CN112405621B - Low-energy-consumption robot joint quick locking device and using method - Google Patents
Low-energy-consumption robot joint quick locking device and using method Download PDFInfo
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- CN112405621B CN112405621B CN202011265744.8A CN202011265744A CN112405621B CN 112405621 B CN112405621 B CN 112405621B CN 202011265744 A CN202011265744 A CN 202011265744A CN 112405621 B CN112405621 B CN 112405621B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
一种低能耗机器人关节快速锁定装置，包括被锁定的转轴和锁定机构，该锁定机构包括控制器、中间为圆柱状腔体的塑料骨架、绕在塑料骨架上的线圈及其驱动电路、锁定杆、弹簧、支架、锁定腔壳、热熔胶、温度传感器及其调理电路、两个半导体制冷片及其驱动电路，锁定机构用于锁定转轴。线圈均匀地绕在塑料骨架上，锁定腔壳通过支架与塑料骨架固定连接，锁定杆穿过塑料骨架、弹簧、锁定腔壳，锁定腔壳腔体内剩余空间充满热熔胶，两个半导体制冷片贴在锁定腔壳的侧面，温度传感器贴在半导体制冷片和锁定腔壳之间。本装置为无级锁定装置，可在任意位置将转轴锁定，且只有锁定过程和解锁过程需耗电，避免了维持锁定状态和解锁状态需要持续供电能量损耗。
A low-energy-consumption robot joint quick locking device, comprising a locked rotating shaft and a locking mechanism, the locking mechanism includes a controller, a plastic skeleton with a cylindrical cavity in the middle, a coil wound on the plastic skeleton and its drive circuit, a locking rod , spring, bracket, locking cavity shell, hot melt adhesive, temperature sensor and its conditioning circuit, two semiconductor refrigeration chips and their driving circuit, and the locking mechanism is used to lock the rotating shaft. The coil is evenly wound on the plastic skeleton, the locking cavity shell is fixedly connected to the plastic skeleton through the bracket, the locking rod passes through the plastic skeleton, the spring, the locking cavity shell, the remaining space in the locking cavity shell cavity is filled with hot melt glue, two semiconductor refrigeration chips It is attached to the side of the lock cavity shell, and the temperature sensor is attached between the semiconductor refrigeration chip and the lock cavity shell. The device is a stepless locking device, which can lock the rotating shaft at any position, and only the locking process and the unlocking process need power consumption, which avoids the need for continuous power supply energy loss to maintain the locked state and the unlocked state.
Description
Technical Field
The invention belongs to the field of robot joint brakes, and particularly relates to a low-energy-consumption robot joint quick locking device and a using method thereof.
Background
With the development of robot technology, robots are widely used in various industries, such as medical treatment, entertainment, military, aerospace, and the like. The common problem of the robot in the use process is sudden power failure, and the state of the robot after power failure needs to be processed. For example, the robot for high-altitude operation has high danger coefficient and great difficulty in the working environment of high-altitude operation, more than 40 percent of manual high-altitude operations are replaced by the robot at present, and the robot is applied to various high-altitude environments such as emergency rescue, safety inspection, building construction, rock climbing exploration and the like. If there is no corresponding handling solution after power off, the manipulator for gripping the fixture is unpowered and the robot in high air may fall off. After the power is lost, the posture of the robot is quickly kept, the safety of the robot can be guaranteed, and the robot is prevented from being damaged. The industrial manufacturing process has high repeatability and high working strength, most of the existing industrial manufacturing is mechanized, and the sales volume of industrial robots in the global range keeps an increase rate of more than 16 percent in recent years. Some industrial robots are prone to being heavy, and the postures of the industrial robots are rapidly kept after power failure, so that accidents and serious economic losses can be prevented.
