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 of a mechanical arm and the mechanical arm. The firing pin type band-type brake device comprises a base, a stopping piece, an electromagnet assembly and a reset piece, the base is provided with a containing hole, the stopping piece is arranged in the containing hole and comprises a stopping part, the electromagnet assembly comprises an ejector rod and a coil, the ejector rod is not connected with the stopping piece, and the electromagnet assembly and the reset piece are matched with each other so that the stopping piece can be switched between a stopping position and an avoiding position. When the stopping piece is located at the stopping position and the stopping part is impacted by non-axial external force, the stopping part is stopped and limited by the base. Through the arrangement, the overall inclination degree of the stop piece can be reduced, so that the impact of the other end, not impacted by external force, of the stop piece on the inner wall of the containing hole can be weakened, the surface smoothness of the inner wall of the containing hole can be guaranteed, meanwhile, bending deformation of the stop piece can be avoided, and the stop piece can be prevented from being stuck.

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, which includes a base, a stopper, an electromagnet assembly and a reset member. The base is provided with a receiving hole, the stopper is placed in the receiving hole, the stopper includes a stop portion, the electromagnet assembly includes a push rod and a coil, the push rod and the stopper are not connected, 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, and when the stopper is in the stop position and the stop portion is hit by a non-axial external force, the stop portion is limited by the base stopper.

[0004] An embodiment of the present application provides a joint module of a robotic arm, the joint module of the robotic arm includes a joint housing, a motor, a brake disc and the striker-type brake device described in any one of the above items, the motor is installed in the joint housing, the brake disc is connected to the output shaft of the motor, the base is connected to the joint housing, when the stop member is in the stop position, the brake disc hits the stop portion in a non-axial direction, and the stop portion is limited by the base stop.

[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 stop member is in the stop position and the stop portion of the stop member is hit by a non-axial external force, the stop portion is limited by the base stop, that is, the stop portion is supported by the base when hit by an external force, which is beneficial to reducing the overall inclination of the stop member, thereby helping to weaken the impact of the other end of the stop member that is not hit by the external force on the inner wall of the accommodating hole, helping to ensure the surface smoothness of the inner wall of the accommodating hole, and also helping to avoid bending and deformation of the stop member, thereby helping to avoid the stop member 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 (a) and (b) are schematic structural diagrams of an embodiment of a striker-type brake device provided by the present application in different states;

[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. 9 A schematic cross-sectional view of an embodiment of a striker-type brake device provided in the present application;

[0017] Fig.10 This is a schematic cross-sectional structural diagram of an embodiment of a striker-type brake device provided in the present application. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figure 1 The robot arm 1000 provided in the embodiment of the present application may include a joint module 100, and the joint module 100 enables the end of the robot arm 1000 to have a certain degree of freedom. The robot arm 1000 may include a plurality of 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.

[0020] 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.

[0021] 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 131 and a coil 132 sleeved on the push rod 131, and the push rod 131 and the stopper 12 are not connected. With this arrangement, when the motor 40 does not need to be braked, the coil 132 of the electromagnet assembly 13 can be energized, and a magnetic field is generated inside and outside the coil 132. The magnetic field inside the coil 132 causes the top rod 131 of the electromagnet assembly 13 to enter the coil 132 as much as possible, and the top rod 131 then moves, for example Figure 2 The middle push rod 131 moves downward and pushes the stopper 12 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 132 of the electromagnet assembly 13 can be powered off, and the magnetic field generated by the coil 132 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.

[0022] It should be noted that the non-connection between the push rod 131 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 131; or, the push rod 131 and the stopper 12 can be separated under the action of an external force. The push rod 131 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.

[0023] However, the inventors of the present application found in the long-term research and development process that: Figure 2 and Figure 3 When the striker brake device 10 stops the brake disc 50 to brake the motor 40, the coil 132 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 121) 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, causing the other end of the stop member 12 (such as the guide portion 122) to easily hit 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 122 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 121) 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 122) is prone to bending and deformation, or even breaking at the connection between the stopper portion 121 and the guide portion 122. 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.

[0024] 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 (such as the stopper 121) 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 response to this, the present application proposes an embodiment in a different way, so that when one end of the stopper 12 (such as the stopper 121) is hit by the brake disc 50 due to stopping the brake disc 50, it is stopped or supported by another structural part (such as the base 11 described later) to reduce the overall inclination of the stopper 12, thereby reducing the impact of the other end of the stopper 12 (such as the guide part 122) 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.

