Striker type band-type brake device, joint module of mechanical arm and mechanical arm

Abstract

The embodiment of the utility model provides a firing pin type band-type brake device, a joint module and a mechanical arm. The firing pin type band-type brake device comprises a base, a stop piece, an electromagnet assembly and a reset piece, the base is provided with a first containing hole, the electromagnet assembly is provided with a second containing hole, the stop piece comprises a first function part, a second function part and a third function part which are distributed in the axial direction in an extending mode, the second function part is arranged in the first containing hole, and the third function part is arranged in the second containing hole. The electromagnet assembly and the reset piece are matched with each other so that the stop piece can be switched between the stop position and the receding position. When the stop piece is impacted by non-axial external force, the area, bearing the external force impact, of the stop piece is located in the middle area, close to the middle, of the stop piece instead of one end of the stop piece, so that the overall inclination degree of the stop piece is reduced, and therefore the impact of the stop piece on the inner walls of the first containing hole and the second containing hole is weakened; the surface smoothness of the inner walls of the first containing hole and the second containing hole can be guaranteed, and meanwhile blocking of the stopping piece can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to a striker-type brake device, a joint module of a robotic arm, and a robotic arm. Background Art

[0002] With the continuous development and maturity of robotic arms, robotic arms have been widely used in various industries or other sectors. Robotic arms are also braked by a braking system (or brake device) due to the needs of work scenarios or special working conditions. The braking system is mainly divided into a striker brake device and an electromagnetic brake device. The former mainly uses a stopper to stop the brake disc connected to the joint motor, and the latter mainly uses the armature disc and the cover plate to clamp the friction plate connected to the joint motor. Utility Model Content

[0003] An embodiment of the present application provides a striker-type brake device, a striker-type brake device base, a stopper, an electromagnet assembly and a reset member, the base is provided with a first accommodating hole, the electromagnet assembly is provided with a second accommodating hole, the stopper includes a first functional part, a second functional part and a third functional part extending along the axial direction, the two ends of the first functional part are respectively connected to the second functional part and the third functional part, the radial dimensions of the first functional part, the radial dimensions of the second functional part and the radial dimensions of the third functional part are set to be not all equal, the second functional part is placed in the first accommodating hole, the third functional part is placed in the second accommodating hole, the electromagnet assembly and the reset member cooperate with each other to enable the stopper to switch between a stop position and an avoidance position.

[0004] An embodiment of the present application provides a joint module of a robotic arm, which includes a joint housing, a motor, a brake disc and the striker-type brake device described in any one of the above items, wherein the motor is installed in the joint housing, the brake disc is connected to the output shaft of the motor, and the base is connected to the joint housing.

[0005] An embodiment of the present application provides a robotic arm, which includes the joint module described in the above embodiment.

[0006] The beneficial effect of the present application is that when the stopper is hit by a non-axial external force, the first functional part is used to withstand the external force impact, or the area of ​​one of the second functional part and the third functional part close to the first functional part is used to withstand the external force impact, that is, the area (or position) where the stopper withstands the external force impact is located in the middle area (or middle position) relatively close to the middle of the stopper, rather than at one end of the stopper, which is beneficial to reducing the overall inclination of the stopper, thereby weakening the impact of the stopper on the inner walls of the first accommodating hole and the second accommodating hole, which is beneficial to ensuring the surface smoothness of the inner walls of the first accommodating hole and the second accommodating hole, and at the same time, it is also beneficial to avoid bending and deformation of the stopper, thereby helping to avoid the stopper from getting stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0008] Figure 1 A schematic structural diagram of an embodiment of a robotic arm provided in this application;

[0009] Figure 2 A schematic cross-sectional view of an embodiment of a joint module provided in the present application;

[0010] Figure 3 for Figure 2 Schematic diagram of the state when the stopper is hit by the brake disc;

[0011] Figure 4 A front view structural schematic diagram of an embodiment of a striker-type brake device provided in the present application;

[0012] Figure 5 A schematic diagram of the exploded structure of an embodiment of a striker-type brake device provided in the present application;

[0013] Figure 6 This is a schematic cross-sectional structural diagram of an embodiment of a striker-type brake device provided in the present application.