The existing braking scheme comprises a mechanical brake scheme, an electromagnetic brake scheme, a novel material scheme, a novel structure braking scheme and the like. The mechanical brake prevents the rotation or the rotation trend of the transmission shaft by utilizing the mutual friction between the non-rotating element connected with the joint of the robot and the rotating element connected with the transmission shaft, and has the advantages of convenient and flexible operation and generally low cost. However, since the friction braking mode is adopted, most mechanical brake parts are worn, rusted, blocked and the like after being used for a long time, and the stability and the safety are reduced. The electromagnetic brake mainly controls current through a variable resistor so as to change the magnitude of braking torque or adjust the opening and closing of the brake, and electromagnetic damping force is generated to enable the brake to provide braking according to requirements. The method does not rely on friction force, is suitable for long-time braking, is not easy to cause overheating or performance degradation of mechanical parts, and has the advantages of simple operation, sensitive response, long service life and the like. But it requires a dedicated power supply for control and the braking parts are vulnerable. Novel material schemes such as electroactive polymer (DEAP) are proposed, and when different excitation voltages are input, DEAP films generate different strains. The DEAP can be designed into a structure, and when the machine is electrified, the DEAP generates deformation and does not block the joint movement; when power is lost, DEAP deformation is recovered, and mechanical braking is generated. The method has the advantages of good deformation retention performance, no energy loss, large strain, high energy density, high response speed and the like. But the new materials are not readily available and are not readily structurally designed. The novel structure braking scheme mainly relies on a novel self-locking principle or a bionic principle and utilizes a special mechanical structure to brake. The method has simple structure, low cost and strong bearing capacity, but the self-locking brake is limited to be integral and can not be applied to joints. The existing braking scheme needs to consume power in the locking process and the unlocking process, and also needs to continuously consume power when the robot is in normal work or a locking state, so that unnecessary power consumption is caused.
Disclosure of Invention
In order to solve the problems, the invention provides a low-energy-consumption robot joint quick locking device and a using method thereof, which can quickly lock the joint of a robot in any state, and reduces the energy loss caused by using the locking device, the patent provides a low-energy-consumption robot joint quick locking device, which comprises a locked rotating shaft and a locking mechanism, the locking mechanism comprises a controller, a plastic framework with a cylindrical cavity in the middle, a coil and a driving circuit thereof wound on the plastic framework, a locking rod, a spring, a bracket, a locking cavity shell, hot melt adhesive, a temperature sensor and a conditioning circuit thereof, two semiconductor refrigeration sheets and a driving circuit thereof, the controller is connected with a driving circuit of the wire connection ring, a conditioning circuit of the temperature sensor and a driving circuit of the semiconductor refrigerating sheet through connecting wires, the locking mechanism is used for locking the rotating shaft, and the coils are uniformly wound on the plastic framework; the locking cavity shell is fixedly connected with the plastic framework through a support, and a cavity of the locking cavity shell is cylindrical and has a cross section diameter of D1; the section of the locking rod, which is closest to the rotating shaft, is made of a friction insulating material, the cross section of the top end of the locking rod is fully distributed with stripes, the section of the locking rod, which is farthest from the rotating shaft, is made of a ferromagnetic material, and the rest middle section of the locking rod is a light long rod; the section of the locking rod made of friction insulating material, the section of the locking rod made of ferromagnetic material, the section of the light long rod close to the rotating shaft and the section of the light long rod far away from the rotating shaft are cylindrical; the diameter of a section of cross section of the locking rod made of rubber is D2, the diameter of a section of cross section of the locking rod made of ferromagnetic material is D3, the diameter of a section of cross section of the light long rod close to the rotating shaft is D2, and the diameter of a section of cross section of the light long rod far away from the rotating shaft is D3; d3 is greater than D2, D1 is greater than D2; the locking rod penetrates through the plastic framework, the