A tooth-type normally closed actuator for robot joints

Abstract

This utility model provides a tooth-type normally closed brake for robot joints. The tooth-type normally closed brake for robot joints includes: a brake disc, a connecting block mounted on the inner wall of the brake disc, a moving iron disc sleeved on the connecting block, the tooth surfaces of the brake disc and the moving iron disc being compatible, multiple fixing springs mounted on the connecting block, the other ends of the multiple fixing springs being connected to the moving iron disc, and a coil body provided on one side of the moving iron disc. The tooth-type normally closed brake for robot joints provided by this utility model uses a disc spring to provide braking force, resulting in small deformation under force and the ability to generate greater force. It employs a rectangular tooth structure, which can transmit greater torque and is less prone to tooth slippage. The addition of a manual release function facilitates practical use, and the inclusion of a protective component allows for easy opening and inspection of wear conditions, enabling timely maintenance and replacement.

Description

Technical Field

[0001] This utility model belongs to the field of normally closed brake technology, and in particular relates to a tooth-type normally closed brake for robot joints. Background Technology

[0002] The tooth-type normally closed electromagnetic brake for robot joints has significant technical advantages and application value. Its core significance lies in achieving highly reliable braking and rapid response through the synergistic design of mechanical meshing and electromagnetic control. The rectangular tooth meshing structure provides a static holding torque far exceeding that of friction brakes, without the risk of slippage. It is particularly suitable for collaborative robots that require precise positioning or industrial robots that need to withstand inertial impacts. The normally closed design relies on the preload of a disc spring, automatically locking when power is off, ensuring safety redundancy in the event of a sudden power outage or system failure. When power is restored, the electromagnetic force instantly releases the brake, with a response time of <20ms, meeting the requirements of high-frequency start and stop. The compact integration reduces the volume by 40% compared to traditional brakes, adapting to the trend of lightweight joint modules. In addition, the manual emergency release function solves the maintenance problem in the absence of power, enhancing practicality. This type of brake is particularly critical in high-end fields such as surgical robots and space robotic arms. Its vibration-resistant and dust-resistant characteristics also expand its application potential in agricultural and construction robots, making it a core component for safe motion control of intelligent equipment.

[0003] In the field of robotics, conventional brakes on the market either lack sufficient torque to brake, or are too bulky to install, and the devices lack convenient protective components, or the protective components are installed in a fixed way, making it inconvenient to check the internal wear and tear.

[0004] Therefore, it is necessary to provide a new tooth-type normally closed actuator for robot joints to solve the above-mentioned technical problems. Utility Model Content

[0005] The technical problem solved by this utility model is to provide a tooth-type normally closed brake for robot joints that uses a disc spring to provide braking force, has small deformation under force and can generate greater force, adopts a rectangular tooth structure to transmit greater torque and is not easy to slip teeth, adds a manual release function for convenient practical use, and sets a protective component to facilitate opening at any time to check the wear and tear, so as to carry out timely maintenance and replacement.

[0006] To solve the above-mentioned technical problems, the present invention provides a tooth-type normally closed brake for robot joints, comprising: a brake toothed disc, a connecting block installed on the inner wall of the brake toothed disc, a moving iron toothed disc sleeved on the connecting block, the tooth surfaces of the brake toothed disc and the moving iron toothed disc being compatible, a plurality of fixing springs installed on the connecting block, the other ends of the plurality of fixing springs being connected to the moving iron toothed disc, a coil body provided on one side of the moving iron toothed disc, a plurality of threaded holes being opened on one side of the coil body, a plurality of mounting holes being opened on one side of the connecting block, a plurality of through holes being opened on the inner wall of the plurality of mounting holes, a plurality of bolts being installed in the plurality of through holes, the other ends of the plurality of bolts passing through the plurality of through holes and engaging with the plurality of threaded holes.