[0014] Figure 7 (a) and (b) are schematic structural diagrams of an embodiment of a striker-type brake device provided by the present application in different states;

[0015] Figure 8 (a) and (b) are schematic structural diagrams of an embodiment of a striker-type brake device provided by the present application in different states;

[0016] Fig. 9This is a schematic cross-sectional structural diagram of an embodiment of a striker-type brake device provided in the present application. DETAILED DESCRIPTION

[0017] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0018] See also Figure 1 The robot arm 1000 provided in the embodiment of the present application may include a joint module 100. The joint module 100 enables the end of the robot arm 1000 to have a certain degree of freedom. Among them, a robot arm 1000 may include multiple joint modules 100, for example Figure 2 The six joint modules 100 shown in the figure can enable the robot arm 1000 to perform a variety of complex movements by working together with multiple joint modules 100.

[0019] See also Figure 2 The joint module 100 provided in the embodiment of the present application may include a joint housing 30, a motor 40, a brake disc 50 and a striker-type brake device 10. The motor 40 is installed in the joint housing 30, the brake disc 50 is connected to the output shaft of the motor 40 to rotate with the rotation of the output shaft of the motor 40, and the striker-type brake device 10 is installed in the joint housing 30 to stop the brake disc 50 when needed, thereby braking the motor 40.

[0020] As an example, in combination Figure 2 and Figure 3 The striker-type brake device 10 may include a stopper 12, an electromagnet assembly 13 and a reset member 14. The stopper 12 and the reset member 14 may be installed in the blind hole 31 of the joint housing 30. The electromagnet assembly 13 is installed in the joint housing 30 and is located above the blind hole 31. The electromagnet assembly 13 and the reset member 14 may be located on both sides of the stopper 12, respectively, so as to allow the electromagnet assembly 13 and the reset member 14 to cooperate with each other so that the stopper 12 can switch between the stop position and the avoidance position. For example, the reset member 14 is a spring; the electromagnet assembly 13 includes a push rod 13a and a coil 13b sleeved on the push rod 13a, and the push rod 13a and the stopper 12 are not connected. With this arrangement, when the motor 40 does not need to be braked, the coil 13b of the electromagnet assembly 13 can be energized, and a magnetic field is generated inside and outside the coil 13b. The magnetic field inside the coil 13b causes the top rod 13a of the electromagnet assembly 13 to enter the coil 13b as much as possible, and the top rod 13a then moves, for example Figure 2The middle push rod 13a moves downward and pushes the stopper 12 to move to the avoidance position, and the reset member 14 (such as a spring) is also in a compressed state, thereby allowing the output shaft of the motor 40 (and the brake disc 50) to rotate normally without being stopped by the stopper 12; conversely, when the motor 40 needs to be braked, the coil 13b of the electromagnet assembly 13 can be powered off, and the magnetic field generated by the coil 13b disappears, and the reset member 14 (such as a spring) elastically recovers, causing the stopper 12 to move toward the electromagnet assembly 13 to the stop position, thereby stopping the brake disc 50 to brake the motor 40.

[0021] It should be noted that the non-connection between the push rod 13a and the stopper 12 described in the present application means that when the stopper 12 is impacted by an external force in a non-axial direction (e.g., perpendicular to the direction of the output shaft of the motor 40), the stopper 12 can be displaced relative to the push rod 13a; or, the push rod 13a and the stopper 12 can be separated under the action of an external force. The push rod 13a and the stopper 12 are not connected mainly because in the technical field, the stopper 12 and the electromagnet assembly 13 are generally purchased or processed separately.

