Motor braking structure and robot joint thereof

Abstract

The invention provides a motor braking structure and a robot joint thereof, the motor braking structure comprises a supporting plate, a braking flange, an armature piece, an electromagnetic unit and an elastic piece, the supporting plate and the electromagnetic unit are arranged at an interval, a braking space is defined between the supporting plate and the electromagnetic unit, and a motor shaft penetrates through the supporting plate to be connected with the braking flange in a matched mode; the electromagnetic unit and the armature piece are connected through an elastic piece, the electromagnetic unit magnetically attracts the armature piece to compress / release the elastic piece, and the armature piece is controlled to abut against / be separated from the brake wing of the brake flange in the brake space. Therefore, the emergency stop braking response speed of the motor and the robot joint thereof is improved.

Description

Technical Field

[0001] The invention relates to robot joint technology, and in particular to a motor braking structure and a robot joint comprising the braking structure. Background Art

[0002] In industrial robots, joints are the movable parts that connect the various robot arm segments and allow relative movement between adjacent arm segments. The main function of robot joints is to provide a certain degree of freedom (DOF) so that the robot can perform complex tasks in three-dimensional space. Each robot joint is usually driven by a drive device to control the start and stop of the joint, and a set of braking structures are used to maintain the joint position after the drive device loses power.

[0003] At present, in the field of mechanical automation, some special industries, such as the medical industry and the chip processing industry, have high requirements on the efficiency and accuracy of robot operations. However, after the power is lost, the traditional robot joints with braking structures will still "move" a certain distance before stopping. Therefore, this situation will make the robotic arms using these robot joints unable to accurately position themselves, and may even cause collisions and other problems.

[0004] The reasons are as follows: Figure 1 to Figure 2 As shown, the braking structure of the conventional robot joint is mainly composed of: a clamping flange 1', a support plate 2', a friction ring 3', an armature 4', a brake electromagnet 5', a spring 6' and other components. Its working principle is that the motor shaft is inserted into the clamping flange 1', rotates synchronously with the clamping flange 1', and drives the friction ring 3' to rotate. In order to facilitate assembly, the clamping flange 1' and the friction ring 3' are usually fitted with clearance. When the braking structure is energized, the brake is released, and the brake electromagnet 5' generates magnetic force to attract the armature 4', so that the spring 6' is compressed. At this time, a gap is generated between the friction ring 3' and the support plate 2', and the motor shaft drives the friction ring 3' to rotate. When the braking structure loses power, the magnetic force of the brake electromagnet 5' disappears, and the spring 6' returns to its original length to press the armature 4', and then presses the friction ring 3, so that the friction ring 3' cannot rotate, and the motor shaft cannot rotate, thereby generating a braking effect.

[0005] However, since the friction ring 3' and the clamping flange 1' of this type of brake structure are usually clearance-fitted structures, that is, when the friction ring 3' is locked, the motor shaft and the clamping flange 1' will rotate relative to the friction ring 3' at a certain angle a (such as Figure 3As a result, the robot joints have to continue running for a certain distance before they can stop. Once this phenomenon occurs on a high-precision robot, such as in a wafer transfer robot application, it will easily cause the end effector to be unable to brake accurately, causing interference with the FOUP cavity, thereby damaging the robot or the transferred wafer. Summary of the invention

[0006] To this end, the main purpose of the present invention is to provide a motor braking structure and a robot joint thereof to improve the emergency stop braking response speed of the motor and the robot joint thereof.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a motor braking structure, which includes: a support plate, a braking flange, an armature member, an electromagnetic unit, and an elastic member, wherein the support plate and the electromagnetic unit are arranged at intervals to define a braking space therebetween, wherein the motor shaft passes through the support plate and is matched with the braking flange so that its braking wing is suspended in the braking space, and the electromagnetic unit is connected to the armature member via the elastic member, and the electromagnetic unit magnetically attracts the armature member to compress / release the elastic member, thereby manipulating the armature member in the braking space to resist / separate from the braking wing of the braking flange.

[0008] In a possible preferred embodiment, the brake flange includes: a friction plate, a connecting plate, and a clamping flange, the bottom of the clamping flange is connected to the connecting plate, and the friction plate is fixed to the lower side of the ring wing of the connecting plate to form a brake wing.

