CN115217868A

CN115217868A - Electromagnetic brake and robot

Info

Publication number: CN115217868A
Application number: CN202210634133.9A
Authority: CN
Inventors: 陈显威; 沈晓龙
Original assignee: Shenzhen Tongchuan Technology Co ltd
Current assignee: Shenzhen Tongchuan Technology Co ltd
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2022-10-21
Anticipated expiration: 2042-06-07
Also published as: CN115217868B

Abstract

An electromagnetic brake comprising: a main shaft; the brake body is sleeved on the main shaft and is provided with an armature; the brake disc comprises a tray and a friction plate, the tray is fixedly connected to the main shaft, the friction plate is fixedly connected to the tray, and the friction plate is partially exposed out of the tray; the brake body drives the armature to be close to or far away from the friction plate, the armature is pushed out by the brake body, and the armature is abutted to one side of the friction plate and brakes. This application synthesizes friction disc and tray into whole, forms the brake disc, with the direct rigid coupling of brake disc on the main shaft, prevents to lead to the production of friction noise and dust because of the brake disc is along the main shaft drunkenness, simultaneously, adjusts the friction surface when braking with the stopper into the single face of friction disc, the dust volume that produces when further having reduced the friction.

Description

Electromagnetic brake and robot

Technical Field

The invention relates to the technical field of brakes, in particular to an electromagnetic brake and a robot.

Background

With the rapid development of industrial automation technology, industrial robots are increasingly gaining attention as important industrial automation equipment, and are increasingly widely applied. In the related technology of industrial robots, the control of moving parts such as joints of a cooperative robot is the most important and critical, so the design of an electromagnetic brake is gradually emphasized, and the electromagnetic brake is a connector for transmitting the torque of an active side to a passive side, can be freely combined, cut off or braked according to requirements, has many specific implementation advantages, is an ideal automatic execution element in modern industry, and mainly plays roles of transmitting power, controlling motion and the like in a mechanical transmission system.

In the prior art, an electromagnetic brake is used as an attitude keeping component when a robot joint and a servo motor act and are powered off, and a rotor part of the electromagnetic brake needs to rotate along with a motor shaft and needs to be capable of axially moving, so that the problems of high noise, much friction dust (friction between a rotor and an armature along the axial direction) and large space size and the like can occur when the traditional brake operates.

Disclosure of Invention

In view of the above, it is necessary to provide an electromagnetic brake and a robot, which are capable of solving the problems of high noise and much friction dust of the electromagnetic brake.

An electromagnetic brake comprising:

a main shaft;

the brake body is sleeved on the main shaft and is provided with an armature; and

the brake disc comprises a tray and a friction plate, the tray is fixedly connected to the main shaft, the friction plate is fixedly connected to the tray, and the friction plate is partially exposed out of the tray;

the brake body drives the armature to be close to or far away from the friction plate, the armature is pushed out by the brake body, and the armature is abutted to one side of the friction plate and brakes.

In one embodiment, the annular array of the brake body is provided with a plurality of guide posts, the guide posts are fixedly connected with the brake body, and the armature is connected with the guide posts in a sliding manner.

In one embodiment, the guide post comprises a sliding body fixedly connected to the brake body and a limiting body integrally formed at the top of the sliding body, the sliding body is slidably connected with the armature, an elastic member is sleeved on the sliding body, and the elastic member is respectively abutted to the brake body and the armature.

In one embodiment, the outer diameter of the limiting body is larger than that of the sliding body, the length of the sliding body is larger than the thickness of the armature, and the plane height of the limiting body is larger than or equal to that of the friction plate.

In one embodiment, the brake further comprises a bearing, an inner ring of the bearing is sleeved on the main shaft, and an outer ring of the bearing is fixedly connected inside the brake body.

In one embodiment, the brake body is provided with a connector lug which is electrically connected with an external circuit.

In one embodiment, the brake body is provided with a plurality of first notches on the periphery, the armature is provided with a plurality of second notches on the periphery, and the first notches are matched with the second notches.

In one embodiment, the friction plate is arranged coaxially with the armature, the top surface of the friction plate is higher than the top surface of the tray, and the side surface of the friction plate is flush with the side surface of the tray.

In one embodiment, the tray is an interference fit with the spindle.

The application also provides a robot comprising an electromagnetic brake as claimed in any one of claims 1-9, fitted at a robot joint.