[0022] However, the inventors of the present application found in the long-term research and development process that: Figure 2 and Figure 3When the striker brake device 10 stops the brake disc 50 to brake the motor 40, the coil 13b of the electromagnet assembly 13 can be powered off, and the reset member 14 (such as a spring) elastically recovers, so that the stop member 12 moves toward the electromagnet assembly 13 to the stop position, and one end of the stop member 12 (such as the stop portion 12a) is hit by the brake disc 50 due to stopping the brake disc 50, so that the stop member 12 as a whole is tilted to a large extent, resulting in the other end of the stop member 12 (such as the guide portion 12b) easily hitting the inner wall of the blind hole 31. At the same time, in order to reduce the weight of the joint module 100, the material of the joint housing 30 is generally cast aluminum, and its surface hardness is relatively low, which causes the inner wall of the blind hole 31 on the joint housing 30 to be easily hit by the stopper 12 countless times, that is, the surface smoothness of the inner wall of the blind hole 31 is reduced, and the matching clearance between the guide part 12b and the blind hole 31 is also at least partially reduced, which causes the movement of the stopper 12 in the blind hole 31 (up and down) to be easily obstructed, or even stuck. In response to the above-mentioned technical problems, the conventional means in this technical field are generally: a hollow steel sleeve 20 is set in the blind hole 31, and the surface hardness of the steel sleeve 20 is greater than the surface hardness of the joint housing 30; accordingly, the stopper 12 and the reset member 14 are both installed in the steel sleeve 20. In addition, when one end of the stopper 12 (e.g., the stopper portion 12a) is hit by the brake disc 50 due to stopping the brake disc 50, the other end of the stopper 12 (e.g., the guide portion 12b) is prone to bending and deformation, or even breaking at the connection between the stopper portion 12a and the guide portion 12b. In view of the above technical problems, the conventional means in the technical field are generally to increase the radial dimension of the stopper 12, that is, to make the stopper 12 thicker as a whole; or to select a material with a larger elastic modulus for the stopper 12.

[0023] The inventor of the present application further discovered in the long-term research and development process that the conventional means adopted based on the above technical problems do not fundamentally solve the technical problems, that is, when one end of the stopper 12 (for example, the stopper portion 12a) is hit by the brake disc 50 due to stopping the brake disc 50, it is not stopped or supported by other structural parts and is always in a suspended state. In this regard, the present application proposes an embodiment in a different way, so that when the stopper 12 stops the brake disc 50, the area (or position) where the brake disc 50 hits the stopper 12 is located in the middle area (or middle position) of the stopper 12 relatively close to the middle, rather than one end of the stopper 12 (for example, the stopper portion 12a), so as to reduce the overall inclination of the stopper 12, thereby reducing the impact of the other end of the stopper 12 (for example, the guide portion 12b) on the inner wall of the blind hole 31, which is conducive to ensuring the surface smoothness of the inner wall of the blind hole 31, and also helps to avoid bending deformation of the stopper 12, thereby helping to avoid the stopper 12 from getting stuck.

[0024] As an example, see Figure 4-Figure 6The embodiment of the present application provides a striker type brake device 10, which may include a base 11, a stopper 12, an electromagnet assembly 13 and a reset member 14. The base 11 is provided with a first accommodating hole 111, and the electromagnet assembly 13 is provided with a second accommodating hole 131. The stopper 12 may include a first functional portion 121, a second functional portion 122 and a third functional portion 123 extending and distributed in the axial direction, and the two ends of the first functional portion 121 are respectively connected to the second functional portion 122 and the third functional portion 123. Among them, the radial dimensions of the first functional portion 121, the radial dimensions of the second functional portion 122 and the radial dimensions of the third functional portion 123 are set to be not all equal, for example, the radial dimensions of the three are all unequal, and for another example, the radial dimensions of the second functional portion 122 and the radial dimensions of the third functional portion 123 are equal but not equal to the radial dimensions of the first functional portion 121. Further, the second functional part 122 is placed in the first receiving hole 111, the third functional part 123 is placed in the second receiving hole 131, and the electromagnet assembly 13 and the reset member 14 cooperate with each other to switch the stop member 12 between the stop position and the avoidance position. For example, the striker brake device 10 is connected to the joint housing 30 through the base 11, for example, the two are connected by screws, and for example, the two are integrally formed. With such a configuration, when the stopper 12 is hit by a non-axial external force, for example, when the brake disc 50 hits the stopper 12, the first functional portion 121 is used to withstand the external force impact, or the area of ​​one of the second functional portion 122 and the third functional portion 123 close to the first functional portion 121 is used to withstand the external force impact, that is, the area (or position) where the brake disc 50 hits the stopper 12 is located in the middle area (or middle position) relatively close to the middle of the stopper 12, rather than at one end of the stopper 12, which is beneficial to reducing the overall inclination of the stopper 12, thereby weakening the impact of the stopper 12 on the inner walls of the first accommodating hole 111 and the second accommodating hole 131, which is beneficial to ensuring the surface smoothness of the inner walls of the first accommodating hole 111 and the second accommodating hole 131, and also beneficial to avoiding bending deformation of the stopper 12, thereby helping to avoid the stopper 12 from getting stuck.

