CN111156269B - A brake device, motion component and automation equipment - Google Patents

Abstract

The present invention provides a braking device, a motion component and an automation device. Wherein, the braking device includes a first part, a second part, at least a main control part including an electromagnetic coil and a permanent magnet; the first part includes a first magnetic conductive part; the second part includes a second magnetic conductive part ; the permanent magnet is arranged on the first magnetic conductive part or the second magnetic conductive part; the first magnetic conductive part or the second magnetic conductive part corresponds to the position of the permanent magnet along the cutting The direction of the magnetic field lines generated by the permanent magnets forms the first gap. By adopting the technical solution of the present invention, the sensitivity and stability of the braking device can be relatively improved in some cases.

Description

A brake device, motion component and automation equipment

technical field

The invention relates to the technical field of self-braking devices, in particular to a braking device, a motion component and automation equipment.

Background technique

Existing automation equipment includes various moving components, such as a mover of a motor (rotary motion type or linear motion type), moving wheels, etc. In order to brake the moving components, various braking devices are designed.

The existing brake device, as described in the patent CN101970897, relies on the force of the spring for braking. In this way, in some cases, when the braking force of the brake needs to be changed, a new spring needs to be replaced, causing a certain amount of waste. .

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a brake device, a control device, a control method and a motion assembly, which can prolong the service life of the brake device through a simple structure.

A first aspect of the present invention provides a braking device for braking and releasing the braking of a relatively moving first structure and a second structure, characterized in that the braking device includes a first part, a second part and a motion control part; the motion control part includes a main control part including at least an electromagnetic coil and a permanent magnet; the first part includes a first magnetic conductive part; the second part includes a second magnetic conductive part;

A second gap exists between the first magnetic conductive portion and the second magnetic conductive portion;

The permanent magnet is arranged on one of the first magnetic conductive portion and the second magnetic conductive portion; the first magnetic conductive portion or the second magnetic conductive portion where the permanent magnet is located corresponds to the The position of the permanent magnet forms a first gap along the direction of cutting the permanent magnet to generate magnetic lines of force, so that when the second gap increases to a certain range, the magnetic lines of force generated by the permanent magnet are partially formed based on the first gap Self-loop, so that the magnetic field force generated by the permanent magnet on the other one of the first magnetic conductive part and the second magnetic conductive part will decrease more rapidly; wherein,

The first magnetic conductive portion or the second magnetic conductive portion where the permanent magnet is located corresponds to the position of the permanent magnet and forms a fixed first gap along the direction of cutting the permanent magnet to generate magnetic lines of force. The following structure is implemented: setting The first magnetic conductive part or the second magnetic conductive part of the permanent magnet includes two parts; the two parts are oppositely arranged and cooperate to accommodate the permanent magnet, and the two parts are opposite to each other. The first gap is formed therebetween.

Further, the main control part includes a first elastic member and an electromagnetic coil;

one of the first part and the second part is fixed to the first structure; or the other of the first part and the second part is fixed to the second structure;

The first magnetic conductive portion and the second magnetic conductive portion are disposed opposite to each other, and form a second gap with adjustable spacing;

the second part and the first part are connected to each other by the first elastic member; and the first elastic member exerts a first elastic force to increase the distance;

The electromagnetic coil is disposed corresponding to the first magnetic conductive portion or the second magnetic conductive portion.

Further, when the electromagnetic coil passes a first short-term current, a first magnetic force is formed between the first magnetic conductive portion and the second magnetic conductive portion, and the first elastic force is overcome by the first magnetic force Reduce the distance; when the first current disappears, the first magnetic conductive part and the second magnetic conductive part continue to maintain the attraction state under the action of the third magnetic force generated by the permanent magnet; when the electromagnetic When the coil passes a second current opposite to the first current for a short time, the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive part, and the second magnetic force is the same as the first magnetic force. The third magnetic force cancels out, and the distance increases under the action of the first elastic force.

Further, the main control part includes an electromagnetic coil;

one of the first part and the second part is fixed to the first structure; the other of the first part and the second part is fixed to the second structure;

the first magnetic conductive part and the second magnetic conductive part are disposed opposite to each other;

The electromagnetic coil is arranged on the first magnetic conductive portion or the second magnetic conductive portion.

Further, when the electromagnetic coil passes a first short-term current, a first magnetic force is formed between the first magnetically conductive part and the second magnetically conductive part, and the second part is made to move to the desired direction by the first magnetic force. The first part moves; when the first current disappears, the first magnetic conductive part and the second magnetic conductive part continue to maintain the attraction state under the action of the third magnetic force generated by the permanent magnet; when the When the electromagnetic coil passes a second current opposite to the first current, the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetically permeable part, and the second magnetic force is opposite to the first magnetic force. The third magnetic force cancels out, so that the second part is separated from the first part.

Further, the braking device further includes a braking structure disposed on the first part and/or the second part corresponding to the first structure or the second structure, and the motion control part controls the first structure. One part and the second part move relatively and oppositely, so as to drive the braking structure to brake or release the relative movement of the first structure and the second structure.

Further, the brake structure is a brake pad.

Further, the first structure and the second structure move relatively linearly; the braking structure includes a first end and a second end;

The first part and the second part are oppositely arranged along the direction of the linear movement;

One of the first part and the second part is fixed to at least one end of the second structure along the direction of the linear movement;

The braking structure is pivotally connected to the first part through a pivot; the first end is movably connected to the second part; the second end abuts the side surface of the first structure; The motion control part controls the reciprocating movement between the first part and the second part along the direction, drives the second end to rotate around the pivot, and changes the second end with the change of the rotation angle. The magnitude of the friction force between the end and the side surface is used to brake and release the relative movement of the first structure and the second structure.

Further, the first end is movably connected to the second part through the following structure:

One of the first end and the second part is provided with a limit groove, and the other of the first end and the second part is provided with a limit block matched with the limit groove; The limiting block can slide in the limiting groove.

Further, the first structure and the second structure move relatively linearly;

The braking structure is arranged on one of the first part and the second part through a second elastic member;

The other one of the first part and the second part is provided with a pushing part corresponding to the braking structure;

The one of them and the first side wall of the first structure form an accommodating groove for accommodating the braking structure; the accommodating groove includes at least a first accommodating portion that communicates with each other along the direction of the linear movement and a second receptacle;

The braking structure is movably accommodated in the first accommodating portion, and can be clamped and accommodated in the second accommodating portion;

The second elastic member is deformed to form a second elastic force that pushes the braking structure into the second accommodating portion;

The motion control part is used to control the relative reciprocating movement between the first part and the second part, so as to drive the brake structure to move back and forth between the first accommodating part and the second accommodating part .