[0009] In a possible preferred embodiment, the brake flange includes: a friction plate, an elastic connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the elastic connecting plate. The friction plate is fixed on the upper and lower sides of the ring wing of the elastic connecting plate to form a brake wing. During braking, the armature part rubs and squeezes the brake wing, forcing the elastic connecting plate to move axially, so that the brake wing is clamped and frictionally braked by the support plate and the armature part.

[0010] In a possible preferred embodiment, the elastic connecting piece is provided with a plurality of arc-shaped waist holes at intervals to define an elastic connecting band between the ring wing and the main body of the elastic connecting piece to allow the ring wing to be axially elastically displaced relative to the main body via the elastic connecting band.

[0011] In a possible preferred embodiment, a spring sheet is provided on the elastic connecting sheet, and the elastic connecting sheet is elastically connected to the clamping flange via the spring sheet.

[0012] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a motor braking structure is further provided, which includes: a support plate, a braking flange, an armature, an electromagnetic unit, and an elastic member, wherein the braking flange, the armature, and the electromagnetic unit are coaxially arranged and axially provided with an axial hole, and the support plate and the electromagnetic unit are spaced apart to define a braking space therebetween, wherein the motor shaft passes through the support plate and is matched with the braking flange so that the braking wings of the braking flange are suspended in the braking space, and then passes through the axial holes of the armature and the electromagnetic unit, the electromagnetic unit and the armature are connected via an elastic member, and the electromagnetic unit magnetically attracts the armature to compress / release the elastic member, and controls the armature in the braking space to resist / separate from the braking wings of the braking flange.

[0013] In a possible preferred embodiment, the brake flange includes: a friction plate, a connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the connecting plate, and the friction plate is fixed to the lower side of the ring wing of the connecting plate to form a brake wing.

[0014] In a possible preferred embodiment, the brake flange includes: a friction plate, an elastic connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the elastic connecting plate. The friction plate is fixed on the upper and lower sides of the ring wing of the elastic connecting plate to form a brake wing. During braking, the armature part rubs and squeezes the brake wing, forcing the elastic connecting plate to move axially, so that the brake wing is clamped and frictionally braked by the support plate and the armature part.

[0015] In a possible preferred embodiment, the elastic connecting piece is provided with a plurality of arc-shaped waist holes at intervals to define an elastic connecting band between the ring wing and the main body of the elastic connecting piece to allow the ring wing to be axially elastically displaced relative to the main body via the elastic connecting band.

[0016] In a possible preferred embodiment, a spring sheet is provided on the elastic connecting sheet, and the elastic connecting sheet is elastically connected to the clamping flange via the spring sheet.

[0017] In a possible preferred embodiment, the elastic member is a coil spring, and two ends of the elastic member are respectively arranged at the armature member and the shaft hole of the electromagnetic unit to allow the motor shaft to pass through the coil spring.

[0018] In a possible preferred embodiment, the motor braking structure also includes: a cooling unit, which is arranged at the lower part of the electromagnetic unit, wherein the cooling unit includes: a fan assembly, a mounting seat, the fan assembly is arranged at one end of the mounting seat, and the other end of the mounting seat is connected to the electromagnetic unit, and the mounting seat is provided with an air duct connected to the fan assembly, and the air duct is also connected to the electromagnetic unit and its axial hole.

[0019] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot joint is further provided, which includes: a brake and a motor, wherein the brake is connected to the motor to provide braking for the motor, wherein the brake adopts any of the motor braking structures described above.

[0020] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot joint is further provided, which includes: a reducer, a motor, a first bracket, a brake, a second bracket, and an encoder, wherein the motor, the reducer, and the brake are respectively fixed on the first bracket, the second bracket is connected to the first bracket, the encoder is fixed on the second bracket, the reducer is connected to the tail shaft of the motor, and the brake and the encoder are respectively connected to the front shaft of the motor in turn, wherein the brake adopts any of the motor brake structures described above.

[0021] In order to achieve the above-mentioned purpose, according to another aspect of the present invention, a robot joint is also provided, which includes: a harmonic reducer, a torque motor, a brake, and a torque sensor, wherein the tail shaft of the torque motor is connected to the brake, and the output shaft is connected to the harmonic reducer and the torque sensor in turn, wherein the brake adopts any of the motor brake structures described above.