[0025] It should be noted that the stop position refers to the position where the stopper 12 is located to stop the structure to be braked (such as the brake disc 50), that is, the stopper 12 located at the stop position can stop the movement of the structure to be braked. Correspondingly, the avoidance position refers to the position where the stopper 12 is located to avoid the structure to be braked, that is, the stopper 12 located at the avoidance position does not affect the movement of the structure to be braked.

[0026] Since the second functional part 122 is accommodated in the base 11 and the third functional part 123 is accommodated in the electromagnet assembly 13, if the radial dimensions of the first functional part 121, the second functional part 122 and the third functional part 123 are the same, the stopper 12 will always stop the brake disc 50 or always avoid the brake disc 50, and the striker brake device 10 cannot switch between the braking and non-braking working conditions. Therefore, the radial dimensions of the first functional part 121, the radial dimensions of the second functional part 122 and the radial dimensions of the third functional part 123 are not all equal. In some embodiments, the radial dimension of the first functional part 121 is equal to the radial dimension of the second functional part 122, and the radial dimension of the first functional part 121 is greater than the radial dimension of the third functional part 123. In other embodiments, the radial dimension of the first functional part 121 is equal to the radial dimension of the third functional part 123, and the radial dimension of the first functional part 121 is greater than the radial dimension of the second functional part 122. In some other embodiments, the radial dimension of the first functional portion 121 is greater than the radial dimension of the second functional portion 122, and the radial dimension of the second functional portion 122 is greater than the radial dimension of the third functional portion 123. Further, the cross section of the stopper 12 can be circular or polygonal such as a square, for example, the first functional portion 121, the second functional portion 122 and the third functional portion 123 are respectively arranged in a cylindrical shape.

[0027] See also Figure 6 , the radial dimension of the first functional part 121 is the largest. When the stopper 12 is in the stop position, the first functional part 121 is used to withstand the impact of non-axial external force. With such a configuration, when the stopper 12 is impacted by a non-axial external force, for example, when the brake disc 50 hits the stopper 12, the first functional part 121 withstands the impact of the external force, that is, the area (or position) where the brake disc 50 hits the stopper 12 is located in the middle area (or middle position) relatively close to the middle of the stopper 12, rather than at one end of the stopper 12, so as to reduce the overall inclination of the stopper 12, thereby reducing the impact of the stopper 12 on the inner walls of the first accommodating hole 111 and the second accommodating hole 131, which is conducive to ensuring the surface smoothness of the inner walls of the first accommodating hole 111 and the second accommodating hole 131, and also helps to avoid bending deformation of the stopper 12, thereby helping to avoid the stopper 12 from getting stuck.

[0028] Furthermore, the radial dimension of the second functional portion 122 may be the same as the radial dimension of the third functional portion 123 , or the radial dimension of the second functional portion 122 may be larger than the radial dimension of the third functional portion 123 , or the radial dimension of the second functional portion 122 may be smaller than the radial dimension of the third functional portion 123 .

