CN108223623A - A kind of disk type electromagnetic brake and joint of robot - Google Patents
A kind of disk type electromagnetic brake and joint of robot Download PDFInfo
- Publication number
- CN108223623A CN108223623A CN201810161756.2A CN201810161756A CN108223623A CN 108223623 A CN108223623 A CN 108223623A CN 201810161756 A CN201810161756 A CN 201810161756A CN 108223623 A CN108223623 A CN 108223623A
- Authority
- CN
- China
- Prior art keywords
- static friction
- disk type
- friction plate
- type electromagnetic
- electromagnetic brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003068 static effect Effects 0.000 claims abstract description 122
- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 36
- 230000005489 elastic deformation Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 9
- 238000005299 abrasion Methods 0.000 abstract description 7
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000012535 impurity Substances 0.000 description 4
- 239000012634 fragment Substances 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000002783 friction material Substances 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
- F16D55/224—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members
- F16D55/225—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members the braking members being brake pads
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/20—Electric or magnetic using electromagnets
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
An embodiment of the present invention provides a kind of disk type electromagnetic brake and joint of robot, the disk type electromagnetic brake, including：Housing；Electromagnet, the first static friction piece, movable friction plate, movable friction plate is located between electromagnet and the first static friction piece, and is installed on transmission shaft to be braked, axial slip can be carried out on transmission shaft, and rotate synchronously with transmission shaft；An elastic element is installed between movable friction plate and the first static friction piece；Movable friction plate and the first static friction piece are connected with each other by elastic element, using elasticity possessed by elastic element, can make movable friction plate that slight displacement occur along the axial direction of transmission shaft, so as to which it be made to be detached with the first static friction piece in brake release.And prepsetting gap is kept under the action of elastic force, so that certain relative distance is kept between movable friction plate and static friction piece, non-essential abrasion between static friction piece and movable friction plate can be reduced to avoid friction is generated between the movable friction plate after being separated from each other and static friction piece.
Description
Technical field
The present invention relates to technical field of mechanical transmission, more particularly to a kind of disk type electromagnetic brake and joint of robot.
Background technology
With the fast development of industrial automation technology, cooperation robot as a kind of important industrial automation equipment,
Increasingly paid attention to, and application is more and more extensive.In the related technology of cooperation robot, to fortune such as cooperation joint of robot
The control of dynamic component is mostly important and crucial.
The electromagnetic brake that closed type may be used in the moving components such as cooperation joint of robot is braked, the electromagnetic braking
Device is mainly used for protecting the moving components such as cooperation joint of robot.When the robot that cooperates is in normal operating conditions,
Electromagnetic brake coil is powered, and the armature of electromagnetic brake is attracted, and the friction plate in electromagnetic brake is separated from each other so that cooperation
The moving components such as joint of robot can be with proper motion.When failure or power-off, electromagnetic brake coil dead electricity, electromagnetism
The armature of brake resets under the action of resetting spring, the friction plate phase mutual friction in electromagnetic brake, generates braking moment,
So that the moving components such as cooperation joint of robot can be with fast braking.
However in the prior art, the stroke very little of electromagnetic clutch armature causes when cooperating robot normal work,
After armature is attracted with coil, the distance detached between movable friction plate and static friction piece is also smaller.However, movable friction plate is installed on association
Make on the transmission shaft of joint of robot, positioned by the transmission shaft, and rotated with the transmission shaft, in rotation process
It is possible that beat or movable friction plate can occur in rotation process since the effect of vibrations may occur to close to static friction
The displacement in the direction of piece, so as to rubbing between close static friction piece or armature, lead to static friction piece and move to rub
Non-essential abrasion is generated between pad, and the impurity such as metal fragment for the generation that rubs can influence the fortune such as joint of robot that cooperate
The normal work of dynamic component, for example, can be polluted to the photoelectric encoder in joint of robot, so as to reduce joint of robot
The reliability of work.
Invention content
The embodiment of the present invention is designed to provide a kind of disk type electromagnetic brake and joint of robot, in cooperation machine
When people works normally, the friction between the movable friction plate in electromagnetic brake and static friction piece is avoided.Specific technical solution is as follows：
The embodiment of the invention discloses one kind, disk type electromagnetic brake, including：
Housing；
Electromagnet, the electromagnet are fixedly connected with the housing；
First static friction piece, the first static friction piece are fixedly connected with the housing；
Movable friction plate, the movable friction plate are installed on and treat between the electromagnet and the first static friction piece
On the transmission shaft of braking, axial slip can be carried out on the transmission shaft, and rotate synchronously with the transmission shaft；
An elastic element is installed between the movable friction plate and the first static friction piece；
When the disk type electromagnetic brake is braked, the electromagnet oppresses the movable friction plate and first static friction
Piece contacts, and using frictional force brakes, the elastic element generates elastic deformation；
When the disk type electromagnetic brake stops braking, the electromagnetic actuation no longer oppresses the movable friction plate,
Under the elastic element elastic force effect, the movable friction plate is made to be slided on the transmission shaft, with the first static friction piece point
From, and keep prepsetting gap with the first static friction piece.
Optionally, the electromagnet includes：Armature, iron core, resetting spring and the second static friction piece with coil；
The iron core is fixedly connected with the housing, and the armature is slidably connected with the iron core；
The resetting spring is installed between the armature and the iron core, respectively with the armature and the iron core are consolidated
Fixed connection；
The second static friction piece is fixedly connected on the armature on the end face of the movable friction plate.
Optionally, the disk type electromagnetic brake further includes axle sleeve,
The axle sleeve is installed on the transmission shaft, axial slip can be carried out on the transmission shaft, and with described
Transmission shaft rotates synchronously；
The axle sleeve is fixedly connected with the movable friction plate, and the movable friction plate is driven to be rotated synchronously with the transmission shaft.
