Miniature low-power-consumption joint module braking device

Abstract

The invention provides a miniature low-power-consumption joint module braking device, which belongs to the technical field of robots and comprises a connecting mechanism, a braking executing mechanism and a braking triggering mechanism, the brake executing mechanism and the brake triggering mechanism are installed on the connecting mechanism, and the brake triggering mechanism is used for triggering the brake executing mechanism so that the brake executing mechanism can complete the brake action. The brake executing mechanism and the brake triggering mechanism are installed through the connecting mechanism, the brake executing part is responsible for completing the brake action, the brake triggering part is responsible for triggering the brake action, and the connecting part is responsible for fixing all components of the device and fixing the whole device. The device can be fixed to the input end of a joint module and fixed to a joint motor together, the device is arranged on a stator part of the joint motor, joint braking is achieved by braking a rotor part of the joint motor, for a low-speed large-torque joint, the impact of the motor input end of the device is small, and the requirement for the strength of the braking device is low.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a miniature low-power consumption joint module braking device. Background Art

[0002] With the development of robot technology, higher requirements are put forward for the performance of robots. Among the various parts of robots, joint modules are an important factor affecting their performance. Joint modules are mainly composed of brushless motors, reducers, drivers, sensors, brake devices, etc. Among them, brushless motors, reducers, drivers, encoders, etc. have relatively mature products with different performances, but the products available for joint braking are relatively single, especially for compact joints with space requirements. Braking devices are essential to joint modules, which can ensure that the robot can maintain a fixed position and posture when it stops moving, and can improve the accuracy and stability of the robot.

[0003] There are two common joint braking solutions on the market. One is the more common friction brake, which mainly uses friction to achieve braking. This solution has a better braking effect, but the overall size is relatively large and is not suitable for compact joints. The other solution is the pin brake, which mainly uses the power-off self-recovery ability of a miniature self-recovering electromagnet to complete the braking. After the electromagnet is powered off, the internal spring pushes the brake pin out and clamps the brake disc to complete the braking. The overall structure of this solution is relatively compact, but the electromagnet needs to be continuously energized during the working process of the joint, which will increase the energy consumption of the joint, and long-term power supply will cause the electromagnet to heat up seriously. Summary of the invention

[0004] The present invention provides a miniature low-power joint module braking device, which is used to solve the defects of the brake in the prior art.

[0005] The present invention provides a miniature low-power joint module braking device, comprising: a connecting mechanism, a braking actuator and a braking triggering mechanism; the braking actuator and the braking triggering mechanism are installed on the connecting mechanism, and the braking triggering mechanism is used to trigger the braking actuator so that the braking actuator completes the braking action.

[0006] According to a miniature low-power joint module braking device provided by the present invention, the braking actuator includes: an actuator shaft and a first driving mechanism, and the first driving mechanism is used to drive the actuator shaft to move from a first position to a second position to complete braking.

[0007] According to a miniature low-power joint module braking device provided by the present invention, the first driving mechanism includes: an executing coil seat, an executing coil, and an executing spring; the executing coil is wound around the outside of the executing coil seat, the executing coil seat is installed on the connecting mechanism, the executing spring is located at the inner hole of the executing coil seat, one end of the executing spring is connected to the connecting mechanism, and the other end of the executing spring is against the executing shaft, and the executing shaft performs linear motion with the inner hole of the executing coil seat as a track.

[0008] According to a miniature low-power joint module braking device provided by the present invention, the braking trigger mechanism includes: a trigger shaft and a second driving mechanism; the second driving mechanism is used to drive the trigger shaft to move from a first position to a second position to complete the triggering of the braking actuator.

[0009] According to a miniature low-power joint module braking device provided by the present invention, the second driving mechanism includes: a trigger coil seat, a trigger coil and a trigger spring; the trigger coil is wound around the outside of the trigger coil seat, the trigger coil seat is installed on the connecting mechanism, the trigger spring is located at the inner hole of the trigger coil seat, one end of the trigger spring is connected to the connecting mechanism, the other end of the trigger spring is against the trigger shaft, and the trigger shaft moves linearly with the inner hole of the trigger coil seat as a track.

