Tooth type normally-closed brake for robot joint

Abstract

The invention provides a tooth type normally-closed brake for a robot joint. The tooth type normally-closed brake for the robot joint comprises a brake fluted disc, a connecting block is installed on the inner wall of the brake fluted disc, a movable iron fluted disc is arranged on the connecting block in a sleeving mode, the tooth surface of the brake fluted disc is matched with the tooth surface of the movable iron fluted disc, a plurality of fixing clamp springs are installed on the connecting block, and the fixing clamp springs are connected with the movable iron fluted disc in a sleeving mode. The other ends of the plurality of fixed clamp springs are connected with the movable iron fluted disc, and one side of the movable iron fluted disc is provided with a coil main body. According to the tooth type normally-closed brake for the robot joint, the disc spring is adopted for providing braking force, stress deformation is small, larger acting force can be generated, the rectangular tooth structure is adopted, larger torque can be transmitted, tooth sliding is not likely to happen, actual use is convenient by adding the manual release function, and the protection assembly is arranged, so that the safety of the robot joint is improved. And the use wear condition can be conveniently checked at any time, so that timely maintenance and replacement are carried out.

Description

Technical Field

[0001] This invention belongs to the field of normally closed brake technology, and particularly relates to a tooth-type normally closed brake for robot joints. Background Technology

[0002] The tooth-type normally closed electromagnetic brake for robot joints has significant technical advantages and application value. Its core significance lies in achieving highly reliable braking and rapid response through the synergistic design of mechanical meshing and electromagnetic control. The rectangular tooth meshing structure provides a static holding torque far exceeding that of friction brakes, without the risk of slippage. It is particularly suitable for collaborative robots that require precise positioning or industrial robots that need to withstand inertial impacts. The normally closed design relies on the preload of a disc spring, automatically locking when power is off, ensuring safety redundancy in the event of a sudden power outage or system failure. When power is restored, the electromagnetic force instantly releases the brake, with a response time of <20ms, meeting the requirements of high-frequency start and stop. The compact integration reduces the volume by 40% compared to traditional brakes, adapting to the trend of lightweight joint modules. In addition, the manual emergency release function solves the maintenance problem in the absence of power, enhancing practicality. This type of brake is particularly critical in high-end fields such as surgical robots and space robotic arms. Its vibration-resistant and dust-resistant characteristics also expand its application potential in agricultural and construction robots, making it a core component for safe motion control of intelligent equipment.

[0003] In the field of robotics, conventional brakes on the market either lack sufficient torque to brake, or are too bulky to install, and the devices lack convenient protective components, or the protective components are installed in a fixed way, making it inconvenient to check the internal wear and tear.

[0004] Therefore, it is necessary to provide a new tooth-type normally closed actuator for robot joints to solve the above-mentioned technical problems. Summary of the Invention

[0005] The technical problem solved by this invention is to provide a tooth-type normally closed brake for robot joints that uses a disc spring to provide braking force, has small deformation under force and can generate greater force, adopts a rectangular tooth structure to transmit greater torque and is not easy to slip teeth, adds a manual release function for convenient practical use, and sets a protective component to facilitate opening at any time to check the wear and tear, thereby enabling timely maintenance and replacement.

[0006] To solve the above-mentioned technical problems, the present invention provides a tooth-type normally closed brake for robot joints, comprising: a brake toothed disc, a connecting block installed on the inner wall of the brake toothed disc, a moving iron toothed disc sleeved on the connecting block, the tooth surfaces of the brake toothed disc and the moving iron toothed disc being adapted to each other, a plurality of fixing springs respectively installed on the connecting block, the other ends of the plurality of fixing springs being connected to the moving iron toothed disc, a coil body provided on one side of the moving iron toothed disc, a plurality of threaded holes being opened on one side of the coil body, a plurality of mounting holes being opened on one side of the connecting block, a plurality of through holes being opened on the inner wall of the plurality of mounting holes, a plurality of bolts being provided in the plurality of through holes, the other ends of the plurality of bolts passing through the plurality of through holes and engaging with the plurality of threaded holes.

[0007] As a further embodiment of the present invention, a plurality of mounting slots are provided on one side of the moving iron gear disk, and a plurality of disc springs are installed in the plurality of mounting slots, with the other end of each disc spring connected to the coil body.

