A clutch device and robot

Abstract

The utility model discloses a kind of clutching brake device and robot, belong to robot joint driving technical field, comprising: rotor, limiting structure and driving structure, the edge of rotor is the convex tooth and groove of alternate arrangement, clutching brake device further includes fixed bolster, one end of limiting structure is connected with fixed bolster, driving structure is used to drive limiting structure along the axial movement of rotor, the other end of limiting structure is driven into groove or disengaged from groove under driving structure, the utility model is driven by the convex tooth-groove structure of rotor edge and the limiting structure cooperation of axial movement, realize brake using the clearance space of rotor and driver, save axial space, simplify structure, directly through groove mechanical limiting, response fast, driving structure directly controls the engagement of limiting structure and rotor edge, brake more efficient and reliable, overall scheme compact light weight, suitable for space and weight sensitive robot joint, collaborative mechanical arm and servo driving system.

Description

Technical Field

[0001] This utility model relates to the field of robot joint drive technology, and in particular to a brake device and robot. Background Technology

[0002] Traditional articulated brake systems typically employ an axially centered electromagnetic brake structure, relying on the magnetic field generated by an electromagnet to attract or release braking friction elements to achieve braking control of the mechanical equipment. However, this design has the following drawbacks: First, the electromagnetic brake requires a large axial space, leading to an increase in the overall thickness of the joint, which is detrimental to the design of compact mechanical structures; second, the centered layout limits the space utilization between the rotor and the drive unit, affecting the optimization of the transmission system. Furthermore, traditional solutions rely on dedicated braking components, such as friction pads and electromagnets, which are complex in structure and expensive.

[0003] To overcome the above problems, there is an urgent need for a brake device that can utilize the space between the rotor and the driver for layout, reduce axial thickness, simplify structure, and avoid the use of additional braking components, thereby improving space utilization and braking efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a brake device and robot to solve the problems existing in the prior art. It can utilize the gap space between the rotor and the driver for layout, reduce axial thickness, simplify the structure, and avoid the use of additional braking components, thereby improving space utilization and braking efficiency.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] This utility model provides a brake device, including: a rotor, a limiting structure and a driving structure. The edge of the rotor is an alternating arrangement of protrusions and grooves. The brake device also includes a fixed bracket. One end of the limiting structure is connected to the fixed bracket. The driving structure is used to drive the limiting structure to move along the axial direction of the rotor. The other end of the limiting structure is driven by the driving structure to engage in or disengage from the groove.

[0007] As one embodiment, it also includes a pressure cap, which is fixed on the fixed bracket. The limiting structure includes a pin and a spring. The spring is sleeved on the outside of the pin. The pin has a boss. The pressure cap has a through hole. One end of the pin passes through the through hole. The spring is located between the pressure cap and the boss.

[0008] In one embodiment, the driving structure includes a hollow magnetic ring and an electromagnetic coil. The hollow magnetic ring is sleeved on the pin and located between the boss and the spring. The electromagnetic coil is sleeved on the outside of the hollow magnetic ring and fixedly installed.

[0009] In one embodiment, both the protruding teeth and the grooves are rectangular in shape.

[0010] In one embodiment, both the protruding teeth and the grooves are inclined trapezoidal or triangular in shape.

[0011] As one embodiment, the end of the pin that contacts the groove is tapered or wedge-shaped, and the surface of the groove that contacts the pin is an inclined surface.

[0012] As one embodiment, the limiting structure includes a shape memory alloy latch, and the driving structure includes a heating wire disposed inside or on the surface of the shape memory alloy latch.

[0013] As one embodiment, it also includes a spacer sleeve, which is sleeved between the electromagnetic coil and the hollow magnetic ring, and the spacer sleeve is made of copper or aluminum alloy.

[0014] As one embodiment, a buffer pad is provided between the pressure cap and the fixed bracket.

[0015] This utility model also provides a robot, including a joint assembly, characterized in that: the joint assembly is provided with the brake device for braking the joint assembly.

