CN105751237A - Braking device for robot joint with gear transmission mechanism - Google Patents
Braking device for robot joint with gear transmission mechanism Download PDFInfo
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- CN105751237A CN105751237A CN201610196243.6A CN201610196243A CN105751237A CN 105751237 A CN105751237 A CN 105751237A CN 201610196243 A CN201610196243 A CN 201610196243A CN 105751237 A CN105751237 A CN 105751237A
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- electromagnet
- robot joint
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- transmission mechanism
- brake block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
本发明公开了一种用于带齿轮传动机构的机器人关节的制动装置，包括设在机器人关节中的被制动传动齿轮附近的电磁铁、制动块以及复位弹簧，其中，所述电磁铁固定于机器人关节的基座上；所述制动块连接在电磁铁的推杆上；所述复位弹簧一端与机器人关节的基座连接，另一端与制动块连接；当所述电磁铁得电时，电磁铁的推杆推动制动块克服复位弹簧的弹力离开所述被制动传动齿轮的齿槽，当所述电磁铁失电时，所述复位弹簧推动制动块伸入到所述被制动传动齿轮的齿槽中。本发明的制动装置利用机器人关节的现有结构实现制动，具有结构简单、成本低、布置位置灵活、重量轻等优点。
The invention discloses a brake device for a robot joint with a gear transmission mechanism, which includes an electromagnet, a brake block and a return spring arranged near the braked transmission gear in the robot joint, wherein the electromagnet fixed on the base of the robot joint; the brake block is connected to the push rod of the electromagnet; one end of the return spring is connected to the base of the robot joint, and the other end is connected to the brake block; when the electromagnet is When energized, the push rod of the electromagnet pushes the brake block to overcome the elastic force of the return spring to leave the tooth groove of the braked transmission gear. When the electromagnet is de-energized, the return spring pushes the brake block to extend into the In the tooth groove of the above-mentioned braked transmission gear. The braking device of the present invention utilizes the existing structure of the robot joint to achieve braking, and has the advantages of simple structure, low cost, flexible arrangement position, light weight and the like.
Description
技术领域technical field
本发明涉及机器人技术领域，具体涉及一种机器人关节的制动装置。The invention relates to the technical field of robots, in particular to a braking device for robot joints.
背景技术Background technique
制动器的一般原理是在机器的高速轴上固定一个轮或盘，在机座上安装与之相适应的闸瓦、带或盘，在外力作用下使之产生制动力矩。通常是按失效抱闸方式工作的，即要松开制动器就必须接通电源，否则，各关节不能产生相对运动。其主要目的是在电源出现故障和非工作时起保护作用。其缺点是在工作期间要保持通电使制动器松开。常用的制动方式有：油压、机械、气压及真空助力气压、弹簧储能、排气辅助制动、发动机怠速辅助制动和磁涡轮缓速器等。The general principle of the brake is to fix a wheel or disc on the high-speed shaft of the machine, install a corresponding brake shoe, belt or disc on the machine base, and make it generate braking torque under the action of external force. Usually it works according to the failure brake mode, that is, to release the brake, the power must be turned on, otherwise, the relative motion of each joint cannot occur. Its main purpose is to protect against power failure and non-operation. The disadvantage is to keep the power on to release the brake during operation. Commonly used braking methods include: oil pressure, mechanical, air pressure and vacuum booster air pressure, spring energy storage, exhaust auxiliary braking, engine idling auxiliary braking and magnetic turbine retarder, etc.