Further, when the first current is controlled to be passed to the electromagnetic coil for a short time, the first magnetic force overcomes the first elastic force and pushes the braking structure against the second elastic force through the pushing portion into the first accommodating part; when the first current disappears, the first magnetic conductive part and the second magnetic conductive part continue to maintain the attracting state under the action of the third magnetic force; when the When the electromagnetic coil passes the short second current, the second gap increases under the first elastic force; the braking structure is sent into the second container under the second elastic force. set department.

Further, the distance between the second side wall of the first side wall and the second side wall corresponding to the first side wall of the first accommodating portion and the second accommodating portion and the first side wall is gradually changed to form a slope.

Further, the braking device further includes a connecting part, the first part is fixed on the second structure through the connecting part; the second part is movably sleeved outside the connecting part through the through hole, reciprocates along a path defined by the connecting portion.

A second aspect of the present invention provides a moving assembly, the moving assembly includes the braking device described in any one of the above; the moving assembly includes a first structure and a second structure that move with each other.

Further, the moving component is a motor; the braking device is used for braking the mover after the motor is powered off; one of the first structure and the second structure is a stator; The other of the first structure and the second structure is a mover.

Further, when the moving component is a component that rotates with each other, one of the first part and the second part is fixed to or corresponds to at least one end of the first structure; the first part and the second part are fixed to or correspond to at least one end of the first structure; The other one of the second parts is fixed to or corresponding to at least one end of the second structure through the braking structure; or

When the moving components are components that move linearly with each other; one of the first part and the second part is fixed to or corresponds to at least one end of the second structure; the first part and the second part The other of the parts is fixed to or corresponds to the side of the first structure either by means of the braking structure.

A third aspect of the present invention provides an automation device, the automation device comprising at least one of the motion components described in any one of the above.

The use of the braking device, motion assembly and automation equipment of the present invention has the following beneficial effects:

With the braking device with the above structure, since the first gap is arranged around the permanent magnet, the magnetic force between the first part and the second part generated by the permanent magnet becomes nonlinear with the gap between the first part and the second part. Therefore, in cooperation with the main control unit, the sensitivity and stability of the braking device can be relatively improved in some cases.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments and the prior art. Obviously, the drawings in the following description are only some implementations of the present invention. For example, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a first structural schematic diagram of an embodiment of a braking device provided by the present invention.

FIG. 2 is a first cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention.

FIG. 3 is a second cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention.

FIG. 4 is a third cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention.

FIG. 5 is a partial second cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention.

FIG. 6 is a schematic diagram of the overall structure of an embodiment of a moving assembly including a braking device provided by the present invention.

FIG. 7 is a graph showing the change of the magnetic attraction force of the permanent magnet of the braking device provided by the present invention with the gap.

FIG. 8 is a diagram of the magnetic field lines generated by the permanent magnet when the gap is 0.7 mm.

FIG. 9 is a diagram of the magnetic field lines generated by the permanent magnet when the gap is 0.1 mm.

FIG. 10 is a second overall structural schematic diagram of an embodiment of the braking device provided by the present invention.

FIG. 11 is a first overall structural schematic diagram of an embodiment of a linear motor including a braking device provided by the present invention.

FIG. 12 is a schematic structural diagram of an embodiment of the braking device provided by the present invention after the partial structure of the first part is removed.

13 is a schematic structural diagram of an embodiment of a partial cross-section of the braking device provided by the present invention.

FIG. 14 is a schematic view of the reverse structure of the embodiment of the first part of the braking device provided by the present invention.

FIG. 15 is a schematic top view of the structure of the embodiment of the braking device provided by the present invention without the first part.

FIG. 16 is a second overall structural schematic diagram of an embodiment of a linear motor including a braking device provided by the present invention.

FIG. 17 is a schematic diagram of the overall structure of an embodiment of a linear motor including a braking device provided by the present invention.

FIG. 18 is a schematic structural diagram of an embodiment of the second part of the braking device provided by the present invention.

FIG. 19 is a first plan view of an embodiment of a linear motor including a braking device provided by the present invention.

FIG. 20 is a first cross-sectional structural schematic diagram of the embodiment of the linear motor including the braking device provided by the present invention, which is cut along the G plane in the first plan view.

21A is a first partial enlarged schematic diagram of the first cross-sectional structural schematic diagram provided by the present invention; FIG. 21B is a second partial enlarged schematic diagram of the first cross-sectional structural schematic diagram provided by the present invention.

22A is a second top view of an embodiment of a linear motor including a braking device provided by the present invention;

22B is a schematic plan view of the second cross-sectional structure in the second top view of the embodiment of the linear motor including the braking device provided by the present invention, which is cut along the F plane.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments of some, but not all, of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to illustrate the technical solutions of the present invention, the following specific embodiments are used for description.

FIG. 1 is an overall first structural schematic diagram of an embodiment of a braking device provided by the present invention. FIG. 2 is a first cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention, wherein the first part and the second part are in a state of being close to each other. 3 is a second cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention, wherein the first part and the second part are in a state of being separated from each other.

As shown in FIG. 1 , 2 or 3 , an embodiment of the present invention provides a braking device 10 for braking and releasing the braking of a first structure and a second structure in relative motion, the braking device includes a first part 11 , a second part 12 and a motion control part; the motion control part includes a main control part 13 including at least an electromagnetic coil and a permanent magnet 14; the first part 11 includes a first magnetic conductive part 111; the second part 12 It includes the second magnetic conductive portion 121; it should be noted that the first portion 11 or the second portion 12 may be formed by only the first magnetic conductive portion 111 or the second magnetic conductive portion 121, or the first portion 11 and the second magnetic conductive portion 121. In addition to the first magnetic conducting portion 111 and the second magnetic conducting portion 121 , the portion 12 also includes other structures.

The permanent magnet 14 is disposed on the first magnetic conductive portion 111 (as shown in FIG. 1 ) or the second magnetic conductive portion (not shown in the figure); the first magnetic conductive portion 111 (as shown in FIG. 1 ) shown) or the second magnetic conducting portion forms a first gap 112 corresponding to the position of the permanent magnet 14 along the direction of the magnetic field lines generated by cutting the permanent magnet. It should be noted that, the first gap 112 may be set at any position of the first magnetic conductive portion 111 corresponding to the magnetic field lines generated by cutting the permanent magnet 14 . The direction of the first gap may be perpendicular to the magnetic field lines (as shown in FIGS. 2 and 3 ), or may not be perpendicular to the magnetic field lines at any angle intersecting with the magnetic field lines.

It should be noted that the main control part including at least the electromagnetic coil can be modified and designed arbitrarily according to the needs, for example, the following embodiments include the first elastic member and the electromagnetic coil, or only include the electromagnetic coil, etc. Now Structures with similar functions have been developed or will be developed in the future.