Optionally, the first static friction piece has centre bore, and the axle sleeve is located at the center of the first static friction piece
In hole, the sleeve outer circle cylinder is matched with the inner cylinder face of the centre bore；
The sleeve outer circle cylinder has the first groove, and the inner cylinder face of the centre bore has the second groove；
The elastic element is installed in the cavity that first groove and second groove are formed.
Optionally, the axle sleeve is stepped axle sleeve；
The external cylindrical surface of the big shaft end of axle sleeve have the first groove, and in the centre bore of the first static friction piece
Cylindrical surface matches；
The outside cylinder of the small shaft end of axle sleeve is fixedly connected with the movable friction plate.
Optionally, the elastic element is star-like sealing ring.
Optionally, the disk type electromagnetic brake further includes stop collar；
The stop collar is installed between the first static friction piece and the electromagnet, two end faces of the stop collar
Respectively with the first static friction piece is connected with the electromagnet.
Optionally, the disk type electromagnetic brake further includes lead；
The armature has first through hole, and the iron core has the second through-hole, and the first static friction piece leads to third
Hole；
The lead also cross the first through hole, second through-hole and the third through-hole, and with the shell
Body is fixedly connected.
Optionally, the disk type electromagnetic brake further includes bearing；
The inner cylinder face of the bearing and the transmission axis connection；
The external cylindrical surface of the bearing is connect with the housing.
The present invention, which implements, also discloses a kind of joint of robot, and the joint of robot can apply above-mentioned disk type electromagnetic
Brake.
A kind of disk type electromagnetic brake and joint of robot provided in an embodiment of the present invention, make dynamic friction by elastic element
Piece and the first static friction piece are connected with each other, and, using elasticity possessed by elastic element, can make movable friction plate in brake release
Slight displacement occurs along the axial direction of transmission shaft, so as to which movable friction plate be made to be detached with the first static friction piece.And in the effect of elastic force
Lower holding prepsetting gap so that certain relative distance is kept between movable friction plate and static friction piece, so as to avoid electromagnetic system
Movable friction plate generated friction after being separated from each other with static friction piece in dynamic device, reduces static friction piece and movable friction plate
Between generate non-essential abrasion, while avoid the generation of the impurity such as metal fragment, improve joint of robot work can
By property.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach all the above advantage simultaneously.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the first structure chart of disk type electromagnetic brake provided in an embodiment of the present invention；
Fig. 2 is second of structure chart of disk type electromagnetic brake provided in an embodiment of the present invention；
Fig. 3 is the third structure chart of disk type electromagnetic brake provided in an embodiment of the present invention；
Fig. 4 is the 4th kind of structure chart of disk type electromagnetic brake provided in an embodiment of the present invention；
Fig. 5 is the 5th kind of structure chart of disk type electromagnetic brake provided in an embodiment of the present invention.
Wherein, the correspondence in Fig. 1 and Fig. 5 between each component Name and reference numeral is：
Housing 101, electromagnet 102, the first static friction piece 103, movable friction plate 104, transmission shaft 105, elastic element 106,
Prepsetting gap 107, axle sleeve 108, armature 111, iron core 112, the second static friction piece 113, pedestal 121, shield 122, the first groove
131st, the second groove 132, stop collar 141, lead 142, bearing 143, banking pin 151.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the first structure chart of disk type electromagnetic brake provided in an embodiment of the present invention, including：
Housing 101, housing 101 can be cylindrical or rectangle housings, can pass through the connections such as screw inside it
Mode is fixedly connected with the parts such as electromagnet 102, the first static friction piece 103.Housing 101 provides for carrying the embodiment of the present invention
Disk type electromagnetic brake parts, provide installation foundation for parts.It, can be by the disk type electromagnetic system by housing 101
Dynamic device is fixedly connected with equipment to be braked, such as joint of robot etc..So that the disk type electromagnetic brake can
Braking is realized to equipment to be braked.Specifically, the shape and structure of housing 101 can be available there are many mode, for example, punching
Shell structure of pressure, the shell structure of injection molding or casting and forming etc..As long as the internal structure of housing 101 disclosure satisfy that
The present invention implements the basic installation site of the parts of the disk type electromagnetic brake provided, can be applied to the embodiment of the present invention
In.
As shown in Figure 1, housing 101 can also include pedestal 121 and shield 122, pedestal 121 can be with centre bore
Round or rectangle boss structure, transmission shaft 105 to be braked can be to pass through the centre bores, into 101 inside of housing and housing
Part connection inside 101.When disk type electromagnetic brake provided in an embodiment of the present invention is mounted on 105 end of transmission shaft, shield
Cover 122 can be connect with pedestal 121 by modes such as screws or welding, and the end of transmission shaft 105 and other parts are encapsulated
Inside housing 101, shield 122 can be the shape being adapted with pedestal 121, so as to facilitate installation.
When disk type electromagnetic brake provided in an embodiment of the present invention is mounted on other positions of the transmission shaft 105 in addition to end
When, shield 122 can also have centre bore so that transmission shaft 105 runs through entire disk type electromagnetic brake, shield 122 and pedestal
After 121 connections, portion that the part in the disk type electromagnetic brake and transmission shaft 105 are connect with the disk type electromagnetic brake
Enfeoffment is inside housing 101.
Electromagnet 102, electromagnet 102 are fixedly connected with housing 101.Electromagnet 102 is with actuation and reset capability
Electromagnet.The various modes such as electromagnet 102 can be connected through a screw thread, screw connection are fixedly connected with housing 101.For example, shell
There is end face, the end face of electromagnet 102 is close to the end face in housing 101, and is connected by screw, and realizes electromagnetism in body 101
Positioning and fixation of the iron 102 in housing 101.
