Brake and end effector

Abstract

The utility model provides a brake and an end effector, the brake comprises an upper shell (2) and a lower shell (3); the stator (1) is connected with the upper shell (2) to form a closed accommodating space; a friction piece (6) is arranged in the accommodating space; the stator is provided with a hole allowing the rotor (8) to pass through; the rotor (8) is arranged in the accommodating space and penetrates through the friction piece (6) and the stator (1); the armature (5) is arranged in the accommodating space, is positioned between the friction piece (6) and the stator (1), and is used for providing pressure and friction force for the friction piece (6) so as to provide braking force for the rotor (8); and the electromagnetic driving unit (4) is arranged in the stator (1), surrounds the rotor (8) and is used for providing pressure for the armature (5). The utility model has the advantages of compact structure, small volume, large braking torque, good sealing property, easiness in installation and maintenance and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of robot end effectors, in particular to a brake and an end effector. Background Art

[0002] At present, the common brake uses the elastic force provided by elastic parts to press the friction plate to generate frictional torque to achieve braking. The energized coil attracts the armature to overcome the spring force to release the friction plate to achieve the release of the brake.

[0003] The conventional brake has the following deficiencies:

[0004] 1. It has a large volume, complex structure, numerous parts, and a large axial dimension, and cannot be used in a narrow space.

[0005] 2. The energy density of the energized winding is low. Since the winding size is usually limited by the installation positions of fasteners such as screws, the winding size is small, and the suction force provided by energization is small.

[0006] 3. The braking torque is small. Since the electromagnetic force of the energized winding is small, it is impossible to select a spring with a greater elastic force when selecting the elastic part (such as a spring), so that the elastic force provided by the elastic part during braking is small, and the braking force of the entire brake is limited. Moreover, the size of the brake pads of the brake is often limited by the positions of other parts, resulting in an inability to make its surface area very large, which also affects the braking performance of the brake.

[0007] 4. The sealing performance is poor. The traditional brake is mostly open. Since dust and other impurities will be generated during the use of the friction plate and enter other structures, it will cause a risk of failure and cannot be used in scenarios with high cleanliness requirements. Summary of the Invention

[0008] In order to solve the deficiencies of the existing technology, the purpose of the utility model is to provide a brake and an end effector. The brake has a compact structure, small volume, high energy density of the energized winding, large braking torque, good sealing performance, and the advantages of being easy to install and maintain.

[0009] To achieve the above purpose, on the one hand, the utility model provides a brake, including:

[0010] A housing, in which a first accommodation space is provided, and a first opening communicating with the first accommodation space;

[0011] A stator, in which a second accommodation space is provided, and a second opening communicating with the second accommodation space;

[0012] One end of the stator away from the second opening is partially embedded in the first accommodation space and covers the first opening;

[0013] A rotor, at the top of one end of the rotor, there is a boss, on the side wall of the boss, there is at least one edge, the boss is located in the first accommodation space, and the other end of the rotor vertically penetrates the stator and is located in the second accommodation space;

[0014] A friction member, the friction member is located in the first accommodation space and is sleeved on the outer peripheral surface of the boss;

[0015] An armature, the armature is located in the first accommodation space and is sleeved on the rotor, one end of the armature is in contact with the friction member, and the other end of the armature faces the stator;

[0016] An elastic member, which is arranged between the armature and the stator;

[0017] An electromagnetic driving unit, which is arranged in the second accommodation space and surrounds the rotor.

[0018] Further, it further includes a cover, there is a third opening on the end face of the housing, the end of the boss away from the friction member is exposed in the third opening, and the cover is covered at the third opening, forming the first accommodation space with the housing and the stator.

[0019] Further, on the other end of the armature, there are several grooves with openings facing the stator;

[0020] On the stator, there are several grooves or through holes with openings facing the armature;

[0021] Both ends of the elastic member are respectively placed in the grooves of the armature and the grooves or through holes of the stator.

[0022] Further, on the other end of the armature, there are several limiting bosses with end faces facing the stator, and the end faces of the limiting bosses can be placed in the grooves or through holes of the stator.

[0023] Further, the limiting bosses and the elastic members are spaced apart and evenly arranged around the outer periphery of the rotor.

[0024] Further, it further includes a hollow cylinder, the hollow cylinder is arranged in the second accommodation cavity, the electromagnetic driving unit is arranged around the outer periphery of the hollow cylinder, and the other end of the rotor passes through the stator and the hollow cylinder.

[0025] Further, the hollow cylinder and the stator are integrally formed, and there are openings on the stator communicating with the inside of the hollow cylinder.