[0008] As a further embodiment of the present invention, a plurality of through holes are provided on one side of the brake disc, and a plurality of bolts are provided in the plurality of through holes. The brake disc is connected to the external mounting surface through the plurality of bolts.

[0009] As a further embodiment of the present invention, a plurality of threaded holes are respectively provided on one side of the brake gear disc, and a plurality of ball head screws are threadedly installed in the plurality of threaded holes, and the spherical ends of the plurality of ball head screws are in contact with the moving iron gear disc.

[0010] As a further embodiment of the present invention, a drive shaft is provided on one side of the coil body, and a connecting plate is fixedly installed on one end of the drive shaft. A plurality of through holes are respectively opened on the connecting plate, and a plurality of threaded holes are respectively opened on one side of the coil body. A plurality of bolts are respectively provided in the plurality of through holes, and one end of the plurality of bolts passes through the plurality of through holes and engages with the plurality of threaded holes.

[0011] As a further embodiment of the present invention, the coil body is provided with a first sleeve and a second sleeve on both sides respectively. Two plugs, two plugs and two plugs are fixedly installed on one side of the first sleeve. Two holes, two holes and two holes are opened on one side of the second sleeve respectively. The two plugs are adapted to the two holes.

[0012] As a further embodiment of the present invention, a semi-annular block 1 and a semi-annular block 2 are respectively fixedly installed on the outer walls of the first and second shells. A plurality of through holes 4 are respectively opened on the semi-annular block 1 and the semi-annular block 2, and a plurality of sleeves are respectively provided in the plurality of through holes 4.

[0013] As a further embodiment of the present invention, multiple through holes 5 are respectively opened on the inner walls of multiple sleeves, multiple limiting blocks are slidably installed in the multiple through holes 5, multiple sliders are slidably installed in the multiple sleeves, multiple mounting holes 2 are respectively opened at the bottom of the multiple sliders, multiple spring telescopic rods are fixedly installed in the multiple mounting holes 2, and the other end of the multiple spring telescopic rods is fixedly connected to the bottom inner wall of the multiple sleeves, and multiple through holes 6 are opened on the top inner wall of the multiple sleeves, multiple lifting blocks are slidably installed in the multiple through holes 6, and one end of the multiple lifting blocks is fixedly connected to the top of the multiple sliders.

[0014] As a further embodiment of the present invention, a plurality of through holes 7 are respectively opened on one side of the brake disc, the plurality of through holes 7 are adapted to a plurality of sleeves, and a plurality of limiting grooves are respectively opened on the inner wall of the plurality of through holes 7, the plurality of limiting grooves are adapted to a plurality of limiting blocks.

[0015] As a further embodiment of the present invention, the coil body is connected to an external power supply device via a wire.

[0016] Compared with related technologies, the tooth-type normally closed actuator for robot joints provided by the present invention has the following advantages: 1. This invention uses a disc spring to provide braking force, which has a compact structure, small deformation under force, and can generate a larger force; 2. This invention uses a rectangular tooth structure, which can transmit greater torque and is less prone to tooth slippage; 3. This invention adds a manual release function, allowing the brake to be manually released even without power, which is convenient for practical use; 4. By setting up a protective component, the present invention can protect the braking component while allowing for easy access to check the wear and tear, thus enabling timely maintenance and replacement. Attached Figure Description

[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is a three-dimensional structural diagram of the tooth-type normally closed actuator for robot joints of the present invention; Figure 2 This is a side sectional view of the normally closed tooth-type actuator for robot joints according to the present invention. Figure 3 This is a schematic diagram showing the disassembled structure of the protective component of the normally closed tooth-type actuator for robot joints of the present invention. Figure 4 This is a schematic diagram of the protective component structure connection of the tooth-type normally closed actuator for robot joints of the present invention; Figure 5This is a schematic diagram of the quick-release assembly structure of the tooth-type normally closed actuator for robot joints of the present invention; Figure 6 This is a front view schematic diagram of the tooth-type normally closed actuator for robot joints of the present invention; Figure 7 This is a rear view schematic diagram of the tooth-type normally closed actuator for robot joints of the present invention; Figure 8 This is a side view schematic diagram of the tooth-type normally closed actuator for robot joints of the present invention.