[0022] Through the motor brake structure and robot joint provided by the present invention, a zero backlash brake flange is cleverly designed to solve the defect of delayed braking caused by the clearance fit between the traditional friction ring and the clamping flange, so that after the motor loses power, its output shaft can be braked in time to ensure the emergency stop response speed. In addition, in the corresponding implementation, this scheme also proposes a design of an elastic connecting plate, and friction plates are arranged on the upper and lower sides of the ring wing to form a brake wing, so that when braking, the brake wing can be compressed by the armature and axially elastically displaced to support the support plate and the armature to clamp its friction brake in both directions, thereby further improving the response speed of the emergency stop brake, thereby providing an implementation basis for achieving the precise positioning of high-precision robot joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figures 1 to 3 This is a schematic diagram of the braking structure of a traditional robot joint;

[0025] Figure 4 It is a structural schematic diagram of the motor brake structure of the present invention;

[0026] Figure 5 It is a schematic cross-sectional structure diagram of the first embodiment of the internal structure of the motor brake of the present invention;

[0027] Figure 6 It is a schematic cross-sectional structure diagram of a second embodiment of the motor brake structure of the present invention;

[0028] Figure 7 It is a schematic cross-sectional structure diagram of a brake flange in a second embodiment of a motor brake structure of the present invention;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the brake flange in the second embodiment of the motor brake structure of the present invention;

[0030] Fig. 9 It is a schematic diagram of the assembly structure of the brake flange in the second embodiment of the motor brake structure of the present invention;

[0031] Fig.10 It is a structural schematic diagram of a third embodiment of the motor brake structure of the present invention;

[0032] Fig.11 It is a cross-sectional structural schematic diagram of a third embodiment of the motor brake structure of the present invention;

[0033] Fig.12 It is a schematic structural diagram of a first embodiment of a robot joint of the present invention;

[0034] Fig.13 is a schematic cross-sectional structure diagram of a first embodiment of a robot joint of the present invention;

[0035] Fig.14 It is a schematic structural diagram of the second embodiment of the robot joint of the present invention.

[0036] Description of Reference Numerals

[0037] Clamping flange 1', support plate 2', friction ring 3', armature 4', brake electromagnet 5', spring 6';

[0038] Support plate 1, brake flange 2, armature member 3, electromagnetic unit 4, elastic member 5, brake space 6, cooling unit 7, motor shaft 9, friction plate 21, connecting plate 22, elastic connecting plate 22', clamping flange 23, fan assembly 71, mounting seat 72, air duct 73, waist hole 221, elastic connecting belt 222;

[0039] Speed ​​reducer 99, motor 98, first bracket 97, brake 96, second bracket 95, encoder 94;

[0040] Harmonic reducer 99 ′, torque motor 98 ′, torque sensor 93 . DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0043] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0044] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. The terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0045] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0046] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly stipulated and limited, the terms "set", "layout", "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances and in combination with the prior art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other unless there is a conflict. And one or more of the components in the diagram may be necessary or non-essential, and the relative position relationship between the components in the above diagram can be adjusted according to actual needs.

[0047] In order to improve the emergency stop braking response speed of the motor and its robot joint, the present invention conceives to improve the structure of the traditional clamping flange 23 to design a zero backlash brake flange 2 to solve the defect of delayed braking caused by the clearance fit between the traditional friction ring and the clamping flange 23. For this purpose, Figures 4 to 5 As shown, in the first aspect of the present invention, a motor braking structure is provided, which includes: a support plate 1, a brake flange 2, an armature member 3, an electromagnetic unit 4, and an elastic member 5, wherein the support plate 1 and the electromagnetic unit 4 are connected by bolts and arranged at intervals, thereby defining a braking space 6 between the support plate 1 and the electromagnetic unit 4, wherein an opening is provided on the support plate 1 for the motor shaft 9 of the braked motor to pass through the support plate 1 and mate with the brake flange 2, so that the brake wing of the brake flange 2 is suspended in the brake space 6.

[0048] Among them, in an optional embodiment, the brake flange 2 example includes: a friction plate 21, a connecting plate 22, and a clamping flange 23, wherein the connecting plate 22 is disc-shaped, and the bottom of the clamping flange 23 is coaxially connected to the connecting plate 22 to cover part of the inner disk surface of the connecting plate 22, and the remaining exposed disk surface of the connecting plate 22 forms an annular wing, wherein the friction plate 21 is fixed on the lower side of the annular wing of the connecting plate 22 to form a brake wing.

