CN112605984A

CN112605984A - Firing pin type band-type brake device of mechanical arm joint, mechanical arm joint and mechanical arm

Info

Publication number: CN112605984A
Application number: CN202011573768.XA
Authority: CN
Inventors: 张俊鹏; 刘主福; 刘培超
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-04-06

Abstract

The invention discloses a striker-type locking device for a mechanical arm joint. The mechanical arm joint includes a motor and a control board; the striker-type locking device includes a brake disc and a stopper sleeved on an output shaft of the motor. The stopper mechanism includes a stopper pin and an ejector pin located above the stopper pin and driving the stopper pin to move; the striker-type holding brake device further includes a detection switch for detecting the position of the ejector pin or the stopper pin , the detection switch is electrically connected with the control board. The present invention is beneficial to quickly eliminate the failure caused by the inability of the stop pin to move. In addition, the invention also discloses a mechanical arm joint and a mechanical arm.

Description

Firing pin type band-type brake device of mechanical arm joint, mechanical arm joint and mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a firing pin type band-type brake device of a mechanical arm joint, the mechanical arm joint and a mechanical arm.

Background

The band-type brakes in the existing mechanical arm are divided into a striker type band-type brake and an electromagnetic band-type brake, wherein the striker type band-type brake generally comprises a striker type electromagnet, an ejector pin, a spring, a stop pin and a brake disc. However, the existing striker type band-type brake does not have a function of detecting that the mechanical arm cannot normally operate due to the increase of the resistance of the stop pin or the damage of the electromagnet, so that the fault removal is difficult.

Disclosure of Invention

The invention mainly aims to provide a firing pin type band-type brake device of a mechanical arm joint, the mechanical arm joint and a mechanical arm, so as to solve the technical problems in the background technology.

In order to achieve the purpose, the invention provides a firing pin type band-type brake device of a mechanical arm joint, wherein the mechanical arm joint comprises a motor and a control board; the striker type band-type brake device comprises a brake disc and a stop mechanism, wherein the brake disc is sleeved on an output shaft of the motor, and the stop mechanism comprises a stop pin and an ejector pin which is positioned above the stop pin and drives the stop pin to move; the striker type band-type brake device further comprises a detection switch for detecting the position of the thimble or the stop pin, and the detection switch is electrically connected with the control panel.

The control panel is located above the ejector pin, and the detection switch is located on the control panel and can be in contact with the top end of the ejector pin.

The detection switch comprises a control board, a current limiting resistor, a power module and a processor, wherein the control board is further provided with the current limiting resistor, the power module is electrically connected with the first end of the detection switch through the current limiting resistor, the first end of the detection switch is further electrically connected with the processor, and the second end of the detection switch is grounded.

And the control panel is also provided with a filter capacitor connected with the detection switch in parallel.

The stop pin comprises a sliding column and an abutting lug boss which is connected with the sliding column and can abut against the brake disc.

The top of the abutting boss is provided with a positioning concave cavity, and the lower end of the ejector pin can be inserted into the positioning concave cavity.

Wherein the stop mechanism further comprises an elastic member located below the strut.

The elastic piece is a spring, the bottom of the sliding column is provided with a containing hole, and a partial area of the spring is located in the containing hole.

The brake disc comprises a fixed seat connected with an output shaft of the motor and a plurality of brake levers arranged around the fixed seat.

The brake rods are all provided with air guide blocks, and the air guide blocks are provided with inclined surfaces.

The invention also provides a mechanical arm joint which comprises a shell, a motor, a control panel and the striker type band-type brake device, wherein the striker type band-type brake device comprises a brake disc arranged on an output shaft of the motor, a stop mechanism and a detection switch, the stop mechanism and the detection switch are arranged on the shell, the stop mechanism comprises an electromagnet, a thimble connected with the electromagnet, a stop pin arranged below the thimble and an elastic piece arranged below the stop pin, the stop pin is positioned on one side of the brake disc and is used for being matched with the brake disc to brake the output shaft of the motor, and the detection switch is electrically connected with the control panel and can detect the position of the thimble or the stop pin.