[0026] Further, one end of the stator is fixed to the housing by bolts, adhesives or welding.

[0027] Further, a mounting hole for the rotor to pass through is provided in the middle of the armature. The diameter of the mounting hole is larger than the outer diameter of the rotor and smaller than the outer diameter of the boss.

[0028] On the other hand, the present utility model also provides an end effector, including the brake described above.

[0029] The brake of the present utility model has the following beneficial effects compared with the prior art:

[0030] Compact structure and small volume of the brake;

[0031] After being powered on, the electromagnetic drive unit has a high energy density and a large braking torque;

[0032] Good sealing performance, capable of preventing impurities such as dust generated by internal wear of the brake from entering the space outside the brake;

[0033] Easy to install and maintain.

[0034] Other features and advantages of the present utility model will be described in the subsequent specification, and part of them will be obvious from the specification or understood by implementing the present utility model. Description of the Drawings

[0035] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:

[0036] Figure 1 is an assembly structure schematic diagram according to an embodiment of the present utility model;

[0037] Figure 2 is a stator structure schematic diagram according to an embodiment of the present utility model;

[0038] Figure 3 is a three-dimensional structure schematic diagram according to the present utility model;

[0039] Figure 4 is a cross-sectional structure schematic diagram according to an embodiment of the present utility model;

[0040] Description of the reference numerals: 1 - stator, 2 - housing, 3 - cover, 4 - electromagnetic drive unit, 5 - armature, 6 - friction member, 7 - elastic member, 8 - rotor, 11 - first through hole, 12 - second through hole, 51 - groove, 52 - limiting boss, 53 - weight reduction groove, 61 - notch, 81 - first boss, 9 - second boss, 10 - hollow cylinder. Detailed Embodiments

[0041] The preferred embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present utility model, and are not used to limit the present utility model.

[0042] Embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present utility model. It should be understood that the drawings and embodiments of the present utility model are only for illustrative purposes and are not used to limit the protection scope of the present utility model.

[0043] As used herein, the term "comprising" and its variations are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0044] In the drawings, some structural features are shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. In some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Additionally, the inclusion of a structural feature in a particular figure does not imply that such a feature is required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0045] It should be understood that although terms such as "first", "second", etc. may be used herein to describe various structures, these structures should not be limited by these terms. These terms are only used to distinguish one feature from another. For example, without departing from the scope of the exemplary embodiments, the first feature may be referred to as the second feature, and similarly the second feature may be referred to as the first feature.

[0046] It should be noted that the modifications of "one", "multiple", or "several" mentioned in the present utility model are illustrative rather than restrictive. Those skilled in the art should understand that unless clearly specified otherwise in the context, it should be understood as "one or more". "Multiple" or "several" should be understood as two or more.

[0047] In the description of the present utility model, it should be understood that the terms "upper", "lower", "one side", "top", "inner", "front", "both ends", etc. that may be mentioned indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present utility model.

[0048] In the present utility model, unless otherwise clearly defined and limited, the terms "installed", "set", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two units or the interaction relationship between two units. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0049] The brake of the embodiment of the present utility model includes: a housing 2, a first accommodation space is provided inside the housing 2, and a first opening communicating with the first accommodation space; a stator 1, a second accommodation space is provided inside the stator 1, and a second opening communicating with the second accommodation space; one end portion of the stator 1 away from the second opening is embedded in the first accommodation space and covers the first opening; a rotor 8, a boss is provided at the top of one end of the rotor 8, at least one edge is provided on the side wall of the boss, the boss is located in the first accommodation space, and the other end of the rotor 8 vertically penetrates the stator 1 and is located in the second accommodation space; a friction member 6, the friction member 5 is located in the first accommodation space and sleeved on the outer peripheral surface of the boss; an armature 5, the armature 5 is located in the first accommodation space and sleeved on the rotor 8, one end of the armature 5 is in contact with the friction member 6, and the other end of the armature 5 faces the stator 1; the armature 5 is used to provide pressure and frictional force for the friction member 6, and thus provide braking force for the rotor 8; an elastic member 7 is provided between the armature 5 and the stator 1; an electromagnetic drive unit 4 is provided in the second accommodation space and surrounds the rotor 8; the electromagnetic drive unit 4 is provided inside the stator 1 and surrounds the rotor 8, and the electromagnetic drive unit 4 is used to provide pressure for the armature 5.

[0050] To make the purpose, technical solutions and advantages of the present utility model clearer, the embodiments of the present utility model will be further described in detail below with reference to the drawings.