[0049] The electromagnetic unit 4 is connected to the armature 3 via an elastic member 5 (such as a coil spring), and the elastic member 5 magnetically attracts the armature 3 via the electromagnetic unit 4 (such as an electromagnet) to compress / release its elasticity, thereby manipulating the armature 3 in the braking space 6 to abut / separate from the braking wing of the braking flange 2, thereby forming a braking effect on the braking flange 2. It is worth mentioning that, since the friction plate 21 is fixed on the ring wing of the connecting plate 22 in this example, there is no gap between it and the clamping flange 23, so the friction plate 21 and the clamping flange 23 can be braked synchronously, thereby braking the motor shaft 9 in time without causing delay problems.

[0050] In addition, in order to further improve the timeliness of braking, such as Figures 6 to 9 As shown, in an optional embodiment, the brake flange 2 includes: a friction plate 21, an elastic connecting plate 22', and a clamping flange 23, wherein the bottom of the clamping flange 23 is connected to the elastic connecting plate 22', and the friction plate 21 is fixed to the upper and lower sides of the ring wing of the elastic connecting plate 22' to form a brake wing, wherein as shown Figures 7 to 9 As shown, in this example, in order to have elasticity, the elastic connection piece 22' can be made of elastic metal material in the shape of a disc, and a plurality of arc-shaped waist holes 221 are provided on the disc body at intervals to define an elastic connecting band 222 between the ring wing of the elastic connecting piece 22' and the main body, thereby allowing the ring wing to be axially elastically displaced relative to the main body through the elastic connecting band 222.

[0051] With this arrangement, when braking, the armature 3 rubs and squeezes the brake wing, forcing the elastic connecting piece 22' to move axially, so that the brake wing retracts slightly axially, and is clamped and rubbed by the armature 3 and the support plate 1 at the same time, so as to increase the friction force during braking, thereby stopping the brake flange 2 in time, improving the timeliness of braking, and achieving ultra-low delay emergency stop. This improves the positioning accuracy of the existing robot joints and solves the problem of the joints falling after the power is lost in the existing robot joints.

[0052] Furthermore, considering that such motor brake structures inevitably have error factors during assembly and processing, the brake flange 2 may not be able to maintain complete coaxial verticality with the motor shaft 9, causing the friction plate 21 thereon to deflect, and may further form a harsh friction with the armature 3 and the support plate 1 in a non-braking state, accelerating the loss of the friction plate 21 and generating more wear powder to affect the performance of the brake 96. The structure of the elastic connecting plate 22' designed in the above example can actually enable the friction plate 21 to have an elastic displacement effect in a non-braking state, that is, the presence of the elastic connecting band 222 actually enables the brake wing to have axial and radial compensation functions, thereby preventing the friction plate 21 from forming a harsh friction with the armature 3 and the support plate 1 due to assembly errors, thereby reducing the loss of the friction plate 21 to a certain extent, and reducing the generation of wear powder, so as to ensure the performance stability of the brake 96 in the long term.

[0053] In addition, in other optional embodiments, the elastic connecting plate 22' can also be elastically connected to the clamping flange 23 by setting a spring plate to obtain the effect of axial elastic displacement of the friction plate 21. Therefore, other replaceable embodiments made by technical personnel in this field without departing from the design concept of the present invention also fall within the scope of disclosure of the present invention.

[0054] On the other hand, in some robot joint structure designs, there is a solution that requires the motor shaft 9 to pass through the motor brake structure. Figure 10 to Figure 11 As shown, on the other hand, the present invention further proposes a motor braking structure, an example of which includes: a support plate 1, a braking flange 2, an armature 3, an electromagnetic unit 4, and an elastic member 5, wherein the braking flange 2, the armature 3, and the electromagnetic unit 4 are coaxially arranged and axial holes are provided in the axial direction.

[0055] The support plate 1 and the electromagnetic unit 4 are connected by bolts and arranged at intervals, so that a braking space 6 is defined between the support plate 1 and the electromagnetic unit 4, wherein the support plate 1 is provided with an opening for the motor shaft 9 of the braked motor to pass through the support plate 1 and match with the brake flange 2, so that the brake wing of the brake flange 2 is suspended in the braking space 6. Then the motor shaft 9 further passes through the armature 3 and the shaft hole of the electromagnetic unit 4.

