Efficient, energy-saving and low-heating robot joint electromagnetic band-type brake structure

Abstract

The utility model belongs to the technical field of robot joints, and particularly discloses an efficient, energy-saving and low-heating robot joint electromagnetic band-type brake structure which comprises an output shaft and a motor, a transmission assembly of the motor is rotationally arranged on the output shaft in a sleeved mode, and the output end of the output shaft is in transmission connection with one end of the transmission assembly through a speed reducer. The transmission assembly is rotationally sleeved with a fixing seat, the fixing seat is located between the speed reducer and a rotor of the motor, the end face, close to the fixing seat, of the rotor is elastically connected with an outer backing ring, a coil is fixed in the fixing seat, the coil is sleeved with a magnetizer, and the position of the outer backing ring corresponds to the position of the coil. The outer backing ring which is originally attracted by the magnetizer is separated by utilizing a reverse magnetic field generated when the coil is powered on, smooth operation of the robot joint in a normal working state is ensured, when the motor stops power supply, the coil is powered off, the magnetizer quickly attracts the outer backing ring by utilizing the magnetic force of the magnetizer, the power is cut off for braking, the braking effect can be ensured, and the service life of the robot joint is prolonged. And the calorific value and the energy consumption can be effectively reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot joints, and particularly relates to an electromagnetic brake structure for a robot joint with high efficiency, energy saving and low heat generation. Background Technique

[0002] Today, with the rapid development of robot technology, the precise control, efficient operation and safety of robot joints have become the focus of the industry.

[0003] Most of the existing brake structures for robot joints adopt mechanical friction braking or electromagnetic braking methods, but these methods often have many deficiencies in practical applications. Although the mechanical friction braking method has a stable braking effect, it is prone to large wear and heat generation, which affects the service life of the robot joint; while the existing electromagnetic braking method is mainly achieved by energizing the brake. When the electromagnetic coil is energized, a magnetic field will be generated, and this magnetic field will attract some components of the brake (such as the armature or friction plate), making it closely combine with components such as the brake disc or brake drum, thereby generating a frictional torque to stop or decelerate the mechanical moving parts. Although the response is rapid, the energy consumption is high, and it is easy to cause heat generation problems during long-term operation, which in turn affects the braking effect and overall performance.

[0004] Therefore, the inventor is committed to designing an electromagnetic brake structure for a robot joint to solve the above problems. Content of the Utility Model

[0005] The purpose of the utility model is to provide an electromagnetic brake structure for a robot joint with high efficiency, energy saving and low heat generation, which can not only ensure the braking effect, but also effectively reduce the heat generation and energy consumption.

[0006] In order to achieve the above purpose, a technical solution adopted by the utility model is:

[0007] An electromagnetic brake structure for a robot joint with high efficiency, energy saving and low heat generation, including an output shaft and a motor. The transmission component of the motor is rotatably sleeved on the output shaft. The output end of the output shaft is in transmission connection with one end of the transmission component through a speed reducer. A fixed seat is rotatably sleeved on the transmission component. The fixed seat is located between the speed reducer and the rotor of the motor. An outer cushion ring is elastically connected to the end face of the rotor close to the fixed seat. A coil is fixed in the fixed seat. A magnetic conductor is sleeved outside the coil. The position of the outer cushion ring corresponds to the position of the coil.

[0008] As an improvement of the electromagnetic brake structure for a robot joint with high efficiency, energy saving and low heat generation of the utility model, a brake ring is sleeved outside the coil, and the brake ring is located between the magnetic conductor and the outer cushion ring.

[0009] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, the coil, the magnetic conductor, the outer cushion ring and the output shaft are all coaxially arranged.

[0010] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, an inner cushion ring is fixed on the end face of the rotor close to the fixed seat, and the inner cushion ring is elastically connected to the outer cushion ring through an elastic piece.

[0011] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, an output magnetic ring is supported at the control end of the output shaft, an input magnetic ring is supported at the other end of the transmission component, the input magnetic ring is coaxially and sleeved outside the output magnetic ring with a gap, and an input encoder and an output encoder are arranged on the control board of the motor, and the positions of the input encoder and the output encoder correspond to the positions of the input magnetic ring and the output magnetic ring one by one.