Specifically, electromagnet 102 can include：Armature 111, iron core 112, the resetting spring with coil (are not drawn in figure
Go out) and the second static friction piece 113.Iron core 112 is fixedly connected with housing 101, and armature 111 is slidably connected with iron core 112；Reset bullet
Spring is installed between armature 111 and iron core 112, respectively with armature 111 is fixedly connected with iron core 112；Second static friction piece 113
Armature 111 is fixedly connected on the end face of movable friction plate 104.
As shown in Figure 1, the end face of iron core 112 can be close to the end face in housing 101, and it is solid with housing 101 to pass through screw
Fixed connection.Armature 111 is slidably connected with iron core 112, so that armature 111 can be attracted by iron core 112 or reset bullet
It is resetted under the action of spring, wherein resetting spring belongs to the intrinsic part in electromagnet, and structure type and mounting means are equal
Belong to the prior art, details are not described herein.
There is coil, coil can be attracted armature 111 after being powered, i.e., armature 111 is to close to iron core 112 in iron core 112
Direction be attracted, and be close to iron core 112.When coil no power, under the action of resetting spring, armature 111 and iron core 112 it
Between opposite slide occurs so that armature 111 is detached with iron core 112.Wherein, being slidably connected between armature 111 and iron core 112 can
To use, such as guide rod part connection armature 111 and iron core 112 so that armature 111 can be slided along guide rod to iron core 112
It is dynamic.It disclosure satisfy that other slip connection modes of above-mentioned function in the prior art, can also apply in embodiments of the present invention,
Herein without limiting.
In a kind of realization method of the embodiment of the present invention, the second static friction piece 113 can be fixed on armature 111 close to dynamic
On the end face of friction plate 104, the second static friction piece 113 is the fixed friction piece not rotated, can be with 104 phase of movable friction plate
Contact, brakes movable friction plate 104 using frictional force.General second static friction piece 113 can be disc-shaped structure, can be with moving
Lining pad is installed on the end face that friction plate 104 contacts, so as to increase friction effect.
In another realization method of the embodiment of the present invention, 111 and second static friction piece 113 of armature can be integrated knot
Structure, i.e., directly using armature 111 as the second static friction piece 113.It can pacify on the end face of movable friction plate 104 in armature 111
Fill lining pad so that armature 111 has the function of friction plate, so that overall structure is compacter, reduces this hair
The volume size for the disk type electromagnetic brake that bright embodiment provides.
First static friction piece 103, the first static friction piece 103 are fixedly connected with housing 101.First static friction piece 103 is quiet
Only and fixed friction plate, can be disc-shaped structure.When 104 and first static friction piece 103 of movable friction plate is in close contact, profit
Movable friction plate 104 is braked with frictional force.First static friction piece 103 is also installed on the inside of housing 101, and by welding,
The modes such as screw connection are fixedly connected with housing 101.For example, the end face of the first static friction piece 103 can be close in housing 101
, with installing the opposite other end in end face of electromagnet 102, and be fixedly connected with the end face by screw, so as to fulfill with
Housing 101 is fixedly connected.Also, installation movable friction plate 104 is left between the first static friction piece 103 and electromagnet 102
Required requisite space.
Movable friction plate 104, movable friction plate 104 is located between 102 and first static friction piece 103 of electromagnet, and is installed on and treats
On the transmission shaft 105 of braking, axial slip can be carried out on transmission shaft 105, and rotate synchronously with transmission shaft 105.
Movable friction plate 104 can be discoidal structure, can be connected by the modes such as spline, flat key and transmission shaft 105
It connects so that movable friction plate 104 can be rotated synchronously with transmission shaft 105.And the connection structures such as spline or flat key can be utilized, it is real
Existing movable friction plate 104 on 105 axis of transmission shaft to micro slip so that movable friction plate 104 can with it is first quiet
Friction plate 103 is combined closely or is detached so that braking is braked or released to movable friction plate 104.
An elastic element 106 is installed between 104 and first static friction piece 103 of movable friction plate.Elastic element 106 can be
Elastically-deformable element can be generated, for example, can be O-shaped rubber ring, helical spring, disk spring, rubber spring etc..
The mounting means of elastic element 106 can there are many, for example, as shown in Figure 1, elastic element 106 can be installed on
In the groove on end face that first static friction piece 103 is in contact with movable friction plate 104；Alternatively, elastic element 106 can also be installed
In the groove on end face being in contact in movable friction plate 104 with the first static friction piece 103；Or elastic element 106 can also lead to
Cross it is all kinds of be fixedly connected with mode, be fixedly installed on transmission shaft 105；As long as the installation site of elastic element 106, can ensure to work as
When 104 and first static friction piece 103 of movable friction plate is combined closely, elastic deformation caused by elastic element 106 does not interfere with dynamic
104 and first static friction piece 103 of friction plate is combined closely.
When disk type electromagnetic brake provided in an embodiment of the present invention is braked, electromagnet 102 oppresses movable friction plate 104 and the
One static friction piece 103 contacts, and using frictional force brakes, elastic element 106 generates elastic deformation.
Referring to Fig. 1, the location status of each parts in Fig. 1 is disk type electromagnetic brake system provided in an embodiment of the present invention
Location status when dynamic.As can be seen from Figure 1 the 111 and/or second static friction piece 113 of armature in electromagnet 102 is resetting
It under the action of spring, is close to and oppresses movable friction plate 104 so that movable friction plate 104 generates micro slip, and quiet rubs with first
Pad 103 is in close contact, meanwhile, elastic element 106 is generated elastic deformation by compression.
Referring to Fig. 2, the location status of each parts in Fig. 2 is disk type electromagnetic brake solution provided in an embodiment of the present invention
Location status during except braking.When disk type electromagnetic brake provided in an embodiment of the present invention stops braking, electromagnet 102 is inhaled
It closes, no longer oppresses movable friction plate 104, under the effect of 106 elastic force of elastic element, make movable friction plate 104 sliding on transmission shaft 105
It is dynamic, it is detached with the first static friction piece 103, and prepsetting gap 107 is kept with the first static friction piece 103.