[0010] According to a miniature low-power joint module braking device provided by the present invention, the connecting mechanism includes a mounting seat and a fixing seat, and the mounting seat and the fixing seat are connected and fixed to each other by connecting bolts.

[0011] According to a miniature low-power joint module braking device provided by the present invention, the mounting seat is used to fix the entire device on the joint motor fixing plate and serves as a fixing surface for the actuator spring and the trigger spring.

[0012] According to a miniature low-power joint module braking device provided by the present invention, the fixing seat is used to fix the execution coil seat and the trigger coil seat.

[0013] According to a miniature low-power joint module braking device provided by the present invention, the actuator shaft includes two parts with different diameters, the larger diameter part uses the inner hole of the actuator coil seat as a track for linear motion, and the smaller diameter part extends out to perform braking action.

[0014] According to a miniature low-power joint module braking device provided by the present invention, the trigger shaft includes two parts with different diameters. The larger diameter part performs linear motion with the inner hole of the trigger coil seat as a track, and the smaller diameter part is used to trigger the joint braking action.

[0015] The micro low-power joint module braking device provided by the present invention is equipped with a braking actuator and a braking triggering mechanism through a connecting mechanism. The braking actuator part is responsible for completing the braking action, the braking triggering part is responsible for triggering the braking action, and the connecting part is responsible for fixing the various components of the device to fix the entire device. It can be fixed at the input end of the joint module and fixed together with the joint motor. The entire device is placed on the stator part of the joint motor, and the joint braking is achieved by braking the rotor part of the joint motor. For low-speed and high-torque joints, the impact on the motor input end is small, and the strength requirements for the braking device are relatively low. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of the micro low-power joint module braking device provided by the present invention; Figure 2 It is a cross-sectional view of the micro low-power joint module braking device provided by the present invention; Figure 3 It is a schematic diagram of the installation of the micro low-power joint module braking device provided by the present invention.

[0018] Reference numerals: 100. Connecting mechanism; 110, mounting seat; 120, fixing seat; 130, connecting bolt; 200. Braking actuator; 210, actuator shaft; 220, actuator coil seat; 230, actuator coil; 240, actuator spring; 300, brake trigger mechanism; 310, trigger shaft; 320, trigger coil seat; 330, trigger coil; 340, trigger spring; 10. Braking device; 20. Joint motor fixing plate; 30. Joint motor. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0021] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on Figure 1 The orientation and position of the miniature low-power joint module braking device when normally placed are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words 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 cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

[0022] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0023] The present invention provides a micro low-power joint module braking device, see Figure 1 , including: a connecting mechanism 100, a brake actuator 200 and a brake trigger mechanism 300; the brake actuator 200 and the brake trigger mechanism 300 are installed on the connecting mechanism 100, and the brake trigger mechanism 300 is used to trigger the brake actuator 200, so that the brake actuator 200 completes the braking action.

[0024] The brake actuator 200 and the brake trigger mechanism 300 are installed through the connecting mechanism 100. The brake actuator part is responsible for completing the braking action, the brake trigger part is responsible for triggering the braking action, and the connecting part is responsible for fixing the various components of the device to fix the entire device. It can be fixed at the input end of the joint module and fixed together with the joint motor 30. The entire device is placed on the stator part of the joint motor 30. The joint braking is achieved by braking the rotor part of the joint motor 30. For low-speed and high-torque joints, the impact on the motor input end is small, and the strength requirements for the braking device are relatively low.

[0025] In one embodiment, see Figure 1-Figure 2 The brake actuator 200 includes: an actuator shaft 210 and a first driving mechanism, wherein the first driving mechanism is used to drive the actuator shaft 210 to move from the first position to the second position to complete the braking. The first driving mechanism includes: an actuator coil seat 220, an actuator coil 230, and an actuator spring 240; the actuator coil 230 is wound around the outside of the actuator coil seat 220, the actuator coil seat 220 is mounted on the connecting mechanism 100, the actuator spring 240 is located at the inner hole of the actuator coil seat 220, one end of the actuator spring 240 is connected to the connecting mechanism 100, and the other end of the actuator spring 240 is against the actuator shaft 210, and the actuator shaft 210 moves linearly with the inner hole of the actuator coil seat 220 as a track.