[0025] As an example, see Figure 4 and Figure 5 The embodiment of the present application provides a striker-type brake device 10, which includes a base 11, a stopper 12, an electromagnet assembly 13 and a reset member 14. The base 11 is provided with a receiving hole 111, the stopper 12 is placed in the receiving hole, and the stopper 12 may include a stopper 121. The electromagnet assembly 13 may include a top rod 131 and a coil 132, the top rod 131 and the stopper 12 are not connected, and the electromagnet assembly 13 and the reset member 14 cooperate with each other to enable the stopper 12 to switch between a stop position and an avoidance position. Among them, the stopper 121 is stopped and limited by the base 11 when the stopper 12 is in the stop position and is hit by a non-axial external force (for example, perpendicular to the movement direction of the stopper 12). For example, the striker-type 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, so that when the stopper 12 is in the stop position, the brake disc 50 hits the stopper 121 in a non-axial direction (for example, perpendicular to the direction of the output shaft of the motor 40), and the stopper 121 is stopped or supported by the base 11. In this way, when the stopper 121 is hit by a non-axial external force, for example, when the brake disc 50 hits the stopper 12, the stopper 121 is stopped or supported by the base 11, which is conducive to reducing the overall inclination of the stopper 12, thereby facilitating the impact of the guide part 122 on the inner wall of the receiving hole 111, and ensuring the surface smoothness of the inner wall of the receiving hole 111, and also facilitating avoiding the bending deformation of the stopper 12, thereby facilitating avoiding the jamming of the stopper 12.

[0026] 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.

[0027] As an example, see Figure 4 and Figure 5 The stopper 12 may include a guide portion 122 connected to the stopper portion 121. The guide portion 122 and the stopper portion 121 may be extended and distributed along the axial direction, for example, the two are coaxially arranged. Of course, the guide portion 122 and the stopper portion 121 may also be distributed along the radial direction, for example, the axes of the two are arranged in parallel. Furthermore, the fitting clearance between the stopper portion 121 and the receiving hole 111 may be less than or equal to the fitting clearance between the guide portion 122 and the receiving hole 111. With such arrangement, when the stop portion 121 is impacted by a non-axial external force, for example, when the brake disc 50 impacts the stop member 12, the stop portion 121 may contact the inner wall of the accommodating hole 111 before the guide portion 122, so that the stop portion 121 is stopped, limited or supported by the base 11, which helps to reduce the overall inclination of the stop member 12, thereby helping to weaken the impact of the guide portion 122 on the inner wall of the accommodating hole 111, helping to ensure the surface smoothness of the inner wall of the accommodating hole 111, and also helping to avoid bending and deformation of the stop member 12, thereby helping to avoid jamming of the stop member 12.

[0028] As an example, see Figure 4 and Figure 5 , the base 11 may include a main body 112 and a limiting portion 113, and the limiting portion 113 is connected to the main body 112. Among them, the accommodating hole 111 may include a first accommodating hole 1111 formed in the main body 112 and a second accommodating hole 1112 formed in the limiting portion 113. Among them, the radial dimension of the guide portion 122 may be smaller than the radial dimension of the stopper 121; correspondingly, the radial dimension of the first accommodating hole 1111 may be smaller than the radial dimension of the second accommodating hole 1112. At this time, the guide portion 122 is accommodated in the first accommodating hole 1111, and the stopper 121 is accommodated in the second accommodating hole 1112. Further, the fitting clearance between the stopper 121 and the second accommodating hole 1112 may be smaller than or equal to the fitting clearance between the guide portion 122 and the first accommodating hole 1111. With such arrangement, when the stopper 121 is impacted by a non-axial external force, the stopper 12 first contacts the inner wall of the second accommodating hole 1112 , so that the stopper 121 is stopped, limited or supported by the limiting portion 113 .