[0029] As an example, the matching clearance between the second functional part 122 and the first receiving hole 111 is less than or equal to the matching clearance between the third functional part 123 and the second receiving hole 131. This design helps to protect the inner wall of the second receiving hole 131 of the electromagnet assembly 13 and reduce the friction and wear between the third functional part 123 and the inner wall of the second receiving hole 131.

[0030] As an example, see Figure 5 and Figure 6 The base 11 may include a main body 112 and a limiting portion 113 connected to the main body 112. The first accommodating hole 111 is formed in the main body 112, and the limiting portion 113 is provided with a third accommodating hole 1131, and the radial dimension of the third accommodating hole 1131 is greater than the radial dimension of the first accommodating hole 111. Among them, the first functional part 121 is accommodated in the third accommodating hole 1131, and the limiting portion 113 is used to stop and limit the first functional part 121 when the stopper 12 is in the stop position and is impacted by a non-axial external force. Furthermore, the fitting clearance between the first functional part 121 and the third accommodating hole 1131 is less than or equal to the fitting clearance between the second functional part 122 and the first accommodating hole 111. In this way, when the stopper 12 is hit by a non-axial external force, for example, when the brake disc 50 hits the stopper 12, the first functional part 121 is hit by the external force, and the area (or position) where the brake disc 50 hits the stopper 12 is located in the middle area (or middle position) relatively close to the middle of the stopper 12, rather than one end of the stopper 12, and the first functional part 121 is stopped, limited or supported by the limiting part 113, which can further reduce the overall inclination of the stopper 12, thereby weakening the impact of the stopper 12 on the inner walls of the first accommodating hole 111 and the second accommodating hole 131, which is beneficial to ensuring the surface smoothness of the inner walls of the first accommodating hole 111 and the second accommodating hole 131, and is also beneficial to avoiding bending deformation of the stopper 12, thereby avoiding jamming of the stopper 12.

[0031] See also Figure 4 and Figure 5 The striker brake device 10 may further include a first support member 15 and a top plate 16, wherein one end of the first support member 15 is connected to the base 11, for example, the two are threadedly connected, and the other end of the first support member 15 is connected to the top plate 16, for example, the two are connected by screws. The electromagnet assembly 13 may be suspended on the top plate 16 to allow the electromagnet assembly 13 to move relative to the top plate 16 under the action of an external force. With such a configuration, when the stopper 12 is impacted by a non-axial external force, even if the impact force is transmitted to the electromagnet assembly 13, since the electromagnet assembly 13 is suspended on the top plate 16, the impact force can be well released, which is conducive to preventing the electromagnet assembly 13 from being damaged.

[0032] The number of the first support members 15 can be two or more, and they are arranged at intervals on both sides of the electromagnet assembly 13, so as to make the connection between the base 11 and the top plate 16 more stable.

[0033] As an example, see Figure 5 , a through hole 161 is provided on the top plate 16, and the striker-type brake device 10 may further include a second support member 17 and an elastic member 18, wherein the second support member 17 passes through the through hole 161 and is connected to the electromagnet assembly 13, and the elastic member 18 is sleeved on the second support member 17 and is located on the side of the top plate 16 away from the electromagnet assembly 13. Among them, the matching clearance between the second support member 17 and the through hole 161 is greater than zero, so as to allow the electromagnet assembly 13 to have a small displacement relative to the top plate 16 along the axial direction or radial direction of the through hole 161. Furthermore, the elastic member 18 is in a compressed state, so that the electromagnet assembly 13 is close to the top plate 16, which is conducive to preventing the electromagnet assembly 13 from generating abnormal noise due to shaking. In this way, when the stopper 12 is hit by a non-axial external force, even if the impact force is transmitted to the electromagnet assembly 13, the electromagnet assembly 13 can have a small displacement relative to the top plate 16 along the axial or radial direction of the through hole 161, so that the impact force can also be well released, which is beneficial to avoid damage to the electromagnet assembly 13.