The application provides an electromagnetic brake and robot has following beneficial effect at least: the friction plate and the tray are combined into a whole to form the brake disc, the brake disc is directly and fixedly connected to the main shaft, friction noise and dust caused by the fact that the brake disc moves along the main shaft are prevented, meanwhile, the friction surface of the brake during braking is adjusted to be a single surface of the friction plate, and the dust amount generated during friction is further reduced.

In addition, the bearing is directly arranged in the brake body, so that the space height occupied by additionally arranging the bearing can be saved.

Drawings

FIG. 1 is a cross-sectional view of an electromagnetic brake in one embodiment;

FIG. 2 is an enlarged view of a portion of FIG. 1 of the electromagnetic brake in one embodiment, and FIG. 2 shows the exterior mating relationship of the brake body, the armature and the brake disc;

fig. 3 is a schematic structural diagram of a brake body and an armature of the electromagnetic brake in one embodiment.

Description of reference numerals:

10. an electromagnetic brake; 100. a main shaft; 110. a first step; 120. a second step; 200. a brake body; 201. a connector lug; 202. a first notch; 203. a threaded through hole; 204. mounting grooves; 210. an armature; 211. a second recess; 220. a bearing; 230. a guide post; 231. a sliding body; 232. a limiting body; 240. a bolt; 300. a brake disc; 310. a tray; 320. a friction plate.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 and 3, an electromagnetic brake 10 has the advantages of simple and compact structure, low heat generation, low noise, light weight, easy installation, wide adaptability, sensitive action, and high braking reliability and speed. The electromagnetic brake 10 includes: main shaft 100, brake body 200, brake disc 300. The brake body 200 is sleeved on the main shaft 100, and the bottom of the brake body 200 is connected with the armature 210; the brake disc 300 comprises a tray 310 and a friction plate 320, wherein the tray 310 is fixedly connected to the main shaft 100, the friction plate 320 is fixedly connected to the tray 310, and the friction plate 320 is partially exposed out of the top of the tray 310; the brake body 200 drives the armature 210 to be close to or far away from the friction plate 320, the armature 210 is pushed out when the brake body 200 is powered off, and the armature 210 abuts against one side of the friction plate 320 to brake. The friction plate 320 and the tray 310 are arranged into a whole to form the brake disc 300, so that the thickness of the whole electromagnetic brake 10 is reduced, the installation difficulty caused by the structural size is avoided, and the applicability of the electromagnetic brake 10 is improved. In addition, friction disc 320 in this application is set up to the friction form of single face, and compare with conventional friction form, has the advantage that the noise is low, has greatly improved electromagnetic brake 10 and the operational environment who uses the device in coordination thereof, has reduced the injury of industrial noise to staff's health, and simultaneously, the dust volume that produces when friction has been reduced to the mode of setting up of friction disc 320 single face, does benefit to the protection of environment. Electromagnetic braking ware 10 in this application is for losing electric braking, and electromagnetic braking ware 10 holistic axial dimensions is little, and is more frivolous, compact structure, simple to operate, and the braking moment of torsion is big, can satisfy the needs of braking in the very big degree.

In one embodiment, the main shaft 100 is provided as a transmission output shaft of a micro motor, a servo motor and a stepping motor which are adapted to a joint of the robot, the main shaft 100 is in a step shape, the main shaft 100 includes a first step 110 and a second step 120, the first step 110 is sleeved with a bearing 220, and the second step 120 is fixedly connected with a brake disc 300.

In another embodiment, the spindle 100 is in the shape of an optical axis, a stepped shaft sleeve (not shown) is fixedly connected to the spindle 100 through a flat key or a spline, the shaft sleeve is fixedly connected to the bearing 220 and the brake disc 300, and after the shaft sleeve is added, the load borne by the spindle 100 is dispersed by the shaft sleeve, so that the load of the spindle 100 is reduced, and the service life of the spindle 100 is prolonged.

In one embodiment, the brake body 200 and the armature 210 are disk-shaped or ring-shaped, and the brake body 200 is provided with a central hole in which the mounting groove 204 for mounting the bearing 220 is provided. The brake body 200 is provided with a connector 201, and the connector 201 is electrically connected with an external circuit and supplies power to the integral electromagnetic brake 10. An excitation coil (not shown in the figure) is arranged in the brake body 200, the excitation coil can attract or separate the armature 210 through an excitation principle, so that the armature 210 can be far away from or close to the friction plate 320, in specific implementation, a rated direct-current voltage of the excitation coil can be designed into a special voltage according to user requirements, the attraction force is guaranteed to be controlled, so that the armature 210 can be attracted by the excitation coil tightly when the electromagnetic brake 10 is used, preferably, an F-grade copper wire is used for an excitation coil winding, and the stability of working temperature is guaranteed.

