A joint capable of flexibly increasing electromagnetic holding brake

Abstract

The utility model belongs to the field of robot joint, concretely relates to a joint that can increase electromagnetic brake flexibly. The utility model provides a joint that can increase electromagnetic brake flexibly, include: motor's pivot, with pivot coaxial line and with pivot detachable connection's connecting shaft, and, act on the electromagnetic brake of connecting shaft. The utility model provides a joint that can increase electromagnetic brake flexibly, can freely install and detach electromagnetic brake and be used for installing the connecting shaft of electromagnetic brake and play the brake function, after detaching electromagnetic brake, the output shaft will not have the length of exceeding stator and rotor, and influence the application in next occasion.

Description

Technical Field

[0001] This utility model belongs to the field of robot joints, specifically relating to a joint that can flexibly add electromagnetic brakes. Background Technology

[0002] The movement of a robot's joints is usually controlled by motors. The motor is controlled by a motor encoder to start and stop the joints. To improve the braking effect of the joints, electromagnetic brakes are used when necessary. The electromagnetic brake usually acts on the output shaft of the motor, which means that the length of the output shaft must exceed the stator and rotor to provide installation space for the electromagnetic brake. If the application scenario is changed, the electromagnetic brake needs to be removed. At this time, the extra length of the output shaft will make it unusable. Utility Model Content

[0003] This invention provides a joint that can flexibly add electromagnetic brakes, which can effectively solve the problems in the background art.

[0004] This utility model provides a joint that can flexibly add electromagnetic brakes, comprising:

[0005] The motor shaft;

[0006] A connecting shaft that is coaxial with the rotating shaft and detachably connected to the rotating shaft;

[0007] And, an electromagnetic brake acting on the connecting shaft.

[0008] As a further optimization of this utility model, it also includes a brake housing that is detachably connected to the motor and used to cover the electromagnetic brake.

[0009] As a further optimization of this utility model, the rotating shaft is hollow; one end of the connecting shaft is sleeved inside the rotating shaft and detachably connected to the rotating shaft, and the other end of the connecting shaft extends beyond the rotating shaft and is connected to the electromagnetic brake.

[0010] As a further optimization of this utility model, it also includes a bushing coaxial with the rotating shaft and connected to one end of the rotating shaft. One end of the connecting shaft passes through the rotating shaft and is detachably connected to the bushing to realize the detachable connection between the connecting shaft and the rotating shaft.

[0011] As a further optimization of this utility model, the connecting shaft and the bushing are threaded together.

[0012] As a further optimization of this utility model, the bushing is a cubic structure with a hollow part, one end of the connecting shaft is threadedly connected to the hollow part of the bushing, and the four sides of the bushing are also provided with threaded holes.

[0013] It also includes a connector that covers the end of the bushing. The connector is also provided with a lug that corresponds to the side of the bushing. A bolt passes through the lug and is threaded into a threaded hole to fix the connector to the bushing.

[0014] As a further optimization of this utility model, two earlobes are provided opposite each other.

[0015] As a further optimization of this utility model, it also includes:

[0016] A bearing fitted onto the outer ring of a rotating shaft;

[0017] The stator fitted onto the outer ring of the bearing;

[0018] A rotor fitted around the outer ring of the stator;

[0019] A connecting plate that connects the rotor end to the shaft end;

[0020] In addition, the bushing is provided with a bushing flange that can be detachably connected to the connecting plate to realize the detachable connection between the rotating shaft and the connecting shaft.

[0021] As a further optimization of this utility model, the bushing flange is a fan-shaped flange, and the flange is provided in four places at the four corners of the side of the bushing.

[0022] As a further optimization of this utility model, it also includes:

[0023] Motor housing;

[0024] A speed reducer located inside the motor housing and connected to a connector;

[0025] A reducer encoder located inside the motor housing and used to detect the reducer output;

[0026] A motor encoder located inside the motor housing and used to detect the motor output;

[0027] And a motor drive located inside the motor housing and used to drive the motor.

[0028] This utility model provides a joint that can flexibly add electromagnetic brakes, allowing for free installation and removal of the electromagnetic brake and the connecting shaft used to install the electromagnetic brake for braking. After removing the electromagnetic brake, the output shaft will not exceed the length of the stator and rotor, thus affecting its application in the next situation. Attached Figure Description

[0029] Figure 1 This is a cross-sectional view of the structure after the connecting shaft and electromagnetic brake are installed in Example 1;

[0030] Figure 2 This is a cross-sectional view of the structure after disassembling the connecting shaft and the electromagnetic brake in Embodiment 1;

[0031] Figure 3 This is a schematic diagram of the installation structure of the bushing and connecting shaft in Embodiment 1;

