Clutch braking device of robot

Abstract

The utility model discloses a clutch brake device of a robot, which relates to the technical field of robots and comprises a mounting plate, a brake mechanism is mounted on one side of the mounting plate, high-pressure gas enters a closed cavity to push a piston to move, an ejector rod pushes a release bearing to move, a diaphragm spring deforms, and a friction disc is separated from a flywheel. After gas in the closed cavity is pumped away, the release bearing is separated from the diaphragm spring, and the friction disc abuts against one side of the flywheel, so that clutch braking at the joint is achieved, the safety of frequent actions at the joint is improved, meanwhile, power is transmitted through air pressure, and the action stability of the robot is improved; through the arrangement of the springback mechanism and the double elasticity of the transmission steel sheet and the telescopic spring, the double reset opportunity is provided for the friction disc, the situation that the clutch brake device cannot normally move due to the failure of the transmission steel sheet after repeated use is prevented, and the service life of the device is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a clutch braking device of a robot. Background Art

[0002] Robots can perform tasks such as working or moving through programming and automatic control. Clutch and brake devices are installed at the joints of the robot to control power transmission and stopping during the movement of the robot.

[0003] In the existing technology, since the joints of the robot need to frequently start, stop and adjust the movement state to complete complex assembly tasks, and electromagnetic braking is easily affected by external environmental interference such as electromagnetic and temperature, the frequent movements of the robot joints will cause excessive heat release and generate electrical sparks, which has low safety. At the same time, starting and stopping will cause mechanical vibration, affecting the stability of the work. Utility Model Content

[0004] The purpose of this utility model is to solve the problem in the prior art that the joints of the robot need to frequently start, stop and adjust the movement state to complete complex assembly tasks, and the frequent movements affect the response speed of the electromagnetic clutch brake, and to propose a robot clutch brake device.

[0005] The cam is secured to the chassis and has a locking plate, the locking plate being secured to the chassis at the opposite end of the chassis, the locking plate being secured to the chassis at the opposite end of the chassis.

[0006] Preferably, the braking mechanism includes a clutch cover, one side of the clutch cover is fixedly connected to the flywheel by bolts, a first connecting shaft is installed in the middle of the flywheel, one end of the first connecting shaft is installed on one side of the mounting plate, a diaphragm spring is provided on one side of the clutch cover, and a pressure plate is provided on one side of the diaphragm spring.

[0007] Preferably, a clutch disc is engaged with the outside of the second connecting shaft, and friction discs are provided on both sides of the clutch disc.

[0008] Preferably, the rebound mechanism includes a transmission steel plate, one end of the transmission steel plate is mounted on one side of the clutch cover, and the other end of the transmission steel plate is mounted on one side of the pressure plate.

[0009] Preferably, a slot is provided on one side of the pressure plate, a guide column is fixedly connected to the inside of the slot, a moving block is slidably connected to the outside of the guide column, and one end of the moving block is rotatably connected to a rotating rod.

[0010] Preferably, one end of the rotating rod is fixedly connected to a steering ball, the outside of the steering ball is sleeved with a rotating block, and one end of the rotating block is fixedly connected to one side of the clutch cover.

[0011] Preferably, a telescopic spring is sleeved on the exterior of the guide column, and two ends of the telescopic spring are respectively arranged at one end of the slot and one end of the moving block.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are:

[0013] 1. In the utility model, a high-pressure gas delivery device is externally connected to one end of the first connecting tube, and the high-pressure gas enters the interior of the closed chamber, pushing the piston to move, and the ejector rod pushes the release bearing to move, the diaphragm spring is deformed, and the friction disc is separated from the flywheel. After the gas inside the closed chamber is extracted, the release bearing is separated from the diaphragm spring, and the friction disc abuts against one side of the flywheel, thereby realizing clutch braking at the joint, improving the safety of frequent movements at the joint, and at the same time transmitting power through air pressure, thereby improving the stability of the robot's movement.

[0014] 2. In the utility model, by setting up the rebound mechanism and utilizing the dual elasticity of the transmission steel plate and the telescopic spring, the friction disc is provided with a double reset opportunity, thereby preventing the transmission steel plate from failing after repeated use, causing the clutch brake device to be unable to move normally, thereby increasing the service life of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of a clutch brake device for a robot proposed in the utility model;

[0016] Figure 2 This is a schematic diagram of the disassembled structure of a robot clutch brake device proposed in the utility model;

[0017] Figure 3 This is a schematic diagram of the connection structure of the driving mechanism of the clutch brake device of a robot proposed in the utility model;

[0018] Figure 4This is a schematic cross-sectional structure diagram of a driving collar portion of a robot clutch brake device proposed in the utility model;

[0019] Figure 5 The utility model provides a schematic diagram of the connection structure of the rebound mechanism of the clutch brake device of a robot.