The braking device can be used for the braking of the first structure and the second structure of the relative motion of various motion components. For example, the motion components can be a rotary motor (as shown in FIG. Motion linear motor (as shown in Figure 6, 11 or 16, Figure 6 is a schematic diagram of the overall structure of an embodiment of a motion assembly including a braking device provided by the present invention; Figure 11 is a schematic diagram of the linear motor provided by the present invention including a braking device. Figure 16 is a schematic diagram of the second overall structure of an embodiment of a linear motor including a braking device provided by the present invention) and so on, which will be further described later. In some embodiments, taking a motor as an example, the first structure may be one of a stator and a mover of a rotary electric machine or a linear motor, and the second structure may be the other of a stator and a mover of a rotary electric machine and a linear motor .

Due to the formation of the first gap 112 , when the distance between the second gap 15 separating the first magnetic conductive portion 111 and the second magnetic conductive portion 121 increases, a part of the magnetic field lines generated by the permanent magnet 14 will form a self-loop, so the magnetic field lines loop The number of T will decrease; as shown in FIG. 7 , FIG. 7 is a graph of an embodiment in which the magnetic attraction force of the permanent magnet of the braking device provided by the present invention changes with the second gap; due to the above reasons, the magnetic field lines generated by the permanent magnets are nonlinear change curve, and the braking force of the main control part 13 and the second gap 15 change (ie the amount of compression deformation) usually change linearly, therefore, through the interaction of the permanent magnet and the main control part, the first part and the second part When the second gap between the parts increases to a certain range, the attractive force generated by the permanent magnet will decrease more rapidly; and when the second gap is reduced to a certain range, the attractive force generated by the permanent magnet will increase more rapidly. Therefore, In cooperation with the acting force of the main control part, the sensitivity and stability of the braking device can be relatively improved. As shown in FIG. 8 , FIG. 8 is a diagram of the magnetic field lines generated by the permanent magnet when the second gap is 0.7 mm; as shown in FIG. 9 , FIG. 9 is a diagram of the magnetic field lines generated by the permanent magnet when the second gap is 0.1 mm. According to the comparison between FIG. 8 and FIG. 9 , the density of magnetic lines of force generated in FIG. 8 is significantly higher than that in FIG. 9 .

It should be noted that, the main control part can be any structure including at least the electromagnetic coil 131 and together with the permanent magnet 14 , which can control the relative and opposite movement of the first part and the second part.

FIG. 4 is a third cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention.

As shown in FIG. 2 , 3 or 4 , in some embodiments, the main control part 13 includes an electromagnetic coil 131 and a first elastic member 132 . It should be noted that the first elastic member may include, but is not limited to, a spring, an elastic sheet or an elastic plunger.

One of the first part and the second part is fixed to the first structure, and the other of the first part and the second part is fixed to the second structure; in this specific embodiment, the first part 11 is used for fixing In the first structure 21 (as shown in FIG. 2 or 3 ), the second structure 22 is a member to be braked; and/or the second part 12 is fixed to the second structure 22 (as shown in FIG. 11 or 16 ) shown), the first structure 21 is an example to be braked.

The second part 12 and the first part 11 are connected to each other by the first elastic member 132; The first elastic force that separates the part 11 from the second part 12 causes the distance between the second gaps 15 to increase.

The first magnetic conductive portion and the second magnetic conductive portion are arranged opposite to each other, and the second gap 15 with an adjustable distance is formed between them, so that a space between the first magnetic conductive portion and the second magnetic conductive portion can be formed. Magnetic field loops.

For the convenience of understanding, the main control part includes an elastic member and an electromagnetic coil as an example for further detailed description; continuing as shown in Figures 1, 2 or 3, the first part 11 can be fixed at any required position of the first structure 21, For example, it can be fixed to at least one end of the first structure 21 .

The second portion 12 is connected to the first portion 11 through the first elastic member 132, and the second portion 12 corresponds to the to-be-braking portion of the second structure 22; the first elastic member 132 is in After the braking device 10 is installed on the moving assembly, when the second part corresponds to the to-be-braking part of the second structure, the first elastic member 132 is deformed, and the deformation causes the first elastic member 132 to respond to the braking device. The second portion 12 exerts a first elastic force directed towards the to-be-braking member 22 , and the first elastic force acts as the braking force of the first portion 11 to the second structure 22 ; with the force of the elastic member 131 Deformation can change the size of the second gap 15 between the first part 11 and the second part 12 . The part to be braked of the second structure 22 can be at least one end of the second structure 22 (as shown in FIG. 1 ), or the side surface of the second structure 22 (as shown in FIG. 6 ), etc. The position of the brake function.

The first magnetic conductive portion 111 and the second magnetic conductive portion 121 are disposed opposite to each other in the axial direction; Gap 15.

The electromagnetic coil 131 is arranged on the first magnetic conducting portion 111; in addition, it can also be arranged on the second magnetic conducting portion (not shown in the figure);

The permanent magnet 14 is disposed on the first magnetic conductive portion 111 , and the position of the first magnetic conductive portion 111 corresponding to the permanent magnet 14 forms a first gap 112 along the direction of the magnetic field lines generated by cutting the permanent magnet 14 .

When the permanent magnet 14 is disposed on the first magnetic conductive portion 111 , the permanent magnet 14 , the first magnetic conductive portion 111 and the second magnetic conductive portion 121 form a closed loop T, so that the second magnetic conductive portion 121 forms a closed loop T. The magnetic part 121 forms a third magnetic force opposite to the elastic force for attracting the second magnetic conductive part 121 . It should be noted that the number of permanent magnets may be one or more, and one or more permanent magnets 14 may be provided on the first magnetic conducting portion 111 (as shown in FIG. 1 , 2 or 3 ), or may be provided on the on the second magnetic conducting part (not shown in the figure).

As shown in FIG. 2 , the electromagnetic coil 14 is disposed on the first magnetic conductive portion 111 , and when the electromagnetic coil 14 passes a short first current, the electromagnetic coil 131 will affect the second magnetic conductive portion. 121 forms a first magnetic force opposite to the elastic force and greater than the first elastic force, attracting the second part 12 to overcome the elastic force to move toward the first part 11; After the current disappears, the second part continues to maintain the attraction state with the first part under the action of the third magnetic force, so the second part releases the brake on the second structure 22; as shown in FIG. 3, when the electromagnetic force When the coil 131 passes a second current opposite to the first current, the electromagnetic coil 131 forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive portion 121 , and the second magnetic force Compensating with the third magnetic force, the second component 12 moves toward the second structure 22 under the action of the first elastic force until the second structure 22 is braked again.

It should be noted that, the first elastic member, the permanent magnet and the electromagnetic coil may be arranged in a horizontal parallel arrangement (as shown in FIG. 2 or 3 ), or may be arranged in a longitudinal overlapping arrangement (as shown in FIG. 4 ).