From figure 2 it can be seen that after electromagnet 102 is attracted, the 111 and/or second static friction piece of armature in electromagnet 102
113 no longer oppress movable friction plate 104, and movable friction plate 104 is not also combined closely with the first static friction piece 103 under external force,
So as to which elastic element 106 can restore, and in recuperation from elastic deformation, using elastic force so that movable friction plate 104 occurs
Micro slip detaches with the first static friction piece 103 and keeps prepsetting gap 107.Prepsetting gap can be by different characteristics
The selection of elastic element 106 and the mounting means of elastic element 106 determine.In practical applications, generally can be
Between 0.05mm~1.5mm.
In embodiments of the present invention, the first static friction piece 103, the second static friction piece 113 and movable friction plate 104,
Think discoidal structure, when diameter is bigger, then can obtain better friction effect, it is possible to can hold in housing 101
In the range of receiving, select larger diameter as possible, for example, when housing 101 be circular shell when can be with the execution of above-mentioned friction plate
It selects to be the 70%~79% of housing inner diameter.
Alloy steel making can be used in first static friction piece 103, the second static friction piece 113 and movable friction plate 104, in order to
Quality is reduced, thickness should not be too large.Generally when above-mentioned friction plate, especially movable friction plate 104 are solid disc, thickness can be with
For 2.5mm~3.5mm or so.In order to preferably radiate, there can also be ventilating hole channel among above-mentioned friction plate, when with ventilation
During duct, thickness can be 3.5mm~5mm.Above-mentioned dimension data is only reference value when implementing the embodiment of the present invention, not
The specific size of parts in the embodiment of the present invention is limited, in practical applications, can be designed or adjust as needed.
First static friction piece 103 distributed can be fixed on second static friction piece 113 and movable friction plate 104 and rub
Pad is wiped, lining pad refers to be fixed on the friction material on friction plate.Lining pad is divided into friction material and bottom plate, and the two is straight
It connects and is press-fitted together.The outer radius and inside radius of lining pad, during practical application, the ratio of lining pad outer radius and inside radius
Generally no greater than 1.5, to avoid due to wear it is uneven, and caused by braking moment change.
In embodiments of the present invention, movable friction plate is made with connecting movable friction plate and the first static friction piece phase by elastic element
It connects, using elasticity possessed by elastic element, movable friction plate can be made to occur along the axial direction of transmission shaft in brake release
Slight displacement and the separation of the first static friction piece.And prepsetting gap is kept under the action of elastic force so that movable friction plate with
Certain relative distance is kept between static friction piece, can mutually divided to avoid the movable friction plate in electromagnetic brake and static friction piece
From generated non-essential friction between rear, reduce and non-essential abrasion is generated between static friction piece and movable friction plate, together
When avoid the generations of the impurity such as metal fragment, improve the reliability of joint of robot work.
It is respectively that the another of disk type electromagnetic brake provided in an embodiment of the present invention is tied referring to Fig. 3 and Fig. 4, Fig. 3 and Fig. 4
Under configuration formula, which, which is in, brakes and releases the structure diagram under on-position.
In order to further improve between movable friction plate 104 and transmission shaft 105 with respect to the reliability slided, implement in the present invention
The disk type electromagnetic brake that example provides further includes axle sleeve 108.
Axle sleeve 108 is installed on transmission shaft 105, axial slip can be carried out on transmission shaft 105, and with transmission shaft
105 rotate synchronously；Axle sleeve 108 is fixedly connected with movable friction plate 104, and movable friction plate 104 is driven to be rotated synchronously with transmission shaft 105.
In practical applications, due to limitations such as the thickness of movable friction plate 104, movable friction plate 104 is directly mounted on transmission
The slip that movable friction plate 104 cannot be stablized is likely to result on axis 105.So the connection sides such as spline or flat key can be passed through first
Formula installs axle sleeve 108 on transmission shaft 105, then axle sleeve 108 and movable friction plate 104 fixation such as be connected by screw to, weld
Connection mode connects.So that axle sleeve 108 rotates with transmission shaft 105 and movable friction plate 104 is driven to rotate.And utilize axle sleeve
108 can be more stable realization and transmission shaft 105 between slip.
Specifically, in order to more easily install axle sleeve 108, and cause disk type electromagnetic braking provided in an embodiment of the present invention
The structure of device is compacter.
First static friction piece 103 can have centre bore, and axle sleeve 108 is located in the centre bore of the first static friction piece 103, axis
108 external cylindrical surfaces are covered to match with the inner cylinder face of the centre bore.108 external cylindrical surface of axle sleeve has the first groove 131, centre bore
Inner cylinder face have the second groove 132.Elastic element 106 is installed on the cavity that the first groove 131 and the second groove 132 are formed
It is interior.
As shown in Figures 3 and 4, the first static friction piece 103 has centre bore, and transmission shaft 105 can run through the centre bore.Axis
Set 108 may be mounted on transmission shaft 105 at position corresponding with the centre bore.It is located at first so as to fulfill axle sleeve 108 quiet to rub
In the centre bore of pad 103.The inner cylinder face of 108 external cylindrical surface of axle sleeve and centre bore can be that clearance fit or transition coordinate.
108 external cylindrical surface of axle sleeve can have the first groove 131, and the inner cylinder face of centre bore can have the second groove 132.First is recessed
131 and second groove 132 of slot can be the groove that cross section is rectangle.The position of first groove 131 and the second groove 132 is opposite
Arrangement, so as to form a cavity.It can be placed in the cavity or elastic elements 106.
In another implementation, the structure of axle sleeve 108 and movable friction plate 104 or integral type.So as to reduce
Parts count so that structure is more simplified.
