = 0°, the frictional torque of the brake provided in this application is increased by [1 / cos(θ)] times.

[0039] Preferably, such as 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 containing 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 center plane.

[0041] Preferably, such as 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 acting on both sides of the rotor 2 by the first brake disc 3 and the second brake disc 13.

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

[0043] To more intuitively illustrate how the structure of the brake provided in this application can effectively improve frictional torque, the following explanation is based on simulation / physical data.

[0044] Using the controlled variable method, all parameters of the brakes under test, except for the tilt angles of the first friction surface 211 and the second friction surface 212, are made equal (i.e., the inner diameters of the first brake discs 3, the inner diameters of the second brake discs 13, the outer diameters of the first brake discs 3, the outer diameters of the second brake discs 13, and the coefficients of friction of the first friction surface 211, the second friction surface 212, the first contact surface 311, and the second contact surface 131 are all equal). A uniformly given F... k When the friction torque is 20 N, compare the magnitudes of the friction torque when the inclination angles of the friction surfaces are ∠θ = 75°, ∠θ = 65° and ∠θ = 0°, respectively, as shown in Appendix Table 1;

[0045] Appendix 1

[0046]

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

[0048] Based on the above conclusions, preferably, the angle between the first friction surface 211 and the aforementioned central plane (i.e. Figure 4 The ∠θ shown is 60°~70°. While ensuring the bonding stability between the first friction surface 211 and the first contact surface 311, ∠θ is increased as much as possible to increase the frictional torque of the first friction surface 211 on the rotor 2.

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

[0050] Furthermore, in the embodiments, preferably, as follows: Figure 2 As shown, the brake may further include a drive shaft sleeve 4 that is drively connected to the rotor 2. The drive shaft sleeve 4 is sleeved on the outside of the rotor 2 to drive the rotor 2 to rotate. Correspondingly, as... Figure 2 As shown, the rotor 2 is annular, and the first friction surface 211 and the second friction surface 212 are disposed on the inner side of the rotor 2. Thus, the position where the drive shaft sleeve 4 drives the rotor 2 to rotate is disposed on the outer side of the rotor 2, so that the rotor 2 can perform friction braking with the first brake disc 3 and the second brake disc 13 from the outer side of both the first brake disc 3 and the second brake disc 13, effectively lengthening the friction arm, and 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 shaft sleeve 4 can be connected to a rotary drive device to provide the power required for the rotation of the rotor 2, which can be an electric motor.

[0052] Preferably, such as Figure 7 As shown, the outer side of the rotor 2 can be provided with multiple transmission ribs 22, and correspondingly, the inner side of the drive bushing 4 can be provided with multiple transmission grooves 42 that are adapted to the upper transmission ribs 22, so as to facilitate torque transmission between the drive bushing 4 and the rotor 2.

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

[0054] Preferably, such as Figure 7 An example with eight transmission ribs 22 is shown; however, this is not the only possibility. As long as the stability of torque transmission between the drive shaft sleeve 4 and the rotor 2 is ensured, the number of transmission ribs 22 can be adaptively adjusted. For example, the number of transmission ribs 22 can also be 2, 3, 4, 5, 6, 7, 9, 10, 11, 12…16…or more. Furthermore, as… Figure 7 An example of a transmission rib 22 with an arc-shaped cross-section is shown, but it is not limited to this. The circumferential engagement stability between the transmission rib 22 and the transmission groove 42 ensures the stability of torque transmission between the drive shaft sleeve 4 and the rotor 2. The shape of the transmission rib 22 can also be other forms. The cross-sectional shape of the transmission rib 22 can be similar to the modified form of the protrusion 321 described below, which will not be elaborated further.

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

[0056] In this embodiment, the brake may further include an elastic support portion 5. This elastic support portion 5 is compressively disposed between the drive bushing 4 and the rotor 2. This effectively prevents the rotor 2 from wobbling within the drive bushing 4 during rotation, thus avoiding friction and collisions between the rotor 2 and other parts during high-speed rotation. This effectively reduces the likelihood of abnormal noise from the rotor 2 during operation and reduces wear caused by friction, thereby improving the service life of the brake.