机器人关节制动器通常采用专用抱闸，是失电制动器，以保证机器人及设备的安全及姿态维持。制动的形式多种多样，以盘式制动器为主，并且以电磁力为主要的动力。现有的应用于机器人的制动器主要有失电电磁制动器和压电陶瓷制动器等。而为了使用这些制动器，往往还需要一套额外的传动装置，因此存在结构复杂、成本高、空间布置不灵活、笨重等问题。Robot joint brakes usually use special brakes, which are power-off brakes, to ensure the safety and posture maintenance of robots and equipment. There are various forms of braking, mainly disc brakes, and electromagnetic force as the main power. Existing brakes applied to robots mainly include de-energized electromagnetic brakes and piezoelectric ceramic brakes. In order to use these brakes, an additional transmission device is often required, so there are problems such as complex structure, high cost, inflexible space arrangement, and bulkiness.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种用于带齿轮传动机构的机器人关节的制动装置，该制动装置利用机器人关节的现有结构实现制动，具有结构简单、成本低、布置位置灵活、重量轻等优点。The purpose of the present invention is to overcome the deficiencies of the prior art and provide a braking device for a robot joint with a gear transmission mechanism. The braking device utilizes the existing structure of the robot joint to achieve braking, and has the advantages of simple structure and low cost. , flexible layout, light weight and other advantages.
本发明的目的通过以下的技术方案实现：The purpose of the present invention is achieved through the following technical solutions:
一种用于带齿轮传动机构的机器人关节的制动装置，包括设在机器人关节中的被制动传动齿轮附近的电磁铁、制动块以及复位弹簧，其中，所述电磁铁固定于机器人关节的基座上；所述制动块连接在电磁铁的推杆上；所述复位弹簧一端与机器人关节的基座连接，另一端与制动块连接；当所述电磁铁得电时，电磁铁的推杆推动制动块克服复位弹簧的弹力离开所述被制动传动齿轮的齿槽，当所述电磁铁失电时，所述复位弹簧推动制动块伸入到所述被制动传动齿轮的齿槽中。A braking device for a robot joint with a gear transmission mechanism, comprising an electromagnet, a brake block and a return spring arranged near the braked transmission gear in the robot joint, wherein the electromagnet is fixed on the robot joint on the base; the brake block is connected to the push rod of the electromagnet; one end of the return spring is connected to the base of the robot joint, and the other end is connected to the brake block; when the electromagnet is energized, the electromagnetic The iron push rod pushes the brake block away from the tooth groove of the braked transmission gear against the elastic force of the return spring. When the electromagnet is de-energized, the return spring pushes the brake block into the braked transmission gear. In the tooth groove of the transmission gear.
本发明的一个优选方案，其中，所述制动块上连接有与电磁铁的推杆轴线平行的导柱，所述机器人关节的基座上设有导向孔，所述导柱匹配于所述导向孔中。利用导柱和导向孔的配合实现导向作用，在制动过程中防止制动块的扭动以提升制动的可靠性。In a preferred solution of the present invention, wherein the brake block is connected with a guide post parallel to the axis of the push rod of the electromagnet, a guide hole is provided on the base of the robot joint, and the guide post matches the in the guide hole. The guiding effect is realized by the cooperation of the guide post and the guide hole, and the twisting of the brake block is prevented during braking to improve the reliability of braking.
本发明的一个优选方案，其中，所述电磁铁的推杆的轴线与所述被制动传动齿轮的轴线平行。本发明的制动装置在电磁铁的推杆的轴线方向的尺寸较大，而被制动传动齿轮的轴线方向上通常具有较大的空间，上述布置方式能够充分利用机器人关节内部原有空间。In a preferred solution of the present invention, wherein the axis of the push rod of the electromagnet is parallel to the axis of the braked transmission gear. The braking device of the present invention has a larger size in the axial direction of the push rod of the electromagnet, and generally has a larger space in the axial direction of the driven gear to be braked. The above arrangement can make full use of the original space inside the robot joint.