In practical applications, axle sleeve 108 can be stepped axle sleeve；The external cylindrical surface of 108 big shaft end of axle sleeve has first
Groove 131, and matched with the inner cylinder face of the centre bore of the first static friction piece 103；The outside cylinder of 108 small shaft end of axle sleeve is with moving
Friction plate 104 is fixedly connected.
When axle sleeve 108 is stepped axle sleeve, the installation positioning of movable friction plate 104 can be more advantageous to.In 108 big shaft end of axle sleeve
External cylindrical surface have the first groove 131 so that the first groove 131 can preferably realize the cooperation with the second groove 132.
As shown in figure 3, in Fig. 3 each parts location status, be disk type electromagnetic brake provided in an embodiment of the present invention
Location status during braking.As can be seen from Figure 3 the 111 and/or second static friction piece 113 of armature in electromagnet 102 is multiple
Under the action of the spring of position, it is close to and oppresses movable friction plate 104 so that movable friction plate 104 generates micro slip with axle sleeve 108,
And be in close contact with the first static friction piece 103, meanwhile, the cavity where elastic element 106 can generate micro mistake due to sliding
Position so that elastic element 106 is generated elastic deformation by compression.
As shown in figure 4, in Fig. 4 each parts location status, be disk type electromagnetic brake provided in an embodiment of the present invention
Release location status during braking.Figure 4, it is seen that after electromagnet 102 is attracted, armature 111 in electromagnet 102 and/
Or second static friction piece 113 no longer oppress movable friction plate 104, movable friction plate 104 also not under external force with the first static friction
Piece 103 is combined closely, and so as to which elastic element 106 can restore, and in recuperation from elastic deformation, axle sleeve 108 is pushed to exist
Transmission shaft 105 slides, and movable friction plate 104 detaches with the first static friction piece 103 and keeps prepsetting gap 107.
Also, in actual use, 104 and first static friction piece 103 of movable friction plate may be caused due to abrasion
Gap increases between 104 and first static friction piece 103 of movable friction plate, but since elastic element 106 is in the first groove 131 and the
In the cavity that two grooves 132 are formed, axle sleeve 108 can also be pushed back normal position by not frayed influence after brake release.
It is in due to elastic element 106 in the cavity that first groove 131 and the second groove 132 are formed, also acted simultaneously
The effect of sealing so that impurity cannot enter this hair by the gap between the centre bore of 108 and first static friction piece 103 of axle sleeve
Inside the disk type electromagnetic brake that bright embodiment provides.
With reference to above-mentioned each embodiment, optionally, the elasticity member in disk type electromagnetic brake provided in an embodiment of the present invention
Part 106 can be star-like sealing ring.
Star-like sealing ring is the double acting sealing element for having elastic deformation ability and sealability.It can be real by its sword side
Existing elastic deformation has preferable deformability and preferable sealing effect, and then improves movable friction plate 104 and/or axle sleeve 108
The reliability of slip, and improve sealing performance.
With reference to above-mentioned each embodiment, optionally, referring to Fig. 1 to Fig. 4, disk type electromagnetic provided in an embodiment of the present invention is braked
In device, stop collar 141 is further included；
Stop collar 141 is installed between the first static friction piece 103 and electromagnet 102, two end faces difference of stop collar 141
With the first static friction piece 103 and electromagnet 102 connect.
Stop collar 141 can be hollow cylindrical structure, and the first static friction of it can be seen from the figure that piece 103 can pass through limit
Position set 141 is connected with electromagnet 102, and screw can be to pass through the first static friction piece 103 and stop collar 141, and is tightened in electromagnetism
In the threaded hole of iron 102, since electromagnet 102 is fixedly connected with housing 101, so the first static friction piece 103 passes through electromagnet
102 achieve a fixed connection with housing 101.Specifically, stop collar 141 can be quiet to pass through the armature 111/ or the second of electromagnet 102
Friction plate 113 is in contact with iron core 112；Or the diameter of 111/ or second static friction piece 113 of armature can be less than stop collar
141 installation site, so as to avoid interfering with stop collar 141.A stop collar 141 is only schematically drawn in figure,
In practical application, stop collar 141 can be multiple, and by the rounded distribution of certain angle.
Stop collar 141 can also play the role of guiding so that the 111/ or second static friction piece of armature of electromagnet 102
113, it can be slided in actuation or reset along the external cylindrical surface of stop collar 141.Increase the stability of electromagnet 102.
Stop collar 141 can be also used for limiting the relative distance between the first static friction piece 103 and electromagnet 102, the phase
It adjusts the distance the stroke distances that can influence 111/ or second static friction piece 113 of armature in actuation or reset, and can influence to move
The sliding distance of friction plate 104 and axle sleeve 108, so, by reasonably designing the length dimension of stop collar 141, can adjust
The sliding distance of whole movable friction plate 104 and axle sleeve 108, so as to ensure rational prepsetting gap 107.And so that dynamic friction
Piece 104 and the 111 and/or second static friction piece 113 of armature of electromagnet 102 also keep rational gap, avoid non-essential mill
Damage.Specifically, the length dimension value of stop collar 141 can be selected as needed, secondary without limiting.
With reference to above-mentioned each embodiment, optionally, referring to Fig. 1 to Fig. 4, disk type electromagnetic provided in an embodiment of the present invention is braked
In device, lead 142 is further included；
Armature 111 has first through hole, and iron core 112 has the second through-hole, and the first static friction piece 103 has third through-hole.
Lead 142 is fixedly connected also cross first through hole, the second through-hole and third through-hole, and with housing 101.
As shown in the figure, the assembling of disk type electromagnetic brake provided in an embodiment of the present invention, and further right for convenience
Guiding when the 111/ or second static friction piece 113 of armature of electromagnet 102 is slided, can be in the disk type electromagnetic brake
Lead 142 is installed, lead 142 can run through 111 and/or second static friction piece 113 of armature simultaneously, iron core 112 and the
One static friction piece 103, and be tightened in the threaded hole of housing 101.So as to limit the relative position of above-mentioned parts, and
111 and/or second static friction piece 113 of armature can be oriented to along the external cylindrical surface of lead 142 so that be attracted or resetted
When slip it is more steady.
