JPS6053227A - Emergency brake gear - Google Patents

Abstract

PURPOSE:To flatten and lighten in weight a whole brake gear by pinching a lining with a brake disc held in a state capable of axially travelling together with a frame and by pressing the lining with a damping spring. CONSTITUTION:The structure of the captioned brake gear is so formed that a the damping force is generated by pinching a lining 23 rotating simultaneously with the shaft 18 of a driving rotation part by use of a brake disc 25 held in a state capable of axially travelling together with a frame 20, and by pressing the lining with a damping spring 26. Thus, as a point of action between a rotating disc 21 and a brake disc 25, and a point of action between a solenoid 30 and the rotating disc 21 can be spaced far apart, the suction force, when the brake is released and held as it is, can be made as small as possible and the driving solenoid can also become smaller. As a result, the whole brake gear can be flattened and lightened in its weight.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to the construction of a de-energized emergency brake system.

The structure of the conventional example and its problems When the conventional emergency brake device is used with a 2-base actuator such as a vertically articulated robot, the characteristics of its operation are different, as shown in Figs. 1 and 2. Most of the brakes were of the non-excited type and had a pull-and-pull brake system. FIG. 2 shows the joints 2 to 4 in FIG. 1, and shows the actuator base 7 with respect to the lining 9 which is engaged with the boss 13 directly connected to the shaft 17 so as to be movable in the axial direction.
A braking structure is constituted by a fixed sliding plate 8 fixed to and a brake plate 11 biased by a braking spring 14.

Further, the brake plate 11 constitutes a magnetic circuit of the brake section together with the brake winding 16 and the fixed iron core 16.

” - Its operation is explained in the structure shown below. The lining 9 is rotating together with the shaft 17 and the boss 13, and in this case, the brake winding 16 is energized and its magnetic circuit attracts the brake plate 11 to the fixed iron core 15 against the brake spring 14, releasing the brake. The state is fine. Next, when an external command causes an emergency stop, the power to the motor actuator is cut off and the power to the brake winding 16 is also cut off at the same time, so that the brake plate 11 fixes the lining 9 by the pressing force of the brake spring 14. It is pressed toward the sliding plate 8, generating a braking force, and the rotating shaft 17 is stopped.

However, in the above configuration, an electromagnet with sufficient attraction force to resist the brake spring 14 that performs the braking operation is required, and in order to increase the attraction force, the size and weight of the electromagnet must be increased. I had no choice but to do it.

In particular, in vertically articulated robots, the brakes, which are part of the actuators, are integrated into the joints, so their weight increases, which means that the load torque and load inertia seen from the robot's root direction increase, and these load It becomes necessary to further increase the output of the actuator at the base. In this way, in a vertically articulated robot, an increase in the weight of the actuator is fatal.

As described above, the conventional emergency brake device has the disadvantage that it is heavy, and furthermore, the weight of the entire actuator has to be large.

Purpose of the Invention In view of the drawbacks mentioned above, the present invention provides a
The suction force of a small solenoid holds the brake in the open position against the torsion spring and the brake spring, and when braking, by opening the solenoid, the rotary plate is rotated by the rotational force of the torsion spring, and the brake plate is To provide a lightweight flat type emergency brake device that can perform a braking action by changing the relative distance between the vehicle and the vehicle.

Structure of the Invention The present invention has a structure in which a lining that rotates at the same time as the axis of a drive rotating part is sandwiched between brake plates that are held movable in the axial direction together with a casing, and when pressed by a brake spring, generates a braking force. When the brake is released, the solenoid attracts and holds the rotary plate against the brake spring and torsion spring, thereby increasing the relative distance between the brake plate and the rotary plate and creating a gap between the brake plate and the lining. to release the brake. Also, during braking, by opening the solenoid, the rotating plate rotates 6 pages in the circumferential direction due to the biasing force of the torsion spring, and by reducing the relative distance to the brake plate, the gap between the brake plate and the lining is eliminated, and control is achieved. It is configured to generate power. With this configuration, by separating the points of action between the rotating plate and the brake plate, and the points of action between the solenoid and the rotating plate, the suction force when the brake is held open is minimized, and the solenoid can be made smaller. The entire structure has the effect of being made flat and lightweight.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 3 is a structural cross-sectional view of an emergency brake system according to an embodiment of the present invention, and FIG. 4 is a side view of the section taken along line 8-A in FIG. 3. FIG. 6 is a partial functional explanatory diagram taken along the line BB in FIG. 4.