[0029] It should be noted that the radial dimension of the guide portion 122 may also be equal to the radial dimension of the stop portion 121; accordingly, the radial dimension of the first receiving hole 1111 may also be equal to the radial dimension of the second receiving hole 1112. At this time, the guide portion 122 is accommodated in the first receiving hole 1111, the stop portion 121 is accommodated in the second receiving hole 1112, and the fitting clearance between the stop portion 121 and the second receiving hole 1112 may be equal to the fitting clearance between the guide portion 122 and the first receiving hole 1111. Similarly, when the stop portion 121 is impacted by a non-axial external force, the stop member 12 first contacts the inner wall of the second receiving hole 1112, so that the stop portion 121 is stopped, limited or supported by the limiting portion 113. Therefore, in the present application, the stop member 12 can be either a non-uniform-diameter columnar structure with one end thicker and the other end thinner, or a uniform-diameter columnar structure.

[0030] As an example, see Figure 4-Figure 6 The limiting portion 113 may be partially continuous in the circumferential direction of the second receiving hole 1112, and when the stopper 12 switches between the avoidance position and the stop position, the stopper 121 is always partially exposed in the radial direction from the limiting portion 113. Such an arrangement can reduce unnecessary constraints of the base 11 on the stopper 121, and can also simplify the structure of the base 11. Of course, the stopper 121 may also be partially exposed from the limiting portion 113 only when the stopper 12 is required to stop.

[0031] In some embodiments, the cross section of the stopper 12 can be either circular or polygonal such as a square, for example, the stopper 121 and the guide portion 122 are respectively arranged in a cylindrical shape. The cylindrical design can ensure that when the stopper 121 is hit by the brake disc 50, the external force can be evenly distributed on the surface of the stopper 121, thereby reducing local stress concentration and improving the stability and durability of the overall structure. The guide portion 122 is also arranged in a cylindrical shape to facilitate the processing of the entire stopper 12, and can also make the movement of the guide portion 122 in the first receiving hole 1111 smoother, which is conducive to avoiding jamming. Further, the ratio between the radial dimension of the guide portion 122 and the radial dimension of the stopper 121 can be between 0.4 and 0.6. If the aforementioned ratio is too small, the radial dimension of the guide portion 122 will be too small, resulting in too low strength of the guide portion 122, and when the stopper 12 is hit by a non-axial external force, the guide portion 122 may be bent. If the aforementioned ratio is too large, the radial dimension of the guide portion 122 will be too large. Accordingly, the size of the main body portion 112 for installing the guide portion 122 also needs to be increased. If the size of the base 11 is too large, it will cause the base 11 to easily interfere with other components in the joint module 100, thereby affecting the normal operation of the robot arm 1000.

[0032] As an example, see Fig. 9 and Fig.10The base 11 may be provided with an air hole 114, which may connect the first receiving hole 1111 with the outside. It is understandable that when the stopper 12 switches between the stop position and the avoidance position, the gas inside the base 11 may be compressed, resulting in an increase in internal pressure. The air hole 114 is used to discharge the internal gas to reduce the internal pressure and reduce the resistance of the stopper 12 during movement.

[0033] In some embodiments, the air hole 114 may also be provided on the stopper 12 , for example, the air hole 114 axially penetrates the stopper portion 121 and the guide portion 122 , and the air hole 114 may also discharge the internal gas to reduce the internal pressure.

[0034] In some embodiments, see Figure 4 and Figure 5 , the electromagnet assembly 13 may also include a shell 133, and the shell 133 is used to install the coil 132. Further, the striker-type brake device 10 may also include a support member 15 and a top plate 16, one end of the support member 15 is connected to the main body 112, for example, the two are threadedly connected, and the other end of the support member 15 is connected to the top plate 16, for example, the two are connected by screws. Further, the top plate 16 presses the shell 133 on the limit portion 113. Pressing the shell 133 on the limit portion 113 can not only make the overall structure of the striker-type brake device 10 more compact, but also prevent the electromagnet assembly 13 from shaking when the stopper 12 is hit. Of course, in some other embodiments, one of the base 11 and the top plate 16 and the support member 15 can be an integrally formed structural member.

[0035] The number of the supporting members 15 can be two or more, and they are arranged at intervals on both sides of the shell 133, so that the connection between the main body 112, the electromagnet assembly 13 and the top plate 16 can be more stable.

[0036] In some embodiments, see Figure 5 The housing 133 can be mounted on the top plate 16, a groove 161 is formed on one side of the top plate 16 close to the housing 133, and a protrusion 1331 is provided on one side of the housing 133 close to the top plate 16. The protrusion 1331 can be accommodated in the groove 161 by snapping or magnetic attraction to limit the movement of the housing 133. In this way, accommodating the protrusion 1331 of the housing 133 in the groove 161 can prevent the housing 133 from shaking during the operation of the striker type brake device 10.