[0007] As a further embodiment of this utility model, a plurality of mounting slots are provided on one side of the moving iron gear plate, and a plurality of disc springs are installed in the plurality of mounting slots, with the other end of each disc spring connected to the coil body.

[0008] As a further embodiment of this utility model, a plurality of through holes are provided on one side of the brake gear disc, and a plurality of bolts are provided in each of the plurality of through holes. The brake gear disc is connected to the external mounting surface through the plurality of bolts. A plurality of threaded holes are provided on one side of the brake gear disc, and a plurality of ball head screws are threadedly installed in each of the plurality of threaded holes. The spherical ends of the plurality of ball head screws are in contact with the moving iron gear disc.

[0009] As a further embodiment of this utility model, a drive shaft is provided on one side of the coil body, and a connecting plate is fixedly installed on one end of the drive shaft. Multiple through holes are provided on the connecting plate, and multiple threaded holes are provided on one side of the coil body. Multiple bolts are provided in the multiple through holes, and one end of each bolt passes through the multiple through holes and engages with the multiple threaded holes.

[0010] As a further embodiment of this utility model, the coil body is provided with a first sleeve and a second sleeve on both sides respectively. Two plugs, two plugs, and two plugs are fixedly installed on one side of the first sleeve. Two holes, two holes, and two holes are opened on one side of the second sleeve respectively. The two plugs are adapted to the two holes. Semi-annular blocks are fixedly installed on the outer walls of the first sleeve and the second sleeve respectively. Multiple through holes are opened on the semi-annular blocks. Multiple sleeves are provided in the multiple through holes.

[0011] As a further embodiment of this utility model, multiple through holes 5 are respectively opened on the inner walls of multiple sleeves, and multiple limiting blocks are slidably installed in the multiple through holes 5. Multiple sliders are slidably installed in the multiple sleeves, and multiple mounting holes 2 are respectively opened at the bottom of the multiple sliders. Multiple spring telescopic rods are fixedly installed in the multiple mounting holes 2. The other end of the multiple spring telescopic rods is fixedly connected to the bottom inner wall of the multiple sleeves. Multiple through holes 6 are opened on the top inner wall of the sleeves, and multiple lifting blocks are slidably installed in the multiple through holes 6. One end of the multiple lifting blocks is fixedly connected to the top of the multiple sliders. Multiple through holes 7 are respectively opened on one side of the brake gear disc. The multiple through holes 7 are adapted to the multiple sleeves. Multiple limiting grooves are respectively opened on the inner wall of the multiple through holes 7. The multiple limiting grooves are adapted to the multiple limiting blocks. The coil body is connected to an external power supply device through wires.

[0012] Compared with related technologies, the tooth-type normally closed actuator for robot joints provided by this utility model has the following advantages: 1. This utility model uses a disc spring to provide braking force, which has a compact structure, small deformation under force, and can generate a larger force; 2. This utility model adopts a rectangular tooth structure, which can transmit greater torque and is less prone to tooth slippage; 3. This utility model adds a manual release function, which allows the brake to be manually released even without power, making it convenient for practical use; 4. By setting up protective components, this utility model can protect the braking components while allowing for easy access to check for wear and tear, thus enabling timely maintenance and replacement. Attached Figure Description

[0013] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0014] Figure 1 This is a three-dimensional structural diagram of the tooth-type normally closed actuator for robot joints according to this utility model; Figure 2 This is a side sectional view of the normally closed tooth-type actuator for robot joints according to this utility model. Figure 3 This is a structurally disassembled schematic diagram of the protective component of the normally closed tooth-type actuator for robot joints according to this utility model; Figure 4 This is a schematic diagram of the protective component connection of the normally closed tooth-type brake for robot joints according to this utility model; Figure 5 This is a schematic diagram of the quick-release assembly structure of the tooth-type normally closed brake for robot joints according to this utility model.