[0019] In the diagram: 1. Brake gear disc; 2. Connecting block; 3. Moving iron gear disc; 4. Fixed snap ring; 5. Coil body; 6. Bolt 1; 7. Disc spring; 8. Bolt 2; 9. Ball head screw; 10. Drive shaft; 11. Bolt 3; 12. Sleeve 1; 13. Sleeve 2; 14. Plug 1; 15. Plug 2; 16. Plug 3; 17. Semi-annular block 1; 18. Semi-annular block 2; 19. Sleeve; 20. Limiting block; 21. Slider; 22. Spring telescopic rod; 23. Lifting block. Detailed Implementation

[0020] Please refer to the following: Figures 1 to 8 ,in, Figure 1 This is a three-dimensional structural diagram of the tooth-type normally closed actuator for robot joints of the present invention; Figure 2 This is a side sectional view of the normally closed tooth-type actuator for robot joints according to the present invention. Figure 3 This is a schematic diagram showing the disassembled structure of the protective component of the normally closed tooth-type actuator for robot joints of the present invention. Figure 4 This is a schematic diagram of the protective component structure connection of the tooth-type normally closed actuator for robot joints of the present invention; Figure 5 This is a schematic diagram of the quick-release assembly structure of the tooth-type normally closed actuator for robot joints of the present invention; Figure 6 This is a front view schematic diagram of the tooth-type normally closed actuator for robot joints of the present invention; Figure 7 This is a rear view schematic diagram of the tooth-type normally closed actuator for robot joints of the present invention; Figure 8This is a side view schematic diagram of the tooth-type normally closed brake for robot joints of the present invention. The tooth-type normally closed brake for robot joints includes: a brake toothed disc 1, a connecting block 2 installed on the inner wall of the brake toothed disc 1, a moving iron toothed disc 3 sleeved on the connecting block 2, the tooth surfaces of the brake toothed disc 1 and the moving iron toothed disc 3 being adapted to each other, a plurality of fixing springs 4 respectively installed on the connecting block 2, the other ends of the plurality of fixing springs 4 being connected to the moving iron toothed disc 3, a coil body 5 provided on one side of the moving iron toothed disc 3, a plurality of threaded holes 1 respectively opened on one side of the coil body 5, a plurality of mounting holes 1 respectively opened on one side of the connecting block 2, a plurality of through holes 1 respectively opened on the inner wall of the plurality of mounting holes 1, a plurality of bolts 6 respectively provided in the plurality of through holes 1, the other ends of the plurality of bolts 6 respectively passing through the plurality of through holes 1 and screwing into the plurality of threaded holes 1.

[0021] By cooperating with the brake disc 1 and the moving iron disc 3, and using a rectangular tooth structure, a larger torque can be transmitted and the teeth are less prone to slippage.

[0022] The moving iron toothed disc 3 has multiple mounting slots on one side, and multiple disc springs 7 are installed in the multiple mounting slots. The other end of each disc spring 7 is connected to the coil body 5.

[0023] By using disc springs to provide braking force, the structure is compact, the deformation under stress is small, and it can generate a larger force.

[0024] The brake disc 1 has multiple through holes 2 on one side, and multiple bolts 2 8 are installed in the multiple through holes 2. The brake disc 1 is connected to the external mounting surface through the multiple bolts 2 8. The brake gear disc 1 has multiple threaded holes 2 on one side, and multiple ball head screws 9 are threaded into the multiple threaded holes 2. The spherical ends of the multiple ball head screws 9 are in contact with the moving iron gear disc 3.

[0025] The manual release function is added through the cooperation of the ball head screw 9 and the moving iron gear plate 3, so that the brake can be manually released even without power drive, which is convenient for actual use.