spring and the locking cavity shell; the inner diameter of the spring is D4, the outer diameter of the spring is D5, D4 is larger than D2, and D5 is smaller than D3; when the robot joint is in a normal working state and can freely move, one part of the section of the locking rod made of ferromagnetic materials, which is close to the rotating shaft, is positioned at a section of the cavity of the plastic framework, which is far away from the rotating shaft; the part with the cross section diameter D2 of the locking rod light long rod penetrates through the spring, one end of the spring, which is far away from the rotating shaft, abuts against the part with the cross section diameter D3 of the locking rod, and one end of the spring, which is close to the rotating shaft, abuts against the locking cavity shell; a part of the light long rod of the locking rod is positioned in the cavity of the locking cavity shell, and the residual space in the cavity of the locking cavity shell is filled with hot melt adhesive which wraps the part of the locking rod positioned in the cavity of the locking cavity shell; the two semiconductor refrigerating pieces are respectively attached to two opposite side surfaces of the locking cavity shell, and the temperature sensor is attached between the semiconductor refrigerating pieces and the locking cavity shell; the axes of the locking rod, the cavity of the plastic framework and the cavity of the locking cavity shell are consistent; the locking rod is opposite to the locked rotating shaft, the axis of the locking rod is parallel to the axis of the rotating shaft, and when the ferromagnetic material part of the locking rod is acted by the magnetic field force generated by the energization of the coil, the locking rod can compress the spring along the axis of the coil towards the rotating shaft direction and abut against the rotating shaft, so that the robot joint is locked.
As a further improvement of the low-energy-consumption robot joint quick locking device, the locking cavity shell is made of aluminum alloy, and the diameter of the cross section of the cavity of the locking cavity shell is 2-4mm larger than that of the cross section of the locking rod.
As a further improvement of the low-energy-consumption robot joint quick locking device, the length of the part of the locking rod made of ferromagnetic materials is not more than half of the length of the plastic framework.
As a further improvement of the low-energy-consumption robot joint quick locking device, the length of the part of the locking rod made of ferromagnetic materials is half of the length of the plastic framework.
As a further improvement of the low-energy-consumption robot joint quick locking device, the melting point range of the hot melt adhesive is 50-100 ℃.
As a further improvement of the low-energy-consumption robot joint quick locking device, the melting point of the hot melt adhesive is selected to be 65 ℃.
As a further improvement of the low-energy-consumption robot joint quick locking device, the temperature sensor is a sheet-type temperature sensor.
As a further improvement of the low-energy-consumption robot joint quick locking device, one half of a section made of ferromagnetic materials, which is close to the rotating shaft, is positioned in a cavity of the plastic framework.
The invention provides a use method of a low-energy-consumption robot joint quick locking device, which specifically comprises the following steps of setting the lower limit threshold electric quantity of a robot: the robot has less residual electricity but enough to complete one-time locking, and a certain electricity value meeting the condition is set as a lower threshold electricity value;
when the robot joint is in a normal working state and can freely move, the spring is in a natural state, a gap is formed between one end, close to the rotating shaft, of the locking rod and the rotating shaft, when the rotating shaft of the robot joint is locked, the locking rod abuts against the rotating shaft and locks the rotating shaft, and the spring is in a state of being compressed to the minimum;
when the joint posture needs to be locked when the electric quantity of the robot is detected to be lower than the lower limit threshold value electric quantity, the rotating shaft stops rotating, the state of the rotating shaft at the moment is kept, then the semiconductor refrigerating sheet is electrified with forward current, the side, contacted with the locking cavity shell, of the semiconductor refrigerating sheet heats, the locking cavity shell is heated, the temperature of hot melt adhesive in the locking cavity shell is quickly raised, after the temperature detected by the temperature sensor is higher than the melting point of the hot melt adhesive for a certain temperature value T1, the coil is electrified with direct current, the inner cavity of the coil generates a magnetic field, the magnetic field enables the ferromagnetic material part of the locking rod to be subjected to magnetic