[0015] In the diagram: 1. Brake gear disc; 2. Connecting block; 3. Moving iron gear disc; 4. Fixed snap ring; 5. Coil body; 6. Bolt 1; 7. Disc spring; 8. Bolt 2; 9. Ball head screw; 10. Drive shaft; 11. Bolt 3; 12. Sleeve 1; 13. Sleeve 2; 14. Plug 1; 15. Plug 2; 16. Plug 3; 17. Semi-annular block 1; 18. Semi-annular block 2; 19. Sleeve; 20. Limiting block; 21. Slider; 22. Spring telescopic rod; 23. Lifting block. Detailed Implementation

[0016] Please refer to the following: Figures 1 to 5 ,in, Figure 1 This is a three-dimensional structural diagram of the tooth-type normally closed actuator for robot joints according to this utility model; Figure 2 This is a side sectional view of the normally closed tooth-type actuator for robot joints according to this utility model. Figure 3 This is a structurally disassembled schematic diagram of the protective component of the normally closed tooth-type actuator for robot joints according to this utility model; Figure 4 This is a schematic diagram of the protective component connection of the normally closed tooth-type brake for robot joints according to this utility model; Figure 5 This is a schematic diagram of the quick-release assembly structure of the tooth-type normally closed brake for robot joints according to this utility model. The tooth-type normally closed brake for robot joints includes: a brake toothed disc 1, a connecting block 2 installed on the inner wall of the brake toothed disc 1, a moving iron toothed disc 3 sleeved on the connecting block 2, the tooth surfaces of the brake toothed disc 1 and the moving iron toothed disc 3 being compatible, a plurality of fixing springs 4 respectively installed on the connecting block 2, the other ends of the plurality of fixing springs 4 being connected to the moving iron toothed disc 3, a coil body 5 provided on one side of the moving iron toothed disc 3, a plurality of threaded holes 1 respectively opened on one side of the coil body 5, a plurality of mounting holes 1 respectively opened on one side of the connecting block 2, a plurality of through holes 1 respectively opened on the inner wall of the plurality of mounting holes 1, a plurality of bolts 6 respectively installed in the plurality of through holes 1, the other ends of the plurality of bolts 6 respectively passing through the plurality of through holes 1 and screwing into the plurality of threaded holes 1.

[0017] By cooperating with the brake disc 1 and the moving iron disc 3, and using a rectangular tooth structure, a larger torque can be transmitted and the teeth are less prone to slippage.

[0018] The moving iron toothed disc 3 has multiple mounting slots on one side, and multiple disc springs 7 are installed in the multiple mounting slots. The other end of each disc spring 7 is connected to the coil body 5.

[0019] By using disc springs to provide braking force, the structure is compact, the deformation under stress is small, and it can generate a larger force.

[0020] The brake disc 1 has multiple through holes 2 on one side, and multiple bolts 2 8 are installed in the multiple through holes 2. The brake disc 1 is connected to the external mounting surface through the multiple bolts 2 8. The brake disc 1 also has multiple threaded holes 2 on one side, and multiple ball head screws 9 are threaded into the multiple threaded holes 2. The spherical ends of the multiple ball head screws 9 are in contact with the moving iron disc 3.

[0021] The manual release function is added through the cooperation of the ball head screw 9 and the moving iron gear plate 3, so that the brake can be manually released even without power drive, which is convenient for actual use.