Due to the formation of the first gap, when the distance of the second gap separated by the first magnetically permeable part and the second magnetically permeable part increases, a part of the magnetic field lines generated by the permanent magnets will form a self-loop, so the number of magnetic field lines loops T will be reduced; As shown in FIG. 7, FIG. 7 is a graph of the magnetic attraction force of the permanent magnet of the braking device provided by the present invention as a function of the gap; due to the above reasons, the magnetic force line generated by the permanent magnet presents a nonlinear curve, while the braking force of the elastic member It usually changes linearly with the change of the gap (ie, the amount of compression deformation). Therefore, through the interaction of the permanent magnet and the elastic member, when the second gap between the first part and the second part increases to a certain range, the permanent magnet The attraction effect that occurs will decrease more quickly; and when the second gap is reduced to a certain range, the attraction force generated by the permanent magnet increases more rapidly. Therefore, in conjunction with the elastic force, the sensitivity and stability of the braking device can be relatively improved. sex. As shown in FIG. 8 or 9 , according to the comparison between FIG. 8 and FIG. 9 , the density of magnetic lines of force generated in FIG. 8 is significantly higher than that in FIG. 9 .

In some embodiments, a method for controlling the braking device described in the above embodiments is provided, the method comprising:

S211, obtain a trigger signal of the braking device; the trigger signal may be generated through interaction by presetting an interactive button; it may also be executing a preset program, for example: when the linear motor is powered on and started (the power-on signal is the trigger signal), execute step S212 to release the braking; or after the linear motor is powered off (the short-circuit signal is the trigger signal), execute step S213 to realize braking.

S212, when the trigger signal is a brake release signal, pass the first short-term current to the electromagnetic coil, so that the electromagnetic coil forms the second magnetically conductive portion opposite to the braking force and greater than The first magnetic force of the braking force causes the second part to move toward the first part against the first elastic force; when the first short-term current disappears, the second part is under the third magnetic force. Under the action of , it continues to maintain the attraction state with the first part, so the second part releases the brake on the brake.

S213, when the trigger signal is a braking signal, a short second current is applied to the electromagnetic coil, and the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive portion , the second magnetic force cancels the third magnetic force; the second part brakes the to-be-braking member under the first elastic force.

As shown in FIG. 5 , FIG. 5 is a partial second cross-sectional structural schematic diagram of an embodiment of the braking device provided by the present invention. In some embodiments, the main control unit 13 may only include the electromagnetic coil 131 .

One of the first part and the second part is fixed to the first structure, and the other of the first part and the second part is fixed to the second structure. In this specific embodiment, the first part 11 is fixed to the first structure 21 and the second part 12 is fixed to the second structure 22 as an example for further detailed description below;

The first magnetic conductive portion 111 and the second magnetic conductive portion 121 are disposed opposite to each other;

The electromagnetic coil 131 is disposed on the first magnetic conductive portion 111 or the second magnetic conductive portion 121 .

When the electromagnetic coil 131 passes a first short-term current, a first magnetic force is formed between the first magnetically conductive portion 111 and the second magnetically conductive portion 121, and the second portion 12 is made to move toward each other by the first magnetic force. The first part 11 moves; when the first current disappears, the first magnetic conductive part 111 and the second magnetic conductive part 121 continue to attract under the action of the third magnetic force generated by the permanent magnet 14 state; when the electromagnetic coil 131 passes a second current opposite to the first current, the electromagnetic coil 131 forms a second magnetic force opposite to the first magnetic force on the second magnetic conductive portion 121 , the second magnetic force cancels the third magnetic force, so that the second part is separated from the first part.

In some embodiments, the braking device 10 further includes a braking structure disposed on the first part and/or the second part, and the first part 11 and the first part 11 and the first part 11 and the second part are controlled by the motion control part. The two parts 12 move relatively and in opposite directions, thereby driving the braking structure to brake or release the relative rotational motion or linear motion of the first structure 21 and the second structure 22 . For the convenience of understanding, the following takes the specific structure of part of the brake structure as an example for further detailed description, but it should be noted that the brake structure is not limited to the following embodiments.

In some embodiments, the braking device 10 includes a braking structure fixed on the second portion 12 corresponding to the surface of the portion to be braked, and the braking structure 15 can be designed into any structure as required, for example, as shown in FIG. 1 , 2 or 3, the brake structure 15 may be a brake pad 15, and the brake pad 15 corresponds to the second structure 22 (as shown in Figures 1, 2 or 3) or the end of the first structure, or corresponds to the end of the first structure. The second structure 22 or the side surface of the first structure (as shown in FIG. 6 ) is provided. In some embodiments, in order to better realize the braking, at least the surface of the braking structure corresponding to the mover can be made of a material with a large friction coefficient; in addition, the braking structure can also be made of a material that is integrated with the magnetic conducting part. Structural design, that is, the brake part also adopts magnetic conductive material.

FIG. 10 is a second overall structural schematic diagram of an embodiment of the braking device provided by the present invention. FIG. 11 is a first overall structural schematic diagram of an embodiment of a linear motor including a braking device provided by the present invention.

As shown in FIG. 10 or 11, in some embodiments, the braking structure 15 includes a first end 151 and a second end 152; the first part 11 or the second part 12 is fixed to the first structure 21 or the second structure 22, this specific embodiment is described in detail by taking the second part 12 fixed on the second structure 22 as an example. The second part 12 is fixed to the end of the second structure 22 .

The first structure and the second structure can be any structure for relative linear motion, such as: the stator and the mover of the linear motor, the piston and the piston rod of the cylinder, and any structure of the two relative motions on the lathe.

It should be noted that the braking device may include one braking structure or multiple braking structures. As shown in FIG. 10 , when the first structure and the second structure are mutually matched cylinders and rods, multiple braking structures can be provided. brake structure. The shape of the brake structure can be designed arbitrarily as required. In some embodiments, the abutment surface of the brake structure on the side surface corresponding to the second structure, in order to ensure good contact with the brake structure and reduce wear during relative movement, Can be designed with curved surface.

FIG. 12 is a schematic structural diagram of an embodiment of the braking device provided by the present invention after the partial structure of the first part is removed. 13 is a schematic structural diagram of an embodiment of a partial cross-section of the braking device provided by the present invention. FIG. 14 is a schematic view of the reverse structure of the embodiment of the first part of the braking device provided by the present invention. FIG. 15 is a schematic top view of the structure of the embodiment of the braking device provided by the present invention without the first part.

As shown in FIGS. 12-15 , the braking structure 15 is pivotally connected to the second part 12 through a pivot shaft 153 ; the first end 151 is movably connected to the first part 11 , and is controlled by the motion control part. The reciprocating movement between the first part 11 and the second part 12 along the axial direction X drives the second end 152 to rotate clockwise or counterclockwise around the pivot shaft 153 . Specifically, since the first end 151 is movably connected to the first part 11 , when the first part 11 drives the brake structure 15 to move back and forth axially relative to the second part 12 , the brake structure 15 is pivotally connected to the second part 12 . In this way, the position of the first end 151 relative to the first part 11 changes, so the first end 151 needs to be movably connected to the first part 11, so as to meet the requirements when the first part and the second part move relatively or in opposite directions. , the second end 152 rotates clockwise or counterclockwise around the pivot 153; the second end 152 abuts on the side surface of the first structure 21 and is in frictional contact with the first structure 21, with the angle of the rotation Different sizes of frictional forces are generated between the second end 152 and the first structure 21 to brake or release the brakes on the first structure and the second structure that are relatively moving.