field force along the axial center of the coil to the rotating shaft, the locking rod moves towards the direction close to the rotating shaft, meanwhile, the spring is compressed, when the end, close to the rotating shaft, of the ferromagnetic material part of the locking rod reaches the middle of the coil, namely the middle of the plastic framework, the locking rod is abutted against the rotating shaft, the magnetic field force is just the largest at the moment, the spring is in the state of being compressed to the smallest, then, the semiconductor refrigeration piece is electrified with reverse current, the side, which is in contact with the locking cavity shell, of the semiconductor refrigeration piece is refrigerated, the locking cavity shell is forcibly cooled, the temperature of hot melt adhesive in the locking cavity shell is rapidly reduced, the semiconductor refrigeration piece stops working after the temperature measured by the temperature sensor is lower than the melting point of the hot melt adhesive by a certain temperature value T2, then the coil is powered off, at the moment, the hot melt adhesive is solidified to fix the locking rod, the locking rod abuts against the rotating shaft and locks the rotating shaft, and then the rotating shaft is stopped from rotating and driving and controlling;
when the electric quantity of the robot returns to normal and the robot needs to be unlocked, a certain torque is applied to the rotating shaft by the motor to keep the state of the rotating shaft, the robot can be kept in the original state after the locking is released, then the semiconductor chilling plate is electrified with forward current, one side of the semiconductor chilling plate, which is in contact with the locking cavity shell, heats the locking cavity shell, the temperature of hot melt adhesive in the locking cavity shell is quickly increased, the locking rod can freely move after the hot melt adhesive is melted and moves away from the coil along the axis of the coil under the action of the elastic force of the spring, after the temperature measured by the temperature sensor is higher than a certain temperature value T3 of the melting point of the hot melt adhesive, the semiconductor chilling plate is continuously heated for a certain time H and then is powered off, at the moment, the spring naturally rebounds, the locking rod is driven by the spring to move towards the direction away from the rotating shaft of the joint of the robot, and finally the rotating shaft of the robot can return to rotate freely.
The use method of the low-energy-consumption robot joint quick locking device is further improved, and the locking device is powered by the self power supply of the robot or selectively powered by a standby power supply.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the device only needs to consume power in the locking process and the unlocking process, and energy loss caused by continuous power supply of the locking device when the robot joint is in normal working and locking states is avoided.
2. The device is a stepless locking device, and can lock the rotating shaft at any position, thereby avoiding idle position stroke.
3. The robots in different application scenes select hot melt adhesives with different melting points, for example, the robot working in a normal temperature environment can select the hot melt adhesive with a lower melting point, and the robot working in a high temperature environment needs to select the hot melt adhesive with a higher melting point. For different working environments, the device can select the hot melt adhesive with proper melting point, thereby improving the braking efficiency and expanding the application scene.
4. After the locking rod is popped out to abut against the rotating shaft, the hot melt adhesive is used for fixing the locking rod, so that the rotating shaft is locked, the heating resistance of the coil is prevented from increasing after the coil is electrified for a long time, the current in the coil is reduced, and the braking effect caused by insufficient electromagnetic force is poor.
5. The device is a full-automatic device, manual operation is not needed for locking and unlocking, and manpower is saved. And the device has simple structure and lower cost.
Drawings
FIG. 1 is a schematic view of a locking device when a robot joint is freely movable;
FIG. 2 is a schematic view of the locking device when the robot joint is locked;
FIG. 3 is a side view of the locking chamber housing.
The reference numbers are: 1. a rotating shaft; 2. a plastic skeleton; 3. a coil; 4. a locking lever; 5. a spring; 6. a support; 7. a locking chamber housing; 8. hot melt adhesive; 9. a temperature sensor; 10. semiconductor refrigeration piece.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the invention provides a low-energy-consumption robot joint quick locking device and a using method thereof, which can quickly lock the joint of a robot in any state and reduce energy loss caused by using the locking device.