[0034] In some embodiments, the second support member 17 may include a bolt 171 and a sleeve 172 sleeved on the bolt 171, wherein the bolt 171 is threadedly connected to the housing 133 of the electromagnet assembly 13, and the sleeve 172 may be pressed against the housing 133. Accordingly, the elastic member 18 is sleeved on the sleeve 172, and the fitting clearance between the sleeve 172 and the through hole 161 is greater than zero, so as to allow the electromagnet assembly 13 to have a small displacement relative to the top plate 16 along the axial direction or radial direction of the through hole 161.

[0035] The number of the second support members 17 may be one, two or more. In some embodiments, the number of the second support members 17 is one, which can prevent the striker brake device 10 from being too large and interfering with other components in the joint module 100. In some embodiments, the number of the second support members 17 is two, and the two second support members 17 are spaced apart on the top plate 16, which can make the movement of the electromagnet assembly 13 more stable and smooth.

[0036] See also Figure 4 and Figure 5 The striker brake device 10 may further include a gasket 19, which may be disposed on a side of the top plate 16 away from the electromagnet assembly 13, such as between the elastic member 18 and the top plate 16; the gasket 19 may also be disposed between the head of the bolt 171 and the sleeve 172, so that both ends of the elastic member 18 abut against the gasket 19 respectively.

[0037] As an example, see Figure 6 The stopper 12 may be provided with an air hole 125, which may axially penetrate the first functional portion 121, the second functional portion 122, and the third functional portion 123. It is understandable that when the stopper 12 switches between the stop position and the avoidance position, the gas between the base 11 may be compressed, resulting in an increase in internal pressure. The air hole 125 is used to discharge the internal gas to reduce the internal pressure and reduce the resistance of the stopper 12 during movement.

[0038] In some embodiments, the air hole 125 may be provided on the base 11, and the air hole 125 may connect the first receiving hole 111 with the outside. The air hole 125 on the base 11 may also discharge the internal gas to reduce the internal pressure.

[0039] In some embodiments, see Figure 7 When the electromagnet assembly 13 is powered on, the stopper 12 is driven to move to the avoidance position; when the electromagnet assembly 13 is powered off, the reset member 14 drives the stopper 12 to move to the stop position. The working principle of this type of striker brake device 10 is power-off braking, which is consistent with the control logic of powering off (for example, stopping work) of the joint module 100.

[0040] The power-off braking method can ensure that the striker type brake device 10 can brake immediately to provide faster response speed and higher safety when the power supply of the electromagnet assembly 13 fails or the power is off. Usually, the striker type brake device 10 adopts the power-off braking method to realize the brake braking.

[0041] In some embodiments, see Figure 8 When the electromagnet assembly 13 is powered off, the reset member 14 drives the stopper 12 to move to the avoidance position; when the electromagnet assembly 13 is powered on, the stopper 12 is driven to move to the stop position. The working principle of this type of striker brake device 10 is powered on braking, which is opposite to the control logic of the joint module 100 being powered off (for example, stopping working).

[0042] The striker type brake device 10 for power-off braking or the striker type brake device 10 for power-on braking can be selected according to actual needs, and there is no limitation here.

[0043] As an example, the design of power-on braking or power-off braking of the striker-type brake device 10 can be realized by keeping the installation position of the striker-type brake device 10 in the joint housing 30 unchanged and changing the installation height of the brake disc 50 in the joint housing 30. Figure 7 and Figure 8 , the installation position of the striker type brake device 10 in the joint housing 30 is the same, and Figure 7The installation height of the middle brake disc 50 in the joint housing 30 is lower than Figure 8 The height at which the middle brake disc 50 is installed in the joint housing 30 .

[0044] exist Figure 7 In the illustrated embodiment, when the electromagnet assembly 13 is energized, the stopper 12 is driven to move upward to the avoidance position, for example Figure 7 The stopper 12 shown in (a) is located at a position so that the stopper 12 avoids the brake disc 50. When the electromagnet assembly 13 is powered off, the reset member 14 drives the stopper 12 to move downward to the stop position, for example Figure 7 The stopper 12 shown in (b) is located so that the first functional portion 121 stops the brake disc 50, that is, power-off braking.