[0051] Embodiment 1

[0052] Figure 1A schematic diagram of an assembly structure according to an embodiment of the present utility model, Figure 2 A schematic diagram of a stator structure according to an embodiment of the present utility model, Figure 3 A three-dimensional structure schematic diagram according to the present utility model, Figure 4 A schematic diagram of a sectional structure according to an embodiment of the present utility model, as Figures 1 to 4 shown, the brake provided by the present utility model includes a stator 1, a housing 2, a cover 3, an electromagnetic drive unit 4, an armature 5, a friction member 6, an elastic member 7, and a rotor 8. Among them, the stator 1 is attached to the outer periphery of the housing 2 using non-axial screws (i.e., radially tightened screws). In other preferred embodiments of the present utility model, the outer side wall of the stator 1 and the inner side wall of the housing 2 are fixed by welding or gluing to prevent impurities and moisture from entering the interior of the brake through the gap between the stator 1 and the housing 2.

[0053] The cover 3 is placed in the third opening at the top of the housing 2; the rotor 8 is axially arranged in the first accommodation space formed between the stator 1 and the housing 2 and the second accommodation space inside the stator 1, and the rotor 8 sequentially passes through the friction member 6, the armature 5, the stator 1, and the electromagnetic drive unit 4 from top to bottom. The electromagnetic drive unit 4 is located in the second accommodation space inside the stator 1, and the armature 5, the friction member 6, and the elastic member 7 are all located in the first accommodation space between the housing 2 and the stator 1, and the elastic member 7 is arranged in the corresponding grooves or through holes on the armature 5 and the stator 1.

[0054] At the top of the upper end of the rotor 8, there is a first boss 81, and at least one edge is provided on the side wall of the first boss 81. The first boss 81 is located in the first accommodation space, and the lower end of the rotor 8 vertically penetrates the stator 1 and is located in the second accommodation space. Refer to Figure 1 , in this embodiment, the boss 81 is a cuboid boss, and four evenly distributed edges protrude from the outer side wall of the boss, preventing relative rotation between the friction member and the first boss 81, and its rotation center of gravity is coaxial with the rotor body (the lower end of the rotor), preventing the rotor 8 from deflecting during rotation. In other embodiments of the present application, the first boss 81 can also be other polyhedron structures.

[0055] In this embodiment, the third opening is provided in the middle of the end face of the housing 2, and one end of the first boss 81 away from the friction member 6 is exposed in the third opening. The cover 3 is covered at the third opening, forming the first accommodation space with the housing 2 and the stator 1.

[0056] In this embodiment, several first grooves 51 with openings facing the stator 1 are provided at the lower end of the armature 5, and several corresponding grooves or through holes with openings facing the armature 5 are provided on the stator 1.

[0057] In this embodiment, both ends of the elastic member 7 are respectively placed in the first groove 51 of the armature 5 and the groove or through hole of the stator 1.

[0058] In this embodiment, a plurality of limiting bosses 52 with end faces facing the stator 1 are provided at the lower end of the armature 5, and the end faces of the limiting bosses 52 can be placed in the groove or through hole of the stator 1.

[0059] In this embodiment, the limiting bosses 52 and the elastic member 7 are spaced apart and evenly arranged around the outer periphery of the rotor 8.

[0060] In this embodiment, the brake further includes a hollow cylinder 10, the hollow cylinder 10 is arranged in the second accommodation space of the stator 1, the electromagnetic drive unit 4 is arranged around the outer periphery of the hollow cylinder 10, and the lower end of the rotor 8 passes through the stator 1 and the hollow cylinder 10.

[0061] In this embodiment, the hollow cylinder 10 and the stator 1 are integrally formed, and an opening communicating with the inside of the hollow cylinder 10 is provided at the upper end of the stator 1.

[0062] In this embodiment, the stator 1 is fixed to the housing 2 by bolts, adhesives or welding.

[0063] In this embodiment, a mounting hole for the rotor 8 to pass through is provided in the middle of the armature 5, the diameter of the mounting hole is larger than the outer diameter of the rotor 8, and the diameter of the mounting hole is smaller than the outer diameter of the first boss 81.