Specifically, as shown in FIG. 10 , in some embodiments, the first portion 11 is pivotally connected to the middle portion of the braking structure 15 or a position near the middle portion through a pivot shaft 153 . Besides, the first part can also be pivoted at any position near the first end and the second end through a pivot.

It should be noted that the control of the axial movement between the first part 11 and the second part 12 can be achieved in various ways, for example, through a driving structure (such as a motor, hydraulic drive, pneumatic drive, etc. ) control the axial X direction and opposite movement between the two; or control the axial movement of the two by combining the elastic member and the driving structure; or by setting the elastic member, the second magnetic attraction member and the electromagnet combined The structure controls the axial movement of the two (further detailed descriptions will be given in the following embodiments).

Continuing as shown in FIGS. 12-15 , in some embodiments, the brake structure 15 is pivotally connected to the second part 21 through the pivot shaft 153 , which can be realized by the following structure: the first part 11 is provided with a The shaft seat 113 protruding from the first part 11 is provided with shaft holes on both sides of the shaft seat 113, and the pivot shaft 153 of the brake structure 15 is installed in the shaft hole, so that the brake structure 15 is pivoted with the shaft seat 111; or It is also possible to not set the shaft seat, but to open a groove for accommodating the brake structure 15 in the first part, set shaft holes on both sides of the groove corresponding to the pivot shaft, set the brake structure in the groove, and the pivot shaft is installed in the shaft hole. (not shown in the figure), so that the brake structure 15 is pivotally connected to the first part 11 through the pivot shaft 153;

Taking the mover whose first structure is a linear motor as an example, after the linear motor is powered off, the mover may still move relative to the stator due to the influence of gravity or other forces, so a braking device is required to brake the mover. . Due to the contact between the second end and the mover; when the second end 152 is controlled to rotate to an angle close to the vertical angle with the mover 21, the frictional resistance generated between the second end 152 and the mover 21 is greater, so the Controlling the rotation of the second end 152 of the brake structure 15 around the pivot 153 can control the magnitude of the frictional resistance generated between the second end 152 and the mover 21 . When the force is applied, the brake on the mover can be realized; and when the second end is controlled to rotate in the opposite direction and the farther away from the angle perpendicular to the mover, the friction generated between the second end and the mover can be reduced. When the frictional resistance reaches less than the force on the mover to make it move, the brake on the mover is released.

As shown in FIGS. 12-15 , it should be noted that the movable connection of the first end 151 to the first part 11 can be realized by any structure; in this way, when the first part drives the brake pad axially relative to the second part During the reciprocating motion, since the brake structure is pivotally connected to the second part, the position of the first end relative to the first part changes, so the first end needs to be movably connected to the first part, so as to satisfy the requirements of the first part and the second part. The first end rotates clockwise or counterclockwise around the pivot when the parts move relatively and in opposite directions.

In some embodiments, the first end 151 can be movably connected to the second part 12 through the following structure:

One of the first end 151 and the second part 12 is provided with a limiting groove 154 , and the other one of the first end 151 and the second part 12 is arranged to cooperate with the limiting groove 154 The limit block 155 ; the limit block 155 can slide in the limit slot 154 .

Continuing as shown in FIGS. 12-15 , according to the above embodiment, the braking device 10 includes a first part 11 and a second part 12 , and a motion control for controlling the relative and opposite movements of the first part 11 and the second part 12 In some embodiments, the motion control part includes a main control part including at least an electromagnetic coil and a permanent magnet 14. The permanent magnet 14 is installed on the second magnetic conductive portion 121, and the position corresponding to the permanent magnet 14 on the second magnetic conductive portion 121 forms a first gap 112; in some embodiments, the main control portion includes an electromagnetic coil 131 and an elastic Piece 132. For other related descriptions about the motion control part, refer to the above embodiments, and details are not repeated here.

By adopting the technical solutions of the embodiments of the present invention, the structure of the braking device is simplified, and the mass of the braking device is reduced; further, the structure of the linear motor is simplified, and the mass of the linear motor is reduced.

It should be noted that, in some embodiments, when the second structure 22 is the first cylindrical body 11 forming an axial through hole, the first structure 21 is a rod body 21; the rod body 21 passes through the through hole . At this time, the first part 11 and the second part 12 may be a second cylinder; the second cylinder is matched with the first cylinder and is fixed on the end of the first cylinder.

It should be noted that, the first cylinder body and the second cylinder body can be in any shape as required, and can be polygonal cylinders such as a cylinder, a square cylinder, a triangular cylinder, and the like.

The shape of the cross section of the rod body is matched with the shape of the cross section of the through part formed in the first cylinder, so that the rod body just passes through the through part, and a gap is formed between the outer wall of the rod body and the inner wall of the cylinder body to form a magnetic gap ; In some preferred embodiments, the cross section of the rod body is preferably polygonal (eg, rectangular), which can facilitate the processing of the second magnetic attraction member and facilitate the embedding of the second magnetic attraction member into the groove.

In some embodiments, when the second cylinder is a polygonal cylinder, as shown in FIG. 10 , taking a square cylinder as an example, at least one of the four corners of the second cylinder (as shown in FIG. 10 ) The corresponding brake structures are set at the 4 corners respectively, etc.

Further, in some embodiments, the electromagnetic coil 131 of the motion control part may form an integral structure around the cylinder.

FIG. 16 is a schematic diagram of the third overall structure of the embodiment of the braking device provided by the present invention. FIG. 17 is a schematic diagram of the overall structure of an embodiment of a linear motor including a braking device provided by the present invention. FIG. 18 is a schematic structural diagram of an embodiment of the second part of the braking device provided by the present invention. FIG. 19 is a first plan view of an embodiment of a linear motor including a braking device provided by the present invention. FIG. 20 is a first cross-sectional structural schematic diagram of the embodiment of the linear motor including the braking device provided by the present invention, which is cut along the G plane in the first plan view.

As shown in FIGS. 16-20 , in other embodiments, the first part 11 and the second part 12 relatively move back and forth along the direction of linear movement.

The first part 11 and the second part 12 are disposed opposite to each other, the first part 11 is provided with a first magnetic conductive part 111 , and the second part 12 is provided with a second magnetic conductive part 121 .