[0012] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, the input encoder is located between the input magnetic ring and the control board and is spaced from the input magnetic ring, and the output encoder is located between the output magnetic ring and the control board and is spaced from the output magnetic ring.

[0013] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, a control chamber is provided at the control end of the motor, and the output magnetic ring, the input magnetic ring, the input encoder, the output encoder and the control board are all located in the control chamber.

[0014] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, the transmission component includes a transmission part and a transmission cylinder, the transmission part is rotatably sleeved on the output shaft, and the transmission cylinder is fixedly sleeved on the transmission part and is fixedly connected to the rotor of the motor.

[0015] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, the end of the transmission cylinder supports the input magnetic ring through an annular input support plate.

[0016] As an improvement to the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model, the control end of the output shaft supports the output magnetic ring through an annular output support plate.

[0017] Compared with the prior art, the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model utilizes the reverse magnetic field generated when the coil is energized to disengage the outer pad ring originally attracted by the magnetic conductor, so that a certain gap is maintained between the outer pad ring and the coil, thereby allowing the motor rotor to rotate freely and ensuring the smooth operation of the robot joint under normal working conditions. When the power supply of the motor is stopped, the coil is de-energized, and the magnetic conductor quickly uses its own magnetic force to attract the outer pad ring for power-off braking, which can not only ensure the braking effect, but also effectively reduce the heat generation and energy consumption. Brief Description of the Drawings

[0018] Figure 1 is a three-dimensional enlarged view of the robot joint of the present utility model;

[0019] Figure 2 is a three-dimensional enlarged view of the robot joint of the present utility model from another perspective;

[0020] Figure 3 is a sectional enlarged view of the robot joint of the present utility model;

[0021] Figure 4 is Figure 3 an enlarged view of part A in

[0022] Figure 5 is a three-dimensional exploded view of the robot joint of the present utility model;

[0023] Figure 6 is a three-dimensional exploded view of the robot joint of the present utility model from another perspective;

[0024] Figure 7 is a three-dimensional enlarged exploded view of the braking part of the present utility model;

[0025] Figure 8 is a three-dimensional enlarged exploded view of two pad rings and elastic pieces of the present utility model.

[0026] Illustration:

[0027] 1. Motor; 11. Body; 12. Stator; 121. Outer pad ring; 122. Elastic piece; 123. Inner pad ring; 13. Rotor; 2. Harmonic reducer; 21. Wave generator; 22. Rigid gear; 23. Flexible gear; 24. Housing; 3. Output shaft; 31. Output support plate; 32. Output magnetic ring; 33. Output part; 4. Cover body; 41. Control chamber; 5. Control board; 51. Input encoder; 52. Output encoder; 6. Transmission part; 61. Input support plate; 62. Input magnetic ring; 63. Transmission cylinder; 64. Transmission assembly; 7. Fixed seat; 71. Coil; 72. Magnetic conductor; 73. Brake ring. Detailed Embodiment

[0028] The following will specifically illustrate the implementation manners of the present utility model in conjunction with the attached drawings. The attached drawings are only for reference and illustration purposes and do not constitute a limitation to the scope of patent protection of the present utility model.

[0029] Referring to Figures 1 to 8 , the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the present utility model is based on the overall structure of the robot joint. The robot joint includes an output shaft 3, a speed reducer and a motor 1. The speed reducer and the motor 1 are both sleeved on the output shaft 3.

[0030] Referring to Figure 3 and Figure 5 , the output shaft 3 is in a long cylindrical shape. The left end of the output shaft 3 is its output end, and the right end of the output shaft 3 is its control end. The output end of the output shaft 3 extends and bends coaxially outward to form an annular output portion 33. The output portion 33 is coaxially arranged with the output shaft 3. A circular output support plate 31 is fixed at the control end of the output shaft 3. An annular output magnetic ring 32 is fixedly sleeved on the output support plate 31 so that the output magnetic ring 32 is supported on the output support plate 31 at the control end of the output shaft 3.