[0045] exist Figure 8 In the embodiment shown, when the electromagnet assembly 13 is energized, the stopper 12 is driven to move upward to the stop position, for example Figure 8 The position of the stopper 12 shown in (a) is such that the first functional portion 121 stops the brake disc 50, that is, the electric braking; when the electromagnet assembly 13 is powered off, the reset member 14 drives the stopper 12 to move downward to the avoidance position, such as Figure 8 The stopper 12 shown in (b) is located so that the stopper 12 avoids the brake disc 50.

[0046] In some embodiments, the height of the brake disc 50 in the joint housing 30 is kept unchanged, and the installation height of the striker brake device 10 in the joint housing 30 is changed, so that the design of power-on braking or power-off braking of the striker brake device 10 can also be realized.

[0047] As an example, see Figure 6 , the reset member 14 may be a spring 141, and is placed in the second accommodating hole 131. When the stopper 12 switches between the avoidance position and the stop position, the spring 141 is always in a compressed state. Since the spring 141 is always in a compressed state, there is no idle stroke of the stopper 12 during the movement, which helps to improve the response speed of the striker brake device 10. Furthermore, the end of the stopper 12 away from the base 11 may be provided with a mounting hole 124, that is, the end of the third functional part 123 away from the first functional part 121 may be provided with a mounting hole 124. The spring 141 may be partially accommodated in the mounting hole 124, so that the spring 141 always moves along the axial direction of the mounting hole 124 during the process of being compressed or restoring the deformation, so as to prevent the spring 141 from being offset and getting stuck between the electromagnet assembly 13 and the stopper 12 to affect the movement of the stopper 12.

[0048] Taking the striker-type brake device 10 using power-off braking as an example, when the brake disc 50 rotates normally and braking is not required, the electromagnet assembly 13 is energized to drive the stopper 12 to overcome the elastic force of the spring 141 and move to the avoidance position in the direction toward the second accommodating hole 131; when it is necessary to activate the brake to quickly stop the rotation of the brake disc 50, the electromagnet assembly 13 is powered off, and the elastic force released by the spring 141 to restore the deformation can drive the third functional part 123 to cause the stopper 12 located in the avoidance position to move in the opposite direction to the stop position.

[0049] Taking the striker-type brake device 10 using electric braking as an example, when it is necessary to activate the brake to quickly stop the rotation of the brake disc 50, the electromagnet assembly 13 is energized to drive the stopper 12 to overcome the elastic force of the spring 141 and move to the stop position in the direction toward the second accommodating hole 131; when the brake disc 50 rotates normally and braking is not required, the electromagnet assembly 13 is de-energized, and the elastic force released by the spring 141 to restore the deformation can drive the second functional part 122 to make the stopper 12 at the stop position reverse to the avoidance position.

[0050] See also Fig. 9 In some embodiments, the reset member 14 may include a first magnetic member 142 and a second magnetic member 143. One of the first magnetic member 142 and the second magnetic member 143 is fixed to the bottom of the first receiving hole 111, and the other is fixed to an end of the stopper 12 away from the electromagnet assembly 13, and the first magnetic member 142 and the second magnetic member 143 are always in a state of mutual attraction.

[0051] Taking the striker-type brake device 10 adopting the electric braking method as an example, when the brake needs to be activated to quickly stop the rotation of the brake disc 50, the electromagnet assembly 13 is energized to drive the stopper 12 to overcome the attraction between the first magnetic member 142 and the second magnetic member 143 and move to the stop position in the direction toward the second receiving hole 131. When the brake disc 50 rotates normally and does not need braking, the electromagnet assembly 13 is de-energized, and the attraction between the first magnetic member 142 and the second magnetic member 143 can drive the stopper 12 at the stop position to move in the opposite direction to the avoidance position.