[0022] A drive shaft 10 is provided on one side of the coil body 5. A connecting plate is fixedly installed on one end of the drive shaft 10. Multiple through holes 3 are respectively opened on the connecting plate. Multiple threaded holes 3 are respectively opened on one side of the coil body 5. Multiple bolts 3 11 are respectively provided in the multiple through holes 3. One end of the multiple bolts 3 11 passes through the multiple through holes 3 and is screwed into the multiple threaded holes 3. The coil body 5 has a housing 12 and a housing 2 13 on its two sides respectively. Two plugs 14, two plugs 25 and two plugs 3 16 are fixedly installed on one side of the housing 12. Two holes 1, two holes 2 and two holes 3 are opened on one side of the housing 2 13. The two plugs 14, two plugs 25 and two plugs 3 16 are respectively adapted to the two holes 1, two holes 2 and two holes 3. Semi-annular blocks 17 and 2 are fixedly installed on the outer walls of the housing 12 and the housing 2 13 respectively. Multiple through holes 4 are opened on the semi-annular blocks 17 and 2. Multiple sleeves 19 are provided in the multiple through holes 4 respectively. Multiple through holes 5 are formed on the inner walls of multiple sleeves 19. Multiple limiting blocks 20 are slidably installed in the multiple through holes 5. Multiple sliders 21 are slidably installed in the multiple sleeves 19. Multiple mounting holes 2 are formed on the bottom of the multiple sliders 21. Multiple spring telescopic rods 22 are fixedly installed in the multiple mounting holes 2. The other end of the multiple spring telescopic rods 22 is fixedly connected to the bottom inner wall of the multiple sleeves 19. Multiple through holes 6 are formed on the top inner wall of the multiple sleeves 19. Multiple lifting blocks 23 are slidably installed in the multiple through holes 6. One end of the multiple lifting blocks 23 is fixedly connected to the top of the multiple sliders 21. Multiple through holes 7 are formed on one side of the brake disc 1. The multiple through holes 7 are adapted to the multiple sleeves 19. Multiple limiting grooves are formed on the inner wall of the multiple through holes 7. The multiple limiting grooves are adapted to the multiple limiting blocks 20. The coil body 5 is connected to an external power supply device through wires.

[0023] The cooperation between the limit block 20 and the slider 21 protects the braking components while allowing for easy access to check for wear and tear, thus enabling timely maintenance and replacement.

[0024] The working principle of the tooth-type normally closed actuator for robot joints provided by this utility model is as follows: First step: In the braking state, the brake disc 1 is fixedly connected to the external mounting surface (such as the frame) by bolt 2 8, and the coil body 5 is connected to the drive shaft 10. At this time, the disc spring 7 installed on one side of the moving iron disc 3 is in a naturally extended state, which will generate a thrust on the moving iron disc 3, causing the moving iron disc 3 to mesh tightly with the tooth surface of the brake disc 1. The force is transmitted through the moving iron disc 3 to the coil body 5, and then to the drive shaft 10, realizing the braking of the drive shaft 10 and keeping the robot joint stationary. When the braking state is released, the coil body 5 is connected to the external power supply device through the wire. When the coil body 5 is energized, an electromagnetic force is generated. This electromagnetic force will attract the moving iron disc 3 to move towards the coil body 5. During the movement of the moving iron disc 3, the disc spring 7 will be compressed. As the moving iron disc 3 moves, it separates from the tooth surface of the brake disc 1, the braking effect is released, and the drive shaft 10 can drive the robot joint to operate normally. The second step: When it is necessary to manually release the brake, the brake gear 1 has multiple threaded holes 2, and ball head screws 9 are installed in the multiple threaded holes 2. When encountering special circumstances such as power failure, it is necessary to release the brake. By turning the ball head screws 9, the ball end of the ball head screws 9 can push the moving iron gear 3 to move away from the brake gear 1. After the moving iron gear 3 moves, it separates from the brake gear 1, thereby manually releasing the brake state, which is convenient for maintaining or adjusting the robot joints. Third step: When it is necessary to check the wear condition of the brake assembly, multiple sleeves 19 can be pulled out in sequence by pulling out the lifting block 23. After all the sleeves 19 have been pulled out, the first sleeve 12 and the second sleeve 13 can be removed separately and then the brake assembly can be observed and selectively maintained.

[0025] It should be noted that the device structure and accompanying drawings of this utility model mainly describe the principle of this utility model. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, under the premise that those skilled in the art understand the principle of the above utility model, the specific details of its power mechanism, power supply system and control system can be clearly understood. The control method in the application document is automatic control through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming. All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0026] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and alterations can be made to these embodiments, or they can be used directly or indirectly, without departing from the principles and spirit of the present invention. In other related technical fields, the scope of the present invention is defined by the appended claims and their equivalents, and they are similarly included within the patent protection scope of the present invention.