[0064] For the brake of the present utility model, its operation principle is as follows:

[0065] Brake state: The electromagnetic drive unit 4 is in a power-off state, the elastic member 7 is in a compressed state, deforms and provides an axial elastic force, pushing the armature 5 in a direction away from the electromagnetic drive unit 4, making the friction member 6 tightly adhere to the inner surface of the housing 2 and the upper end surface of the armature 5, generating a normal pressure and a frictional force. Since the center of the friction member 6 is a polygonal notch 61 (such as a square, rectangle, triangle or other polygons), and the upper end of the rotor 8 is a first boss 81 with the same shape as and matching the notch 61, the first boss 81 is located in the notch 61. When the friction member 6 is in the brake state, the rotor 8 is also fixed;

[0066] Release state: When the electromagnetic drive unit 4 is powered on, due to the magnetic effect of the current, the stator 1 obtains magnetism, attracting the armature 5 in the direction close to the electromagnetic drive unit 4, and its electromagnetic force is greater than the elastic force of the elastic member 7, compressing the elastic member 7, generating a gap between the friction member 6 and the armature 5 and the housing 2, making the friction member 6 rotatable in the radial direction, and the rotor 8 can rotate freely, realizing the release of the brake.

[0067] In this embodiment, the electromagnetic drive unit 4 is arranged inside the stator 1, and a second boss 9 for receiving the stator 1 is provided at the center of the electromagnetic drive unit 4 (refer to Figure 4), which can be magnetized by passing an electric current as the iron core. Preferably, the stator 1 and the iron core are made of soft iron or silicon steel materials with relatively fast demagnetization. Such an electromagnet has magnetism when powered on and the magnetism disappears when powered off, ensuring the response speed of the brake.

[0068] In this embodiment, no axial screws are used for locking between the stator 1 and the housing 2, so that the size of the electromagnetic drive unit 4 can be made as large as possible to fill the internal space of the stator 1, enabling more turns of the electromagnetic drive unit 4. Since the magnetic field generated by the electromagnet is related to the magnitude of the current, the number of turns of the coil, and the ferromagnetic body in the center, with the same current and the same diameter of the electromagnetic drive unit 4, this solution can obtain a greater magnetic field strength. Similarly, since no axial screws are used as fasteners, the end surface area of the friction member 6 can be made as large as possible and the thickness can be thinner, thereby obtaining a greater frictional torque, that is, a greater braking force, and reducing the mass and moment of inertia of the rotating part, thus improving the control performance.

[0069] In this embodiment, for the convenience of disassembly and maintenance, a side screw fixing method is adopted. Threaded holes 21 are provided in the circumferential direction of the housing 2, and the stator 1 and the housing 2 are fixedly connected by locking screws. Alternatively, the outer cylindrical surface of the stator 1 can be designed as an external thread structure, the inner cylindrical surface of the housing 2 can be designed as an internal thread structure, and the stator 1 and the housing 2 can be screwed and fixed together by using the cooperation of internal and external threads. Gluing or welding can also be used for fixing.

[0070] In this embodiment, a number of first through holes 11 for fixing the elastic member 7 are provided on the upper end of the stator 1 and grooves 51 are provided on the lower surface of the armature 5. In the power-off state of the electromagnetic drive unit 4, the elastic member 7 is in a compressed state, deforming and providing elastic force, so that the surface of the friction member 6 contacts the housing 2 and the armature 5, generating a frictional torque and providing a braking force. In this embodiment, a number of first bosses 52 are provided on the lower surface of the armature 5, and second through holes 12 are provided on the upper end surface of the stator 1 to cooperate with them. During use, the first bosses 52 are placed in the second through holes 12 to play a radial limiting role, preventing the armature 5 from rotating together with the friction member 6 during rotation, resulting in a loss of braking force or damage to the elastic member 7 due to torsion.

[0071] In this embodiment, as Figure 2 shown, first through holes 11 and second through holes 12 for inserting the elastic member 7 and the limiting bosses 52 on the lower surface of the armature 5 are respectively provided at the upper end of the stator 1, reducing the production difficulty. As Figure 4 shown, the elastic member 7 passes through the through hole at the upper end of the stator 1 and is received by the top of the second boss 9.

[0072] In some other embodiments, grooves corresponding to the grooves 51 and the limiting bosses 52 on the lower surface of the armature 5 can be provided on the end surface of the stator 1 to replace the first through holes 11 and the second through holes 12.

[0073] In this embodiment, a weight-reducing groove 53 is further provided on the side surface of the armature 5 to reduce the mass of the armature 5 and improve the response speed of the brake. The advantage of setting it on the side surface is to ensure the contact area between the upper end surface of the armature 5 and the friction member 6. According to the calculation formula of the frictional torque, on the premise that the pressure of the elastic member 7 is constant, the contact area is proportional to the frictional torque.