[0031] Referring to Figures 3 to 7, the motor 1 includes a body 11, a cover 4, a control board 5, a transmission assembly 64, a rotor 13 and a stator 12. The body 11 is cylindrical. The stator 12 is fixed to the inner wall of the body 11. The rotor 13 is located inside the stator 12. The transmission assembly 64 includes a transmission member 6 and a transmission cylinder 63. Both the transmission member 6 and the transmission cylinder 63 are cylindrical. The transmission member 6 is rotatably sleeved on the output shaft 3. The transmission cylinder 63 is fixedly sleeved on the transmission member 6 and is fixedly connected to the rotor 13. The transmission member 6 is located between the rotor 13 and the transmission member 6. The rotor 13, the transmission member 6 and the transmission cylinder 63 can rotate together around the output shaft 3. The end of the transmission cylinder 63 is located outside the rotor 13 and is fixedly connected with an annular input support plate 61. The inner walls of the transmission cylinder 63 and the input support plate 61 are rotatably connected to the output support plate 31 through a bearing together. The outer walls of the transmission cylinder 63 and the input support plate 61 are rotatably connected to the body 11 through another bearing. An input magnetic ring 62 is fixedly sleeved on the input support plate 61 so that the input magnetic ring 62 is supported on the input support plate 61 of the transmission assembly 64. The input magnetic ring 62 is coaxially and with a gap sleeved outside the output magnetic ring 32. The cover 4 is covered on the control end face of the body 11 to form a control chamber 41. The control board 5 is provided with an input encoder 51 and an output encoder 52. Among them, the model of the input encoder 51 is IC-MU150, and the model of the output encoder 52 is IC-MU200. The output magnetic ring 32, the input magnetic ring 62, the input encoder 51, the output encoder 52 and the control board 5 are all located in the control chamber 41. The positions of the input encoder 51 and the output encoder 52 correspond to the positions of the input magnetic ring 62 and the output magnetic ring 32 one by one (that is: the position of the input encoder 51 corresponds to the position of the input magnetic ring 62, and the position of the output encoder 52 corresponds to the position of the output magnetic ring 32). The input encoder 51 is located between the input magnetic ring 62 and the control board 5 and is spaced from the input magnetic ring 62 so that the input encoder 51 is arranged facing the input magnetic ring 62 and there is a certain gap between the input encoder 51 and the input magnetic ring 62. The output encoder 52 is located between the output magnetic ring 32 and the control board 5 and is spaced from the output magnetic ring 32 so that the output encoder 52 is arranged facing the output magnetic ring 32 and there is a certain gap between the output encoder 52 and the output magnetic ring 32.

[0032] Refer to Figure 3 , Figure 5 and Figure 6, the output end of the output shaft 3 is drivingly connected to one end of a transmission assembly 64 through a speed reducer. Specifically, the speed reducer in this embodiment is a harmonic speed reducer 2, which includes a wave generator 21, a rigid gear 22, a flexible gear 23, and a housing 24. The wave generator 21, the rigid gear 22, and the flexible gear 23 are all located inside the housing 24. The housing 24 is covered on the end face of the machine body 11 away from the control board 5. The wave generator 21 is sleeved on the transmission member 6. One end of the flexible gear 23 is clamped and fixed by the housing 24 and the machine body 11. The other end of the flexible gear 23 is sleeved outside the wave generator 21. The rigid gear 22 is sleeved on the flexible gear 23 and meshes with the flexible gear 23. The output part 33 is superposed and fixed on the outer end face of the rigid gear 22. An annular member is fixed on the inner end face of the rigid gear 22. The outer wall of the annular member is rotatably connected to the inner wall of the housing 24 through a bearing.