With reference to above-mentioned each embodiment, optionally, referring to Fig. 1 to Fig. 4, disk type electromagnetic provided in an embodiment of the present invention is braked
In device, bearing 143 is further included；
The inner cylinder face of bearing 143 is connect with transmission shaft 105；The external cylindrical surface of bearing 143 is connect with housing 101.
Bearing 143 can enable transmission shaft 105 and disk type electromagnetic brake provided in an embodiment of the present invention better
It is installed together, enables the disk type electromagnetic brake more stable and braking is realized to transmission shaft 105.
Bearing 143 can be deep groove ball bearing or other kinds of bearing, as shown in the figure, 143 inner cylinder face of bearing is with passing
Moving axis 105 connects, specifically, 143 inner cylinder face of bearing can realize interference fit or mistake with the bearing mounting surface of transmission shaft 105
Cooperation is crossed, and passes through the shaft shoulder and realizes axially position with transmission shaft 105.The external cylindrical surface of bearing 143 and the end face inside housing 101
It is connected, is realized and positioned by structures such as the protrusions of bearing cap and housing 101.
By bearing 143, transmission shaft 105 can be rotated more smoothly, and avoid transmission shaft in braking
105 shake, increases stability.
Referring to Fig. 5, in another realization method of the embodiment of the present invention, axle sleeve 108 can be fixed on transmission shaft 105
On, it is only rotated with transmission shaft 105, but axial slip cannot be carried out on transmission shaft 105.
Axle sleeve 108 is stepped axle sleeve, and movable friction plate 104 is mounted on the small shaft end of axle sleeve 108, passes through flower with axle sleeve 108
The types of attachment such as key are slidably connected, so that movable friction plate 104 can slide axially in axle sleeve 108.
The big shaft end of axle sleeve 108 has groove on the end face of movable friction plate 104, and bullet is placed or be equipped in the groove
Property element 106, and it is fixed with one or more banking pins 151.Banking pin 151 is fixedly connected with axle sleeve 108, while passes through limit
Position nail 151 passes through the stepped hole on movable friction plate 104.The diameter of the aperture of stepped hole on movable friction plate 104 is less than banking pin
The diameter of 151 ailhead end face, so as to be connect when the end face of stepped hole on movable friction plate 104 with the ailhead end face of banking pin 151
When touching, limitation movable friction plate 104 is slided to the direction far from axle sleeve 108, is limited so as to be realized to movable friction plate 104.
When braking, movable friction plate 104 is combined closely and is braked with the first static friction piece 103 under external force, elasticity
Elastic deformation occurs for element 106.
When releasing braking, movable friction plate 104 acts on lower edge no longer by external force pressure in the elastic force of elastic element 106
Axle sleeve 108 slides axially, and is detached with the first static friction piece 103.On the ailhead end face of banking pin 151 and movable friction plate 104
The end face of stepped hole be in contact, limit the sliding position of movable friction plate 104.Under the action of elastic element 106, movable friction plate
104 can keep prepsetting gap with the first static friction piece 103.And then avoid non-essential abrasion.
The embodiment of the present invention additionally provides a kind of joint of robot, which can apply any of the above-described kind of disc type
Electromagnetic brake.
In the joint of robot, the housing of disk type electromagnetic brake can be directly as the housing of joint of robot；Or
Person, the housing of disk type electromagnetic brake can be connected with the housing of joint of robot.
For driving the transmission shaft or motor output shaft of robot motion in joint of robot, disk type electromagnetic system can be stretched into
Inside dynamic device, it is connected with movable friction plate or axle sleeve, and pass through bearing and be attached with housing.
When the joint of robot works normally, the electromagnetic actuation of disk type electromagnetic brake so that movable friction plate and
One static friction piece and armature and/or the separation of the second static friction piece, so as to which transmission shaft or motor output shaft can be rotated only.
When unexpected power-off or the joint of robot are stopped, the electromagnet of disk type electromagnetic brake is no longer attracted.
Movable friction plate and the first static friction piece and armature and/or second in action of reset spring disc electromagnetic brake is quiet
Friction plate is combined closely.So that transmission shaft or motor output shaft fast braking, realize the protection to joint of robot.
Above-mentioned disk type electromagnetic brake is applied to joint of robot provided in an embodiment of the present invention, generally helps gesture without friction
Effect, thus disk type electromagnetic brake efficiency influenced by friction coefficient it is smaller, i.e., efficiency relatively stablize；After immersion efficiency reduce compared with
It is few；In the case where output braking moment is identical, size and quality are typically small；The thermal expansion of each friction plate through-thickness
It measures minimum, brake clearance will not be made significantly to increase；It is easier to realize gap adjust automatically, other maintenance reconditioning works are also simpler
Just, there can be preferable thermal stability.Also, since above-mentioned disk type electromagnetic brake avoids non-essential abrasion, extend
The service life of joint of robot.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is described using relevant mode, identical similar portion between each embodiment
Point just to refer each other, and the highlights of each of the examples are difference from other examples.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of disk type electromagnetic brake, which is characterized in that including：
Housing (101)；
Electromagnet (102), the electromagnet (102) are fixedly connected with the housing (101)；
First static friction piece (103), the first static friction piece (103) are fixedly connected with the housing (101)；
Movable friction plate (104), the movable friction plate (104) is positioned at the electromagnet (102) and the first static friction piece (103)
Between, and it is installed on transmission shaft to be braked (105), can carries out axial slip on the transmission shaft (105), and with
The transmission shaft (105) rotates synchronously；
An elastic element (106) is installed between the movable friction plate (104) and the first static friction piece (103)；
When the disk type electromagnetic brake is braked, the electromagnet (102) oppresses the movable friction plate (104) and described first
Static friction piece (103) contacts, and using frictional force brakes, the elastic element (106) generates elastic deformation；
When the disk type electromagnetic brake stops braking, the electromagnet (102) is attracted, and no longer oppresses the movable friction plate
(104), under the effect of the elastic element (106) elastic force, make the movable friction plate (104) sliding on the transmission shaft (105)
It is dynamic, it is detached with the first static friction piece (103), and prepsetting gap (107) is kept with the first static friction piece (103).