[0037] In some embodiments, see Figure 6When the coil 132 is energized, the push rod 131 drives the stopper 12 to move to the avoidance position; when the coil 132 is de-energized, 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) the joint module 100.

[0038] 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.

[0039] In some embodiments, see Figure 7 and Figure 8 When the coil 132 is powered off, the reset member 14 drives the stopper 12 to move to the avoidance position; when the coil 132 is powered on, the push rod 131 drives the stopper 12 to move to the stop position. The working principle of this type of striker brake device 10 is powered braking, which is opposite to the control logic of the joint module 100 when it is powered off (for example, stopping working).

[0040] 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.

[0041] 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 6 and Figure 7 , the installation position of the striker type brake device 10 in the joint housing 30 is the same, and Figure 6 The installation height of the middle brake disc 50 in the joint housing 30 is higher than Figure 7 The height at which the middle brake disc 50 is installed in the joint housing 30 .

[0042] exist Figure 6 In the embodiment shown, when the coil 132 is energized, the top rod 131 drives the stopper 12 to move downward to the avoidance position, for example Figure 6 The stopper 12 shown in (b) is located so that the stopper 121 avoids the brake disc 50; when the coil 132 is powered off, the reset member 14 drives the stopper 12 to move upward to the stop position, for example Figure 6 The stopper 12 shown in (a) is located in a position such that the stopper portion 121 stops the brake disc 50, and the stopper portion 121 is stopped by the base 11, that is, power-off braking.

[0043] exist Figure 7In the illustrated embodiment, when the coil 132 is energized, the top rod 131 drives the stopper 12 to move downward to the stop position, for example Figure 7 The position of the stopper 12 shown in (b) is such that the stopper 121 stops the brake disc 50, and the stopper 121 is stopped by the base 11, that is, the electric brake is applied; when the coil 132 is de-energized, the reset member 14 drives the stopper 12 to move upward to the avoidance position, for example Figure 7 The stopper 12 shown in (a) is located so that the stopper portion 121 avoids the brake disc 50.

[0044] 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 type 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 type brake device 10 can also be realized. Figure 6 and Figure 8 , the installation position of the brake disc 50 in the joint housing 30 is the same, and Figure 8 The installation height of the striker type brake device 10 in the joint housing 30 is higher than Figure 6 The installation height of the striker brake device 10 in the joint housing 30 .

[0045] exist Figure 6 In the illustrated embodiment, when the coil 132 is energized, the top rod 131 drives the stopper 12 to move downward to the avoidance position, for example Figure 6 The stopper 12 shown in (b) is located so that the stopper 121 avoids the brake disc 50; when the coil 132 is powered off, the reset member 14 drives the stopper 12 to move upward to the stop position, for example Figure 6 The stopper 12 shown in (a) is located in a position such that the stopper portion 121 stops the brake disc 50, and the stopper portion 121 is stopped by the base 11, that is, power-off braking.

[0046] exist Figure 8 In the illustrated embodiment, when the coil 132 is energized, the top rod 131 drives the stopper 12 to move downward to the stop position, for example Figure 8 The position of the stopper 12 shown in (b) is such that the stopper 121 stops the brake disc 50, and the stopper 121 is stopped by the base 11, that is, the electric brake is applied; when the coil 132 is de-energized, the reset member 14 drives the stopper 12 to move upward to the avoidance position, for example Figure 8 The stopper 12 shown in (a) is located so that the stopper portion 121 avoids the brake disc 50.

[0047] As an example, see Fig. 9The reset member 14 may be a spring 141, and is placed in the receiving hole 111. 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, a mounting hole 123 may be provided at one end of the stopper 12 away from the top rod 131, and the spring 141 may be partially accommodated in the mounting hole 123, so that the spring 141 always moves along the axial direction of the mounting hole 123 during the process of being compressed or restoring the deformation, so as to avoid the spring 141 from being offset and getting stuck between the base 11 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 no braking is required, the coil 132 is energized, and when the push rod 131 is driven to move, it can drive the stopper 12 to overcome the elastic force of the spring 141 and move toward the accommodating hole 111 to the avoidance position; when it is necessary to activate the brake to quickly stop the rotation of the brake disc 50, the coil 132 is de-energized, and the elastic force released by the spring 141 to restore the deformation can drive 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 coil 132 is energized, and when the push rod 131 is driven to move, the stop member 12 can be driven to overcome the elastic force of the spring 141 and move toward the accommodating hole 111 to the stop position; when the brake disc 50 rotates normally and braking is not required, the coil 132 is de-energized, and the elastic force released by the spring 141 to restore the deformation can drive the stop member 12 at the stop position to move in the opposite direction to the avoidance position.

