Robot joint module with electromagnetic brake

Abstract

The robot joint module with the electromagnetic brake comprises a main body assembly, the main body assembly comprises a shell, a brake assembly is arranged in the shell, and the brake assembly comprises a first electromagnet, a guide rod, a spring, a limiting block, a connecting plate, a second electromagnet and a brake pad; first electromagnets are evenly installed on the inner side wall of the shell, guide rods are evenly and fixedly connected to the inner side wall of the shell, springs are arranged on the outer side walls of the guide rods in a sleeving mode, and limiting blocks are fixedly connected to the bottom ends of the guide rods. According to the utility model, the brake assemblies are uniformly arranged in the radial direction of the rotor, so that the increase of the axial length of the joint module of the robot can be avoided, and the flattening and lightweight development of the joint module is facilitated. And meanwhile, after the joint module is powered off, the brake pad is driven by the spring to be tightly attached to the rotor and lock the rotating shaft, and the rotating shaft of the joint module is prevented from rotating at will.

Description

Technical Field

[0001] The utility model relates to a joint module, in particular to a robot joint module with an electromagnetic brake, and belongs to the technical field of robot joint modules. Background Art

[0002] Robots include any machine that simulates human behavior or thought, or any other living organism. The narrow definition of robots is subject to numerous classifications and debates; some computer programs are even referred to as robots. In modern industry, robots are man-made mechanical devices that can perform tasks autonomously, replacing or assisting humans. They are typically electromechanical devices controlled by computer programs or electronic circuits.

[0003] The robot joint module is one of the important components of the robot, which is used to quickly realize various applications and functional requirements of the robot. The robot joint module is generally composed of an encoder, a motor, a reducer and a braking device. During the use of the existing robot joint module, the braking mechanism will increase the axial length of the joint module, which is not conducive to the flattening and lightweight development of the joint module. Therefore, a robot joint module with an electromagnetic brake is proposed. Utility Model Content

[0004] In view of this, the present invention provides a robot joint module with electromagnetic brakes to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0005] The technical solution of the embodiment of the utility model is achieved as follows: a robot joint module with an electromagnetic brake, including a main body component, the main body component including a shell, a brake assembly is arranged inside the shell, and the brake assembly includes a first electromagnet, a guide rod, a spring, a limit block, a connecting plate, a second electromagnet and a brake pad;

[0006] The inner wall of the shell is evenly installed with a first electromagnet, the inner wall of the shell is evenly fixedly connected with a guide rod, the outer wall of the guide rod is sleeved with a spring, the bottom end of the guide rod is fixedly connected with a limit block, the outer wall of the guide rod is slidably connected with a connecting plate, the top of the connecting plate is installed with a second electromagnet, the second electromagnet is arranged below the first electromagnet, and the bottom of the connecting plate is fixedly connected with a brake pad. When the joint module needs to brake, the first electromagnet changes the direction of the magnetic field and pushes the second electromagnet to move in the opposite direction, so that the brake pad is close to the rotor bracket, thereby realizing rapid braking. After the joint module is powered off, the brake pad is driven to be close to the rotor bracket by the spring, locking the rotating shaft of the joint module to prevent the rotating shaft of the joint module from rotating at will.

[0007] Further preferably: the main body assembly further includes a first end cover and a second end cover;

[0008] The first end cover and the second end cover are fixedly connected to each other on both sides of the shell by bolts.

[0009] Further preferably, an encoder is installed on one side of the second end cover.

[0010] Further preferably, bearings are fixedly connected to the inner side walls of the first end cover and the second end cover.

[0011] Further preferably, the bearing is internally rotatably connected to a rotating shaft.

[0012] Further preferably, the inner side walls of the first end cover and the second end cover are fixedly connected to a stator bracket, and one side of the stator bracket is evenly fixedly connected to a stator core.

[0013] Further preferably, a stator winding is installed on the outer side wall of the stator core.

[0014] Further preferably, the outer side wall of the rotating shaft is fixedly connected with a rotor bracket, and the interior of the rotor bracket is evenly fixedly connected with rotor magnets.

