Miniature low-power joint module brake device

Abstract

The application provides a miniature low-power joint module brake device, and belongs to the technical field of robots, and comprises a connecting mechanism, a brake execution mechanism and a brake triggering mechanism; the brake execution mechanism and the brake triggering mechanism are installed on the connecting mechanism, the brake triggering mechanism is used for triggering the brake execution mechanism, so that the brake execution mechanism completes a brake action. The brake execution mechanism and the brake triggering mechanism are installed on the connecting mechanism, the brake execution 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 each component of the device and fixing the whole device. The device can be fixed at the input end of the joint module and fixed together with the joint motor, the device is placed in the stator part of the joint motor, joint braking is realized by braking the rotor part of the joint motor, the impact of the input end of the motor is smaller for a low-speed large-torque joint, and the strength requirement of the brake device is relatively low.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a micro low-power joint module brake device. BACKGROUND

[0002] With the development of robot technology, higher requirements are put forward for the performance of robots. Among the components of robots, the joint module is an important factor affecting the performance. The joint module mainly includes a brushless motor, a reducer, a driver, a sensor, a brake device, etc. Among them, the brushless motor, the reducer, the driver, the encoder, 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. The brake device is essential for the joint module, which can ensure that the robot can maintain a fixed position and posture when stopping moving, and can improve the accuracy and stability of the robot.

[0003] Currently, there are mainly two kinds of joint brake solutions on the market. One is the common friction brake, which mainly realizes braking through friction. This solution has good braking effect, but the overall size is relatively large, which is not suitable for use in compact joints. The other solution is a pin-type brake, which mainly uses the de-energization self-recovery capability of a micro self-recovery electromagnet to complete braking. After the electromagnet is de-energized, the internal spring pushes the brake pin out to block the brake disc to complete braking. The overall structure of this solution is relatively compact, but the electromagnet needs to be continuously energized during the joint operation, which increases the energy consumption of the joint. Moreover, long-time energization can cause the electromagnet to heat up seriously. SUMMARY

[0004] The present application provides a micro low-power joint module brake device to solve the defects of the brake in the prior art.

[0005] The present application provides a micro low-power joint module brake device, which comprises a connecting mechanism, a brake execution mechanism and a brake triggering mechanism. The brake execution mechanism and the brake triggering mechanism are installed on the connecting mechanism. The brake triggering mechanism is used to trigger the brake execution mechanism to complete the brake action.

[0006] According to the micro low-power joint module brake device provided by the present application, the brake execution mechanism comprises an execution shaft and a first driving mechanism. The first driving mechanism is used to drive the execution shaft to move from a first position to a second position to complete braking.

[0007] According to the micro low-power joint module brake device provided by the application, the first driving mechanism comprises an execution coil seat, an execution coil and an execution spring; the execution coil is wound outside the execution coil seat; the execution coil seat is installed 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 with the connecting mechanism; the other end of the execution spring is abutted against the execution shaft; and the execution shaft performs linear motion along the inner hole of the execution coil seat as a track.

[0008] According to the micro low-power joint module brake device provided by the application, the brake trigger mechanism comprises a trigger shaft and a second driving mechanism; the second driving mechanism is used for driving the trigger shaft to move from a first position to a second position, thereby triggering the brake execution mechanism.

[0009] According to the micro low-power joint module brake device provided by the application, the second driving mechanism comprises a trigger coil seat, a trigger coil and a trigger spring; the trigger coil is wound outside 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 with the connecting mechanism; the other end of the trigger spring is abutted against the trigger shaft; and the trigger shaft performs linear motion along the inner hole of the trigger coil seat as a track.

[0010] According to the micro low-power joint module brake device provided by the application, the connecting mechanism comprises a mounting seat and a fixing seat; the mounting seat and the fixing seat are connected and fixed to each other through a connecting bolt.

[0011] According to the micro low-power joint module brake device provided by the application, the mounting seat is used for fixing the whole device on a joint motor fixing plate and serves as a fixing surface of the execution spring and the trigger spring.

[0012] According to the micro low-power joint module brake device provided by the application, the fixing seat is used for fixing the execution coil seat and the trigger coil seat.

[0013] According to the micro low-power joint module brake device provided by the application, the execution shaft comprises two parts with different diameters; the part with a larger diameter performs linear motion along the inner hole of the execution coil seat as a track; and the part with a smaller diameter is used for brake action.

[0014] According to the micro low-power joint module brake device provided by the application, the trigger shaft comprises two parts with different diameters; the part with a larger diameter performs linear action along the inner hole of the trigger coil seat as a track; and the part with a smaller diameter is used for triggering joint brake action.