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

[0058] Furthermore, the elastic support 5 is connected to one of the drive bushing 4 and the rotor 2, and the elastic support 5 is in line contact with the other of the drive bushing 4 and the rotor 2. In this way, the contact area between the elastic support 5 and the other of the drive bushing 4 and the rotor 2 is reduced, thereby reducing the influence of the elastic support 5 on the relative movement of the rotor 2 and the drive bushing 4 in the axial direction. This reduces the interference of the supporting effect of the elastic support 5 with the process of the first brake disc 3 pushing the rotor 2 to abut against the second brake disc 13.

[0059] Preferably, such as Figure 7 and Figure 8 As shown, the elastic support portion 5 can be a compression spring, which can include an abutting portion 52 and snap-fit ​​portions 51 located on both sides of the abutting portion 52.

[0060] Correspondingly, such as Figure 8 As shown, the inner side of the drive shaft sleeve 4 is provided with a number of mounting grooves 41 equal to the number of compression springs. Preferably, as shown... Figure 8 As shown, the mounting groove 41 includes an inner groove extending in the circumferential direction of the drive shaft sleeve 4 and an opening facing the inside of the drive shaft sleeve 4, the opening being located in the middle of the inner groove. The engaging portion 51 of the aforementioned compression spring engages with the inner grooves on both sides of the opening. The abutting portion 52 of the aforementioned compression spring extends from the opening, such that the abutting portion 52 protrudes inward relative to the inner wall of the drive shaft sleeve 4, so as to abut against the rotor 2.

[0061] Preferably, such as Figure 8 As shown, in the radial direction of the drive shaft sleeve 4, from the outside to the inside (i.e., Figure 8 (As shown by the dashed arrow), the span of the abutment 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 abutment portion 52 can be understood as the dimension of the abutment portion in the circumferential direction of the drive shaft sleeve 4.

[0062] It should be noted that the elastic support part 5 is not limited to the form of the compression spring. As long as it has the function of elastic support 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 part 5 can also be other elastic support structures, such as a spring pin.

[0063] like Figure 7 An example of two elastic support parts 5 is shown, but it is not limited to this. As long as the stability of the elastic support parts 5 in supporting both the drive bushing 4 and the rotor 2 is ensured, and the smoothness of the relative movement between the drive bushing 4 and the rotor 2 in the axial direction is also ensured, the number of elastic support parts 5 can also be three, four, five, six, seven, and more.

[0064] In an embodiment, such as Figure 5 and Figure 9 As shown, a limiting guide groove 111 may be provided on the side of the shell portion 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 axial distance between the adsorption position and the braking position. The first brake disc 3 includes a limiting protrusion 32 that cooperates 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 contact surface 311 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, thereby improving the accuracy of the first brake disc 3 moving in the axial direction.

[0065] Preferably, such as Figure 3 As shown, the first brake disc 3 may include a brake part 31 and a limiting protrusion 32 connected to each other in the axial direction, and the first contact surface 311 is disposed at one end of the brake part 31 opposite to the limiting protrusion 32.

[0066] Optionally, such as Figure 3 As shown, the outer diameter of the aforementioned limiting protrusion 32 is larger than the outer diameter of the braking part 31. While ensuring the area of ​​force application of the driving part 12 to the first limiting disc, it effectively reduces the volume of the first brake disc 3 and further reduces the weight of the brake.

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

[0068] Preferably, such as Figure 5 and Figure 9As shown, the limiting protrusion 32 may include a protrusion 321 disposed on the outside of the connecting portion 322 to limit the rotation of the first brake disc 3 by means of the limiting guide groove 111, so as to further ensure the braking performance of the first brake disc 3 on the rotor 2.

[0069] Preferably, there are multiple protrusions 321, which are evenly distributed along the circumferential direction of the connecting portion 322 to ensure the stability of the housing portion 11 in 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 Figure 9 Five examples of the first brake disc 3 are shown based on five different forms of the limiting protrusion 32:

[0071] Example 1, such as Figure 9 (1) An example is shown where the cross-sectional shape of the connecting portion 322 is annular and the cross-sectional shape of the protruding portion 321 is pointed. Optionally, the angle of the pointed angle can be 30° to 150° to ensure the limiting stability of the protruding portion 321. For example, Figure 9 (1) An example is shown where the angle of the protrusion 321 is 90°.