Fig. 1 is a schematic view of a locking device when a robot joint is freely movable. As shown in fig. 1, the device comprises a locked rotating shaft 1 and a locking mechanism, wherein the locking mechanism comprises a controller, a plastic framework 2 with a cylindrical cavity in the middle, a coil 3 wound on the plastic framework and a driving circuit thereof, a locking rod 4, a spring 5, a bracket 6, a locking cavity shell 7, a hot melt adhesive 8, a temperature sensor 9 and a conditioning circuit thereof, two semiconductor refrigeration sheets 10 and a driving circuit thereof, and the locking mechanism is used for locking the rotating shaft.
The coil is uniformly wound on the plastic framework; the locking cavity shell is fixedly connected with the plastic framework through a support, and the cavity of the locking cavity shell is cylindrical and has the cross section diameter of D1; the section of the locking rod closest to the rotating shaft is made of rubber, the cross section of the top end of the locking rod is fully distributed with stripes, the section of the locking rod farthest from the rotating shaft is made of ferromagnetic materials, and the remaining middle section of the locking rod is a light long rod; the section of the locking rod made of rubber, the section of the locking rod made of ferromagnetic material, the section of the light long rod close to the rotating shaft and the section of the light long rod far away from the rotating shaft are cylindrical; the diameter of a section of cross section of the locking rod made of rubber is D2, the diameter of a section of cross section of the locking rod made of ferromagnetic material is D3, the diameter of a section of cross section of the light long rod close to the rotating shaft is D2, and the diameter of a section of cross section of the light long rod far away from the rotating shaft is D3; d3 is greater than D2, D1 is greater than D2; the locking rod penetrates through the plastic framework, the spring and the locking cavity shell; the inner diameter of the spring is D4, the outer diameter is D5, D4 is larger than D2, and D5 is smaller than D3; when the robot joint is in a normal working state and can freely move, one part of the section of the locking rod made of ferromagnetic materials, which is close to the rotating shaft, is positioned in a section of the cavity of the plastic framework, which is far away from the rotating shaft (preferably, one half of the section made of ferromagnetic materials, which is close to the rotating shaft, is positioned in the cavity of the plastic framework); the part with the cross section diameter D2 of the light long rod of the locking rod penetrates through the spring, one end of the spring, which is far away from the rotating shaft, abuts against the part with the cross section diameter D3 of the locking rod, and one end of the spring, which is close to the rotating shaft, abuts against the locking cavity shell; a part of the light long rod of the locking rod is positioned in the cavity of the locking cavity shell, and the residual space in the cavity of the locking cavity shell is filled with hot melt adhesive which wraps the part of the locking rod positioned in the cavity of the locking cavity shell; the two semiconductor refrigerating pieces are respectively attached to two opposite side surfaces of the locking cavity shell, and the temperature sensor is attached between the semiconductor refrigerating pieces and the locking cavity shell; the axes of the locking rod, the plastic framework cavity and the locking cavity shell cavity are consistent; the locking rod is opposite to the locked rotating shaft, the axis of the locking rod is parallel to the axis of the rotating shaft, and when the ferromagnetic material part of the locking rod is acted by the magnetic field force generated by electrifying the coil, the locking rod can compress the spring along the axis of the coil towards the rotating shaft and abut against the rotating shaft.
The locking cavity shell is made of aluminum alloy with good heat conduction performance, and the diameter of the cross section of the cavity of the locking cavity shell is slightly larger than that of the cross section of the locking rod. Preferably, the diameter of the cross section of the locking chamber housing cavity is 2mm more than the diameter of the cross section of the locking rod.
The length of the part of the locking rod made of ferromagnetic material is not more than half of the length of the plastic framework. Preferably, the length of the part of the locking rod made of ferromagnetic material is half of the length of the plastic skeleton.
The melting point of the hot melt adhesive ranges from 50 ℃ to 100 ℃. Preferably, a hot melt adhesive having a melting point of 65 ℃ is selected.
The temperature sensor is a thin-sheet type temperature sensor.