The invention further provides a mechanical arm, which comprises a base and the mechanical arm joint, wherein the mechanical arm joint comprises a shell, a motor, a control panel and the striker type band-type brake device, the striker type band-type brake device comprises a brake disc arranged on an output shaft of the motor, a stop mechanism and a detection switch, the stop mechanism and the detection switch are arranged on the shell, the stop mechanism comprises an electromagnet, a thimble connected with the electromagnet, a stop pin arranged below the thimble and an elastic piece arranged below the stop pin, the stop pin is positioned on one side of the brake disc and is used for being matched with the brake disc to brake the output shaft of the motor, and the detection switch is electrically connected with the control panel and can detect the position of the thimble or the stop pin.

According to the striker type band-type brake device provided by the embodiment of the invention, the position of the thimble or the stop pin is detected by arranging the detection switch, so that the position state of the stop pin can be conveniently and quickly obtained, the specific reason that the mechanical arm joint cannot operate can be quickly determined, and the fault caused by the fact that the stop pin cannot move can be quickly eliminated.

Drawings

FIG. 1 is a cross-sectional view of one embodiment of a robotic arm joint of the present invention;

FIG. 2 is a schematic structural diagram of the control board shown in FIG. 1;

fig. 3 is a schematic view of a part of the structure of the striker type band-type brake apparatus shown in fig. 1;

FIG. 4 is a schematic view of the stop pin of FIG. 3;

FIG. 5 is a schematic structural view of another embodiment of the brake disc shown in FIG. 3;

FIG. 6 is a schematic structural diagram of an embodiment of a robotic arm according to the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.

The invention provides a firing pin type band-type brake device of a mechanical arm joint, as shown in fig. 1, the mechanical arm joint 1 comprises a motor 102 and a control board 103; the striker type band-type brake device comprises a brake disc 100 sleeved on an output shaft of a motor 102 and a stopping mechanism 200, wherein the stopping mechanism 200 comprises a stop pin 230 and a thimble 220 positioned above the stop pin 230 and driving the stop pin 230 to move; the striker type brake device further comprises a detection switch 300 for detecting the position of the thimble 220 or the stop pin 230, and the detection switch 300 is electrically connected with the control board 103.

In this embodiment, the mechanical arm joint 1 further includes a housing 101 for mounting the motor 102, the control board 103, and the striker-type brake device, and the interior of the housing 101 is preferably hollow. The connection mode of the brake disc 100 and the output shaft of the motor 102 can be arranged according to actual conditions, and can be fixed at the end of the output shaft of the motor 102 or sleeved on the output shaft of the motor 102, and at this time, the brake disc 100 is preferably located at the rear end of the output shaft of the motor 102, so that the front end of the output shaft of the motor 102 is conveniently connected with a driven object. Meanwhile, the stopping mechanism 200 includes an electromagnet 210, a thimble 220, a stop pin 230 and an elastic member 240, and the brake disc 100 may be configured according to the existing thimble type band-type brake device, in which case, the electromagnet 210 is preferably electrically connected to the control board 103. The main improvement of the present solution is a detection switch 300 disposed in the housing 101 and electrically connected to the control board 103 to detect the position of the ejector pin 220 or the stop pin 230, so as to facilitate the collection of the actual information whether the stop pin 230 moves under the driving of the ejector pin 220 to release the brake disc 100. The detection switch 300 may be in the form of a contact switch, such as a push switch, or an inductive switch, such as a photoelectric switch or a hall switch. In this embodiment, the position of the thimble 220 or the stop pin 230 is detected by the detection switch 300, so that the position state of the stop pin 230 can be conveniently and quickly obtained, the specific reason that the mechanical arm joint 1 cannot operate can be quickly determined, and the fault caused by the fact that the stop pin 230 cannot move can be quickly eliminated.

In a preferred embodiment, as shown in FIG. 1, the control board 103 is preferably located above the pins 220, and the detection switch 300 can be integrated on the control board 103. Preferably, the detection switch 300 is a contact switch, such as a swing switch with a switch stroke of 2.53-10.7 mm, such as BTE-P, TU-UCL, CTE-P, ATE-2C/1C, and TE-m (l), and the top of the ejector pin 220 has a swing button that can be sleeved on the swing switch, so that the ejector pin 220 drives the swing button to swing. Of course, the detection switch 300 may also be independently disposed on the housing 101, which is beneficial to increase the stability of the swing switch and avoid the swing switch from being separated from the control board 103 when the thimble 220 repeatedly drives the swing button to move.