[0016] The present invention achieves the following technical advantages over the prior art:

[0017] This invention utilizes the gap between the rotor and the driver to achieve braking by cooperating with the tooth-groove structure on the rotor edge and the axial movement limiting structure, thus saving axial space. The lateral arrangement of the limiting structure reduces the joint thickness and simplifies the structure. The mechanical limiting is achieved directly through the groove, eliminating the need for traditional friction plates or electromagnets, and the response is fast. The drive structure directly controls the engagement between the limiting structure and the rotor edge, making braking more efficient and reliable. The overall solution is compact and lightweight, making it suitable for space- and weight-sensitive robot joints, collaborative robotic arms, and servo drive systems. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the rotor structure in an embodiment of the present utility model;

[0020] Figure 2 This is a schematic diagram showing the positional relationship between the pin, the pressure cap, and the rotor in an embodiment of this utility model;

[0021] Figure 3 This is a cross-sectional schematic diagram of the joint assembly in an embodiment of the present utility model;

[0022] Figure 4 This is a cross-sectional schematic diagram of the brake device in an embodiment of this utility model;

[0023] Among them, 1. rotor; 2. fixed bracket; 3. pressure cover; 4. pin; 5. spring; 6. boss; 7. hollow magnetic ring; 8. electromagnetic coil; 9. protruding tooth; 10. groove. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] The purpose of this invention is to provide a brake device and robot to solve the problems existing in the prior art. It can utilize the gap space between the rotor and the driver for layout, reduce axial thickness, simplify the structure, and avoid the use of additional braking components, thereby improving space utilization and braking efficiency.

[0026] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figures 1-4As shown, this utility model provides a braking device, including: a rotor 1, a limiting structure, and a driving structure. The edge of the rotor 1 has alternating convex teeth 9 and grooves 10. The braking device also includes a fixed bracket 2. One end of the limiting structure is connected to the fixed bracket 2. The driving structure is used to drive the limiting structure to move along the axial direction of the rotor 1. The other end of the limiting structure is driven by the driving structure to engage in or disengage from the groove 10. This utility model achieves braking by cooperating with the convex teeth 9-groove 10 structure on the edge of the rotor 1 and the axially moving limiting structure, utilizing the gap space between the rotor 1 and the driver, thus saving axial space. The lateral arrangement of the limiting structure reduces the joint thickness and simplifies the structure. It directly uses the groove 10 for mechanical limiting, eliminating the need for traditional friction plates or electromagnets, and has a fast response. The driving structure directly controls the engagement of the limiting structure with the edge of the rotor 1, making braking more efficient and reliable. The overall solution is compact and lightweight, suitable for robot joints, collaborative robotic arms, and servo drive systems that are sensitive to space and weight.

[0028] The aforementioned lateral arrangement refers to the arrangement along the radial direction of rotor 1 away from the rotation center of rotor 1.

[0029] As one embodiment, it also includes a pressure cover 3, which is fixed on the fixed bracket 2. The limiting structure includes a pin 4 and a spring 5. The spring 5 is sleeved on the outside of the pin 4. The pin 4 is provided with a boss 6. The pressure cover 3 is provided with a through hole. One end of the pin 4 passes through the through hole. The spring 5 is located between the pressure cover 3 and the boss 6. Under normal working conditions, the spring 5 is pressed against the pressure cover 3, and the pin 4 is in a state of being disengaged from the groove 10. When the power is off, the spring 5 restores its deformation and abuts against the boss 6, pushing the pin 4 to move axially along the rotor 1, so that the pin 4 is locked into the groove 10.

[0030] In one embodiment, the drive structure includes a hollow magnetic ring 7 and an electromagnetic coil 8. The hollow magnetic ring 7 is sleeved on the pin 4 and is located between the boss 6 and the spring 5. The electromagnetic coil 8 is sleeved on the outside of the hollow magnetic ring 7 and fixedly installed. When the electromagnetic coil 8 is energized, the joint motor is in normal working condition. The hollow magnetic ring 7 is attracted by the electromagnetic coil 8, and the hollow magnetic ring 7 presses the spring 5 against the pressure cover 3. The pin 4 is in a state of being disengaged from the groove 10. When the electromagnetic coil 8 is de-energized, the joint motor is in a de-energized state. The electromagnetic coil 8 no longer provides magnetic attraction to the hollow magnetic ring 7. The reaction force of the spring 5 restoring its deformation provides elastic force to the pin 4, causing the pin 4 to be inserted into the groove 10. The joint motor triggers the brake action and is in a braking state.

[0031] Preferably, the end of the spring 5 away from the pressure cap 3 can directly abut against the hollow magnetic ring 7, or it can abut against the stepped structure provided on the pin 4 to directly provide elastic force to the pin 4.

[0032] Furthermore, the electromagnetic coil 8 is fixedly connected to the fixed bracket 2.

[0033] Furthermore, the joint assembly includes a stator, to which the electromagnetic coil 8 is fixedly connected.