Fig. 2 is a schematic view of the locking device when the robot joint is locked. As shown in fig. 2, when the ferromagnetic material portion of the locking lever is acted upon by the magnetic field force generated by energizing the coil, the locking lever can compress the spring along the axis of the coil toward the rotating shaft and against the rotating shaft.
FIG. 3 is a side view of the locking chamber housing. The locking rod penetrates through the locking cavity shell, the residual space in the cavity of the locking cavity shell is filled with hot melt adhesive, and the hot melt adhesive wraps the part, located in the cavity of the locking cavity shell, of the locking rod. The two semiconductor refrigerating pieces are respectively attached to two opposite side faces of the locking cavity shell, and the temperature sensor is attached between the semiconductor refrigerating pieces and the locking cavity shell.
A use method of a low-energy-consumption robot joint quick locking device comprises the following steps:
take the locking device powered by the robot's own power supply as an example.
Setting the lower limit threshold electric quantity of the robot: the remaining electric quantity of the robot is not large but enough to complete one-time locking, and a certain electric quantity value meeting the condition is set as a lower limit threshold electric quantity.
When the robot joint is in a normal working state and can freely move, the spring is in a natural state, and a gap is reserved between one end of the locking rod, which is close to the rotating shaft, and the rotating shaft. When the rotating shaft of the robot joint is locked, the locking rod props against the rotating shaft and locks the rotating shaft, and the spring is in a state of being compressed to the minimum. The method can realize stepless locking, can lock the rotating shaft at any position, only the locking process and the unlocking process of the robot joint need to consume electricity, and when the robot joint is in a state of keeping normal free movement and the rotating shaft of the robot joint is in a locked state, the coil and the semiconductor refrigerating sheet do not need to be powered, so that the energy loss caused by continuous power supply for maintaining the locking state and the unlocking state is avoided.
When the condition that the robot electric quantity is lower than the lower limit threshold electric quantity and the joint posture needs to be locked is detected, the rotating shaft stops rotating and the rotating shaft state at the moment is kept. Then the semiconductor refrigerating piece is electrified with forward current, and the side of the semiconductor refrigerating piece, which is contacted with the locking cavity shell, heats the locking cavity shell. The temperature of the hot melt adhesive in the locking cavity shell is rapidly increased, and after the temperature measured by the temperature sensor is higher than a certain temperature value T1 (preferably, T1 is 2 ℃) of the melting point of the hot melt adhesive, the coil is electrified with direct current. The inner cavity of the coil generates a magnetic field, the magnetic field enables the ferromagnetic material part of the locking rod to be subjected to magnetic field force from the axial center of the coil to the rotating shaft, the locking rod moves towards the direction close to the rotating shaft, and meanwhile, the spring is compressed. When one end of the locking rod, which is made of ferromagnetic material and is close to the rotating shaft, reaches the middle of the coil (namely the middle of the plastic framework), the locking rod abuts against the rotating shaft, and the magnetic field force is just the largest at the moment. The spring is now in a state of compression to a minimum. And then, the semiconductor refrigerating piece is electrified with reverse current, and the side, in contact with the locking cavity shell, of the semiconductor refrigerating piece refrigerates to forcibly cool the locking cavity shell. The temperature of the hot melt adhesive in the locking cavity shell is rapidly reduced, and after the temperature measured by the temperature sensor is lower than the melting point of the hot melt adhesive by a certain temperature value T2 (preferably, T2 is 5 ℃), the semiconductor refrigerating sheet stops working. The coil is then de-energized. At the moment, the hot melt adhesive is solidified to fix the locking rod, and the locking rod props against the rotating shaft and locks the rotating shaft. Then, the rotation driving control of the rotation shaft is stopped, and the robot joint maintains the rotation shaft state by the lock mechanism.