[0056] Among them, in an optional embodiment, the brake flange 2 example includes: a friction plate 21, a connecting plate 22, and a clamping flange 23, wherein the connecting plate 22 is disc-shaped, and the bottom of the clamping flange 23 is coaxially connected to the connecting plate 22 to cover part of the inner disk surface of the connecting plate 22, and the remaining exposed disk surface of the connecting plate 22 forms an annular wing, wherein the friction plate 21 is fixed on the lower side of the annular wing of the connecting plate 22 to form a brake wing.

[0057] Among them, in an optional embodiment, the elastic member 5 is a coil spring, and its two ends are respectively arranged at the shaft holes of the armature member 3 and the electromagnetic unit 4 to allow the motor shaft 9 to pass through the coil spring. Through this arrangement, the coil spring can compress / release its elasticity by magnetically attracting the armature member 3 through the electromagnetic unit 4 without obstructing the motor shaft 9, thereby manipulating the armature member 3 in the braking space 6 to abut / separate from the braking wing of the braking flange 2, thereby forming a braking effect on the braking flange 2. It is worth mentioning that, since the friction plate 21 is fixed on the ring wing of the connecting plate 22 in this example, there is no gap between it and the clamping flange 23, so the braking between the friction plate 21 and the clamping flange 23 can be synchronized, thereby braking the motor shaft 9 in time without causing delay problems.

[0058] In addition, in order to further improve the timeliness of braking, such as Figures 6 to 9 As shown, in an optional embodiment, the brake flange 2 includes: a friction plate 21, an elastic connecting plate 22', and a clamping flange 23, wherein the bottom of the clamping flange 23 is connected to the elastic connecting plate 22', and the friction plate 21 is fixed to the upper and lower sides of the ring wing of the elastic connecting plate 22' to form a brake wing, wherein as shown Figures 7 to 9As shown, in this example, in order to have elasticity, the elastic connection piece 22' can be made of elastic metal material in the shape of a disc, and a plurality of arc-shaped waist holes 221 are provided on the disc body at intervals to define an elastic connecting band 222 between the ring wing of the elastic connecting piece 22' and the main body, thereby allowing the ring wing to be axially elastically displaced relative to the main body through the elastic connecting band 222.

[0059] With this arrangement, when braking, the armature 3 rubs and squeezes the brake wing, forcing the elastic connecting piece 22' to move axially, so that the brake wing retracts slightly axially, and is clamped and rubbed by the armature 3 and the support plate 1 at the same time, so as to increase the friction force during braking, thereby stopping the brake flange 2 in time, improving the timeliness of braking, and achieving ultra-low delay emergency stop. This improves the positioning accuracy of the existing robot joints and solves the problem of the joints falling after the power is lost in the existing robot joints.

[0060] Furthermore, considering that such motor brake structures inevitably have error factors during assembly and processing, the brake flange 2 may not be able to maintain complete coaxial verticality with the motor shaft 9, causing the friction plate 21 thereon to deflect, and may further form a harsh friction with the armature 3 and the support plate 1 in a non-braking state, accelerating the loss of the friction plate 21 and generating more wear powder to affect the performance of the brake. The structure of the elastic connecting plate 22' designed in the above example can actually enable the friction plate 21 to have an elastic displacement effect in a non-braking state, thereby preventing the friction plate 21 from forming a harsh friction with the armature 3 and the support plate 1 due to assembly errors, thereby reducing the loss of the friction plate 21 to a certain extent and reducing the generation of wear powder, so as to ensure the performance stability of the brake 96 in the long term.

[0061] In addition, in other optional embodiments, the elastic connecting plate 22' can also be elastically connected to the clamping flange 23 by setting a spring plate to obtain the effect of axial elastic displacement of the friction plate 21. Therefore, other replaceable embodiments made by technical personnel in this field without departing from the design concept of the present invention also fall within the scope of disclosure of the present invention.

[0062] Furthermore, considering that long-term operation in the entire brake structure will lead to excessive temperature problems, Fig.11 As shown, in an optional example, the motor braking structure also includes: a cooling unit 7, which is arranged at the lower part of the electromagnetic unit 4, wherein the cooling unit 7 includes: a fan assembly 71, a mounting seat 72, the fan assembly 71 is arranged at one end of the mounting seat 72, and the other end of the mounting seat 72 is connected to the electromagnetic unit 4, and the mounting seat 72 is provided with an air duct 73 connected to the fan assembly 71, and the air duct 73 is also connected to the electromagnetic unit 4 and its axial hole.