本发明的一个优选方案，其中，所述机器人关节中的齿轮传动机构为锥齿传动机构，所述被制动传动齿轮为该锥齿传动机构中的主动锥齿轮；所述电磁铁为推式电磁铁，该电磁铁设置于所述主动锥齿轮的小端对应处，该电磁铁通过电磁铁固定架固定在机器人关节的基座上；所述导柱设置于所述主动锥齿轮的大端对应处；所述复位弹簧设置于导向孔中。In a preferred solution of the present invention, wherein, the gear transmission mechanism in the robot joint is a bevel gear transmission mechanism, and the braked transmission gear is the active bevel gear in the bevel gear transmission mechanism; the electromagnet is a push type An electromagnet, the electromagnet is arranged at the corresponding position of the small end of the driving bevel gear, and the electromagnet is fixed on the base of the robot joint through the electromagnet holder; the guide post is arranged at the big end of the driving bevel gear Corresponding place: the return spring is arranged in the guide hole.
本发的一个优选方案，其中，所述机器人关节中的齿轮传动机构为圆柱齿轮传动机构，所述被制动传动齿轮为该圆柱齿轮传动机构中的从动圆柱齿轮；所述电磁铁为拉式电磁铁，该电磁铁和所述导柱均设置于所述从动圆柱齿轮轴线方向的同一侧，该电磁铁通过电磁铁固定架固定在机器人关节的基座上；所述导柱一端与电磁铁的推杆连接，另一端与制动块连接，该导柱从下向上穿过设置在机器人关节的基座的导向孔，所述复位弹簧套在所述导柱上。In a preferred solution of the present invention, wherein, the gear transmission mechanism in the robot joint is a cylindrical gear transmission mechanism, and the braked transmission gear is a driven cylindrical gear in the cylindrical gear transmission mechanism; the electromagnet is a pulling Type electromagnet, the electromagnet and the guide post are all arranged on the same side of the driven cylindrical gear axis direction, the electromagnet is fixed on the base of the robot joint through the electromagnet holder; one end of the guide post is connected to the The push rod of the electromagnet is connected, and the other end is connected with the brake block. The guide post passes through the guide hole arranged on the base of the robot joint from bottom to top, and the return spring is sleeved on the guide post.
本发明的制动装置的工作原理为：当机器人关节处于正常的工作状态下，电磁铁处于得电状态，电磁铁中的推杆和制动块克服复位弹簧的弹力将制动块维持在离开被制动传动齿轮的齿槽的位置，此时机器人关节中的齿轮传动机构可以正常运转；当机器人关节处于停止状态或由于其他原因必须制动时，电磁铁失电，制动块在复位弹簧的推动下伸入到被制动传动齿轮的齿槽中，使得机器人关节中的齿轮传动机构无法转动而实现制动。The working principle of the brake device of the present invention is: when the robot joint is in a normal working state, the electromagnet is in the electrified state, and the push rod and the brake block in the electromagnet overcome the elastic force of the return spring to maintain the brake block at a distance At this time, the gear transmission mechanism in the robot joint can operate normally; when the robot joint is in a stopped state or must be braked due to other reasons, the electromagnet is de-energized, and the brake block is in the position of the return spring. Under the push of the robot, it penetrates into the tooth groove of the braked transmission gear, so that the gear transmission mechanism in the robot joint cannot rotate to achieve braking.
本发明与现有技术相比具有以下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、利用带齿轮传动机构的机器人关节中的齿轮构成被制动对象，从而大大简化了制动装置的结构，缩小了体积，具有成本低、布置位置灵活、重量轻等优点。1. The gears in the robot joints with gear transmission mechanism are used to form the braked object, which greatly simplifies the structure of the brake device, reduces the volume, and has the advantages of low cost, flexible layout and light weight.
2、传动齿轮中的齿槽具有沿着圆周方向均匀分布且紧密排列的特点，本发明利用齿轮的这种结构特点，只需在被制动齿轮齿槽的附近设置可离开和进入齿槽的制动块即可方便的实现制动，结构巧妙，制动可靠。2. The tooth grooves in the transmission gear have the characteristics of being evenly distributed and closely arranged along the circumferential direction. The present invention utilizes this structural feature of the gear, and only needs to set the tooth grooves that can leave and enter the tooth grooves near the braked gear. The brake block can realize the brake conveniently, the structure is ingenious, and the brake is reliable.