In one embodiment, the armature 210 is made of electrical pure iron DT4 to ensure electromagnetic performance, and the armature 210 is a table-shaped structure having a central hole through which the spindle 100 is installed and which penetrates the armature 210.

In one embodiment, the brake body 200 is annularly arrayed with a plurality of guide posts 230, the guide posts 230 are made of low-carbon steel No. 10, toughness and rigidity are guaranteed, the guide posts 230 are fixedly connected with the brake body 200, the armature 210 is slidably connected with the guide posts 230, specifically, the guide posts 230 are provided with threaded connection holes along the central axis, threaded through holes 203 are formed in positions, corresponding to the threaded connection holes, of the brake body 200, the threaded connection holes are matched with the threaded through holes 203, the threaded connection holes are in threaded connection with adaptive bolts 240 through the threaded through holes 203, so that the guide posts 230 are fixedly connected with the brake body 200. In addition, the locking washer or the thread tape may be wound during the fastening process of the bolt 240. Further, the guiding post 230 includes a sliding body 231 fixed to the brake body 200 and a limiting body 232 integrally formed on the top of the sliding body 231, the sliding body 231 is slidably connected to the armature 210, the sliding body 231 is sleeved with an elastic member (not shown in the figure), the elastic member abuts against the bottom of the brake body 200 and the top of the armature 210, the elastic member is a spring, and the spring is a cylindrical spring with two ends of a carbon spring steel wire and being tightly ground. The electromagnetic brake 10 adopts a spring device to form braking torque, when the brake body 200 is powered off, the spring presses the armature 210 to force a friction torque to be generated between the friction plate 320 and the armature 210, so that the main shaft 100 is braked and stopped quickly, the spring reset time is the brake response time, the pressure of the spring determines the braking force, and the specific performance parameters and the size of the spring can be selected according to specific conditions.

In another embodiment, two ends of the elastic member may be directly connected to the end face of the brake body 200 and the top end face of the armature 210, and the position of the elastic member is not limited herein.

Referring to fig. 2, the outer diameter of the position-limiting body 232 is greater than the outer diameter of the guide post 230, the position-limiting body 232 is used for limiting the axial sliding stroke of the armature 210, so as to avoid the stroke of the armature 210 from being too long, even exceeding a normal design value, if the stroke length of the armature 210 is increased to be above a normal value, the suction force may be greatly reduced, further the normal operation of a matching device is affected, or adverse effects such as braking delay are caused, and when the sliding stroke is adjusted through the sliding body 231, it is required to ensure that after the armature 210 attracts and closes the brake body 200, the clearance between the armature 210 and the friction plate 320 is controlled within twenty percent of a specified value. In fig. 2, the bottom surface of the brake body 200 is defined as a base surface B, the plane height of the limiting body 232 is defined as a distance H4 from the lowest end surface of the limiting body 232 to the base surface B, the plane height of the friction plate 320 is defined as a distance H3 from the top end surface of the friction plate 320 to the base surface B, the plane height H4 of the limiting body 232 is greater than or equal to the plane height H3 of the friction plate 320, when the friction plate 320 is rubbed to a safe thickness, the limiting body 232 can block the armature 210 from further descending, so as to avoid the friction damage of the tray 310 and the friction plate 320, in addition, the specific length of the sliding body 231 is determined by the thickness of the unused armature 210, the length H1 of the sliding body 231 is greater than the thickness H2 of the armature 210, but is not too large as compared with a part of the size, so as to avoid affecting the sliding stroke of the armature 210, and the arrangement mode can separate the armature 210 from the friction plate under the condition that the electromagnetic brake is not needed, so as to avoid the reduction of the rotation speed of the main shaft 100, thereby avoiding the deceleration phenomenon of the robot during normal use.

In another embodiment, a limit pin (not shown) may be used instead of the guide post 230, the limit pin is screwed into the threaded through hole 203, the armature 210 is slidably connected to a portion of the limit pin that is not screwed into the threaded through hole 203, and the sliding stroke of the armature 210 is adjusted by the depth of the limit pin screwed into the threaded through hole 203.