[0033] Referring to Figure 3 , Figure 4 , Figure 7 and Figure 8 , in order to reduce the downtime of the motor 1, an annular fixing seat 7 is also rotatably sleeved on the transmission member 6 of the transmission assembly 64. The fixing seat 7 is rotatably connected to the transmission member 6 through a bearing. The fixing seat 7 is located between the harmonic speed reducer 2 and the rotor 13 of the motor 1. The end face of the fixing seat 7 facing the motor 1 is hollowed out to form an annular groove. An annular coil 71 is fixed in the groove. An annular magnetic conductor 72 and an annular brake ring 73 are fixedly sleeved outside the coil 71. An outer cushion ring 121 is elastically connected to the end face of the rotor 13 of the motor 1 close to the fixing seat 7. An inner cushion ring 123 is fixed on the end face of the rotor 13 of the motor 1 close to the fixing seat 7. The inner cushion ring 123 is elastically connected to the outer cushion ring 121 through an elastic piece 122. The brake ring 73 is located between the magnetic conductor 72 and the outer cushion ring 121. The position of the outer cushion ring 121 corresponds to the position of the coil 71. And both the brake ring 73 and the outer cushion ring 121 are magnetically adsorbed by the magnetic conductor 72 (when the coil 71 is in the non-energized state). The coil 71, the magnetic conductor 72, the outer cushion ring 121, and the output shaft 3 are all coaxially arranged.

[0034] Referring to Figures 1 to 8 , the working principle of the robot joint of the present utility model is as follows:

[0035] When the stator 12 of the motor 1 is energized, the stator 12 will generate a rotating magnetic field. The rotating magnetic field interacts with the rotor 13 of the motor 1 to generate an induced electromotive force and an induced current. The induced current interacts with the rotating magnetic field to generate an electromagnetic force, and this electromagnetic force drives the rotor 13 to rotate.

[0036] The rotor 13 drives the transmission cylinder 63, the transmission member 6, the input support plate 61, and the input magnetic ring 62 to rotate around the output shaft 3 together. At this time, the input encoder 51 monitors the rotation speed of the input magnetic ring 62. Meanwhile, the transmission member 6 drives the harmonic reducer 2 to act (through the assembly of the wave generator 21 of the harmonic reducer 2, the flexible gear 23 generates controllable elastic deformation and meshes with the rigid gear 22, thereby transmitting motion and power). The harmonic reducer 2 drives the output shaft 3 to rotate, causing the output support plate 31 and the output magnetic ring 32 to rotate with the output shaft 3. At this time, the output encoder 52 monitors the rotation speed of the output magnetic ring 32. The input encoder 51 and the output encoder 52 work synchronously, feeding their respective measurement data back to the control system of the control board 5. The control system conducts comprehensive analysis and processing based on these data, and finally realizes the precise control and adjustment of the joint motion state;

[0037] When the motor 1 is working normally, the coil 71 is in the energized state. The coil 71 forms a reverse magnetic field to disengage the outer cushion ring 121 attracted by the magnetizable body 72. At this time, there is a certain gap between the brake ring 73 and the coil 71 and the outer cushion ring 121, and the outer cushion ring 121 rotates with the rotor 13 of the motor 1;

[0038] When the power supply to the motor 1 is stopped, the rotor 13 will further rotate under the action of its own inertia. At this time, the coil 71 is in the de-energized state, and the magnetizable body 72 uses its own magnetic force to attract the outer cushion ring 121, causing the outer cushion ring 121 to elastically press against the brake ring 73 to achieve the purpose of braking and holding.

[0039] The robot joint of the present utility model innovatively introduces a dual-encoder system, namely the input encoder 51 and the output encoder 52, which are respectively used to monitor the rotation speed information of the input end of the motor 1 and the output shaft 3 of the entire robot joint. By synchronously monitoring the rotation speeds of these two key points, the dynamic relationship between the driving of the motor 1 and the actual motion of the joint can be obtained in real time, thereby realizing the precise control of the joint motion state.