附图说明Description of drawings
图1-图3为本发明的用于带齿轮传动机构的机器人关节的制动装置的第一个具体实施方式的结构示意图，其中，图1为处于制动状态的示意图，图2为图1的A-A剖视图，图3为处于非制动状态的示意图。Fig. 1-Fig. 3 is the structure diagram of the first specific embodiment of the brake device for the robot joint with gear transmission mechanism of the present invention, wherein Fig. 1 is a schematic diagram in the braking state, and Fig. 2 is Fig. 1 A-A sectional view of Fig. 3 is a schematic diagram in a non-braking state.
图4和图5为本发明的用于带齿轮传动机构的机器人关节的制动装置的第二个具体实施方式的结构示意图，其中，图4为处于制动状态的示意图，图5为处于非制动状态的示意图。Fig. 4 and Fig. 5 are the structure schematic diagrams of the second specific embodiment of the brake device for the robot joint with gear transmission mechanism of the present invention, wherein Fig. 4 is a schematic diagram in the braking state, and Fig. 5 is in the non- Schematic diagram of the braking state.
具体实施方式detailed description
下面结合实施例及附图对本发明作进一步详细的描述，但本发明的实施方式不限于此。The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例1Example 1
参见图1-图3，本实施例的用于带齿轮传动机构的机器人关节的制动装置中，所述机器人关节中的齿轮传动机构为锥齿传动机构，该锥齿传动机构中的主动锥齿轮106与伺服电机101连接，并通过角接触球轴承102连接在机器人关节的基座104上，从动锥齿轮109与谐波减速器组件111连接，谐波减速器组件111与关节输出件110相连；所述主动锥齿轮106构成被制动传动齿轮。Referring to Fig. 1-Fig. 3, in the brake device for the robot joint with gear transmission mechanism in this embodiment, the gear transmission mechanism in the robot joint is a bevel gear transmission mechanism, and the active cone in the bevel gear transmission mechanism The gear 106 is connected to the servo motor 101, and is connected to the base 104 of the robot joint through the angular contact ball bearing 102, the driven bevel gear 109 is connected to the harmonic reducer assembly 111, and the harmonic reducer assembly 111 is connected to the joint output member 110 connected; the driving bevel gear 106 constitutes a braked transmission gear.
参见图1-图3，所述制动装置包括设在机器人关节中的被制动传动齿轮附近的电磁铁、制动块112以及复位弹簧103，其中，所述电磁铁固定于机器人关节的基座104上；所述制动块112连接在电磁铁的推杆上；所述复位弹簧103一端与机器人关节的基座104连接，另一端与制动块112连接；当所述电磁铁得电时，电磁铁的推杆推动制动块112克服复位弹簧103的弹力离开所述被制动传动齿轮的齿槽，当所述电磁铁失电时，所述复位弹簧103推动制动块112伸入到所述被制动传动齿轮的齿槽中。Referring to Fig. 1-Fig. 3, the brake device includes an electromagnet, a brake block 112 and a return spring 103 arranged near the braked transmission gear in the robot joint, wherein the electromagnet is fixed on the base of the robot joint. on the seat 104; the brake block 112 is connected on the push rod of the electromagnet; one end of the return spring 103 is connected with the base 104 of the robot joint, and the other end is connected with the brake block 112; when the electromagnet is energized At this time, the push rod of the electromagnet pushes the brake block 112 to overcome the elastic force of the return spring 103 to leave the tooth groove of the braked transmission gear. When the electromagnet is de-energized, the return spring 103 pushes the brake block 112 to extend into the tooth groove of the braked transmission gear.