[0015] The micro low-power joint module brake device provided by the application is provided with a brake execution mechanism and a brake trigger mechanism through a connecting mechanism, the brake execution part is responsible for completing the brake action, the brake trigger part is responsible for triggering the brake action, and the connecting part is responsible for fixing each component of the device and fixing the whole device. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0017] Figure 1 Fig. 1 is a structural schematic diagram of the micro low-power joint module brake device provided by the application;

[0018] Figure 2 Fig. 2 is a sectional view of the micro low-power joint module brake device provided by the application;

[0019] Figure 3 Fig. 3 is an installation schematic diagram of the micro low-power joint module brake device provided by the application.

[0020] Reference signs:

[0021] 100, connecting mechanism;

[0022] 110, mounting seat; 120, fixing seat; 130, connecting bolt;

[0023] 200, brake execution mechanism;

[0024] 210, execution shaft; 220, execution coil seat; 230, execution coil; 240, execution spring;

[0025] 300, brake trigger mechanism;

[0026] 310, trigger shaft; 320, trigger coil seat; 330, trigger coil; 340, trigger spring;

[0027] 10, brake device; 20, joint motor fixing plate; 30, joint motor. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0029] In the description of the present application, it should be understood that the terms "first", "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0030] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or position relationship generally based on Figure 1 The orientation and position of the shown micro low-power joint module brake device when normally placed are only for the convenience of describing the present application and simplifying the description, and these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, unless otherwise stated, and therefore cannot be understood as limiting the protection scope of the present application; the orientation words "inner, outer" refer to the inner and outer of the contour of each component.

[0031] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0032] The present application provides a micro low-power joint module brake device, referring to Figure 1 , comprising: a connecting mechanism 100, a brake execution mechanism 200 and a brake trigger mechanism 300; the brake execution mechanism 200 and the brake trigger mechanism 300 are installed on the connecting mechanism 100, the brake trigger mechanism 300 is used for triggering the brake execution mechanism 200, so that the brake execution mechanism 200 completes the brake action.

[0033] The brake execution mechanism 200 and the brake trigger mechanism 300 are installed through the connecting mechanism 100, the brake execution part is responsible for completing the brake action, the brake trigger part is responsible for triggering the brake action, and the connecting part is responsible for fixing the various components of the device and fixing the entire device. It can be fixed at the input end of the joint module and fixed with the joint motor 30. The entire device is placed in the stator part of the joint motor 30, and the joint brake is realized 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 smaller, and the strength requirement of the brake device is lower.

[0034] In an embodiment, referring to Figures 1-2 , the brake execution mechanism 200 comprises an execution shaft 210 and a first driving mechanism for driving the execution shaft 210 to move from a first position to a second position to complete the brake. The first driving mechanism comprises an execution coil seat 220, an execution coil 230, and an execution spring 240. The execution coil 230 is wound outside the execution coil seat 220, the execution coil seat 220 is installed on the connecting mechanism 100, the execution spring 240 is located at the inner hole of the execution coil seat 220, one end of the execution spring 240 is connected with the connecting mechanism 100, the other end of the execution spring 240 abuts against the execution shaft 210, and the execution shaft 210 moves linearly along the inner hole of the execution coil seat 220 as a track.

[0035] The execution shaft 210, the execution coil seat 220, and the execution spring 240 of the brake execution part together constitute a micro self-recovery electromagnet. The execution shaft 210 is used to complete the joint brake action, the outer side of the execution coil seat 220 is used to wind the coil, and 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, and is compressed by the execution shaft 210 when energized. After de-energization, the execution spring 240 pushes the execution shaft 210 out to complete the brake action.

[0036] Illustratively, the execution shaft 210 comprises two parts with different diameters, the larger diameter part moves linearly along the inner hole of the execution coil seat 220 as a track, and the smaller diameter part extends to perform the brake action.

[0037] In an embodiment, the brake trigger mechanism 300 comprises a trigger shaft 310 and a second driving mechanism, the second driving mechanism is used to drive the trigger shaft 310 to move from a first position to a second position, thus triggering the brake execution mechanism 200. The second driving mechanism comprises a trigger coil seat 320, a trigger coil 330 and a trigger spring 340. The trigger coil 330 is wound outside 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 with the connecting mechanism 100, the other end of the trigger spring 340 abuts against the trigger shaft 310, and the trigger shaft 310 moves linearly along the inner hole of the trigger coil seat 320 as a track.

[0038] The trigger shaft 310, the trigger coil seat 320 and the trigger spring 340 of the brake trigger part together form a micro self-recovery electromagnet. The trigger shaft 310 is used to trigger the joint brake action, the trigger coil seat 320 is used to wind the coil outside, and generates electromagnetic effect after being powered on to generate magnetic force on the trigger shaft 310, and 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, the trigger spring 340 is compressed by the trigger shaft 310 when powered on, and the trigger shaft 310 is pushed out after power off.