[0052] Taking the striker-type brake device 10 adopting the power-off braking method as an example, when the brake disc 50 rotates normally and does not need braking, the electromagnet assembly 13 is energized to drive the stopper 12 to overcome the attraction between the first magnetic member 142 and the second magnetic member 143 and move to the avoidance position in the direction toward the second receiving hole 131. When it is necessary to activate the brake to quickly stop the rotation of the brake disc 50, the electromagnet assembly 13 is powered off, and the attraction between the first magnetic member 142 and the second magnetic member 143 can drive the stopper 12 located at the avoidance position to move in the reverse direction to the stop position.

[0053] In some embodiments, the reset member 14 may also be another electromagnet assembly. The reset electromagnet assembly may be arranged at one end of the stopper 12 away from the electromagnet assembly 13, and the reset electromagnet assembly may be designed according to actual needs to meet the requirements of the reset process of the stopper 12.

[0054] The above is a detailed introduction to the striker-type brake device, the joint module of the robot arm and the robot arm provided in the embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A striker type brake device, characterized in that: The striker-type brake device includes a base, a stopper, an electromagnet assembly and a reset member. The base is provided with a first accommodating hole, the electromagnet assembly is provided with a second accommodating hole, the stopper includes a first functional part, a second functional part and a third functional part extending along the axial direction, the two ends of the first functional part are respectively connected to the second functional part and the third functional part, the radial dimensions of the first functional part, the radial dimensions of the second functional part and the radial dimensions of the third functional part are set to be not all equal, the second functional part is placed in the first accommodating hole, the third functional part is placed in the second accommodating hole, the electromagnet assembly and the reset member cooperate with each other to enable the stopper to switch between the stop position and the avoidance position.

2. The striker type brake device according to claim 1, characterized in that: The first functional portion has the largest radial dimension. When the stopper is at the stop position, the first functional portion is used to withstand non-axial external force impact.

3. The striker type brake device according to claim 2, characterized in that: A fitting clearance between the second functional portion and the first receiving hole is smaller than or equal to a fitting clearance between the third functional portion and the second receiving hole.

4. The striker type brake device according to claim 2, characterized in that: The base includes a main body and a limiting portion connected to the main body, the first accommodating hole is formed in the main body, the limiting portion is provided with a third accommodating hole, the radial dimension of the third accommodating hole is larger than the radial dimension of the first accommodating hole, and the fitting clearance between the first functional part and the third accommodating hole is smaller than or equal to the fitting clearance between the second functional part and the first accommodating hole.

5. The striker type brake device according to claim 1, characterized in that: The reset member is a spring and is disposed in the second receiving hole. When the stop member switches between the avoidance position and the stop position, the spring is always in a compressed state; or, The reset member includes a first magnetic member and a second magnetic member, one of which is fixed at the bottom of the first accommodating hole, and the other is fixed at an end of the stop member away from the electromagnet assembly, and the first magnetic member and the second magnetic member are always in a state of mutual attraction.

6. The striker type brake device according to claim 1, characterized in that: The striker-type brake device comprises a first support member and a top plate, one end of the first support member is connected to the base, the other end of the first support member is connected to the top plate, and the electromagnet assembly is suspended on the top plate.

7. The striker type brake device according to claim 6, characterized in that: A through hole is provided on the top plate, and the striker-type brake device includes a second support member and an elastic member. The second support member passes through the through hole and is connected to the electromagnet assembly. The elastic member is sleeved on the second support member and is located on the side of the top plate away from the electromagnet assembly. The fitting clearance between the second support member and the through hole is greater than zero, and the elastic member is in a compressed state.

8. A joint module of a robotic arm, characterized in that: The joint module includes a joint housing, a motor, a brake disc and the striker-type brake device described in any one of claims 1 to 7, the motor is installed in the joint housing, the brake disc is connected to the output shaft of the motor, and the base is connected to the joint housing.

9. The joint module according to claim 8, characterized in that: The base and the joint housing are integrally formed.

10. A robotic arm, characterized in that: The robotic arm comprises the joint module described in any one of claims 8-9.

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