CN110815288A - Brake device for robotic arm - Google Patents

Abstract

The present invention discloses a braking device for a robot arm. When braking, a coupling plate is released to make the coupling plate resist the elastic force of a reset spring and slide along a guide pin. The coupling plate carries a coupling block to approach a ratchet. The coupling block first contacts a lower gear system to reduce the rotation speed of the ratchet, so that the coupling block is clamped into a double-layer gear system with a large interval and continuously reduced to a low speed. Then, the densely spaced peripheral gear system of the ratchet is meshed with the gear system of the coupling plate to stop the robot arm.

Description

Brake device for robotic arm

technical field

The invention relates to a robot arm, in particular to a braking device for preventing the movement of the robot arm when the motor of the robot arm stops rotating.

Background technique

Factory automation uses robotic arms to automatically grab workpieces and move back and forth for assembly and manufacturing to improve production efficiency. The robot arm that moves back and forth needs to rely on a stable and effective braking device in addition to the drive module to provide power to stop the robot arm at a predetermined position for operation.

The prior art US publication patent US8410732 uses a motor to rotate the rotating shaft of the robot arm, and sets a braking device to fix the friction ring on the rotating shaft, and the friction ring covers the ratchet wheel. In addition, a solenoid valve clutch ratchet is set to block the rotation of the ratchet, and the brake motor rotates to stop the movement of the robot arm. However, the ratchet wheel of the braking device in the prior art is directly fixed on the rotating shaft, which is too close to the rotating shaft, the braking torque generated by the solenoid valve engaging the ratchet wheel is small, and the interval between the convex teeth of the ratchet wheel is large, and the free movement angle of the robot arm after braking is large, which cannot be stable and effective. Stop the robot arm at the predetermined position.

As shown in FIG. 6 , in the prior art Chinese publication patent CN105626722, the drive module 1 sets the center hole of the brake device 2 on the rotating shaft 4 of the motor 3 , and the fixed ratchet 5 rotates with the rotating shaft 4 . When the driving module 1 of the robot arm starts to brake, the solenoid valve 6 is controlled to retract the actuating rod 7 to release the control plate 8, and the return spring 9 presses the combination plate 10 and moves to the ratchet 5 along the guide pin 11, so that the combination plate 10 carries the load The combined pin 12 penetrates the rotation path of the ratchet wheel 5, so that the combined pin 12 is combined with the ratchet wheel 5, and the rotating power of the rotating shaft 4 is simultaneously transmitted from the ratchet wheel 5 to the combined pin 12, and the combined pin 12 is then transmitted to the brake with a larger diameter through the guide pin 11. The disc 13 extends the braking force arm to generate a larger braking torque to effectively stop the rotation of the rotating shaft 4 . Therefore, the brake device 2 of the prior art has a diameter much larger than that of the brake disc 13 of the ratchet wheel 5, which generates a larger friction force. In addition, the coupling pin 12 extends the braking force arm, which generates a larger braking torque and effectively stops the machine. Purpose of the arm.

However, the distance between the protruding teeth of the ratchet wheel 5 in the prior art is too large. After the robot arm is braked, the coupling pin 12 can move relatively freely between the two protruding teeth, which will cause the rotating shaft 4 to freely rotate the angle between the two protruding teeth. This free rotation angle, through the enlargement of the robot arm, the end of the robot arm can shake at a considerable angle under the condition of external force or movement, and it is impossible to stably stop the robot arm at the predetermined position, thus causing the gap between the robot arm and the foreign object. Collision damage or personnel safety issues. Therefore, there are still problems to be solved urgently in the braking device of the robot arm.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a braking device for a robotic arm. Through the double-layer tooth system structure of the ratchet, the lower tooth system first contacts the binding block to reduce the high-speed rotating ratchet. Clamp into the combination block at intervals to facilitate the ratchet deceleration combination.

Another object of the present invention is to provide a braking device for a robot arm, which utilizes the outer peripheral tooth system of the ratchet. Combined with the gear system of the plate to reduce the free swing angle of the robot arm.