2. disk type electromagnetic brake according to claim 1, which is characterized in that the electromagnet (102) includes：Armature
(111), there is iron core (112), resetting spring and the second static friction piece (113) of coil；
The iron core (112) is fixedly connected with the housing (101), and the armature (111) is slided with the iron core (112) to be connected
It connects；
The resetting spring is installed between the armature (111) and the iron core (112), respectively with, the armature (111) and
The iron core (112) is fixedly connected；
The second static friction piece (113) is fixedly connected on the armature (111) close to the end face of the movable friction plate (104)
On.
3. disk type electromagnetic brake according to claim 1, which is characterized in that the disk type electromagnetic brake further includes axis
It covers (108),
The axle sleeve (108) is installed on the transmission shaft (105), and axial cunning can be carried out on the transmission shaft (105)
It is dynamic, and rotated synchronously with the transmission shaft (105)；
The axle sleeve (108) is fixedly connected with the movable friction plate (104), drives the movable friction plate (104) with the transmission
Axis (105) rotates synchronously.
4. disk type electromagnetic brake according to claim 3, which is characterized in that the first static friction piece (103) has
Centre bore, the axle sleeve (108) is in the centre bore of the first static friction piece (103), axle sleeve (108) external cylindrical surface
It is matched with the inner cylinder face of the centre bore；
Axle sleeve (108) external cylindrical surface has the first groove (131), and the inner cylinder face of the centre bore has the second groove
(132)；
In the cavity that the elastic element (106) is installed on first groove (131) and second groove (132) is formed.
5. disk type electromagnetic brake according to claim 4, which is characterized in that the axle sleeve (108) is stepped axle sleeve
(108)；
The external cylindrical surface of the big shaft end of the axle sleeve (108) has the first groove (131), and with the first static friction piece (103)
The inner cylinder face of centre bore match；
The outside cylinder of the small shaft end of the axle sleeve (108) is fixedly connected with the movable friction plate (104).
6. disk type electromagnetic brake according to any one of claim 1 to 5, which is characterized in that the elastic element
(106) it is star-like sealing ring.
7. disk type electromagnetic brake according to claim 1, which is characterized in that the disk type electromagnetic brake further includes limit
Position set (141)；
The stop collar (141) is installed between the first static friction piece (103) and the electromagnet (102), the limiting
Two end faces for covering (141) connect respectively with, the first static friction piece (103) and the electromagnet (102).
8. disk type electromagnetic brake according to claim 1, which is characterized in that the disk type electromagnetic brake, which further includes, leads
To column (142)；
The armature (111) has first through hole, and the iron core (112) has the second through-hole, the first static friction piece (103)
With third through-hole；
The lead (142) also cross the first through hole, second through-hole and the third through-hole, and with the shell
Body (101) is fixedly connected.
9. disk type electromagnetic brake according to claim 1, which is characterized in that the disk type electromagnetic brake further includes axis
It holds (143)；
The inner cylinder face of the bearing (143) is connect with the transmission shaft (105)；
The external cylindrical surface of the bearing (143) is connect with the housing (101).
10. a kind of joint of robot, which is characterized in that application disk type electromagnetic as claimed in any one of claims 1-9 wherein is braked
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810161756.2A CN108223623A (en) | 2018-02-27 | 2018-02-27 | A kind of disk type electromagnetic brake and joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810161756.2A CN108223623A (en) | 2018-02-27 | 2018-02-27 | A kind of disk type electromagnetic brake and joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108223623A true CN108223623A (en) | 2018-06-29 |
Family
ID=62662199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810161756.2A Pending CN108223623A (en) | 2018-02-27 | 2018-02-27 | A kind of disk type electromagnetic brake and joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108223623A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818566A (en) * | 2018-07-24 | 2018-11-16 | 昆山市工业技术研究院有限责任公司 | A kind of full-automatic dining assistant robot |
| CN108895099A (en) * | 2018-08-31 | 2018-11-27 | 浙江西子富沃德电机有限公司 | A kind of electro-magnetic braking device |
| CN112008762A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Fully-sealed brake module with double-channel detection function and detection method |
| CN112008761A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Brake module with brake detection function and brake function detection method |
| CN112196917A (en) * | 2020-10-19 | 2021-01-08 | 珠海格力电器股份有限公司 | Electromagnetic brake and motor |
| CN112549066A (en) * | 2020-11-26 | 2021-03-26 | 成都瑞迪机械科技有限公司 | Angle-adjustable robot joint connecting structure |
| CN112594301A (en) * | 2020-12-28 | 2021-04-02 | 徐州柚创谷智能科技有限公司 | Magnetic friction plate structure for robot joint disc brake |