[0026] A drive shaft 10 is provided on one side of the coil body 5. A connecting plate is fixedly installed on one end of the drive shaft 10. Multiple through holes 3 are respectively opened on the connecting plate. Multiple threaded holes 3 are respectively opened on one side of the coil body 5. Multiple bolts 3 11 are respectively provided in the multiple through holes 3. One end of the multiple bolts 3 11 passes through the multiple through holes 3 and is screwed into the multiple threaded holes 3. The coil body 5 has a housing 12 and a housing 2 13 on both sides respectively. Two plugs 14, two plugs 2 15 and two plugs 3 16 are fixedly installed on one side of the housing 12. Two holes 1, two holes 2 and two holes 3 are opened on one side of the housing 2 13. The two plugs 14, two plugs 2 15 and two plugs 3 16 are respectively adapted to the two holes 1, two holes 2 and two holes 3. Semi-annular block 17 and semi-annular block 28 are fixedly installed on the outer walls of the first shell 12 and the second shell 13, respectively. Multiple through holes 4 are opened on the first semi-annular block 17 and the second semi-annular block 28, and multiple sleeves 19 are respectively provided in the multiple through holes 4. Multiple through holes 5 are respectively opened on the inner wall of multiple sleeves 19, and multiple limit blocks 20 are slidably installed in the multiple through holes 5. Multiple sliders 21 are slidably installed in the multiple sleeves 19. Multiple mounting holes 2 are respectively opened at the bottom of the multiple sliders 21, and multiple spring telescopic rods 22 are fixedly installed in the multiple mounting holes 2. The other end of the multiple spring telescopic rods 22 is fixedly connected to the bottom inner wall of the multiple sleeves 19. Multiple through holes 6 are opened on the top inner wall of the multiple sleeves 19, and multiple lifting blocks 23 are slidably installed in the multiple through holes 6. One end of the multiple lifting blocks 23 is fixedly connected to the top of the multiple sliders 21. The brake disc 1 has multiple through holes 7 on one side, which are adapted to multiple sleeves 19. Multiple limiting grooves are provided on the inner wall of the multiple through holes 7, which are adapted to multiple limiting blocks 20.

[0027] The cooperation between the limit block 20 and the slider 21 protects the braking components while allowing for easy access to check for wear and tear, thus enabling timely maintenance and replacement.

[0028] The coil body 5 is connected to an external power supply device via a wire.

[0029] The working principle of the tooth-type normally closed actuator for robot joints provided by this invention is as follows: First step: In the braking state, the brake disc 1 is fixedly connected to the external mounting surface (such as the frame) by bolt 2 8, and the coil body 5 is connected to the drive shaft 10. At this time, the disc spring 7 installed on one side of the moving iron disc 3 is in a naturally extended state, which will generate a thrust on the moving iron disc 3, causing the moving iron disc 3 to mesh tightly with the tooth surface of the brake disc 1. The force is transmitted through the moving iron disc 3 to the coil body 5, and then to the drive shaft 10, realizing the braking of the drive shaft 10 and keeping the robot joint stationary. When the braking state is released, the coil body 5 is connected to the external power supply device through the wire. When the coil body 5 is energized, an electromagnetic force is generated. This electromagnetic force will attract the moving iron disc 3 to move towards the coil body 5. During the movement of the moving iron disc 3, the disc spring 7 will be compressed. As the moving iron disc 3 moves, it separates from the tooth surface of the brake disc 1, the braking effect is released, and the drive shaft 10 can drive the robot joint to operate normally. The second step: When it is necessary to manually release the brake, the brake gear 1 has multiple threaded holes 2, and ball head screws 9 are installed in the multiple threaded holes 2. When encountering special circumstances such as power failure, it is necessary to release the brake. By turning the ball head screws 9, the ball end of the ball head screws 9 can push the moving iron gear 3 to move away from the brake gear 1. After the moving iron gear 3 moves, it separates from the brake gear 1, thereby manually releasing the brake state, which is convenient for maintaining or adjusting the robot joints. Third step: When it is necessary to check the wear condition of the brake assembly, multiple sleeves 19 can be pulled out in sequence by pulling out the lifting block 23. After all the sleeves 19 have been pulled out, the first sleeve 12 and the second sleeve 13 can be removed separately and then the brake assembly can be observed and selectively maintained.