[0074] In this embodiment, a cover 3 is installed on the end surface of the housing 2 to play an axial sealing role. Since the interiors of these outer shell components such as the cover 3, the housing 2, and the stator 1 are also in a sealed state in the radial direction, the lower end surface of the electromagnetic drive unit 4 side is usually in close fit with the motor end surface, making the overall outer surface of the brake a closed structure. Dust and other impurities generated by internal wear will not enter the space outside the brake, ensuring the cleanliness of the external environment. In some other embodiments, the housing 2 and the cover 3 are integrally formed, and the axial sealing performance is better.

[0075] In some exemplary embodiments, the electromagnetic drive unit 4 is a winding.

[0076] In some exemplary embodiments, the elastic member 7 is a spring, a rubber ring, or other elastic components with the same function.

[0077] The brake provided by the present utility model can be made into a compact structure, which is beneficial to reducing the volume of the brake; after being energized, the winding has a high energy density and can obtain a larger braking torque; it has good sealing performance to prevent dust and other impurities generated by internal wear of the brake from entering the space outside the brake; the structure is simple and it is easy to install and maintain.

[0078] It should be noted that, in this embodiment, the number of the elastic members 7 is multiple, and the numbers of the first through holes 11 and the grooves 51 correspond to and are evenly distributed therewith. In other embodiments of the present utility model, one elastic member 7 can also be used, which is wound around the rotor 8, and grooves for fixing the elastic member 7 are correspondingly provided on the upper end surface of the stator 1 and the lower surface of the armature 5.

[0079] Embodiment 2

[0080] Embodiment 2 is an end effector, including the brake of the above embodiment. For an end effector using such a brake, such as a robot end effector, due to the large braking torque, fast response speed, and good braking effect of the brake, the control performance of the robot end effector is improved.

[0081] Those of ordinary skill in the art can understand that the above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A brake, characterized in that, Comprising: A housing (2) having a first accommodation space therein and a first opening communicating with the first accommodation space; A stator (1) having a second accommodation space therein and a second opening communicating with the second accommodation space; One end portion of the stator (1) away from the second opening is embedded in the first accommodation space and covers the first opening; A rotor (8) having a boss (81) provided at the top of one end thereof, at least one edge provided on the side wall of the boss (81), the boss (81) being located in the first accommodation space, and the other end of the rotor (8) vertically penetrating the stator (1) and being located in the second accommodation space; A friction member (6) located in the first accommodation space and sleeved on the outer peripheral surface of the boss (81); An armature (5) located in the first accommodation space and sleeved on the rotor (8), one end of the armature (5) being in contact with the friction member (6), and the other end of the armature (5) facing the stator (1); An elastic member (7) provided between the armature (5) and the stator (1); An electromagnetic driving unit (4) provided in the second accommodation space and surrounding the rotor (8).

2. The brake according to claim 1, wherein Further comprising a cover (3), the end face of the housing (2) having a third opening, one end of the boss (81) away from the friction member (6) being exposed in the third opening, and the cover (3) being provided at the third opening to form the first accommodation space with the housing (2) and the stator (1).

3. The brake according to claim 1, characterized in that, The other end of the armature (5) is provided with a plurality of grooves (51) with openings facing the stator (1); The stator (1) is provided with a plurality of grooves or through holes with openings facing the armature (5); Both ends of the elastic member (7) are respectively placed in the grooves (51) of the armature (5) and the grooves or the through holes of the stator (1).

4. The brake according to claim 3, characterized in that, The other end of the armature (5) is provided with a plurality of limiting bosses (52) with end faces facing the stator (1), and the end faces of the limiting bosses (52) can be placed in the grooves or the through holes of the stator (1).

5. The brake according to claim 4, characterized in that, The limiting bosses (52) and the elastic member (7) are spaced apart and evenly arranged around the outer periphery of the rotor (8).

6. The brake according to claim 1, characterized in that, Further comprising a hollow cylinder (10), the hollow cylinder (10) being provided in the second accommodation space, the electromagnetic driving unit (4) being arranged around the outer periphery of the hollow cylinder (10), and the other end of the rotor (8) passing through the stator (1) and the hollow cylinder (10).

7. The brake according to claim 6, characterized in that, The hollow cylinder (10) is integrally formed with the stator (1), and the stator (1) is provided with an opening communicating with the inside of the hollow cylinder (10).

8. The brake according to claim 1, characterized in that, One end of the stator (1) is fixed to the housing (2) by bolts, gluing or welding.

9. The brake according to claim 1, characterized in that, The middle of the armature (5) is provided with a mounting hole for the rotor (8) to pass through, the diameter of the mounting hole being larger than the outer diameter of the rotor (8) and smaller than the outer diameter of the boss (81).

10. An end effector, characterized in that, Comprising the brake according to any one of claims 1-9.

Images