[0040] The electromagnetic brake structure of the robot joint of the present utility model realizes the dual optimization of the braking effect, energy consumption, and heat generation through the ingenious combination of electromagnetic principles and mechanical structure design. Specifically, this structure uses the reverse magnetic field generated by the coil 71 when it is energized to disengage the outer cushion ring 121 originally attracted by the magnetizable body 72, so that there is a certain gap between the outer cushion ring 121 and the brake ring 73, thereby allowing the rotor 13 of the motor 1 to rotate freely and ensuring the smooth operation of the robot joint under normal working conditions. When the power supply to the motor 1 is stopped, the coil 71 is de-energized, and the magnetizable body 72 quickly uses its own magnetic force to attract the outer cushion ring 121, making it elastically press against the brake ring 73, realizing an electromagnetic brake structure with high energy efficiency, low heat generation, and providing a more stable and reliable braking solution for the robot joint.

[0041] Compared with the existing brake structure, the utility model has the following remarkable advantages: First, due to the adoption of the electromagnetic braking principle, the braking response speed is faster, and the braking effect is more stable and reliable; Second, by controlling the energization and de-energization of the control coil 71, the precise control of the braking process is realized, effectively reducing the energy consumption and heat generation; Finally, the structure is designed compactly, easy to install and maintain, improving the overall integration and reliability of the robot joint.

[0042] In summary, the electromagnetic brake structure of the robot joint with high efficiency, energy saving and low heat generation of the utility model not only solves the technical problems existing in the traditional brake structure, but also provides new ideas and methods for the development of robot technology, having broad application prospects and market value.

[0043] The above-disclosed are only the preferred embodiments of the utility model, and the scope of the rights protection of the utility model cannot be limited thereby. Therefore, the equivalent changes made according to the scope of the patent application of the utility model still fall within the scope covered by the utility model.

Claims

1. A robot joint electromagnetic brake structure with high efficiency, energy saving and low heat generation, comprising an output shaft and a motor, characterized in that: The transmission component of the motor is rotatably sleeved on the output shaft, and the output end of the output shaft is transmission-connected to one end of the transmission component through a reducer. A fixed seat is rotatably sleeved on the transmission component, and the fixed seat is located between the reducer and the rotor of the motor. An outer gasket is elastically connected to the end face of the rotor close to the fixed seat, a coil is fixed in the fixed seat, and a magnetic conductor is arranged outside the coil sleeve, and the position of the outer gasket corresponds to the position of the coil.

2. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 1 is characterized in that: The coil outer shell is provided with a brake ring, and the brake ring is located between the magnetic conductor and the outer gasket ring.

3. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 1 is characterized in that: The coil, the magnetic conductor, the outer gasket ring and the output shaft are all coaxially arranged.

4. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 1 is characterized in that: An inner gasket is fixed on the end surface of the rotor close to the fixing seat, and the inner gasket is elastically connected to the outer gasket through a spring sheet.

5. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 1 is characterized in that: The control end of the output shaft supports an output magnetic ring, and the other end of the transmission assembly supports an input magnetic ring. The input magnetic ring is coaxial and gap-sleeved outside the output magnetic ring. An input encoder and an output encoder are provided on the control board of the motor. The positions of the input encoder and the output encoder correspond one-to-one to the positions of the input magnetic ring and the output magnetic ring.

6. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 5 is characterized in that: The input encoder is located between the input magnetic ring and the control board and is spaced apart from the input magnetic ring. The output encoder is located between the output magnetic ring and the control board and is spaced apart from the output magnetic ring.

7. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 5 is characterized in that: A control compartment is provided at the control end of the motor, and the output magnetic ring, the input magnetic ring, the input encoder, the output encoder and the control board are all located in the control compartment.

8. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 5 is characterized in that: The transmission assembly includes a transmission member and a transmission cylinder. The transmission member is rotatably sleeved on the output shaft, and the transmission cylinder is fixedly sleeved on the transmission member and fixedly connected to the rotor of the motor.

9. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 8, characterized in that: The end of the transmission cylinder supports the input magnetic ring through an annular input supporting plate.

10. The high-efficiency, energy-saving and low-heat-generating robot joint electromagnetic brake structure according to claim 5, characterized in that: The control end of the output shaft supports the output magnetic ring through an annular output supporting plate.

Images