[0039] For example, the trigger shaft 310 comprises two parts with different diameters, the larger diameter part moves linearly along the inner hole of the trigger coil seat 320 as a track, and the smaller diameter part is used to trigger the joint brake action.

[0040] In an embodiment, referring to Figures 1-3 The connecting mechanism 100 comprises a mounting seat 110 and a fixing seat 120, and the mounting seat 110 and the fixing seat 120 are connected and fixed with each other by a connecting bolt 130. The mounting seat 110 is used to fix the entire device on the joint motor 30 fixing plate 20, 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.

[0041] The mounting seat 110 has a mounting hole, which is used to fix the entire device on the joint motor 30 fixing plate 20, and is also used to fix 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 with the mounting seat 110 by the connecting bolt 130.

[0042] The specific use mode is as follows: when the joint module works normally, the brake device is in a non-braking state, the execution shaft 210 is retracted and the trigger shaft 310 is extended, at this time, the execution coil 230 and the trigger coil 330 are not powered, the execution shaft 210 is pushed by the execution spring 240, and the execution shaft 210 is pushed against the trigger shaft 310. When the joint module needs to be braked, the trigger coil 330 is powered to generate an electromagnetic effect, attracting the trigger shaft 310 to retract, and at the same time, the execution shaft 210 is pushed out by the execution spring 240 to brake the rotor part of the joint motor 30, and the execution shaft 210 is extended to de-energize the trigger coil 330, and the trigger shaft 310 loses the attraction and is pushed by the trigger spring 340, so that the trigger shaft 310 is pushed against the execution shaft 210. When the joint module needs to resume work, the execution coil 230 is powered to generate an electromagnetic effect, attracting the execution shaft 210 to retract, and at the same time, the trigger shaft 310 is pushed out by the trigger spring 340, and the trigger shaft 310 is extended to de-energize the execution coil 230, and the brake device returns to the non-braking state. The whole braking and recovery process only needs to be powered twice for a short time, reducing power consumption.

[0043] The whole device has a small volume and a light weight, can be fixed at the input end of the joint module, and is fixed together with the joint motor 30. The whole device is placed in the stator part of the joint motor 30, and the joint brake is realized by braking the rotor part of the joint motor 30. For a low-speed large-torque joint, the impact on the motor input end is small, and the strength requirement of the brake device is relatively low.

[0044] The device has low power consumption and does not need to be powered for a long time, reducing coil heating. The joint brake and operation of the present application only need to power two coils for a short time, so as to complete the switching of the braking state and the running state of the joint, and the control is simple and rapid. The power consumption requirement of the small mobile joint powered by a battery is low.

[0045] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications 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.

Claims

1. A micro 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; The brake actuator includes: an actuator shaft and a first drive mechanism, wherein the first drive mechanism is used to drive the actuator shaft to move from a first position to a second position to complete braking; The first driving mechanism includes: an executing coil seat, an executing coil, and an executing 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; The brake trigger mechanism comprises: a trigger shaft and a second drive mechanism; the second drive mechanism is used to drive the trigger shaft to move from a first position to a second position, to complete the triggering of the brake actuator; 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, and the trigger coil seat is mounted on the connecting mechanism. The trigger spring is located in the inner hole of the trigger coil seat. One end of the trigger spring is connected to the connecting mechanism, and the other end of the trigger spring is against the trigger shaft. The trigger shaft moves linearly with the inner hole of the trigger coil seat as a track. 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 to perform the braking action. The trigger shaft includes two parts with different diameters. The larger diameter part uses the inner hole of the trigger coil seat as a track for linear motion, and the smaller diameter part is used to trigger the joint braking action; When the joint module is working normally, the braking device is in a non-braking state, the execution shaft retracts and the trigger shaft extends. At this time, neither the execution coil nor the trigger coil is energized, and the execution shaft is pushed by the execution spring so that the execution shaft is pressed against the trigger shaft. When the joint module needs to be braked, the trigger coil is energized to generate an electromagnetic effect, attracting the trigger shaft to retract, and at the same time, the execution shaft is pushed out by the execution spring to brake the rotor part of the joint motor. After the execution shaft is extended, the trigger coil is de-energized, and the trigger shaft that loses its attraction is pushed by the trigger spring so that the trigger shaft is pressed against the execution shaft. When the joint module needs to resume work, the execution coil is energized to generate an electromagnetic effect, attracting the execution shaft to retract, and at the same time, the trigger shaft is pushed out by the trigger spring. After the trigger shaft is extended, the execution coil is de-energized, and the braking device returns to a non-braking state.

2. The micro low-power joint module braking device according to claim 1, characterized in that: 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 through connecting bolts.

3. The micro low-power joint module braking device according to claim 2, 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.

4. The micro low-power joint module braking device according to claim 3, characterized in that: The fixing seat is used to fix the execution coil seat and the trigger coil seat.

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