In Figures 3 to 6, 2o is the rotary drive unit housing and the bearing 1
A shaft 18 is rotatably mounted via the shaft 18.
A lining boss 24 is integrally fixed to the tip. A brake lining 23 is fitted around the boss 24 so as to be movable in the axial direction, and is sandwiched between the housing 2o and the brake plate 25 pressed in the axial direction by a brake spring 26. It has become. Further, the relative relationship between the brake plate 26 and the rotating plate 21 is as follows.
As shown in the figure, when the rotating plate 21 is attracted in the direction of the solenoid by the solenoid 3°, the flat part of the rotating plate 21 and the convex part of the brake plate 26 are in a state facing each other as shown in figure B. In this case, the torsion spring 29 is biased between the brake cover 22 and the rotating plate 21 in a direction opposite to the suction direction of the solenoid 3o. As shown in FIG. 4, the brake plate 26 is held in a structure movable in the axial direction by the guide pin 27, and at the same time, the rotary plate 21 is engaged with the guide pin 27 in an elongated hole, and is It has a structure that can be rotated by a predetermined angle.

The operation of the emergency brake system configured as described above will be explained below.

First, when the brake is released, the rotating plate 21 is pulled in the circumferential direction of the solenoid by the suction force of the solenoid 30 against the torsion spring 29 and the brake spring 26. In this case, the recess (hole) provided in the rotating plate 21 does not face the brake plate 26 as shown in FIG. The lining 23 moves away from the lining 23 against the force of the spring 26 and becomes free to rotate. Next, when braking is performed by an external command, the power to the solenoid 3o is cut off, and the rotary plate 21 is rotated in the circumferential direction by the angle of the elongated hole engaged with the guide pin 27 by the biasing force of the torsion spring 29.

As a result, as shown in FIG. 5A, the four parts (holes) of the rotary plate 21 come to face the convex parts of the brake plate 25, and the pressing force of the braking spring 26 shortens the relative distance between them, causing the brake plate 25 generates braking force by pressing against the lining 23. Furthermore, when releasing the brake again, the rotary plate 21 is torsioned by the solenoid 3o and the spring 2
By rotating the brake plate 26 in the opposite direction to the biasing force 9, the convex portion of the brake plate 26 rides on the rotary plate 21, as shown in FIG. 5B, and the brake is released.

By configuring such an emergency brake device and separating the point of action P between the rotating plate 21 and the brake plate 25 and the point of action Q between the solenoid 3° and the rotating plate 21, the suction force when the brake is held open is reduced. This makes it possible to make electromagnets such as solenoids smaller, and the entire emergency brake system to be lighter and flatter.

In addition, if the brake release operation is performed manually and only the brake release holding state is operated by the solenoid, the solenoid's suction force can be made even smaller based on the relationship between the solenoid's suction force and the stroke, and the size and weight are even smaller. It goes without saying that it can be done.

As described in ``Effects of the Invention'', the present invention clamps the lining, which rotates at the same time as the shaft of the drive rotating part, with a brake plate that is held movable in the axial direction together with the casing, and presses it with a brake spring.
It has a structure that generates braking force, and when the brake is released, a solenoid attracts and holds the rotating plate against a brake spring and a torsion spring, thereby increasing the relative distance between the brake plate and the rotating plate. , create a gap between the brake plate and the lining to release the brake. During braking, by opening the solenoid, the rotating plate rotates in the circumferential direction due to the biasing force of the torsion spring, and by reducing the relative distance to the brake plate, the gap between the brake plate and the lining is eliminated and braking force is generated. It is structured as follows.

With this configuration, the point of action between the rotating plate and the brake plate,
By separating the points of action between the solenoid and the rotary plate, the suction force when holding the brake open can be minimized, and the drive solenoid can be made smaller.As a result, the entire emergency brake system becomes flatter and lighter, and its practical effects are significant. be.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram of a vertical articulated robot, Fig. 2 is a cross-sectional view of a conventional joint actuator and emergency brake device, Fig. 3 is a cross-sectional view of an emergency brake device according to an embodiment of the present invention, and Fig. 4 is a cross-sectional view of a conventional joint actuator and emergency brake device. Sectional view of the 8-entry line in Fig. 3, Fig. 6A,
B is a sectional view taken along line B-B in FIG. 4. 10 Page 18... Axis, 20... Housing, 21...
・・・Rotating plate, 23・Mark・Lining, 24・River・
・Boss, 26...mark ・Brake plate, 26...Brake spring, 29...Torsion spring, 30...
solenoid. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Fig. 2 Fig. 3 Fig. = 158- Ward cx:cQ -No -No-1 Saddle

Claims (1)

[Claims] In the non-excited brake part that stops rotational motion,
A lining that is axially movably joined to a boss directly connected to the shaft of a rotating object, the lining together with a casing,
A brake plate that is inserted in the axial direction by a brake spring to constitute a brake part, and has a four-part structure facing a convex part of the brake plate,
An emergency brake device consisting of a rotary plate arranged to be rotatable in the circumferential direction by a torsion spring biased in the opposite direction to the suction direction of an external solenoid.