[0020] Legend: 1. Mounting plate; 2. Braking mechanism; 21. Clutch cover; 22. Clutch disc; 23. First connecting shaft; 24. Flywheel; 25. Friction disc; 26. Pressure plate; 27. Diaphragm spring; 3. Driving mechanism; 31. Positioning frame; 32. Second connecting shaft; 33. Driving collar; 34. Release bearing; 35. Socket plate; 36. First connecting pipe; 37. Fixed sleeve; 38. Conveying ring; 39. Second connecting pipe; 310. Piston; 311. Sealed chamber; 312. Ejector rod; 4. Rebound mechanism; 41. Transmission steel sheet; 42. Rotating block; 43. Slot; 44. Guide column; 45. Telescopic spring; 46. Moving block; 47. Rotating rod; 48. Steering ball. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1: Figure 1 - Figure 5As shown, the utility model provides a clutch brake device of a robot, including a mounting plate 1, a braking mechanism 2 is installed on one side of the mounting plate 1, a rebound mechanism 4 is installed on one side of the braking mechanism 2, a driving mechanism 3 is installed on the other side of the braking mechanism 2, and the driving mechanism 3 includes a positioning frame 31, a fixed sleeve 37 is installed on one side of the positioning frame 31, a second connecting shaft 32 is installed inside the fixed sleeve 37, a socket plate 35 is installed on the outside of the fixed sleeve 37, a driving collar 33 is fixedly connected to the outside of the socket plate 35, a closed chamber 311 is opened inside the driving collar 33, a piston 310 is sleeved inside the closed chamber 311, one end of the piston 310 is fixedly connected to an ejector rod 312, one end of the ejector rod 312 passes through the driving collar 33, and the ejector rod 312 is fixedly connected to the driving collar 33. A release bearing 34 is provided at one end of 312, and the release bearing 34 is sleeved on the outside of the fixed sleeve 37. One end of the closed chamber 311 is fixedly connected to the second connecting pipe 39, and one end of the second connecting pipe 39 is fixedly connected to the conveying ring 38, and the outer surface of the conveying ring 38 is fixedly connected to the first connecting pipe 36; the brake mechanism 2 includes a clutch cover 21, and one side of the clutch cover 21 is fixedly connected to the flywheel 24 by bolts. A first connecting shaft 23 is installed in the middle of the flywheel 24, and one end of the first connecting shaft 23 is installed on one side of the mounting plate 1. A diaphragm spring 27 is provided on one side of the clutch cover 21, and a pressure plate 26 is provided on one side of the diaphragm spring 27; the outside of the second connecting shaft 32 is engaged with the clutch disc 22, and friction discs 25 are provided on both sides of the clutch disc 22.

[0024] One end of the first connecting pipe 36 is connected to a high-pressure gas delivery device. The high-pressure gas enters the interior of the closed chamber 311 through the first connecting pipe 36, the delivery ring 38 and the second connecting pipe 39, pushing the piston 310 to move, driving the ejector rod 312 to move to the outside of the closed chamber 311, and the ejector rod 312 pushes the release bearing 34 to move. The release bearing 34 contacts the center of the diaphragm spring 27, pushing the diaphragm spring 27 to deform, and the pressure plate 26, the friction plate 25 and the clutch plate 22 move. The friction plate 25 is separated from the flywheel 24. The gas inside the closed chamber 311 is extracted through the first connecting tube 36, the conveying ring 38 and the second connecting tube 39, and the ejector rod 312 moves into the closed chamber 311, the release bearing 34 is separated from the diaphragm spring 27, and the friction disk 25 abuts against one side of the flywheel 24, thereby realizing the clutch braking at the joint. By adjusting the air pressure and the speed of intake and exhaust, it can start more gently, which improves the safety of frequent movements at the joint. At the same time, the power is transmitted by air pressure, which improves the stability of the robot's movement.

[0025] Example 2: Figure 1 、 Figure 2 and Figure 5As shown, the rebound mechanism 4 includes a transmission steel plate 41, one end of the transmission steel plate 41 is mounted on one side of the clutch cover 21, and the other end of the transmission steel plate 41 is mounted on one side of the pressure plate 26; a slot 43 is provided on one side of the pressure plate 26, the interior of the slot 43 is fixedly connected to a guide column 44, the outside of the guide column 44 is slidably connected to a moving block 46, and one end of the moving block 46 is rotatably connected to a rotating rod 47; one end of the rotating rod 47 is fixedly connected to a steering ball 48, the outside of the steering ball 48 is sleeved with a rotating block 42, and one end of the rotating block 42 is fixedly connected to one side of the clutch cover 21; the outside of the guide column 44 is sleeved with a telescopic spring 45, and the two ends of the telescopic spring 45 are respectively arranged at one end of the slot 43 and one end of the moving block 46.