[0015] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0016] 1. The present invention can avoid an increase in the axial length of the robot joint module by evenly arranging the brake components in the radial direction of the rotor, which is conducive to the flattening and lightweight development of the joint module.

[0017] 2. The utility model uses the electromagnets to cooperate with each other to drive the brake pads to quickly brake the rotor. At the same time, after the joint module is powered off, the spring drives the brake pads to fit tightly against the rotor, locking the rotating shaft of the joint module to prevent the rotating shaft of the joint module from rotating at will.

[0018] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a structural diagram from one perspective of the present utility model;

[0021] Figure 2 This is a structural diagram from another perspective of the present utility model;

[0022] Figure 3 This is a diagram of the internal structure of the shell of the utility model;

[0023] Figure 4 This is a structural diagram of the rotor bracket of the present utility model;

[0024] Figure 5 This is an enlarged structural diagram of point A of the present invention.

[0025] Figure numerals: 10, main body assembly; 11, shell; 12, first end cover; 13, second end cover; 14, encoder; 15, bearing; 16, rotating shaft; 17, stator bracket; 18, stator core; 19, stator winding; 110, rotor bracket; 111, rotor magnet; 20, brake assembly; 21, first electromagnet; 22, guide rod; 23, spring; 24, limit block; 25, connecting plate; 26, second electromagnet; 27, brake pad. DETAILED DESCRIPTION

[0026] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0027] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] like Figure 1-5 As shown, the embodiment of the present utility model provides a robot joint module with an electromagnetic brake, including a main body assembly 10, the main body assembly 10 includes a housing 11, a brake assembly 20 is arranged inside the housing 11, and the brake assembly 20 includes a first electromagnet 21, a guide rod 22, a spring 23, a limit block 24, a connecting plate 25, a second electromagnet 26 and a brake pad 27;

[0029] The inner wall of the shell 11 is evenly installed with a first electromagnet 21, and the inner wall of the shell 11 is evenly fixedly connected with a guide rod 22. The outer wall of the guide rod 22 is sleeved with a spring 23. The bottom end of the guide rod 22 is fixedly connected to the limit block 24, and the outer wall of the guide rod 22 is slidably connected with a connecting plate 25. The top of the connecting plate 25 is installed with a second electromagnet 26, and the second electromagnet 26 is arranged below the first electromagnet 21. The bottom of the connecting plate 25 is fixedly connected with a brake pad 27. After the joint module is energized, the first electromagnet 21 attracts the second electromagnet 26 to move the brake pad 27 away from the rotor bracket 110. When the joint module needs to brake, the first electromagnet 21 changes the direction of the magnetic field and pushes the second electromagnet 26 to move in the opposite direction, so that the brake pad 27 is close to the rotor bracket 110, thereby realizing rapid braking. After the joint module is powered off, the brake pad 27 is driven to be close to the rotor bracket 110 by the spring 23, locking the rotating shaft 16 of the joint module to prevent the rotating shaft 16 of the joint module from rotating at will.

[0030] In this embodiment, specifically: the main body assembly 10 further includes a first end cover 12 and a second end cover 13;

[0031] The first end cover 12 and the second end cover 13 are fixedly connected to both sides of the shell 11 by bolts. The first end cover 12 and the second end cover 13 are fixed by bolts, which is convenient for disassembly and installation.

[0032] In this embodiment, specifically: an encoder 14 is installed on one side of the second end cover 13, and the encoder 14 is used to convert mechanical motion into electrical signals, thereby playing the role of counting, positioning and controlling the robot joint module.

[0033] In this embodiment, specifically: bearings 15 are fixedly connected to the inner side walls of the first end cover 12 and the second end cover 13 . The bearings 15 are used to reduce friction resistance during the rotation of the rotating shaft 16 .

[0034] In this embodiment, specifically: the bearing 15 is internally rotatably connected to a rotating shaft 16 , and the mechanical energy of the joint module is output through the rotating shaft 16 .