[0072] Example 2, such as Figure 9 (2) An example is shown where the cross-section of the connecting portion 322 is annular and the cross-section of the protruding portion 321 is arc-shaped.

[0073] Example 3, such as Figure 9 (3) An example is shown where the cross-section of the connecting portion 322 is annular and the cross-section of the protruding portion 321 is an isosceles trapezoid.

[0074] Example 4, such as Figure 9 (4) The connecting portion 322 is shown to be in the shape of an outer tangent of a ring. This outer tangent of a ring can be understood as the shape of the overlapping part of the ring and the regular polygon after they are placed coaxially. The predetermined regular polygon can be understood as a regular polygon whose radius of 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, such as Figure 9 (5) An example is shown where the cross-section of the outer edge contour of the connecting part 322 is a regular polygon (e.g., an equilateral triangle, a square, a regular pentagon, etc.).

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

[0077] In an embodiment, preferably, such as 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 passes through the first brake disc 3 in the axial direction, and both ends of the limiting guide portion 14 are connected to the housing portion 11 and the second brake disc 13, respectively. On the one hand, the limiting guide portion 14 passes through the first brake disc 3 in the axial direction, which 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 connected to the housing portion 11 and the second brake disc 13, respectively, to fix the relative position of the housing portion 11 and the second brake disc 13 in the axial direction.

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

[0079] In an embodiment, such as Figure 2 , Figure 10 and Figure 11 As shown, the drive unit 12 may include a coil 121 and an elastic portion 122. The coil 121 is embedded in the housing 11, and the elastic portion 122 is compressed between the housing 11 and the first brake disc 3. One end of the elastic portion 122 is embedded in the housing 11, and the other end is connected to the first brake disc 3. Thus, when the coil 121 is energized, the electromagnetic field generated by the coil 121 can attract the first brake disc 3, causing the first brake disc 3 to be in the attracted 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. The elastic portion 122 provides the first brake disc 3 with pressure (i.e., F) pointing towards the second brake disc 13. k ).

[0080] Optionally, such as Figure 10 As shown, the shell portion 11 may be provided with a cavity 112, the coil 121 may be disposed in the cavity 112, and one end of the limiting protrusion 32 opposite to the braking portion 31 is covered in the cavity 112.

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

[0082] Preferably, such as Figure 7 As shown, there are multiple elastic portions 122 and multiple limiting guide portions 14. The elastic portions 122 and the limiting guide portions 14 can be evenly distributed alternately in the circumferential direction of the brake, which ensures the stability of the brake while avoiding mutual interference between the elastic portions 122 and the limiting guide portions 14.

[0083] The second aspect of this application also provides a robot that includes the brake of any of the above embodiments, and thus has all the beneficial technical effects of the brake, which will not be repeated here.

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

[0085] When the robot is powered on, 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 the adsorption position that is in contact with 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 drive shaft sleeve 4 can drive the rotor 2 to rotate to perform the robot's actions.

[0086] When the robot is powered off, the coil 121 is de-energized, and the suction force used to attract the first brake disc 3 disappears. Under the elastic action of the elastic part 122, the first brake disc 3 presses against the second brake disc 13, 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, the rotor 2 is braked, preventing the rotor 2 from continuing to rotate under the action of inertia after the power is cut off, thus ensuring the robot's movement accuracy and safety.

[0087] The actuator and robot provided in 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 normal 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, the friction force between the friction surface and the contact surface is increased, 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 outside of the rotor 2, so that the rotor 2 can rub against the brake disc (i.e. the first brake disc 3 and the second brake disc 13) from the outside, which effectively increases the friction arm and further increases the friction torque of the brake disc acting on the rotor 2.

[0090] 3. Multiple elastic support parts 5 are provided between the rotor 2 and the drive bushing 4, which effectively prevents the rotor 2 from shaking inside the drive bushing 4 during the rotation of the rotor 2 driven by the drive bushing 4. This prevents the rotor 2 from rubbing and colliding 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, thus improving the service life of the brake.