In one embodiment, the periphery of the brake body 200 is provided with a plurality of first notches 202, the periphery of the armature 210 is provided with a plurality of second notches 211, the first notches 202 are matched with the second notches 211, after the brake body 200 is connected with the armature 210, the first notches 202 correspond to the second notches 211, when the brake body 200 is installed in a station, the first notches 202 and the second notches 211 can be used for positioning and installing size, the installation convenience of the brake body 200 is improved, meanwhile, the number of the first notches 202 and the number of the second notches 211 are multiple, the material loss is reduced under the condition that the brake body 200 and the armature 210 can be stably stressed, the production cost is reduced, in addition, the working quality of the

brake bodies

200 and 210 is lower, and the light-weight design specification of the armature is met.

In one embodiment, the brake device further comprises a bearing 220, the bearing 220 is respectively matched with the main shaft 100 and the brake body 200, an inner ring of the bearing 220 is sleeved on the main shaft 100, an outer ring of the bearing 220 is fixedly connected in the mounting groove 204 in the brake body 200, and the bearing 220 is directly mounted in the brake body 200, so that the space height occupied by additionally mounting the bearing 220 can be saved. Since the electromagnetic brake 10 is applied to the joint of the robot, the bearing 220 can specifically select a rolling bearing with strong axial bearing capacity and high rotating speed to meet the requirement of robot operation. The bearing 220 can be installed to play a simple and accurate centering role, and especially, the nominal size of the outer diameter of the bearing 220 is matched with the size of the installation groove 204 in the brake body 200, so that the concentricity of the brake body 200 is ensured, the brake body 200 is prevented from eccentric rotation during operation, and the bearing 220 is prevented from being damaged due to uneven radial stress of the bearing 220. Preferably, when designing the brake body 200, a light weight process is adopted as much as possible to ensure that the working quality of the brake body 200 does not cause an axial force overload on the bearing 220.

In one embodiment, the friction plate 320 and the tray 310 are in a disc shape or a ring shape, the friction plate 320 and the tray 310 are also provided with a central hole, and the main shaft 100 penetrates through the central holes of the friction plate 320 and the tray 310. The interference fit of the tray 310 and the main shaft 100 ensures the reliability of the integral connection of the tray 310, and simultaneously prevents the generation of friction noise and dust caused by the integral movement of the brake disc 300 along the main shaft 100. When the brake disc 300 is disposed, the tray 310 and the friction plate 320 may be integrally formed, which is convenient for production and assembly, and in addition, the tray 310 and the friction plate 320 may be fixedly connected together by a countersunk pin or a countersunk rivet. When the friction plate 320 is specifically arranged, the diameter of the friction plate 320 can be made as large as possible to obtain a better friction effect; for example, the friction plate 320 is entirely disposed on the top of the tray 310. Preferably, heat dissipation holes may be formed in the friction plate 320 and the tray 310, especially when the size of the friction plate 320 is large, the surface of the friction plate 320 may rapidly warm up when the friction plate 320 abuts against the armature 210 for braking, the temperature may increase with the increase of the braking time, and the hot air formed by braking may be discharged along with the heat dissipation holes, thereby improving the heat dissipation efficiency and the braking efficiency at the joint of the robot.

In one embodiment, the friction plate 320 is arranged coaxially with the armature 210, so that when the armature 210 is in contact with the friction plate 320 for braking, the contact area is maximized, and the braking effect is increased. The tray 310 is made of electrician pure iron DT4, and electromagnetic performance is guaranteed. The top surface of the friction plate 320 is higher than the top surface of the tray 310, so that friction braking with the friction plate 320 when the armature 210 descends is guaranteed, dry friction between the armature 210 and the tray 310 is prevented, and the tray 310 is prevented from being damaged. The side of friction disc 320 and the side parallel and level of tray 310 have guaranteed the wholeness of friction disc 320 with tray 310, and its job stabilization nature is better, and the atress condition is more even.

In one embodiment, the friction plate 320 is made of a wear-resistant material, the friction material of the friction plate 320 is selected to directly influence the whole braking process, the friction material has a high and stable friction coefficient and good wear resistance, the friction material is classified into metal and nonmetal, the metal friction material can be cast iron, steel, bronze, powder metallurgy friction material and the like, and the specific selection of the friction material needs to be specifically selected according to the working temperature and the temperature rise speed of the electromagnetic brake 10. Preferably, the friction plate 320 is made of asbestos-free semimetal friction materials, so that the noise is low, the friction coefficient is high, the wear rate is low, the environment is protected, and the service life of the brake is prolonged. In addition, the coefficient of the friction material of the friction surface of the friction plate 320 is set to be about 0.4, and the adoption of the wear-resistant material can reduce flying of dust generated by friction of the friction plate 320 and improve the cleanliness of operation on the premise of ensuring normal braking of the friction plate 320.