The braking structure 15 can be arranged on the first part 11 through the second elastic member 133, or can also be arranged on the second part (not shown in the figure); When the 15 is located in the accommodating groove described in the following embodiments, the second elastic member 133 is compressed and deformed, thereby exerting a second elastic force 133 on the brake structure 15, and the second elastic force 133 pushes the brake structure from the first accommodating force 133. The placing portion 1611 is pushed into the second accommodating portion 1612 and clamped in the second accommodating portion 1612 .

The position of the first portion 11 corresponding to the braking structure 15 along the movement direction and the first side wall 211 of the first structure 21 together form an accommodating groove for accommodating the braking structure 15 ; Besides, the accommodating groove can also be provided on the second part (not shown in the figure).

21A is a first partial enlarged schematic diagram of the first cross-sectional structural schematic diagram provided by the present invention; FIG. 21B is a second partial enlarged schematic diagram of the first cross-sectional structural schematic diagram provided by the present invention.

As shown in FIG. 21A or 21B, the accommodating groove at least includes a first accommodating portion 1611 and a second accommodating portion 1612 that communicate with each other, and the first accommodating portion 1611 can movably accommodate the braking structure 15 , that is, the braking structure 15 has a gap in the first accommodating portion, so that when the first structure 21 moves, when the braking structure 15 is accommodated in the first accommodating portion 1611, it will not interfere with the first side wall of the first structure 21. 211 constitutes an obstacle, so it will not have a braking effect; the second accommodating portion 1612 can tightly accommodate the braking structure 15 so as to be clamped with the first side wall, and the clamping force can increase The friction force between the braking structure and the first side wall is large, so that when the first structure 21 moves, due to the clamping of the braking structure 15 and the first side wall 211 of the first structure 21, the braking structure 15 and the first side wall 211 The friction force generated between them increases. When the friction force received by the first structure 21 is greater than or equal to the force that makes the first structure and/or the second structure move and is opposite to the external force, then the first structure and the second structure stop relative to each other.

It should be noted that the braking structure 15 can be any structural shape, such as: a sphere (as shown in FIG. 21B ), the sphere can be a sphere or an ellipsoid; a cylinder, formed corresponding to the first side wall An arc surface; a second side wall of the accommodating groove opposite to the first side wall forms an arc surface or an inclined surface; or a polyhedron and the like. Preferably, the movement of the braking structure between the first part and the second part can be smoother by the structure of a sphere, a cylinder, a curved surface or an inclined surface and the like.

Continuing as shown in FIG. 21A or 21B, in some embodiments, the first accommodating portion 1611 and the second accommodating portion 1612 correspond to the second side wall of the first side wall 211 to form a From the end of the accommodating portion to the end of the second accommodating portion, the distance from the first side wall gradually decreases, so that when the braking structure 15 is located in the first accommodating portion 1611 and the second accommodating portion 1612, the The inclined surface cooperates with the first side wall, so that the braking structure 15 is movably located in the first accommodating portion 1611 and is clamped in the second accommodating portion 1612 . Then, as the braking structure 15 moves toward the bottom of the first accommodating portion until it moves to the direction of the second accommodating portion 1612, the force between the braking structure and the first side wall is greater, so that the corresponding friction The force is also greater, until when the friction force is greater than or equal to the motion force received by the second structure, the braking structure acts as a brake. In this way, after braking, the braking structure is controlled to move to the second accommodating portion 1612, and when the second structure is subjected to a force to move towards the bottom of the second accommodating portion 1612, the contact surface between the second structure and the braking structure Under the action of the frictional force, the braking structure 15 follows the first structure 21 and continues to move toward the bottom of the second accommodating portion 1612. Since the second side wall is an inclined plane, the distance between the second side wall and the first side wall is further toward the bottom. The narrower the brake structure, the greater the friction force between the first structures, until it is greater than or equal to the force that the first structure receives to make it move (for example: the effect of its own gravity), then the first structure 21 is affected. braking action.

The motion control part is used to control the relative reciprocating movement of the first part 11 and the second part 12 , thereby driving the braking structure 15 to the first accommodating part 1611 or the second accommodating part 1612 move.

The braking device with this structure simplifies the structure of the braking device; therefore, in some cases, the mass of the braking device is reduced, thereby simplifying the structure of the linear motor and reducing the mass of the linear motor.

In some embodiments, the motion control part may include a main control part and a permanent magnet 14 . In some embodiments, as shown in FIG. 22B , the permanent magnet 14 is embedded in the bottom of the second magnetic conductive part 211 (This can save space), in addition to this, it can also be set at any required position; wherein, the main control part includes an electromagnetic coil 131 and a first elastic member 132 .

Continuing as shown in FIG. 22B , the electromagnetic coil 131 is disposed corresponding to the second magnetic conductive portion 121 , and the second magnetic conductive portion 121 corresponds to the first magnetic conductive portion 111 .

When the electromagnetic coil 131 is energized, the second magnetic conductive portion 121 can generate a magnetic field, thereby attracting the first magnetic conductive portion 111, so that the two can move relative to each other.

The braking structure 15 is fixed on the first part 11 by the second elastic member 133 ; and when the braking structure 15 is located in the accommodating groove, the second elastic member 133 is compressed and deformed to form the first part 11 . Two elastic forces, through which the braking structure 15 and the second accommodating portion 1612 are pushed to be clamped tightly; the second elastic member 133 can be a spring, a shrapnel, an elastic plunger, etc., and any similar functional structure.

The first elastic member 132 is disposed between the first part 11 and the second part 12, and the first elastic member 132 is compressed and deformed so that the first part 11 and the second part 12 are separated from each other (increase the pitch of the second gap) the first elastic force.

The second part 12 includes a pushing structure 123 corresponding to the other end of the braking structure 15;

When the electromagnetic coil 131 is powered off, the braking structure 15 pushes the braking structure 15 into the second accommodating portion 1612 under the action of the second elastic force of the second elastic member 133; When the electromagnetic coil 131 is energized, the magnetic force formed by the first magnetic conductive part and the second magnetic conductive part overcomes the second elastic force and pushes the braking structure 15 from the brake structure 15 through the pushing structure 123 . The second accommodating portion 1612 is pushed into the first accommodating portion 1611 .

22A is a second top view of the embodiment of the linear motor including the braking device provided by the present invention; FIG. 22B is the second top view of the embodiment of the linear motor including the braking device provided by the present invention. Schematic diagram of the two-section structure.

As shown in FIG. 22A or 22B, in some embodiments, the braking device further includes a connecting portion 139, and the first portion 11 is fixed on the second structure 21 through the connecting portion 139; the second The portion 12 includes a through hole, and the second portion 12 can be movably sleeved outside the connecting portion 139 through the through hole, and reciprocate along a path defined by the connecting portion 139 .