[0026] The brake execution part includes the execution shaft 210, the execution coil seat 220 and the execution spring 240, which together form a miniature self-restoring electromagnet. The execution shaft 210 is used to complete the joint braking action. The execution coil seat 220 has an outer side for winding the coil. When powered on, it generates an electromagnetic effect and generates magnetic force on the execution shaft 210. The inner hole provides a track for the execution shaft 210. The execution spring 240 is located at the inner hole of the execution coil seat 220. When powered on, the execution spring 240 is compressed by the execution shaft 210. When powered off, the execution spring 240 pushes the execution shaft 210 out to complete the braking action.

[0027] Exemplarily, the actuator shaft 210 includes two parts with different diameters. The part with a larger diameter moves linearly with the inner hole of the actuator coil seat 220 as a track, and the part with a smaller diameter extends out to perform a braking action.

[0028] In one embodiment, the brake trigger mechanism 300 includes: a trigger shaft 310 and a second driving mechanism; the second driving mechanism is used to drive the trigger shaft 310 to move from the first position to the second position to complete the triggering of the brake actuator 200. The second driving mechanism includes: a trigger coil seat 320, a trigger coil 330 and a trigger spring 340; the trigger coil 330 is wound around the outside of the trigger coil seat 320, the trigger coil seat 320 is installed on the connecting mechanism 100, the trigger spring 340 is located at the inner hole of the trigger coil seat 320, one end of the trigger spring 340 is connected to the connecting mechanism 100, and the other end of the trigger spring is against the trigger shaft 310, and the trigger shaft 310 moves linearly with the inner hole of the trigger coil seat 320 as a track.

[0029] The trigger shaft 310, the trigger coil seat 320 and the trigger spring 340 of the brake trigger part together form a miniature self-restoring electromagnet. The trigger shaft 310 is used to trigger the joint braking action. The trigger coil seat 320 has an outer side for winding the coil. When powered on, it generates an electromagnetic effect and generates magnetic force on the trigger shaft 310. The inner hole provides a track for the trigger shaft 310. The trigger spring 340 is located at the inner hole of the trigger coil seat 320. When powered on, the trigger spring 340 is compressed by the trigger shaft 310. When powered off, the trigger spring 340 pushes the trigger shaft 310 out.

[0030] Exemplarily, the trigger shaft 310 includes two parts with different diameters. The part with a larger diameter performs a linear motion with the inner hole of the trigger coil seat 320 as a track, and the part with a smaller diameter is used to trigger the joint braking action.

[0031] In one embodiment, see Figure 1-3 The connection mechanism 100 includes a mounting seat 110 and a fixing seat 120, and the mounting seat 110 and the fixing seat 120 are connected and fixed to each other by connecting bolts 130. The mounting seat 110 is used to fix the entire device on the fixing plate 20 of the joint motor 30, and serves as a fixing surface for the execution spring 240 and the trigger spring 340. The fixing seat 120 is used to fix the execution coil seat 220 and the trigger coil seat 320.

[0032] The mounting seat 110 has mounting holes for fixing the entire device on the joint motor 30 fixing plate 20, and for fixing the execution coil seat 220, the execution spring 240, the trigger coil seat 320 and the trigger spring 340. The fixing seat 120 cooperates with the execution coil seat 220 and the trigger coil seat 320, and is fixed to the mounting seat 110 by the connecting bolts 130.

[0033] The specific usage is as follows: when the joint module is working normally, the brake device is in a non-braking state, the actuator shaft 210 retracts and the trigger shaft 310 extends, at this time, the actuator coil 230 and the trigger coil 330 are not energized, and the actuator shaft 210 is pushed by the actuator spring 240, so that the actuator shaft 210 is pressed against the trigger shaft 310. When the joint module needs to brake, the trigger coil 330 is energized to generate an electromagnetic effect, attracting the trigger shaft 310 to retract, and at the same time, the actuator shaft 210 is pushed out by the actuator spring 240, and the rotor part of the joint motor 30 is braked. After the actuator shaft 210 is extended, the trigger coil 330 is powered off, and the trigger shaft 310 that loses the attraction is pushed by the trigger spring 340, so that the trigger shaft 310 is pressed against the actuator shaft 210. When the joint module needs to resume work, the actuator coil 230 is energized to generate an electromagnetic effect, attracting the actuator shaft 210 to retract, and at the same time, the trigger shaft 310 is pushed out by the trigger spring 340, and after the trigger shaft 310 is extended, the actuator coil 230 is powered off, and the brake device returns to a non-braking state. The entire braking and recovery process only requires two short power-on cycles, which reduces power consumption.