The working principle is as follows: when the robot matched with the electromagnetic brake 10 is in a working state, the electromagnetic brake 10 is wholly in a silent state, in the state, the brake body 200 is electrified, so that the magnet exciting coil in the brake body 200 attracts the armature 210, at the moment, the spring is compressed, the armature 210 overcomes the elastic force of the spring, the top surface of the armature 210 is abutted against the bottom surface of the brake body 200, and a working gap is reserved between the armature 210 and the friction plate 320, so that the main shaft 100 can normally run; when the robot matched with the electromagnetic brake 10 is in a waiting stop state, the electromagnetic brake 10 is wholly in a brake state, in the state, the brake body 200 is powered off, the spring is in a reset state and pushes the armature 210 away from the brake body 200, the armature 210 moves downwards along the sliding part of the sliding column, the top surface of the armature 210 is separated from the bottom surface of the brake body 200, the armature 210 is abutted with the friction plate 320 for braking until the main shaft 100 is completely braked, and the joint of the robot is protected. At this point, the entire braking process of the spindle 100 is completed. When the electromagnetic brake 10 enters the next working cycle, after the excitation coil is energized, the armature 210 is attracted to the brake body 200 under the action of electromagnetic force, so that the friction plate 320 is loosened, the purpose of brake release is achieved, normal operation of the device is facilitated, and preparation is made for the next brake.

It should be noted that, when the electromagnetic brake 10 is installed and used, components that hinder the use of moisture, oil, etc. should be avoided as much as possible in the working environment, and especially, if the friction part is not stained with substances such as moisture, oil, etc., the friction torque force is prevented from being greatly lost, and the sensitivity of the brake is reduced, it is preferable that a moisture-proof or waterproof cover is covered on the whole exterior of the electromagnetic brake 10 to improve the internal stability of the electromagnetic brake 10 during operation, and the cover may be, for example, a housing structure formed by stamping or injection molding, or a housing structure formed by casting, etc.

The application also provides a robot, this robot includes foretell electromagnetic brake 10, and this robot is provided with multistage robot joint, is provided with electromagnetic brake 10 in the robot joint, and robot joint department is provided with the driving piece that drives joint motion, and the driving piece sets up to micro motor, servo motor, step motor etc. and the transmission output shaft of driving piece can stretch into inside electromagnetic brake 10 to be connected with electromagnetic brake 10's brake disc 300 and bearing 220.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An electromagnetic brake, comprising:

a main shaft;

2. The electromagnetic brake of claim 1, wherein the brake body has a plurality of guide posts arranged in an annular array, the guide posts are fixedly connected to the brake body, and the armature is slidably connected to the guide posts.

3. The electromagnetic brake of claim 2, wherein the guide post comprises a sliding body fixedly connected to the brake body and a limiting body integrally formed on the top of the sliding body, the sliding body is slidably connected to the armature, the sliding body is sleeved with an elastic member, and the elastic member abuts against the brake body and the armature respectively.

4. The electromagnetic brake of claim 3, wherein the outer circumferential diameter of the spacing body is greater than the outer circumferential diameter of the sliding body, the length of the sliding body is greater than the thickness of the armature, and the planar height of the spacing body is greater than or equal to the planar height of the friction plate.

5. The electromagnetic brake of claim 1, further comprising a bearing, wherein an inner ring of the bearing is sleeved on the main shaft, and an outer ring of the bearing is fixedly connected inside the brake body.

6. The electromagnetic brake of claim 1, wherein the brake body is provided with a connector lug, the connector lug being electrically connected to an external circuit.

7. The electromagnetic brake of claim 1, wherein the brake body has a periphery provided with a plurality of first notches and the armature has a periphery provided with a plurality of second notches, the first notches mating with the second notches.

8. The electromagnetic brake of claim 1, wherein the friction plate is disposed coaxially with the armature, a top surface of the friction plate is higher than a top surface of the tray, and side surfaces of the friction plate are flush with side surfaces of the tray.

9. The electromagnetic brake of claim 1, wherein the tray is an interference fit with the spindle.

10. A robot comprising an electromagnetic brake as claimed in any one of claims 1-9, fitted at a robot joint.