When the electric quantity of the robot returns to normal and the robot needs to be unlocked, the motor applies a certain torque to the rotating shaft to keep the rotating shaft state, and the robot can be kept in an original state after the locking is released. Then, the semiconductor refrigerating piece is electrified with forward current, and the side of the semiconductor refrigerating piece, which is in contact with the locking cavity shell, heats the locking cavity shell. The temperature of hot melt adhesive in the locking cavity shell is rapidly increased, the locking rod can freely move after the hot melt adhesive is melted, and the locking rod moves away from the rotating shaft along the axis of the coil under the action of the elastic force of the spring. And after the temperature measured by the temperature sensor is higher than the melting point of the hot melt adhesive by a certain temperature value T3 (preferably, T3 is 2 ℃), the semiconductor refrigerating sheet is continuously heated for a certain time H (preferably, H is 2 seconds), and then the power is cut off. At the moment, the spring rebounds naturally, the spring drives the locking rod to move towards the direction far away from the rotating shaft of the robot joint, and finally the rotating shaft of the robot joint can rotate freely.
In the above, the locking device uses the power supply of the robot itself as an example, and the locking device may also use the standby power supply for power supply. The locking device is powered by a standby power supply, and the lower limit threshold electric quantity of the robot is also required to be set. When the fact that the robot needs to lock the joint posture when the electric quantity is detected to be lower than the lower limit threshold value, the locking device uses the standby power supply to complete locking. When the electric quantity of the robot returns to normal and the robot needs to be unlocked, the locking device uses the standby power supply to complete unlocking.
The axis of the locking rod of the locking device is parallel to the axis of the rotating shaft, the axis of the locking rod can also be perpendicular to the axis of the rotating shaft, and the locking rod props against the side face of the rotating shaft after extending out to lock the rotating shaft.
When the locking rod of the locking device extends out, the spring is compressed, and when the robot joint is unlocked, the locking rod is retracted by means of the elasticity of the spring. The position of the spring can also be changed, the spring is stretched when the locking rod extends out, and the locking rod is retracted by the tension of the spring when the robot joint is unlocked.
The locking mechanism described above uses electromagnetic force to extend the locking lever and spring force to retract the locking lever. The locking lever and spring position can also be changed, the spring force is used to extend the locking lever, and the electromagnetic force retracts the locking lever. In this embodiment, the length of the part of the locking rod made of ferromagnetic material is not greater than the length of the cavity of the plastic skeleton, and when the robot joint is free to move, the part of the locking rod made of ferromagnetic material is located in the cavity of the plastic skeleton on the side close to the rotating shaft (preferably, the part made of ferromagnetic material is located in the middle part of the cavity of the plastic skeleton); when the robot joint is locked, the locking rod moves towards the rotating shaft direction under the action of the spring and props against the rotating shaft, and one part of the part, far away from the rotating shaft, of the locking rod made of ferromagnetic materials is located in the plastic framework cavity. When the robot joint can move freely, the spring is in a stretching state, and the locking rod stretches out by virtue of the tension of the spring; the position of the spring can be changed, so that the spring is in a compressed state when the robot joint can move freely, and the locking rod extends out by means of the elasticity of the spring.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (10)
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| JP2019063934A (en) * | 2017-09-29 | 2019-04-25 | セイコーエプソン株式会社 | robot |
| JP2019140350A (en) * | 2018-02-15 | 2019-08-22 | 日本電産株式会社 | Brake drive control circuit |
| CN111283729B (en) * | 2018-12-06 | 2021-07-30 | 台达电子工业股份有限公司 | Release brake device and its applicable robot arm |
| JP2020169693A (en) * | 2019-04-03 | 2020-10-15 | ファナック株式会社 | Brake inspection device for inspecting brake device, and numerical control device |
| CN110154086A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | An integrated joint power-off brake based on elastic latch module |
| CN211761647U (en) * | 2019-12-19 | 2020-10-27 | 迈赫机器人自动化股份有限公司 | Robot joint brake mechanism, mechanical arm and robot |
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2020
- 2020-11-13 CN CN202011265744.8A patent/CN112405621B/en active Active
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