In a preferred embodiment, as shown in fig. 2, the control board 103 preferably has a current limiting resistor 1031, a power module 1032 and a processor 1033, the first end of the detection switch 300 is electrically connected to the power module 1032 through the current limiting resistor 1031, the first end of the detection switch 300 is also electrically connected to the processor 1033, and the second end of the detection switch 300 is grounded. Preferably, the power module 1032 provides a voltage of 3.3V, the resistance of the current limiting resistor 1031 is 10K, and the type of the processor 1033 may be arranged according to actual conditions, so as to detect the on and off of the switch 300 to provide a high-low level signal for the processor 1033, and at this time, the processor 1033 may determine whether the stop pin 230 is normally turned on according to the high-low level signal.

In a preferred embodiment, as shown in fig. 2, a filter capacitor 1034 is preferably further disposed on the control board 103 and connected to the detection switch 300 in parallel, that is, two ends of the filter capacitor 1034 are electrically connected to the first end and the second end of the detection switch 300, respectively. Of these, the preferred filter capacitance 1034 is 100 nF.

In a preferred embodiment, as shown in fig. 1 and 3, the stop pin 230 preferably includes a slide post 231 slidably coupled to the housing 101 and an abutment boss 232 coupled to the slide post 231 and adapted to abut the brake disc 100. The sliding connection between the sliding column 231 and the housing 101 may be arranged with reference to an existing form, and preferably, the cross-sectional area of the sliding column 231 is smaller than that of the abutting boss 232, so that the abutting boss 232 is abutted to the brake disc 100 conveniently, and the specific abutting mode may be arranged with reference to an existing brake form.

In a preferred embodiment, as shown in FIG. 3, it is preferable that the top of abutment boss 232 has a positioning cavity 233, and the lower end of ejector pin 220 is inserted into positioning cavity 233. The size of the positioning cavity 233 may be arranged according to actual conditions, so as to avoid the phenomenon of misalignment between the thimble 220 and the stop pin 230 due to an excessive force applied thereto when the thimble 220 pushes the stop pin to move.

In a preferred embodiment, as shown in fig. 1 and 3, the housing 101 preferably has a slide hole therein, and the slide post 231 and the resilient member 240 are located in the slide hole. Preferably, the sliding column 231 is cylindrical, the sliding hole is a circular hole matched with the sliding column 231, and the elastic element 240 is located below the sliding column 231, so that the elastic element 240 can drive the stop pin 230 to move upwards to abut against the brake disc 100 to limit the rotation of the output shaft of the motor 102 when the thimble 220 moves upwards. Of course, a sliding sleeve can be arranged in the sliding hole, and the sliding column is arranged in the sliding sleeve in a sliding mode, so that the phenomenon that the gap between the sliding column and the sliding hole is too large when the sliding column is installed is avoided.

In a preferred embodiment, as shown in fig. 3 and 4, the elastic member 240 is preferably a spring, the bottom of the sliding column 231 has a receiving hole 234, and a partial area of the spring is located in the receiving hole 234. At this time, the assembly of the stopper pin 230 is facilitated by placing a partial section of the spring in the receiving hole 234 at the bottom of the spool 231, and it is also facilitated to adjust the length of the exposed portion of the spring by providing spacers of different thicknesses in the receiving hole 234, thereby adjusting the stroke of the stopper pin 230.

In a preferred embodiment, as shown in fig. 3, it is preferable that the brake disc 100 includes a fixing base 110 connected to an output shaft of the motor 102 and a plurality of brake levers 120 disposed around the fixing base 110. The fixing base 110 is preferably disc-shaped, the brake levers 120 extend horizontally from the side walls of the fixing base 110, and the number of the brake levers 120 can be arranged according to actual conditions. More specifically, a protruding tooth for limiting and braking is arranged at the end of the braking rod 120 along the length direction thereof, so that the protruding tooth collides with the abutting boss 232, thereby achieving the purpose of braking the output shaft of the motor 102.

In a preferred embodiment, as shown in fig. 5, the brake levers 120 are preferably provided with air guide blocks 130, and the air guide blocks 130 are provided with inclined surfaces 131. Since the air collides with the inclined surface 131 of the air guide block 130 during the rotation of the brake disc 100 along with the rotation shaft of the motor 102, the air generates wind under the guidance of the inclined surface 131, and the generated wind can dissipate the heat generated by the motor 102 to the outside of the mechanical arm joint 1, for example, the wind with heat can be discharged through heat dissipation holes in the mechanical arm joint 1, or the housing 101 of the mechanical arm joint 1 is used for heat conduction to discharge the heat generated inside the mechanical arm joint 1. The air guide block 130 having the inclined surface 131 according to the present embodiment mainly accelerates the flow of air inside the mechanical arm joint 1 to achieve the purpose of rapid heat dissipation.