[0063] With this arrangement, the fan assembly 71 can transport air into the brake space 6 through the axial holes of the armature 3 and the electromagnetic unit 4 to cool the brake wing. At the same time, since a transverse air duct 73 is also opened at the electromagnetic unit 4, not only can the electromagnetic unit 4 body be air-cooled, but it is also convenient to discharge the airflow generated when the fan assembly 71 is running, maintain the air pressure balance inside the brake structure, and ensure the stability of the entire brake structure during long-term operation.

[0064] On the other hand, the present invention further provides a robot joint, which includes: a brake and a motor, wherein the brake is connected to the motor to provide braking for the motor, wherein the brake adopts the motor braking structure described in any of the above examples.

[0065] Specifically, Figure 12 to Figure 13 As shown, the present invention exemplifies a robot joint, which example includes: a reducer 99, a motor 98, a first bracket 97, a brake 96, a second bracket 95, and an encoder 94, wherein the motor 98, the reducer 99, and the brake 96 are respectively fixed on the first bracket 97, the second bracket 95 is connected to the first bracket 97, the encoder 94 is fixed to the second bracket 95, the reducer 99 is connected to the tail shaft of the motor 98, and the brake 96 and the encoder 94 are respectively connected to the front shaft of the motor 98 in turn, wherein the brake 96 adopts any of the motor brake structures described above.

[0066] like Fig.14 As shown, on the other hand, the present invention also illustrates a robot joint, which includes: a harmonic reducer 99', a torque motor 98', a brake 96, and a torque sensor 93, wherein the tail shaft of the torque motor 98 is connected to the brake 96, and the output shaft is connected to the harmonic reducer 99 and the torque sensor 93 in turn, wherein the brake 96 adopts any of the motor brake structures described above.

[0067] Through the robot joint of the above example, when the motor 98 loses power (such as emergency stop, system power off, system error, etc.), the electromagnetic unit 4 in the motor braking structure will also lose power, thereby releasing the magnetic attraction with the armature 3, so that under the push of the elastic part 5, it will rub against the braking wing of the braking flange 2, and then brake the motor shaft 9 in time to prevent the robot joint from moving, so as to maintain the posture of the robot joint when the power is lost, and ensure the safety of equipment and personnel.

[0068] In summary, through the motor brake structure and robot joint provided by the present invention, a zero backlash brake flange 2 is cleverly designed to solve the defect of delayed braking caused by the clearance fit between the traditional friction ring and the clamping flange 23, so that after the motor 98 loses power, its output shaft can be braked in time to ensure the emergency stop response speed. In addition, in the corresponding implementation, this scheme also proposes a design of an elastic connecting plate 22', and friction plates 21 are arranged on the upper and lower sides of the ring wing to form a brake wing, so that when braking, the brake wing can be compressed by the armature 3 and axially elastically displaced to support the support plate 1 and the armature 3 to clamp its friction brake in both directions, thereby further improving the response speed of the emergency stop brake, thereby providing an implementation basis for realizing the precise positioning of high-precision robot joints.

[0069] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0070] Those skilled in the art can understand that, in addition to implementing the system, device, unit and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be regarded as structures within the hardware component; the modules for implementing various functions can also be regarded as both software programs for implementing the method and structures within the hardware component.

[0071] In addition, all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a single-chip microcomputer, a chip or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program codes.

[0072] In addition, various implementation modes of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed by the embodiments of the present invention.

Claims

1. A motor braking structure, comprising: A support plate, a brake flange, an armature, an electromagnetic unit, and an elastic member, wherein the support plate and the electromagnetic unit are arranged at intervals to define a brake space therebetween, wherein the motor shaft passes through the support plate and is matched with the brake flange so that its brake wing is suspended in the brake space, and the electromagnetic unit is connected to the armature via an elastic member, and the electromagnetic unit magnetically attracts the armature to compress / release the elastic member, thereby manipulating the armature in the brake space to contact / separate from the brake wing of the brake flange.

2. The motor brake structure according to claim 1, wherein: The brake flange comprises: a friction plate, a connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the connecting plate, and the friction plate is fixed on the lower side of the ring wing of the connecting plate to form a brake wing.