[0035] In this embodiment, specifically: the inner side walls of the first end cover 12 and the second end cover 13 are fixedly connected with a stator bracket 17 , and one side of the stator bracket 17 is evenly fixedly connected with a stator core 18 , which is used to fix the stator winding 19 .

[0036] In this embodiment, specifically: a stator winding 19 is installed on the outer side wall of the stator core 18, and the stator winding 19 generates a magnetic field when energized.

[0037] In this embodiment, specifically: the outer wall of the rotating shaft 16 is fixedly connected to the rotor bracket 110 , and the interior of the rotor bracket 110 is evenly fixedly connected to the rotor magnet 111 . The rotor magnet 111 rotates under the force of the magnetic field, driving the rotating shaft 16 to rotate.

[0038] When the present invention is working: after the joint module is energized, the first electromagnet 21 attracts the second electromagnet 26, so that the brake pad 27 is away from the rotor bracket 110. After the joint module is started, the stator winding 19 is energized to generate a magnetic field. The rotor magnet 111 is forced to rotate in the magnetic field, driving the rotating shaft 16 to rotate. When the joint module needs to brake, the first electromagnet 21 changes the direction of the magnetic field, pushing the second electromagnet 26 to move in the opposite direction, so that the brake pad 27 is close to the rotor bracket 110, thereby achieving rapid braking. After the joint module is powered off, the spring 23 drives the brake pad 27 to be close to the rotor bracket 110, locking the rotating shaft 16 of the joint module to prevent the rotating shaft 16 of the joint module from rotating at will. By evenly arranging the brake assembly 20 in the radial direction of the rotor, the increase in the axial length of the robot joint module can be avoided, which is conducive to the flattening and lightweight development of the joint module.

[0039] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A robot joint module with electromagnetic brake, comprising a main body assembly (10), characterized in that: The main body assembly (10) includes a housing (11), a brake assembly (20) is provided inside the housing (11), and the brake assembly (20) includes a first electromagnet (21), a guide rod (22), a spring (23), a limit block (24), a connecting plate (25), a second electromagnet (26) and a brake pad (27); The inner wall of the shell (11) is evenly installed with a first electromagnet (21), the inner wall of the shell (11) is evenly fixedly connected with a guide rod (22), the outer wall of the guide rod (22) is sleeved with a spring (23), the bottom end of the guide rod (22) is fixedly connected with a limit block (24), the outer wall of the guide rod (22) is slidably connected with a connecting plate (25), the top of the connecting plate (25) is installed with a second electromagnet (26), the second electromagnet (26) is arranged below the first electromagnet (21), and the bottom of the connecting plate (25) is fixedly connected with a brake pad (27).

2. A robot joint module with electromagnetic brake according to claim 1, characterized in that: The main body assembly (10) further includes a first end cover (12) and a second end cover (13); A first end cover (12) and a second end cover (13) are respectively fixedly connected to both sides of the housing (11) by bolts.

3. The robot joint module with electromagnetic brake according to claim 2, characterized in that: An encoder (14) is installed on one side of the second end cover (13).

4. The robot joint module with electromagnetic brake according to claim 3, characterized in that: The inner side walls of the first end cover (12) and the second end cover (13) are fixedly connected with bearings (15).

5. The robot joint module with electromagnetic brake according to claim 4, characterized in that: The bearing (15) is internally rotatably connected to a rotating shaft (16).

6. The robot joint module with electromagnetic brake according to claim 4, characterized in that: The inner side walls of the first end cover (12) and the second end cover (13) are fixedly connected to a stator bracket (17), and one side of the stator bracket (17) is evenly fixedly connected to a stator core (18).

7. The robot joint module with electromagnetic brake according to claim 6, characterized in that: A stator winding (19) is installed on the outer side wall of the stator core (18).

8. The robot joint module with electromagnetic brake according to claim 5, characterized in that: The outer wall of the rotating shaft (16) is fixedly connected to a rotor bracket (110), and the interior of the rotor bracket (110) is evenly fixedly connected to a rotor magnet (111).

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