In order to achieve the purpose of the foregoing invention, the braking device of the robot arm of the present invention includes a ratchet wheel, a coupling plate and a brake disc, wherein the ratchet wheel has a concentric inner gear ring and an outer gear ring, and a double-layer tooth is arranged between the inner gear ring and the outer gear ring. The double-layer tooth system is composed of the ratchet teeth of the upper tooth system and the lower tooth system. The ratchet teeth of the upper tooth system are on the same plane as the inner tooth ring and the outer tooth ring. The outer periphery of the ratchet wheel extends and is bent below the inner periphery of the outer toothed ring. The outer periphery of the outer toothed ring protrudes with a small spaced outer peripheral tooth system, and the inner periphery of the inner toothed ring of the ratchet is fixed on the rotating shaft with reeds.

The coupling plate is located below the ratchet, and a plurality of coupling blocks are protruded in the direction of the ratchet at the position between the inner toothed ring and the outer toothed ring. A gear train is provided, the gear train can engage with the outer peripheral gear train, the coupling plate forms an actuating flange on the outer periphery of the gear tooth train, and a plurality of guide holes are arranged on the inner periphery of the coupling plate.

The brake disc is fixedly located below the combination plate, and its upper surface is at the position relative to the guide hole, and a plurality of guide pins are protruded toward the combination plate. The guide pins are sleeved with return springs, and then pass through the guide holes. , support the combination plate, and make the return spring between the combination plate and the brake disc to guide the combination plate to slide along the guide pin.

When the braking device of the robot arm of the present invention is braking, the solenoid valve is controlled to retract the actuating rod, and the actuating flange of the coupling plate is released, so that the coupling plate resists the elastic force of the return spring, slides along the guide pin, and the coupling plate carries the coupling block. Approaching the ratchet, the coupling block first contacts the lower tooth system. The combination block transmits the immobile resistance of the brake disc, and produces contact friction with the lower tooth system, reducing the rotation speed of the ratchet, and the combination block is first clamped into the gap of the lower tooth system. Then reduce the rotation speed of the ratchet, so that the coupling block is clamped into the large-spaced double-layer tooth system, continuously and rapidly reduce the ratchet to a low speed, the coupling block swims at a low speed, the return spring pushes the coupling plate to move along the guide pin, and the gear tooth system is moved. Push in the closely spaced peripheral tooth system, let the outer peripheral tooth system of the ratchet engage the gear tooth system of the coupling plate to stop the robot arm.

One end of the ratchet teeth of the upper tooth system of the braking device of the robot arm of the present invention radially protrudes from the outer periphery of the inner toothed ring, and the other end is connected to the inner periphery of the outer toothed ring. The ratchet teeth of the lower tooth system have one end radially protruding from the same plane of the outer periphery of the inner tooth ring, forming a low bending step in the middle, extending to the lower part of the inner periphery of the outer tooth ring. The outer peripheral edge of the outer gear ring is protruded with small-spaced and densely-spaced protruding teeth to form an outer-peripheral tooth system, and the coupling plate is protruded with a small-spaced and densely-spaced gear tooth system. The combination blocks are two located at opposite ends of the same diameter.

Description of drawings

Fig. 1 is the perspective view of the braking device of the robot arm of the present invention;

2 is a side view of the braking device of the present invention in a braking deceleration state;

3 is a side view of the braking device of the present invention in an unbraking state;

Figure 4 is a side view of the braking device of the present invention in the state where the combination pin is clamped;

5 is a side view of the braking device of the present invention in a braking state;

6 is a side cross-sectional view of a drive module of a prior art robotic arm.

Symbol Description

20 Brakes

21 Ratchet

22 Combined plate

23 Brake disc

24 center hole

25 reels

26 Internal gear ring

27 External gear ring

28 Upper gear train

29 Lower gear train

32 Bend Ladder

33 Peripheral tooth system

35 combined blocks

36 gear train

37 Actuating flange

38 Pilot hole

39 Guide pins

40 return spring

41 Reed

42 Solenoid valve

43 Actuator

Detailed ways

Regarding the technical means and effects adopted by the present invention in order to achieve the above-mentioned objects, preferred embodiments are now given and described below with reference to the accompanying drawings.

Please refer to FIG. 1 and FIG. 2 at the same time, FIG. 1 is a perspective view of the braking device 20 of the robot arm of the present invention, and FIG. 2 is a side view of the braking device 20 of the present invention in an unbraking state. The braking device 20 of the robot arm of the present invention includes a ratchet 21, a coupling plate 22, a brake disc 23, and the like. The braking device 20 has a central hole 24 and is sleeved on the rotating shaft 25 of the motor of the robot arm.