3. The motor brake structure according to claim 1, wherein: The brake flange includes: a friction plate, an elastic connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the elastic connecting plate. The friction plate is fixed on the upper and lower sides of the ring wing of the elastic connecting plate to form a brake wing. When braking, the armature part rubs and squeezes the brake wing, forcing the elastic connecting plate to move axially, so that the brake wing is clamped and frictionally braked by the support plate and the armature part.

4. The motor brake structure according to claim 3, wherein: The elastic connecting piece is provided with a plurality of arc-shaped waist holes at intervals to define an elastic connecting belt between the ring wing of the elastic connecting piece and the main body, so as to allow the ring wing to be axially elastically displaced relative to the main body via the elastic connecting belt.

5. The motor brake structure according to claim 3, wherein: The elastic connecting piece is provided with a spring sheet, and the elastic connecting piece is elastically connected to the clamping flange via the spring sheet.

6. A motor braking structure, comprising: A support plate, a brake flange, an armature, an electromagnetic unit, and an elastic member, wherein the brake flange, the armature, and the electromagnetic unit are coaxially arranged and are all provided with axial holes in the axial direction, and the support plate and the electromagnetic unit are arranged at intervals to define a brake space therebetween, wherein the motor shaft passes through the support plate and is matched with the brake flange so that the brake wings of the brake flange are suspended in the brake space and then pass through the armature and the axial holes of the electromagnetic unit, and the electromagnetic unit and the armature are connected via an elastic member, and the electromagnetic unit magnetically attracts the armature to compress / release the elastic member, and the armature is controlled in the brake space to contact / separate with the brake wings of the brake flange.

7. The motor brake structure according to claim 6, wherein: The brake flange comprises: a friction plate, a connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the connecting plate, and the friction plate is fixed on the lower side of the ring wing of the connecting plate to form a brake wing.

8. The motor brake structure according to claim 6, wherein: The brake flange includes: a friction plate, an elastic connecting plate, and a clamping flange. The bottom of the clamping flange is connected to the elastic connecting plate. The friction plate is fixed on the upper and lower sides of the ring wing of the elastic connecting plate to form a brake wing. When braking, the armature part rubs and squeezes the brake wing, forcing the elastic connecting plate to move axially, so that the brake wing is clamped and frictionally braked by the support plate and the armature part.

9. The motor brake structure according to claim 8, wherein: The elastic connecting piece is provided with a plurality of arc-shaped waist holes at intervals to define an elastic connecting belt between the ring wing of the elastic connecting piece and the main body, so as to allow the ring wing to be axially elastically displaced relative to the main body via the elastic connecting belt.

10. The motor brake structure according to claim 8, wherein: The elastic connecting piece is provided with a spring sheet, and the elastic connecting piece is elastically connected to the clamping flange via the spring sheet.

11. The motor brake structure according to claim 6, wherein: The elastic member is a coil spring, and two ends of the elastic member are respectively arranged at the armature member and the shaft hole of the electromagnetic unit to allow the motor shaft to pass through the coil spring.

12. The motor brake structure according to any one of claims 6 to 10, wherein: It also includes: a cooling unit, which is arranged at the lower part of the electromagnetic unit, wherein the cooling unit includes: a fan assembly and a mounting seat, the fan assembly is arranged at one end of the mounting seat, the other end of the mounting seat is connected to the electromagnetic unit, and the mounting seat is provided with an air duct connected to the fan assembly, and the air duct is also connected to the electromagnetic unit and its axial hole.

13. A robot joint, comprising: A brake and a motor, wherein the brake is connected to the motor to provide braking for the motor, wherein the brake adopts the motor braking structure as described in any one of claims 1 to 12.

14. A robot joint, comprising: a reducer , a motor, a first bracket, a brake, a second bracket, and an encoder, wherein the motor, the reducer, and the brake are respectively fixed on the first bracket, the second bracket is connected to the first bracket, the encoder is fixed to the second bracket, the reducer is connected to the tail shaft of the motor, and the brake and the encoder are respectively connected to the front shaft of the motor in turn, wherein the brake adopts the motor brake structure as described in any one of claims 6 to 12.

15. A robot joint, comprising: A harmonic reducer, a torque motor, a brake, and a torque sensor, wherein the tail shaft of the torque motor is connected to the brake, and the output shaft is connected to the harmonic reducer and the torque sensor in turn, wherein the brake adopts the motor brake structure as described in any one of claims 6 to 12.

Images