[0034] The overall size of the device is small and the weight is light. It can be fixed at the input end of the joint module and fixed together with the joint motor 30. The entire device is placed on the stator part of the joint motor 30, and the joint braking is achieved by braking the rotor part of the joint motor 30. For low-speed and high-torque joints, the impact on the motor input end is small, and the strength requirement for the braking device is relatively low.

[0035] This device has low power consumption and does not require long-term power supply, which reduces coil heating. The present invention only needs to briefly power on the two coils to achieve joint braking and operation, and can complete the switching of the joint's braking state and operating state. The control is simple and the response is rapid, and the power consumption requirements for battery-powered small mobile joints are low.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A miniature low-power joint module braking device, characterized in that: include: A connecting mechanism, a brake actuator and a brake trigger mechanism; the brake actuator and the brake trigger mechanism are installed on the connecting mechanism, and the brake trigger mechanism is used to trigger the brake actuator so that the brake actuator completes the braking action.

2. The micro low-power joint module braking device according to claim 1 is characterized in that: The brake actuator comprises: an actuator shaft and a first driving mechanism, wherein the first driving mechanism is used to drive the actuator shaft to move from a first position to a second position to complete braking.

3. The micro low-power joint module braking device according to claim 2 is characterized in that: The first driving mechanism comprises: an actuating coil seat, an actuating coil, and an actuating spring; The execution coil is wound around the outside of the execution coil seat, the execution coil seat is mounted on the connecting mechanism, the execution spring is located at the inner hole of the execution coil seat, one end of the execution spring is connected to the connecting mechanism, and the other end of the execution spring is against the execution shaft, and the execution shaft moves linearly with the inner hole of the execution coil seat as a track.

4. The micro low-power joint module braking device according to claim 3 is characterized in that: The brake trigger mechanism comprises: a trigger shaft and a second driving mechanism; the second driving mechanism is used to drive the trigger shaft to move from a first position to a second position to complete triggering the brake actuator.

5. The micro low-power joint module braking device according to claim 4 is characterized in that: The second driving mechanism comprises: a trigger coil seat, a trigger coil and a trigger spring; The trigger coil is wound around the outside of the trigger coil seat, the trigger coil seat is installed on the connecting mechanism, the trigger spring is located at the inner hole of the trigger coil seat, one end of the trigger spring is connected to the connecting mechanism, the other end of the trigger spring is against the trigger shaft, and the trigger shaft moves linearly with the inner hole of the trigger coil seat as a track.

6. The micro low-power joint module braking device according to claim 5 is characterized in that: The connection mechanism comprises a mounting seat and a fixing seat, and the mounting seat and the fixing seat are connected and fixed to each other via connecting bolts.

7. The micro low-power joint module braking device according to claim 6 is characterized in that: The mounting seat is used to fix the entire device on the joint motor fixing plate and serves as a fixing surface for the actuator spring and the trigger spring.

8. The micro low-power joint module braking device according to claim 7 is characterized in that: The fixing seat is used for fixing the execution coil seat and the trigger coil seat.

9. The micro low-power joint module braking device according to claim 3 is characterized in that: The actuator shaft comprises two parts with different diameters. The part with a larger diameter moves linearly with the inner hole of the actuator coil seat as a track, and the part with a smaller diameter extends out to perform a braking action.

10. The micro low-power joint module braking device according to claim 5, characterized in that: The trigger shaft comprises two parts with different diameters. The part with a larger diameter performs a linear motion with the inner hole of the trigger coil seat as a track, and the part with a smaller diameter is used to trigger the joint braking action.

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