[0030] It should be noted that the device structure and accompanying drawings of this invention mainly describe the principle of this invention. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, under the premise that those skilled in the art understand the principle of the above invention, the specific details of its power mechanism, power supply system and control system can be clearly understood. The control method in the application document is automatic control through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming. All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments, or they can be used directly or indirectly, without departing from the principles and spirit of the invention. In other related technical fields, the scope of the invention is defined by the appended claims and their equivalents, and they are similarly included within the scope of patent protection of the invention.

Claims

1. A tooth-type normally closed actuator for robot joints, characterized in that, include: A brake gear disc has a connecting block installed on its inner wall. A moving iron gear disc is fitted onto the connecting block. The tooth surfaces of the brake gear disc and the moving iron gear disc are compatible. Multiple retaining springs are installed on the connecting block, and the other ends of the multiple retaining springs are connected to the moving iron gear disc. A coil body is provided on one side of the moving iron gear disc. Multiple threaded holes are opened on one side of the coil body. Multiple mounting holes are opened on one side of the connecting block. Multiple through holes are opened on the inner wall of the multiple mounting holes. Multiple bolts are installed in the multiple through holes. The other ends of the multiple bolts pass through the multiple through holes and are screwed into the multiple threaded holes.

2. The normally closed tooth-type actuator for robot joints according to claim 1, characterized in that: The moving iron gear plate has multiple mounting slots on one side, and multiple disc springs are installed in the multiple mounting slots. The other end of each disc spring is connected to the coil body.

3. The normally closed tooth-type actuator for robot joints according to claim 1, characterized in that: The brake disc has multiple through holes on one side, and multiple bolts are installed in each of the multiple through holes. The brake disc is connected to the external mounting surface through the multiple bolts.

4. The normally closed tooth-type actuator for robot joints according to claim 1, characterized in that: The brake disc has multiple threaded holes on one side, and multiple ball head screws are threaded into each of the multiple threaded holes. The spherical ends of the multiple ball head screws are in contact with the moving iron disc.

5. The normally closed tooth-type actuator for robot joints according to claim 2, characterized in that: A drive shaft is provided on one side of the coil body, and a connecting plate is fixedly installed on one end of the drive shaft. Multiple through holes are provided on the connecting plate, and multiple threaded holes are provided on one side of the coil body. Multiple bolts are provided in the multiple through holes, and one end of each bolt passes through the multiple through holes and engages with the multiple threaded holes.

6. The normally closed tooth-type actuator for robot joints according to claim 5, characterized in that: The coil body has a housing 1 and a housing 2 on both sides. Two plugs 1, two plugs 2 and two plugs 3 are fixedly installed on one side of the housing 1. Two holes 1, two holes 2 and two holes 3 are opened on one side of the housing 2. The two plugs 1, two plugs 2 and two plugs 3 are adapted to the two holes 1, two holes 2 and two holes 3 respectively.

7. The normally closed tooth-type actuator for robot joints according to claim 6, characterized in that: Semi-annular blocks 1 and 2 are fixedly installed on the outer walls of the first and second casings, respectively. Multiple through holes 4 are opened on the first and second semi-annular blocks, and multiple sleeves are provided in the multiple through holes 4.

8. The normally closed tooth-type actuator for robot joints according to claim 7, characterized in that: Multiple through holes 5 are formed on the inner walls of multiple sleeves. Multiple limiting blocks are slidably installed in the multiple through holes 5. Multiple sliders are slidably installed in the multiple sleeves. Multiple mounting holes 2 are formed at the bottom of the multiple sliders. Multiple spring telescopic rods are fixedly installed in the multiple mounting holes 2. The other end of the multiple spring telescopic rods is fixedly connected to the bottom inner wall of the multiple sleeves. Multiple through holes 6 are formed on the top inner wall of the multiple sleeves. Multiple lifting blocks are slidably installed in the multiple through holes 6. One end of the multiple lifting blocks is fixedly connected to the top of the multiple sliders.

9. The normally closed tooth-type actuator for robot joints according to claim 4, characterized in that: The brake disc has multiple through holes 7 on one side, which are adapted to multiple sleeves. Multiple limiting grooves are formed on the inner wall of the multiple through holes 7, which are adapted to multiple limiting blocks.

10. The normally closed tooth-type actuator for robot joints according to claim 6, characterized in that: The coil body is connected to an external power supply device via wires.

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