[0091] 4. The mutually cooperating limiting guide groove 111 and limiting protrusion 32 enable the shell part 11 to not only guide the movement of the first brake disc 3 in the axial direction, but also effectively restrict the rotation of the first brake disc 3.

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

[0093] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A brake, characterized in that, The device includes a stator assembly, a first brake disc, and a rotor. The stator assembly includes a drive unit, a housing unit, and a second brake disc. The drive unit is embedded in the housing unit. The housing unit, the first brake disc, the rotor, and the second brake disc are arranged sequentially along the axial direction. The drive unit can drive the first brake disc to move between an adsorption position and a braking position. The rotor includes a first friction surface and a second friction surface respectively provided on both sides of the rotor in the axial direction. The first brake disc has a first contact surface on the side facing the rotor, and the second brake disc has a second contact surface on the side facing the rotor. At least one of the first friction surface and the second friction surface intersects a vertical plane, which 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 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 drive unit applies pressure to the first brake disc pointing towards the side where the second brake disc is located, so that the first contact surface is in contact with the first friction surface, and the second contact surface is in contact with the second friction surface; Both the first friction surface and the second friction surface intersect the vertical plane; The first friction surface and the second friction surface are symmetrical about the central plane; the central plane is the vertical plane containing the line of intersection of the extension surface where the first friction surface is located and the extension surface where the second friction surface is located. It also includes a drive shaft sleeve that is connected to the rotor drive, the drive shaft sleeve being sleeved on the outside of the rotor to drive the rotor to rotate; The first friction surface and the second friction surface are disposed on the inner side of the rotor, such that the driving shaft sleeve is positioned on the outer side of the rotor to drive the rotor to rotate, so that the rotor can perform friction braking with the first brake disc and the second brake disc from the outer side of both the first brake disc and the second brake disc.

2. The brake according to claim 1, characterized in that, It also includes an elastic support portion, or multiple elastic support portions evenly distributed along the circumferential direction of the rotor; The elastic support is compressedly disposed between the drive shaft sleeve and the rotor; The elastic support is connected to one of the drive shaft sleeve and the rotor, and the elastic support is in line contact with the other of the drive shaft sleeve and the rotor.

3. The brake according to claim 2, characterized in that, The inner side of the drive shaft sleeve is provided with mounting grooves in the same number as the elastic support parts. The elastic support is a compression spring, which includes an abutting portion and a snap-fit ​​portion located on both sides of the abutting portion. The snap-fit ​​portion is snapped into the mounting groove, and the abutting portion protrudes inward relative to the inner wall of the drive shaft sleeve. In the radial direction of the drive shaft sleeve, from the outside to the inside, the span of the abutment portion gradually decreases.

4. The brake according to claim 1, characterized in that, The angle between the first friction surface and the central plane is 10°~80°.

5. The brake according to claim 4, characterized in that, The angle between the first friction surface and the central plane is 60°~70°.

6. The brake according to claim 1, characterized in that, A limiting guide groove is provided on the side of the shell facing the first brake disc, and the depth of the limiting guide groove in the axial direction is greater than or equal to the distance in the axial direction between the adsorption position and the braking position. The first brake disc includes a limiting protrusion that mates with the limiting guide groove. The limiting protrusion is located on the side of the first brake disc opposite to the first contact surface. During the movement of the first brake disc between the adsorption position and the braking position, the limiting protrusion is located within the limiting guide groove.

7. The brake according to claim 6, characterized in that, The limiting protrusion includes a connecting portion and one or more protruding portions, the one or more protruding portions being disposed on the outside of the connecting portion.

8. 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 passing through the first brake disc along the axial direction, and the two ends of the limiting guide portion being connected to the housing portion and the second brake disc, respectively.

9. The brake according to claim 1, characterized in that, The drive unit includes a coil and an elastic portion. The coil is embedded in the housing, and the elastic portion is compressed between the housing and the first brake disc. One end of the elastic portion is embedded in the housing, and the other end of the elastic portion is connected to the first brake disc.

10. A robot, characterized in that, The brake included in any one of claims 1 to 9.

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