Specifically, in some embodiments, the control method of the braking device may include the following processes:

S311 obtains a trigger signal; the trigger signal can be generated through interaction by presetting interactive buttons; it can also be executed by executing a preset program, for example: when the linear motor is powered on and started (the power-on signal is the trigger signal ), step S312 is executed to release the braking; or after the linear motor is powered off (the signal of the short power is the trigger signal), step S313 is executed to realize braking.

S312 When the trigger signal is a brake release signal, control a first current to flow to the electromagnetic coil 131, and the second magnetically conductive portion generates a magnetic field to attract the first magnetically conductive portion to overcome the first magnetic field of the first elastic member. An elastic force pushes the braking structure into the first accommodating portion against the second elastic force of the second elastic member through the pushing portion, so as to release the braking.

S313, when the trigger signal is a braking signal, control to cut off the first current to the electromagnetic coil 131, and the first part and the second part are separated under the first elastic force; so The braking structure pushes the braking structure into the second accommodating portion under the second elastic force of the second elastic member, so as to realize the braking.

It should be noted that, in some embodiments, when the second structure 22 is the first cylindrical body 11 forming an axial through hole, the first structure 21 is a rod body 21; the rod body 21 passes through the through hole . At this time, the first part 11 and the second part 12 may be a second cylinder; the second cylinder is matched with the first cylinder and fixed on the end of the first cylinder.

It should be noted that, the first cylinder body and the second cylinder body can be in any shape as required, and can be polygonal cylinders such as a cylinder, a square cylinder, a triangular cylinder, and the like.

The shape of the cross section of the rod body is matched with the shape of the cross section of the through part formed in the first cylinder, so that the rod body just passes through the through part, and a gap is formed between the outer wall of the rod body and the inner wall of the cylinder body to form a magnetic gap ; In some preferred embodiments, the cross section of the rod body is preferably polygonal (eg, rectangular), which can facilitate the processing of the second magnetic attraction member and facilitate the embedding of the second magnetic attraction member into the groove.

In some embodiments, when the second cylinder is a polygonal cylinder, as shown in FIG. 18 , taking a square cylinder as an example, at least one of the four corners of the second cylinder (as shown in FIG. 18 ) The corresponding brake structures are set at the 4 corners respectively, etc.

Further, in some embodiments, the electromagnetic coil 131 of the motion control part may form an integral structure around the cylinder.

FIG. 6 is a schematic diagram of the overall structure of an embodiment of a moving assembly including a braking device provided by the present invention. In some embodiments, the present invention also provides a moving assembly 20 including the braking device 10 described in the above embodiments, the driving assembly includes a first structure and a second structure that move with each other, such as: mutual linear motion (such as 6, 10 or 16) or mutual rotational movement (as shown in FIG. 1) first and second structures, in some cases the first structure is relatively fixed and the second structure is relatively fixed relative to the first structure Movable (or vice versa), or both the first structure and the second structure are movable relative to each other. The moving components that move with each other or are likely to move with each other are braked by the braking device.

It should be noted that the moving components can be, but are not limited to, motors (linear motors or rotary motors), guide rails and slider assemblies, cylinder and piston structures of steam compressors, bicycle tires and vehicle bodies, and the like.

In some embodiments, the braking device is usually applied after the driving system loses the driving force, for example: after the motor is powered off, it is worried that the mover of the motor will continue to move due to the influence of inertia or its own gravity, etc., so by using the braking device The brakes prevent further movement of the mover.

In some embodiments, when the moving component is a component that rotates with each other, one of the first part and the second part is fixed to or corresponds to at least one end of the first structure; the first part the other one of the second part or the braking structure is fixed to or disposed in correspondence with at least one end of the second structure; or

When the moving components are components that move linearly with each other; one of the first part and the second part is fixed to or corresponds to at least one end of the second structure; the first part and the second part The other one of the parts is fixed to or corresponds to the side of the first structure through the braking structure

For example: as shown in FIG. 1, 2 or 3, taking a rotating electrical machine as an example, in some embodiments, the braking device 10 can fix the first part 11 on at least one end of the first structure 21; and the second part 12 or through the braking structure 15 corresponding to at least one end of the second structure 22 is arranged, by controlling the second part 12 or the second part 12 to drive the reciprocating movement of the braking structure 15, so as to control the braking or release of the second structure 22.

10 or 16, the braking device is fixed to at least one end of the second structure 22 through one of the second part 12 and the first part 11, and the other of the second part 12 and the first part 11 or through The braking structure corresponds to the side surface of the first structure.

Also as shown in FIG. 6 , the braking device is fixed to at least one end of the first structure 21 through one of the second part 12 and the first part 11 , and the other of the second part 12 and the first part 11 is fixed to the The side of the second structure 22 .

For the relevant description of the braking device, please refer to the above embodiments, which will not be repeated here.

In some embodiments, the present invention also provides an automation device comprising at least one drive assembly described in the above embodiments. It should be noted that the automation equipment may include: robots; automation equipment with various functions, including: transportation equipment (such as linear motors used in subways or maglev trains); precision instruments (such as drawing instruments, medical equipment, Aerospace instruments, etc.); transmission equipment (such as elevators); acceleration equipment (such as launchers); life equipment (such as electric sliding doors, electric switch curtains), etc. Among them, the robot can be regarded as a kind of advanced automation equipment.

For the relevant description of the driving assembly, refer to the above embodiments, and details are not repeated here.

When an element is referred to as being "fixed to" or "fixedly connected" to another element, it can be directly on the other element, or there may be one or more intervening elements therebetween, prefabricated in one piece with the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical", "horizontal", "left", "right", "inner", "outer" and similar expressions used in this specification are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of the present invention. In this specification, what is used in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention.

The term "and/or" in this article is only an association relationship to describe related objects, which means that there can be three relationships, for example: A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone these three situations. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

The terms "first", "second", "third", etc. (if present) in the claims and description of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, product or robot that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but includes those processes, methods, systems, products that are not explicitly listed or are or other steps or modules inherent to the robot.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

It should be noted that those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the involved structures and modules are not necessarily required by the present invention.

The braking device, the motion component and the automation equipment provided by the embodiments of the present invention have been described in detail above, but the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention, and should not be construed as a limitation of the present invention. Those skilled in the art, according to the idea of the present invention, within the technical scope disclosed by the present invention, can easily think of changes or substitutions, all should be covered within the protection scope of the present invention.