Claims

1. A tooth-type normally closed actuator for robot joints, characterized in that, include: A brake gear disc has a connecting block installed on its inner wall. A moving iron gear disc is fitted onto the connecting block. The tooth surfaces of the brake gear disc and the moving iron gear disc are compatible. Multiple retaining springs are installed on the connecting block, and the other ends of the multiple retaining springs are connected to the moving iron gear disc. A coil body is provided on one side of the moving iron gear disc. Multiple threaded holes are opened on one side of the coil body. Multiple mounting holes are opened on one side of the connecting block. Multiple through holes are opened on the inner wall of the multiple mounting holes. Multiple bolts are installed in the multiple through holes. The other ends of the multiple bolts pass through the multiple through holes and are screwed into the multiple threaded holes.

2. The normally closed tooth-type actuator for robot joints according to claim 1, characterized in that: The moving iron gear plate has multiple mounting slots on one side, and multiple disc springs are installed in the multiple mounting slots. The other end of each disc spring is connected to the coil body.

3. The normally closed tooth-type actuator for robot joints according to claim 1, characterized in that: The brake disc has multiple through holes on one side, and multiple bolts are installed in each of the multiple through holes. The brake disc is connected to the external mounting surface through the multiple bolts. The brake disc also has multiple threaded holes on one side, and multiple ball head screws are threaded into each of the multiple threaded holes. The spherical ends of the ball head screws are in contact with the moving iron disc.

4. The normally closed tooth-type actuator for robot joints according to claim 1, characterized in that: A drive shaft is provided on one side of the coil body, and a connecting plate is fixedly installed on one end of the drive shaft. Multiple through holes are provided on the connecting plate, and multiple threaded holes are provided on one side of the coil body. Multiple bolts are provided in the multiple through holes, and one end of each bolt passes through the multiple through holes and engages with the multiple threaded holes.

5. The normally closed tooth-type actuator for robot joints according to claim 2, characterized in that: The coil body has a housing 1 and a housing 2 on both sides. Two plugs 1, 2 plugs 2 and 3 are fixedly installed on one side of the housing 1. Two holes 1, 2 holes 2 and 3 are opened on one side of the housing 2. The two plugs 1, 2 plugs 2 and 3 are respectively adapted to the two holes 1, 2 holes 2 and 3. Semi-annular blocks 1 and 2 are fixedly installed on the outer walls of the housing 1 and housing 2 respectively. Multiple through holes 4 are opened on the semi-annular blocks 1 and 2 respectively. Multiple sleeves are provided in the multiple through holes 4 respectively.

6. The normally closed tooth-type actuator for robot joints according to claim 5, characterized in that: Multiple through holes (5) are formed on the inner walls of multiple sleeves, and multiple limiting blocks are slidably installed in each of the multiple through holes (5). Multiple sliders are slidably installed in each of the multiple sleeves, and multiple mounting holes (2) are formed on the bottom of each of the multiple sliders. Multiple spring telescopic rods are fixedly installed in each of the multiple mounting holes (2). The other ends of the multiple spring telescopic rods are fixedly connected to the bottom inner walls of the multiple sleeves. Multiple through holes (6) are formed on the top inner walls of the multiple sleeves, and multiple lifting blocks are slidably installed in each of the multiple through holes (6). One end of each lifting block is fixedly connected to the top of each of the multiple sliders. Multiple through holes (7) are formed on one side of the brake disc, and the multiple through holes (7) are adapted to each of the multiple sleeves. Multiple limiting grooves are formed on the inner walls of the multiple through holes (7), and the multiple limiting grooves are adapted to each of the multiple limiting blocks. The coil body is connected to an external power supply device through wires.

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