The ratchet wheel 21 of the braking device 20 has a concentric inner gear ring 26 and an outer gear ring 27, and a double-layer gear system is arranged between the inner gear ring 26 and the outer gear ring 27, and the double-layer gear system consists of an upper gear system 28 and a lower gear system 29. The ratchet teeth are alternately arranged at large intervals. Each ratchet tooth of the upper tooth system 28 has one end radially protruding from the outer periphery of the inner tooth ring 26, and the other end is connected to the inner periphery of the outer tooth ring 27. The ratchet teeth are on the same plane as the inner toothed ring 26 and the outer toothed ring 27 . One end of each ratchet tooth of the lower gear system 29 protrudes radially from the same plane of the outer peripheral edge of the inner gear ring 26. The ratchet teeth of the lower gear system 29 form a low bending step 32 in the middle, and the bent end extends to the outer gear ring. 27 Below the inner perimeter. The outer peripheral edge of the outer toothed ring 27 of the ratchet 21 is protruded with an outer peripheral tooth system 33 , and the protruding teeth of the outer peripheral tooth system 33 are densely arranged at small intervals.

The coupling plate 22 of the braking device 20 is roughly annular, located concentrically below the ratchet wheel 21 and has a diameter slightly larger than the ratchet wheel 21 . For the plurality of coupling blocks 35 , in this embodiment, two coupling blocks 35 are protruded and located at opposite ends of the same diameter as an example. The outer periphery of the plate 22 is combined with the outer peripheral tooth system 33 of the ratchet wheel 21 , and a gear tooth system 36 is protruded in the direction of the ratchet wheel. In this embodiment, the entire circumference of the gear train 36 is protruded, and the gear teeth of the gear train 36 are densely spaced together to engage with the outer peripheral gear train 33 . The coupling plate 22 forms an actuating flange 37 on the outer periphery of the gear train 36 . A plurality of guide holes 38 are further provided on the inner periphery of the coupling plate 22 .

The brake disc 23 of the brake device 20 is substantially annular, located concentrically below the joint plate 22 , and its upper surface is at a position opposite to the guide hole 38 . The return spring 40 is sleeved and passed through the guide hole 38 , so that the return spring 40 is located between the coupling plate 22 and the brake disc 23 to guide the coupling plate 22 to slide along the guide pin 39 .

In the braking device 20 of the robot arm of the present invention, after the center hole 24 is sleeved on the rotating shaft 25 of the motor, the ratchet wheel 21 is fixed on the rotating shaft 25 by the reed 41 from the inner periphery of the inner gear ring 26 of the ratchet wheel 21 up and down, and the ratchet wheel 21 is fixed with the rotating shaft. 25 rotates, while the brake disc 23 is fixed on the robot arm (not shown), and the guide pin 39 is used to pass through the guide hole 38, and the supporting joint plate 22 is arranged below the ratchet 21. The solenoid valve 42 provided by the robot arm extends and retracts the actuating rod 43 to press or release the actuating flange 37 of the coupling plate 22, so that the coupling plate 22 resists the elastic force of the return spring 40 and slides close to or away from the guide pin 39. Ratchet 21.

As shown in FIG. 3 , it is a side view of the braking device of the present invention in an unbraking state. When the robot arm needs to rotate normally, the robot arm controls the solenoid valve 42 to extend the actuating rod 43 to push the combination plate 22, the combination plate 22 slides down the guide pin 39, and the return spring is compressed, so that the combination plate 22 follows the guide pin 39. Move to the brake disc 23 to keep the bearing coupling block 35 away from the rotation path of the ratchet 21. When the ratchet 21 is not blocked, the rotating shaft 25 can rotate freely to move the robot arm.

Please refer to FIG. 2 and FIG. 4 again. FIG. 4 is a side view of the braking device of the present invention in a state where the coupling pin is clamped. In FIG. 2, when the robot arm starts to brake, the robot arm controls the solenoid valve 42 to retract the actuating rod 43 to release the coupling plate 22, and the return spring 40 presses the coupling plate 22 and moves to the high-speed rotating ratchet 21 along the guide pin 39. As the loaded coupling block 35 approaches the rotation path of the ratchet 21 , the coupling block 35 first touches the lower tooth system 29 in the lower position of the double-layer tooth system. The ratchet wheel 21 cannot be clamped into the double-layer tooth system immediately due to the high-speed rotation of the ratchet wheel 21 . However, the coupling plate 22 carrying the coupling block 35 is supported by the guide pins 39 of the stationary brake disc 23. The coupling block 35 will transmit the immobile resistance of the brake disc 23, and the contact with the lower gear system 29 will generate friction, reducing the According to the rotation speed of the ratchet wheel 21 , the coupling block 35 can be clamped into the gap of the lower tooth system 29 with the largest interval, and further reduce the rotation speed of the ratchet wheel 21 . In FIG. 4 , when the ratchet 21 continues to decelerate to a moderate rotational speed, the coupling block 35 can further clamp into the gap between the upper tooth system 28 and the lower tooth system 29 to form a large space between the double tooth system and transmit the brake disc completely. 23 does not move the resistance, continuously and rapidly reduces the rotation speed of the ratchet 21.