[0050] In some embodiments, see Fig.10 The reset member 14 may include a first magnetic member 142 and a second magnetic member 143, one of which is fixed at the bottom of the receiving hole 111, and the other is fixed at an end of the stopper 12 away from the top rod 131. The first magnetic member 142 and the second magnetic member 143 are always in a mutually exclusive state.

[0051] 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 coil 132 is energized, and when the push rod 131 is driven to move, the stopper 12 can be driven to overcome the repulsive force between the first magnetic member 142 and the second magnetic member 143 and move to the avoidance position in the direction of the receiving hole 111. When it is necessary to activate the brake to quickly stop the rotation of the brake disc 50, the coil 132 is de-energized, and the repulsive force 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 opposite direction to the stop position.

[0052] 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 coil 132 is energized, and when the push rod 131 is driven to move, the stopper 12 can be driven to overcome the repulsive force between the first magnetic member 142 and the second magnetic member 143 and move to the stop position in the direction of the receiving hole 111. When the brake disc 50 rotates normally and does not need braking, the coil 132 is de-energized, and the repulsive force 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.

[0053] In some embodiments, the reset member 14 can also be another electromagnet assembly. The electromagnet assembly for reset can be set at the end of the stop member 12 away from the electromagnet assembly 13, and can also include a push rod and a coil. The electromagnet assembly for reset can be designed according to actual needs to meet the requirements of the reset process of the stop member 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 receiving hole, the stopper is placed in the receiving hole, the stopper includes a stop portion, the electromagnet assembly includes a push rod and a coil, the push rod and the stopper are not connected, 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, and when the stopper is in the stop position and the stop portion is hit by a non-axial external force, the stop portion is limited by the base stopper.

2. The striker type brake device according to claim 1, characterized in that: The stop member includes a guide portion connected to the stop portion, the guide portion and the stop portion are extended and distributed along the axial direction, and a fitting clearance between the stop portion and the accommodating hole is less than or equal to a fitting clearance between the guide portion and the accommodating hole.

3. The striker type brake device according to claim 2, characterized in that: The radial dimension of the guide portion is smaller than the radial dimension of the stop portion, the base includes a main body portion and a limiting portion connected to the main body portion, the accommodating hole includes a first accommodating hole formed in the main body portion and a second accommodating hole formed in the limiting portion, the radial dimension of the first accommodating hole is smaller than the radial dimension of the second accommodating hole, the guide portion is placed in the first accommodating hole, and the fitting clearance between the stop portion and the second accommodating hole is smaller than or equal to the fitting clearance between the guide portion and the first accommodating hole.

4. The striker type brake device according to claim 3, characterized in that: The limiting portion is partially continuous in the circumferential direction of the second accommodating hole, and when the stopper switches between the avoidance position and the stop position, the stopper portion is always partially exposed from the limiting portion in the radial direction.

5. The striker type brake device according to claim 3, characterized in that: The stopper and the guide are respectively arranged in a cylindrical shape, and a ratio between a radial dimension of the guide and a radial dimension of the stopper is between 0.4 and 0.

6.

6. The striker type brake device according to claim 3, characterized in that: The electromagnet assembly includes a shell for mounting the coil, and the striker-type brake device includes a support member and a top plate, one end of the support member is connected to the main body, and the other end of the support member is connected to the top plate, and the top plate presses the shell onto the limiting portion.

7. The striker type brake device according to claim 1, characterized in that: The reset member is a spring and is disposed in the 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 to the bottom of the accommodating hole, and the other is fixed to an end of the stop member away from the top rod, and the first magnetic member and the second magnetic member are always in a mutually exclusive 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. When the stop member is in the stop position, the brake disc hits the stop part in a non-axial direction, and the stop part is limited by the base stop.

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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