In the above embodiment, the inclined surfaces 131 according to the present embodiment are provided symmetrically on the wind guide block 130, and the inclined surfaces 131 gradually contract from bottom to top, so that the wind generated by the brake disc 100 flows in a direction away from the motor 102 regardless of the forward rotation or the reverse rotation of the motor 102, thereby preventing the wind generated by the forward rotation or the reverse rotation of the motor 102 from changing and blowing toward the motor 102. It can be understood that the wind generated by the brake disc 100 forms hot air under the action of the heat generated by the motor 102, and if the hot air is blown to the motor 102, the hot air not only does not play a role in dissipating heat, but also causes the operating temperature of the motor 102 to increase, thereby affecting the normal operation of the motor 102. That is, the two symmetrical inclined surfaces 131 also change the flow direction of the air, and no matter whether the motor 102 rotates forward or reversely, the wind generated by the wind guide block 130 is blown away from the motor 102, so as to ensure the heat dissipation of the motor 102.

The invention further provides a mechanical arm joint 1 and a mechanical arm, wherein the mechanical arm joint 1 and the mechanical arm both comprise the striker-type brake device in the above embodiment, and the specific structure of the striker-type brake device refers to the above embodiment, and since the mechanical arm joint 1 and the mechanical arm both adopt all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is provided herein.

As shown in fig. 6, the structure of the robot arm joint 1 and the robot arm may be arranged according to the existing form, for example, the robot arm includes a base 2 and a plurality of robot arm joints 1 connected in sequence.

The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.

Claims

1. a striker-type holding brake device of a mechanical arm joint, is characterized in that,

The robotic arm joint includes a motor and a control board;

The striker type locking device comprises a brake disc sleeved on the output shaft of the motor and a stopper mechanism, the stopper mechanism comprising a stopper pin and a stopper pin located above the stopper pin and driving the stopper pin to move. thimble;

The striker-type holding brake device further includes a detection switch for detecting the position of the ejector pin or the stop pin, and the detection switch is electrically connected with the control board.

2 . The striker-type holding brake device according to claim 1 , wherein the control board is located above the ejector pin, and the detection switch is located on the control board and can be in contact with the top end of the ejector pin. 3 .

3 . The striker-type holding brake device according to claim 2 , wherein a current-limiting resistor, a power supply module and a processor are further arranged on the control board, and the first end of the detection switch passes through the current-limiting resistor. 4 . It is electrically connected to the power module, the first end of the detection switch is also electrically connected to the processor, and the second end of the detection switch is grounded.

4 . The striker-type holding brake device according to claim 3 , wherein a filter capacitor connected in parallel with the detection switch is further arranged on the control board. 5 .

5 . The striker type locking device according to claim 1 , wherein the stopper pin comprises a sliding column and an abutting boss connected with the sliding column and abutting with the brake disc. 6 .

6 . The striker-type holding brake device according to claim 5 , wherein the top of the abutting boss has a positioning cavity, and the lower end of the ejector pin can be inserted into the positioning cavity. 7 .

7 . The striker type locking device according to claim 5 , wherein the stopper mechanism further comprises an elastic member located under the sliding column. 8 .

8 . The striker-type holding brake device according to claim 7 , wherein the elastic member is a spring, the bottom of the sliding column has an accommodating hole, and a partial area of the spring is located in the accommodating hole. 9 .

9 . The striker type locking device according to claim 1 , wherein the brake disc comprises a fixed seat connected with the output shaft of the motor and a plurality of brake levers arranged around the fixed seat. 10 .

10 . The striker-type holding brake device according to claim 9 , wherein an air guide block is provided on each of the brake rods, and the air guide block has an inclined surface. 11 .

11. A mechanical arm joint, characterized in that it comprises a casing, a motor, a control board, and the striker-type holding brake device according to any one of claims 1 to 10.

12 . A robotic arm, comprising a base and the robotic arm joint according to claim 11 .