[0034] As one embodiment, both the protruding tooth 9 and the groove 10 are rectangular in shape.

[0035] As one embodiment, both the protruding tooth 9 and the groove 10 are inclined trapezoidal or triangular in shape.

[0036] It is understood that the above-mentioned rectangle refers to the projection of the protruding tooth 9 and the groove 10 along the radial direction of the rotor as a rectangle, and the above-mentioned trapezoid or triangle is the same as the rectangle.

[0037] As one embodiment, the end of the pin 4 that contacts the groove 10 is tapered or wedge-shaped, and the surface of the groove 10 that contacts the pin 4 is inclined, so that when the pin 4 is inserted into the groove 10, a radial component force is generated to enhance the self-locking effect.

[0038] As one embodiment, the limiting structure includes a shape memory alloy latch, and the driving structure includes a heating wire disposed inside or on the surface of the shape memory alloy latch. When the heating wire is energized, the shape memory alloy latch heats up and contracts to disengage from the groove 10. When the heating wire is de-energized, the shape memory alloy latch cools down and extends to lock into the groove 10. Using a shape memory alloy latch as a limiting structure has the characteristics of being quiet and wear-free, and is suitable for micro precision braking.

[0039] As one embodiment, it also includes a spacer, which is an annular spacer. The spacer is sleeved between the electromagnetic coil 8 and the hollow magnetic ring 7. The spacer is made of copper or aluminum alloy, which can optimize the magnetic circuit, reduce magnetic leakage, and improve the uniformity of the magnetic field. The height of the spacer is 1 to 1.5 times the height of the hollow magnetic ring 7. For example, if the hollow magnetic ring 7 is 10mm high, the spacer can be 12mm.

[0040] As one embodiment, a buffer pad is provided between the pressure cover 3 and the fixed bracket 2. The buffer pad is made of silicone or polyurethane and is used to absorb the impact vibration when the limiting structure moves.

[0041] This utility model also provides a robot, including a joint assembly, characterized in that: a brake device is provided in the joint assembly for braking the joint assembly.

[0042] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A brake device, characterized in that, include: The rotor (1), the limiting structure, and the driving structure are provided. The edge of the rotor (1) is composed of alternating convex teeth (9) and grooves (10). The brake device also includes a fixed bracket (2). One end of the limiting structure is connected to the fixed bracket (2). The driving structure is used to drive the limiting structure to move along the axial direction of the rotor (1). The other end of the limiting structure is driven by the driving structure to either engage in the groove (10) or disengage from the groove (10).

2. The brake device according to claim 1, characterized in that: It also includes a pressure cap (3), which is fixed on the fixed bracket (2). The limiting structure includes a pin (4) and a spring (5). The spring (5) is sleeved on the outside of the pin (4). The pin (4) is provided with a boss (6). The pressure cap (3) is provided with a through hole. One end of the pin (4) passes through the through hole. The spring (5) is located between the pressure cap (3) and the boss (6).

3. The brake device according to claim 2, characterized in that: The driving structure includes a hollow magnetic ring (7) and an electromagnetic coil (8). The hollow magnetic ring (7) is sleeved on the pin (4) and is located between the boss (6) and the spring (5). The electromagnetic coil (8) is sleeved on the outside of the hollow magnetic ring (7) and fixedly installed.

4. The brake device according to claim 1, characterized in that: Both the protruding tooth (9) and the groove (10) are rectangular in shape.

5. The brake device according to claim 1, characterized in that: Both the protruding tooth (9) and the groove (10) are inclined trapezoidal or triangular in shape.

6. The brake device according to claim 2, characterized in that: The end of the pin (4) that contacts the groove (10) is tapered or wedge-shaped, and the surface of the groove (10) that contacts the pin (4) is an inclined surface.

7. The brake device according to claim 1, characterized in that: The limiting structure includes a shape memory alloy latch, and the driving structure includes a heating wire disposed inside or on the surface of the shape memory alloy latch.

8. The brake device according to claim 3, characterized in that: It also includes a spacer sleeve, which is fitted between the electromagnetic coil (8) and the hollow magnetic ring (7), and the spacer sleeve is made of copper or aluminum alloy.

9. The brake device according to claim 2, characterized in that: A buffer pad is provided between the pressure cap (3) and the fixed bracket (2).

10. A robot comprising a joint assembly, characterized in that: The joint assembly is provided with a brake device as described in any one of claims 1-9 for braking the joint assembly.

Images