[0032] Figure 4 yes Figure 3 Schematic diagram of the cross-section structure;

[0033] Figure 5 This is a schematic diagram of the installation structure of the bushing and connector in Embodiment 1;

[0034] Figure 6 yes Figure 5 Schematic diagram of the cross-section structure;

[0035] Figure 7 This is a schematic diagram of the connector structure in Embodiment 1;

[0036] Among them, there are: 1. Rotating shaft; 2. Connecting shaft; 3. Electromagnetic brake; 4. Bushing; 4a. Threaded hole; 4b. Bushing flange; 5. Connecting piece; 5a. Lug; 5b. Through hole; 5c. Mounting hole; 6. Bearing; 7. Stator; 8. Rotor; 9. Connecting plate; 10. Brake housing; 11. Motor housing; 12. Reducer; 13. Reducer encoder; 14. Circuit board. Detailed Implementation

[0037] like Figure 1-7 As shown, this embodiment is applied to a motor in which the rotating shaft 1 has a hollow structure. This embodiment includes a connecting shaft 2 and an electromagnetic brake 3.

[0038] One end of the connecting shaft 2 is fitted inside the rotating shaft 1 and is detachably connected to the rotating shaft 1. The axis of the connecting shaft 2 and the axis of the rotating shaft 1 are collinear. The portion of the other end of the connecting shaft 2 that extends beyond the stator 7 and the rotor 8 is used for braking by the electromagnetic brake 3, which clamps the connecting shaft 2 during braking. In other embodiments, if a non-hollow rotating shaft 1 is used, the connecting shaft 2 can be directly connected to one end of the rotating shaft 1.

[0039] When not using the electromagnetic brake 3, simply disconnect the connecting shaft 2 and the electromagnetic brake 3.

[0040] Preferably, this embodiment also includes a brake housing 10, which is detachably connected to the motor. The electromagnetic brake 3 is housed within the brake housing 10. Thus, after the electromagnetic brake 3 is installed, it forms a single unit with the motor, and when disassembling the electromagnetic brake 3, the brake housing 10 can be disassembled together with it.

[0041] Preferably, in this embodiment, the connecting shaft 2 is not directly connected to the rotating shaft 1, but is instead provided with a bushing 4. The bushing 4 is detachably connected to one end of the rotating shaft 1 and is coaxial with the rotating shaft 1. Specifically, the rotating shaft 1 and the bushing 4 are connected by a thread. That is, the outer diameter of the connecting shaft 2 is slightly smaller than the inner diameter of the rotating shaft 1. One end of the connecting shaft 2 passes through the rotating shaft 1 and is threadedly connected to the bushing 4. The other end of the connecting shaft 2 is used to install the electromagnetic brake 3.

[0042] In this embodiment, the bushing 4 is a cubic structure with a hollow portion, which is a through hole corresponding to the threaded end of the connecting shaft 2. The hollow portion of the bushing 4 is provided with an internal thread that is threaded to the connecting shaft 2, and the four sides of the bushing 4 are provided with threaded holes 4a. After the bushing 4 is threadedly connected to the connecting shaft 2, a set screw can be installed into the threaded hole 4a to tighten the connecting shaft 2, further reinforcing the connection between the connecting shaft 2 and the bushing 4.

[0043] This embodiment also includes a connector 5. The connector 5 covers the end of the bushing 4. Thus, the connector 5 can be used as a limit for the threaded connection of the connecting shaft 2 to the bushing 4.

[0044] In order to maintain the hollow structure of the hollow motor in this embodiment, the connecting shaft 2 in this embodiment is also a hollow structure. The connecting part 5 is provided with a through hole 5b. The through hole 5b is coaxial with the hollow part of the bushing 4. The diameter of the through hole 5b is smaller than the diameter of the hollow part of the bushing 4.

[0045] In this embodiment, the connector 5 is also provided with a lug 5a. When the connector 5 is covered on the bushing 4, the lug 5a fits exactly against the side of the bushing 4. The lug 5a is provided with a mounting hole 5c corresponding to the threaded hole 4a. The bolt passes through the mounting hole 5c and is threadedly connected to the threaded hole 4a to fix the connector 5 and the bushing 4. At the same time, the bolt can also tighten the connecting shaft 2.

[0046] Furthermore, this embodiment is provided with two lugs 5a, which are arranged opposite to each other.

[0047] Connector 5 can be used for connection with the motor's built-in reduction gear structure.

[0048] The motor in this embodiment also includes a bearing 6, a stator 7, a rotor 8, and a connecting plate 9.

[0049] The inner ring of bearing 6 is fitted onto the outer ring of shaft 1, the inner ring of stator 7 is fitted onto the outer ring of bearing 6, and rotor 8 is fitted onto the outer ring of stator 7 and can rotate relative to stator 7.