参见图1-图3，进一步地，所述制动块112上连接有与电磁铁的推杆轴线平行的导柱105，所述机器人关节的基座104上设有导向孔，所述导柱105匹配于所述导向孔中。利用导柱105和导向孔的配合实现导向作用，在制动过程中防止制动块112的扭动以提升制动的可靠性。1-3, further, the brake block 112 is connected with a guide post 105 parallel to the axis of the push rod of the electromagnet, the base 104 of the robot joint is provided with a guide hole, and the guide post 105 is matched in the guide hole. The guide function is realized by the cooperation of the guide post 105 and the guide hole, and the twisting of the brake block 112 is prevented during the braking process to improve the reliability of braking.
参见图1-图3，所述电磁铁的推杆的轴线与所述被制动传动齿轮的轴线平行。本发明的制动装置在电磁铁的推杆的轴线方向的尺寸较大，而被制动传动齿轮的轴线方向上通常具有较大的空间，上述布置方式能够充分利用机器人关节内部原有空间。Referring to Figures 1-3, the axis of the push rod of the electromagnet is parallel to the axis of the braked transmission gear. The braking device of the present invention has a larger size in the axial direction of the push rod of the electromagnet, and generally has a larger space in the axial direction of the driven gear to be braked. The above arrangement can make full use of the original space inside the robot joint.
参见图1-图3，所述电磁铁为推式电磁铁107，该电磁铁设置于所述主动锥齿轮106的小端对应处，该电磁铁通过电磁铁固定架108固定在机器人关节的基座104上；所述导柱105设置于所述主动锥齿轮106的大端对应处；所述复位弹簧103设置于导向孔中。Referring to Fig. 1-Fig. 3, described electromagnet is push-type electromagnet 107, and this electromagnet is arranged on the corresponding position of the small end of described driving bevel gear 106, and this electromagnet is fixed on the base of robot joint by electromagnet holder 108. On the seat 104; the guide post 105 is arranged at the position corresponding to the big end of the driving bevel gear 106; the return spring 103 is arranged in the guide hole.
本实施例的制动装置的工作过程是：参见图1和图2，当机器人关节处于正常的工作状态下，电磁铁处于得电状态，电磁铁中的推杆保持在向下推出状态，从而克服复位弹簧103的弹力将制动块112维持在离开被制动传动齿轮的齿槽的位置，此时机器人关节中的齿轮传动机构可以正常运转；参见图3，当机器人关节处于停止状态或由于其他原因必须制动时，机器人控制电磁铁失电，制动块112在复位弹簧103的推动下伸入到被制动传动齿轮的齿槽中，使得机器人关节中的齿轮传动机构无法转动而实现制动。The working process of the braking device of this embodiment is: referring to Fig. 1 and Fig. 2, when the robot joint is in the normal working state, the electromagnet is in the energized state, and the push rod in the electromagnet remains in the downward push-out state, thereby Overcoming the elastic force of back-moving spring 103, brake block 112 is maintained in the position that leaves the tooth groove of braked transmission gear, and now the gear transmission mechanism in the robot joint can run normally; When braking is necessary for other reasons, the robot controls the electromagnet to lose power, and the brake block 112 stretches into the tooth groove of the braked transmission gear under the promotion of the return spring 103, so that the gear transmission mechanism in the robot joint cannot rotate to achieve brake.
实施例2Example 2
参见图4和图5，本实施例中，所述机器人关节中的齿轮传动机构为圆柱齿轮传动机构，该圆柱齿轮传动机构中的主动圆柱齿轮204与伺服电机201连接，从动圆柱齿轮205与谐波减速器组件211连接，谐波减速器组件211与关节输出件212相连；所述从动圆柱齿轮205构成被制动传动齿轮。4 and 5, in this embodiment, the gear transmission mechanism in the robot joint is a cylindrical gear transmission mechanism, the driving cylindrical gear 204 in the cylindrical gear transmission mechanism is connected to the servo motor 201, and the driven cylindrical gear 205 is connected to the servo motor 201. The harmonic reducer assembly 211 is connected, and the harmonic reducer assembly 211 is connected with the joint output member 212; the driven cylindrical gear 205 constitutes a braked transmission gear.