| CN113983088A (en) * | 2021-09-22 | 2022-01-28 | 常州唯精医疗机器人有限公司 | Brake, manual brake device, passively-enabled universal wheel and surgical robot |
| WO2023123289A1 (en) * | 2021-12-30 | 2023-07-06 | 深圳市越疆科技有限公司 | Braking device for mechanical arm joint, mechanical arm joint, and mechanical arm |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1529067A (en) * | 2003-10-14 | 2004-09-15 | 曾晓东 | Magnetic-suspersion clamp-disk brake |
| CN201422888Y (en) * | 2009-04-03 | 2010-03-17 | 昆山市工业技术研究院有限责任公司 | Internal friction ring-based hydraulic locking mechanism for surgical robot joint |
| JP2011229331A (en) * | 2010-04-22 | 2011-11-10 | Kawasaki Heavy Ind Ltd | Motor with brake function, and robot equipped with the same |
| CN102306975A (en) * | 2011-08-11 | 2012-01-04 | 成都瑞迪机械实业有限公司 | Electromagnetic brake with chafing gear |
| CN102311065A (en) * | 2011-08-10 | 2012-01-11 | 成都瑞迪机械实业有限公司 | Electromagnetic disc brake with antifriction device |
| CN207034035U (en) * | 2017-04-24 | 2018-02-23 | 珠海格力节能环保制冷技术研究中心有限公司 | Electromagnetic brake and there is its motor |
| CN208236950U (en) * | 2018-02-27 | 2018-12-14 | 遨博（北京）智能科技有限公司 | A kind of disk type electromagnetic brake and joint of robot |
-
2018
- 2018-02-27 CN CN201810161756.2A patent/CN108223623A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1529067A (en) * | 2003-10-14 | 2004-09-15 | 曾晓东 | Magnetic-suspersion clamp-disk brake |
| CN201422888Y (en) * | 2009-04-03 | 2010-03-17 | 昆山市工业技术研究院有限责任公司 | Internal friction ring-based hydraulic locking mechanism for surgical robot joint |
| JP2011229331A (en) * | 2010-04-22 | 2011-11-10 | Kawasaki Heavy Ind Ltd | Motor with brake function, and robot equipped with the same |
| CN102311065A (en) * | 2011-08-10 | 2012-01-11 | 成都瑞迪机械实业有限公司 | Electromagnetic disc brake with antifriction device |
| CN102306975A (en) * | 2011-08-11 | 2012-01-04 | 成都瑞迪机械实业有限公司 | Electromagnetic brake with chafing gear |
| CN207034035U (en) * | 2017-04-24 | 2018-02-23 | 珠海格力节能环保制冷技术研究中心有限公司 | Electromagnetic brake and there is its motor |
| CN208236950U (en) * | 2018-02-27 | 2018-12-14 | 遨博（北京）智能科技有限公司 | A kind of disk type electromagnetic brake and joint of robot |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818566A (en) * | 2018-07-24 | 2018-11-16 | 昆山市工业技术研究院有限责任公司 | A kind of full-automatic dining assistant robot |
| CN108895099A (en) * | 2018-08-31 | 2018-11-27 | 浙江西子富沃德电机有限公司 | A kind of electro-magnetic braking device |
| CN112008762A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Fully-sealed brake module with double-channel detection function and detection method |
| CN112008761A (en) * | 2020-08-27 | 2020-12-01 | 中科新松有限公司 | Brake module with brake detection function and brake function detection method |
| CN112196917A (en) * | 2020-10-19 | 2021-01-08 | 珠海格力电器股份有限公司 | Electromagnetic brake and motor |
| CN112196917B (en) * | 2020-10-19 | 2021-12-14 | 珠海格力电器股份有限公司 | Electromagnetic brake and motor |
| CN112549066A (en) * | 2020-11-26 | 2021-03-26 | 成都瑞迪机械科技有限公司 | Angle-adjustable robot joint connecting structure |
| CN112594301A (en) * | 2020-12-28 | 2021-04-02 | 徐州柚创谷智能科技有限公司 | Magnetic friction plate structure for robot joint disc brake |
| CN113983088A (en) * | 2021-09-22 | 2022-01-28 | 常州唯精医疗机器人有限公司 | Brake, manual brake device, passively-enabled universal wheel and surgical robot |
| CN113983088B (en) * | 2021-09-22 | 2024-08-30 | 常州唯精医疗机器人有限公司 | Brake and manual brake device, passive enabling universal wheel and surgical robot |
| WO2023123289A1 (en) * | 2021-12-30 | 2023-07-06 | 深圳市越疆科技有限公司 | Braking device for mechanical arm joint, mechanical arm joint, and mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108223623A (en) | A kind of disk type electromagnetic brake and joint of robot | |
| CN108087461B (en) | Brake and motor with same | |
| CN114083577B (en) | Brake assembly, joint driver and robot | |
| DE102010049744A1 (en) | brake | |
| CN107061564A (en) | Electric lost brake | |
| CN208236950U (en) | A kind of disk type electromagnetic brake and joint of robot | |
| CN208010807U (en) | Brake and motor with it | |
| KR101221123B1 (en) | Electric brake motor | |
| CN112196917B (en) | Electromagnetic brake and motor | |
| JP6081166B2 (en) | Disc brake device | |
| CN202840803U (en) | Electromagnetic engagement mechanism | |
| CN110067824A (en) | Braking device and motor with same | |
| CN218659159U (en) | Joint module of friction brake and joint robot | |
| JP6285056B2 (en) | Disc brake device | |
| CN206458749U (en) | Electric lost brake | |
| CN210034229U (en) | Braking device and motor with same | |
| KR20130090434A (en) | Actuator built-in brake | |
| CN114526296B (en) | Electromagnetic type does not have return clearance and loses electric brake | |
| CN110905942A (en) | Symmetric dry friction electromagnetic power-off brake | |
| WO2016104438A1 (en) | Friction brake structure | |
| CN206221548U (en) | Castellated electricity loss brake | |
| CN207454605U (en) | A kind of power-off brake electromagnetic brake | |
| JP6613109B2 (en) | Rotation resistance device | |
| CN112178077A (en) | Closed electromagnetic brake | |
| CN111628609B (en) | Brake device and power assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Applicant after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: 102300 301a1, building 5, Shilong Yangguang building, 98 lianshihu West Road, Mentougou District, Beijing Applicant before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information |