[0050] The connecting plate 9 connects the end of the rotor 8 and the end of the shaft 1, enabling the rotor 8 to drive the shaft 1 to rotate. In this embodiment, the connecting plate 9 and the shaft 1 are made as a single unit. In other embodiments, the connecting plate 9 can be made as a single unit with the rotor 8.

[0051] In this embodiment, a bushing flange 4b ​​is also provided on the bushing 4. The bushing flange 4b ​​and the connecting plate 9 are connected by bolts to fix the bushing 4 and the rotating shaft 1.

[0052] Furthermore, in this embodiment, the bushing flange 4b ​​consists of four fan-shaped flanges surrounding the outer ring of the bushing 4. The flanges are located at the four corners of the side of the bushing 4, so that the lug 5a is located exactly between two flanges.

[0053] Furthermore, this embodiment also includes a motor housing 11, a reducer 12, a reducer encoder 13, a motor encoder, and a motor drive.

[0054] The reducer is a harmonic reducer. The reducer 12 is located inside the motor housing 11, and its input end is fixedly connected to the connector 5.

[0055] The reducer encoder 13 is used to detect the output data of the reducer 12, and the reducer encoder 13 is also located inside the motor housing 11.

[0056] The motor encoder is located inside the motor housing 11 and is used to detect the motor's output data.

[0057] The motor drive is also located inside the motor housing 11 and is used to drive the motor. In this embodiment, the motor drive and the motor encoder are integrated into a circuit board 14, which has a through hole in the middle and is sleeved on the outside of the rotating shaft 1.

[0058] This preferred solution has good integration capabilities.

[0059] It should be understood that the descriptions of directions or positional relationships such as up, down, left, right, front, back, top, bottom, tail, horizontal, and vertical in this application are all based on the accompanying drawings in the specification and are only used to more clearly express the technical solution and simplify the description, rather than indicating or implying that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit the scope of protection of this utility model. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the essence and scope of the technical solutions of this utility model.

Claims

1. A joint that can flexibly incorporate an electromagnetic brake, characterized in that, include: The motor shaft; A connecting shaft that is coaxial with the rotating shaft and detachably connected to the rotating shaft; And, an electromagnetic brake acting on the connecting shaft; The rotating shaft is hollow; one end of the connecting shaft is fitted inside the rotating shaft and is detachably connected to the rotating shaft, while the other end of the connecting shaft extends beyond the rotating shaft and is connected to the electromagnetic brake.

2. The joint that can flexibly add electromagnetic brakes according to claim 1, characterized in that, It also includes a brake housing that is detachably connected to the motor and used to cover the electromagnetic brake.

3. A joint that can flexibly add electromagnetic brakes according to claim 1, characterized in that, It also includes a bushing that is coaxial with the rotating shaft and connected to one end of the rotating shaft. One end of the connecting shaft passes through the rotating shaft and is detachably connected to the bushing to realize the detachable connection between the connecting shaft and the rotating shaft.

4. A joint that can flexibly add electromagnetic brakes according to claim 3, characterized in that, The connecting shaft and the bushing are threaded together.

5. A joint that can flexibly add electromagnetic brakes according to claim 4, characterized in that, The bushing is a cubic structure with a hollow part. One end of the connecting shaft is threadedly connected to the hollow part of the bushing, and the bushing also has threaded holes on its four sides. It also includes a connector that covers the end of the bushing. The connector is also provided with a lug that corresponds to the side of the bushing. A bolt passes through the lug and is threaded into a threaded hole to fix the connector to the bushing.

6. A joint that can flexibly add electromagnetic brakes according to claim 5, characterized in that, There are two drooping ears facing each other.

7. A joint that can flexibly add electromagnetic brakes according to claim 1, characterized in that, Also includes: A bearing fitted onto the outer ring of a rotating shaft; The stator fitted onto the outer ring of the bearing; A rotor fitted around the outer ring of the stator; A connecting plate that connects the rotor end to the shaft end; In addition, the bushing is provided with a bushing flange that can be detachably connected to the connecting plate to realize the detachable connection between the rotating shaft and the connecting shaft.

8. A joint that can flexibly add electromagnetic brakes according to claim 7, characterized in that, The bushing flange is a fan-shaped flange, with four flanges located at the four corners of the bushing side.

9. A joint that can flexibly add electromagnetic brakes according to claim 6, characterized in that, Also includes: Motor housing; A speed reducer located inside the motor housing and connected to a connector; A reducer encoder located inside the motor housing and used to detect the reducer output; A motor encoder located inside the motor housing and used to detect the motor output; And a motor drive located inside the motor housing and used to drive the motor.

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