参见图4和图5，所述电磁铁为拉式电磁铁203，该电磁铁和导柱206均设置于所述从动圆柱齿轮205轴线方向的同一侧，该电磁铁通过电磁铁固定架202固定在机器人关节的基座210上；所述导柱206一端与电磁铁的推杆连接，另一端通过固定螺母209与制动块208连接，该导柱206从下向上穿过设置在机器人关节的基座210的导向孔，所述复位弹簧207套在所述导柱206上。Referring to Fig. 4 and Fig. 5, the electromagnet is a pulling electromagnet 203, and the electromagnet and the guide post 206 are all arranged on the same side of the axial direction of the driven cylindrical gear 205, and the electromagnet passes through the electromagnet fixing frame 202 It is fixed on the base 210 of the robot joint; one end of the guide post 206 is connected with the push rod of the electromagnet, and the other end is connected with the brake block 208 through the fixing nut 209, and the guide post 206 passes through the robot joint from bottom to top. The guide hole of the base 210 , the return spring 207 is sleeved on the guide post 206 .
本实施例的制动装置的工作过程是：参见图4，当机器人关节处于正常的工作状态下，电磁铁处于得电状态，电磁铁中的推杆保持在向下拉回状态，从而克服复位弹簧207的弹力将制动块208维持在离开被制动传动齿轮的齿槽的位置，此时机器人关节中的齿轮传动机构可以正常运转；参见图5，当机器人关节处于停止状态或由于其他原因必须制动时，机器人控制电磁铁失电，制动块208在复位弹簧207的推动下伸入到被制动传动齿轮的齿槽中，使得机器人关节中的齿轮传动机构无法转动而实现制动。The working process of the braking device of this embodiment is as follows: Referring to Fig. 4, when the robot joint is in a normal working state, the electromagnet is in an electrified state, and the push rod in the electromagnet remains in a downward pull-back state, thereby overcoming the return spring The elastic force of 207 maintains the brake block 208 in the position away from the tooth groove of the braked transmission gear, and now the gear transmission mechanism in the robot joint can operate normally; During braking, the robot controls the electromagnet to lose power, and the brake block 208 stretches into the tooth groove of the braked transmission gear under the promotion of the return spring 207, so that the gear transmission mechanism in the robot joint cannot rotate and brake.
本实施例上述以外的其他实施方式参照实施例1来实施。Embodiments other than those described above in this embodiment are implemented with reference to Embodiment 1.
上述为本发明较佳的实施方式，但本发明的实施方式并不受上述内容的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above content, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention are all Replacement methods that should be equivalent are all included within the protection scope of the present invention.
Claims (5)
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| CN107538515A (en) * | 2016-12-30 | 2018-01-05 | 天津晨富科技有限公司 | A kind of cradle head of industrial robot |
| CN110067832A (en) * | 2019-05-05 | 2019-07-30 | 广东工业大学 | A kind of piezoelectric ceramic actuator pre-tightening apparatus |
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| CN112389133A (en) * | 2020-11-17 | 2021-02-23 | 杭州重力脚轮科技有限公司 | Self-locking caster |
| CN115560011A (en) * | 2021-12-10 | 2023-01-03 | 沈阳理工大学 | Underwater bionic fish pectoral fin bistable electromagnetic braking mechanism |
| CN116487886A (en) * | 2023-04-17 | 2023-07-25 | 深圳国人通信技术服务有限公司 | A multi-dimensional adjustable antenna installation device |
| CN117719003A (en) * | 2023-12-22 | 2024-03-19 | 北京高帆机器人科技有限公司 | Braking device for robot joint, robot joint and robot |
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| CN116487886A (en) * | 2023-04-17 | 2023-07-25 | 深圳国人通信技术服务有限公司 | A multi-dimensional adjustable antenna installation device |
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