[0026] During the clutch braking process, the diaphragm spring 27 is deformed, pushing the pressure plate 26, the friction plate 25 and the clutch plate 22 to move, the transmission steel plate 41 is deformed, and the telescopic spring 45 contracts at the same time, the rotation angle of the rotating rod 47 changes, and the steering ball 48 connected to one end of the rotating rod 47 rotates inside the rotating block 42, and the other end of the rotating rod 47 rotates on the moving block 46, pushing the moving block 46 to slide on the outside of the guide column 44. When the diaphragm spring 27 elastically recovers, the transmission steel plate 41 and the telescopic spring 45 elastically recover, so that the friction plate 25 moves to contact with the flywheel 24, and the control joint continues to move. Through the setting of the rebound mechanism 4, the dual elastic setting of the transmission steel plate 41 and the telescopic spring 45 is utilized to provide the friction plate 25 with a double reset opportunity, thereby preventing the transmission steel plate 41 from failing after repeated use, resulting in the clutch braking device being unable to move normally, thereby improving the service life of the device.

[0027] The method of use and working principle of this device are as follows: a high-pressure gas delivery device is connected to one end of the first connecting pipe 36, and the high-pressure gas enters the interior of the closed chamber 311 through the first connecting pipe 36, the delivery ring 38 and the second connecting pipe 39, pushing the piston 310 to move, driving the ejector rod 312 to move to the outside of the closed chamber 311, and the ejector rod 312 pushes the release bearing 34 to move. The release bearing 34 contacts the center of the diaphragm spring 27, pushing the diaphragm spring 27 to deform, the pressure plate 26, the friction plate 25 and the clutch plate 22 to move, the transmission steel plate 41 to deform, and the spring 27 to expand and contract. 45 contracts, the rotation angle of the rotating rod 47 changes, the moving block 46 slides on the outside of the guide column 44, the friction disc 25 is separated from the flywheel 24, and the gas inside the closed chamber 311 is extracted through the first connecting tube 36, the conveying ring 38 and the second connecting tube 39. The ejector rod 312 moves into the closed chamber 311, and the release bearing 34 is separated from the diaphragm spring 27. When the diaphragm spring 27 elastically recovers, the transmission steel sheet 41 and the telescopic spring 45 elastically recover, so that the friction disc 25 moves to contact with the flywheel 24, controlling the joint to continue to move, thereby realizing the clutch braking at the joint.

[0028] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes for application in other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A robot clutch brake device, comprising a mounting plate (1), characterized in that: A braking mechanism (2) is installed on one side of the mounting plate (1), a rebound mechanism (4) is installed on one side of the braking mechanism (2), a driving mechanism (3) is installed on the other side of the braking mechanism (2), and the driving mechanism (3) comprises a positioning frame (31), a fixing sleeve (37) is installed on one side of the positioning frame (31), a second connecting shaft (32) is installed inside the fixing sleeve (37), a socket plate (35) is installed outside the fixing sleeve (37), a driving collar (33) is fixedly connected to the outside of the socket plate (35), and a sealed cavity (33) is provided inside the driving collar (33). 11), a piston (310) is sleeved inside the closed chamber (311), one end of the piston (310) is fixedly connected to an ejector rod (312), one end of the ejector rod (312) passes through a driving sleeve (33), one end of the ejector rod (312) is provided with a separation bearing (34), the separation bearing (34) is sleeved on the outside of a fixed sleeve (37), one end of the closed chamber (311) is fixedly connected to a second connecting pipe (39), one end of the second connecting pipe (39) is fixedly connected to a conveying ring (38), and the outer surface of the conveying ring (38) is fixedly connected to the first connecting pipe (36).

2. The robot clutch brake device according to claim 1, characterized in that: The brake mechanism (2) includes a clutch cover (21), one side of the clutch cover (21) is fixedly connected to a flywheel (24) by bolts, a first connecting shaft (23) is installed in the middle of the flywheel (24), one end of the first connecting shaft (23) is installed on one side of the mounting plate (1), a diaphragm spring (27) is provided on one side of the clutch cover (21), and a pressure plate (26) is provided on one side of the diaphragm spring (27).

3. The robot clutch brake device according to claim 1, characterized in that: The outside of the second connecting shaft (32) is engaged with a clutch disc (22), and friction discs (25) are provided on both sides of the clutch disc (22).

4. The robot clutch brake device according to claim 1, characterized in that: The rebound mechanism (4) comprises a transmission steel plate (41), one end of which is mounted on one side of the clutch cover (21), and the other end of which is mounted on one side of the pressure plate (26).

5. The robot clutch brake device according to claim 2, characterized in that: A slot (43) is provided on one side of the pressure plate (26), a guide column (44) is fixedly connected to the inside of the slot (43), a moving block (46) is slidably connected to the outside of the guide column (44), and one end of the moving block (46) is rotatably connected to a rotating rod (47).

6. The robot clutch brake device according to claim 5, characterized in that: One end of the rotating rod (47) is fixedly connected to a steering ball (48), the outer portion of the steering ball (48) is sleeved with a rotating block (42), and one end of the rotating block (42) is fixedly connected to one side of the clutch cover (21).

7. The robot clutch brake device according to claim 5, characterized in that: The guide column (44) is sleeved with a telescopic spring (45), and two ends of the telescopic spring (45) are respectively arranged at one end of the slot (43) and one end of the moving block (46).

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