Claims (17)

1. A brake device for braking and releasing braking of a first structure and a second structure which move relatively, characterized in that the brake device comprises a first part, a second part and a movement control part; the motion control part comprises a main control part at least comprising an electromagnetic coil and a permanent magnet; the first part comprises a first magnetic conduction part; the second portion comprises a second magnetic conductive portion;

a second gap exists between the first magnetic conduction part and the second magnetic conduction part;

the permanent magnet is arranged on one of the first magnetic conduction part and the second magnetic conduction part; the first magnetic conduction part or the second magnetic conduction part where the permanent magnet is located forms a first gap along the direction of magnetic lines generated by cutting the permanent magnet at the position corresponding to the permanent magnet, so that when the second gap is increased to a certain range, a part of the magnetic lines generated by the permanent magnet form a self-loop based on the first gap, and the acting force of the permanent magnet on the magnetic field generated by the other one of the first magnetic conduction part and the second magnetic conduction part is reduced more quickly; wherein,

the first magnetic conduction part or the second magnetic conduction part where the permanent magnet is located forms a fixed first gap along the direction of magnetic lines generated by cutting the permanent magnet at the position corresponding to the permanent magnet, and the fixed first gap is realized through the following structure:

the first magnetic conduction part or the second magnetic conduction part provided with the permanent magnet comprises two parts; the two parts are oppositely arranged and matched with and contain the permanent magnet, and the first gap is formed between the opposite surfaces of the two parts.

2. The brake apparatus according to claim 1, wherein the main control portion includes a first elastic member and an electromagnetic coil;

one of the first portion and the second portion is secured to the first structure; or the other of the first and second portions is secured to the second structure;

the first magnetic conduction part and the second magnetic conduction part are oppositely arranged and form a second gap with adjustable space;

the second portion and the first portion are connected to each other by the first elastic member; and the first elastic member exerts a first elastic force that increases the spacing;

the electromagnetic coil is arranged corresponding to the first magnetic conduction part or the second magnetic conduction part.

3. A brake apparatus according to claim 2, wherein when a first transient current is applied to said electromagnetic coil, a first magnetic force is generated between said first magnetically permeable portion and said second magnetically permeable portion, and said spacing is reduced by said first magnetic force against said first resilient force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of a third magnetic force generated by the permanent magnet; when the electromagnetic coil passes through a second current which is in a short time and is opposite to the first current, the electromagnetic coil forms a second magnetic force which is opposite to the first magnetic force on the second magnetic conduction part, the second magnetic force and the third magnetic force are offset, and the distance is increased under the action of the first elastic action force.

4. The brake apparatus according to claim 1, wherein the main control portion includes a solenoid;

one of the first portion and the second portion is secured to the first structure; the other of the first and second portions is secured to the second structure;

the first magnetic conduction part and the second magnetic conduction part are oppositely arranged;

the electromagnetic coil is arranged on the first magnetic conduction part or the second magnetic conduction part.

5. The brake apparatus as claimed in claim 4, wherein when a first short current is applied to said electromagnetic coil, a first magnetic force is formed between said first magnetically conductive part and said second magnetically conductive part, and said second part is moved toward said first part by said first magnetic force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of a third magnetic force generated by the permanent magnet; when the electromagnetic coil passes through a second current opposite to the first current, the electromagnetic coil forms a second magnetic force opposite to the first magnetic force on the second magnetic conduction part, and the second magnetic force and the third magnetic force are offset, so that the second part is separated from the first part.

6. The braking device according to any one of claims 1 to 3, further comprising a braking structure disposed on the first portion and/or the second portion corresponding to the first structure or the second structure, wherein the motion control portion controls the first portion and the second portion to move relatively and oppositely, so as to drive the braking structure to brake or brake the relative motion of the first structure and the second structure.

7. The brake apparatus of claim 6, wherein the brake structure is a brake pad.

8. The brake apparatus of claim 6, wherein said first structure and said second structure move linearly relative to each other; the brake structure comprises a first end and a second end;

the first part and the second part are oppositely arranged along the direction of the linear motion;

one of the first portion and the second portion is fixed to at least one end portion of the second structure in the direction of the linear movement;

the brake structure is pivoted with the first part through a pivot; the first end is movably connected with the second part; the second end abuts a side surface of the first structure; the motion control part controls the first part and the second part to move back and forth along the direction, the second end is driven to rotate around the pivot, and the friction force between the second end and the side surface is changed along with the change of the rotating angle, so that the relative motion of the first structure and the second structure is braked and released.

9. The brake apparatus of claim 8, wherein the movable connection of the first end to the second portion is achieved by:

one of the first end and the second part is provided with a limiting groove, and the other of the first end and the second part is provided with a limiting block matched with the limiting groove; the limiting block can slide in the limiting groove.

10. The brake apparatus of claim 6, wherein said first structure and said second structure move linearly relative to each other;

the brake structure is arranged on one of the first part and the second part through a second elastic piece;

the other one of the first part and the second part is provided with a pushing part corresponding to the brake structure;

one of the first side wall and the first side wall of the first structure form a containing groove for containing the brake structure; the accommodating groove at least comprises a first accommodating part and a second accommodating part which are communicated with each other along the linear motion direction;

the brake structure is movably accommodated in the first accommodating part and can be tightly accommodated in the second accommodating part;

the second elastic piece deforms to form a second elastic acting force for pushing the brake structure into the second accommodating part;

the motion control part is used for controlling the first part and the second part to move back and forth relatively, so that the brake structure is driven to move back and forth between the first accommodating part and the second accommodating part.

11. The brake apparatus as claimed in claim 10, wherein when the first current is controlled to be applied to the electromagnetic coil for a short time, the first magnetic force pushes the brake structure into the first accommodating portion through the pushing portion against the first elastic force against the second elastic force; when the first current disappears, the first magnetic conduction part and the second magnetic conduction part continue to keep an attraction state under the action of the third magnetic force; when the electromagnetic coil passes the second current for a short time, the second gap is increased under the first elastic acting force; the brake structure is sent into the second accommodating part under the second elastic acting force.

12. The brake apparatus according to claim 10 or 11, wherein the first receiving portion and the second receiving portion are formed at a gradually changing distance from the first side wall corresponding to the second side wall of the first side wall to form a slope.

13. A brake arrangement according to claim 10 or 11, further comprising a connecting portion by which the first portion is secured to the second structure; the second portion is movably sleeved outside the connecting portion through the through hole and reciprocates along a path limited by the connecting portion.

14. A moving assembly, characterized in that it comprises a braking device according to any one of claims 1 to 13; the motion assembly includes a first structure and a second structure that move relative to each other.

15. The motion assembly of claim 14, wherein when the motion assembly is a motor; one of the first structure and the second structure is a stator; the other of the first structure and the second structure is a mover; and the brake device is used for braking the rotor after the motor is powered off.

16. A sports assembly according to claim 14 or 15, wherein when the sports assembly is a mutually rotary sports assembly, one of the first and second portions is fixed to or corresponds with at least one end of the first structure; the other one of the first part and the second part is fixed on or arranged corresponding to at least one end of the second structure through a brake structure; or

When the moving components are components which move linearly with each other; one of the first part and the second part is fixed on or corresponds to at least one end of the second structure; the other of the first and second portions is secured to or corresponds to a side of the first structure, either by a braking structure.

17. An automated device, characterized in that it comprises at least one movement assembly according to any one of claims 14 to 16.

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