As shown in FIG. 5 , it is a side view of the braking device of the present invention in a braking state. Since the outer peripheral tooth train 33 of the ratchet wheel 21 is densely spaced, even if the ratchet wheel 21 decelerates, the outer peripheral tooth train 33 having a rotational speed is difficult to engage with the gear tooth train 36 of the coupling plate 22 . When the ratchet wheel 21 must continue to decelerate to a low rotational speed, let the coupling block 35 swim at a low speed in the gap between the double-layer toothed system with a large interval, so that the return spring 40 can press the coupling plate 22 to move along the guide pin 39, and The gear train 36 is pushed into the peripheral gear train 33 at small intervals, so that the peripheral gear train 33 engages the gear train 36 of the coupling plate 22 . Once the outer peripheral tooth system 33 meshes with the gear tooth system 36, the ratchet 21 is combined with the coupling plate 22, and only the extremely small backlash between the outer peripheral tooth system 33 and the gear tooth system 36 is left to swim, and the end of the robot arm is free The movement range is relatively small, and the robot arm can be stopped stably to avoid shaking of the robot arm.

Therefore, the braking device of the robot arm of the present invention can pass through the double-layer tooth system structure of the ratchet, and the lower tooth system first contacts the joint block to generate friction to reduce the speed of the high-speed rotating ratchet. The large interval of the tooth system is clamped into the joint block, so that the ratchet wheel is continuously and rapidly lowered to a low speed, and then the densely spaced peripheral tooth system of the ratchet wheel is used to engage the gear tooth system of the joint plate to stably stop the robot arm to reduce the free shaking of the robot arm. The purpose of the invention of the angle.

To sum up, the above is only for the convenience of describing the preferred embodiments of the present invention, and the scope of the present invention is not limited to these preferred embodiments. It belongs to the scope of the patent application of the present invention.

Claims (9)

1. The utility model provides a brake equipment of robot arm, has the centre bore, overlaps the pivot of establishing the motor of robot arm, and robot arm establishes solenoid valve control flexible actuating rod, its characterized in that, this brake equipment contains:

the ratchet wheel is fixed on the rotating shaft and is provided with an inner gear ring and an outer gear ring which are concentric, a double-layer gear system is arranged between the inner gear ring and the outer gear ring and consists of ratchet teeth of an upper layer gear system and ratchet teeth of a lower layer gear system which are alternately arranged at large intervals, the ratchet teeth of the upper layer gear system are on the same plane with the inner gear ring and the outer gear ring, the ratchet teeth of the lower layer gear system extend from the outer periphery of the inner gear ring and are bent to be below the inner periphery of the outer gear ring, and the outer periphery of the outer gear ring is convexly provided with a peripheral gear system at small intervals;

a combination plate, which is positioned below the ratchet wheel, a plurality of combination blocks are convexly arranged in the direction of the ratchet wheel at the position corresponding to the space between the inner gear ring and the outer gear ring, the periphery of the combination plate is convexly provided with a gear system in the direction of the ratchet wheel at the position corresponding to the gear system of the periphery of the ratchet wheel, the gear system can be meshed with the gear system of the periphery, the combination plate forms an operation flange at the periphery of the gear system, and the inner periphery of the combination plate is additionally provided with a plurality of guide holes;

the brake disc is fixedly positioned below the combination plate, a plurality of guide pins are convexly arranged on the upper surface of the brake disc at positions corresponding to the guide holes, the guide pins are sleeved with return springs and then penetrate through the guide holes to support the combination plate, and the return springs are positioned between the combination plate and the brake disc and used for guiding the combination plate to slide along the guide pins;

when the mechanical arm is braked, the electromagnetic valve is controlled to retract the actuating rod, the actuating flange of the combining plate is released, the combining plate resists the elastic force of the return spring and slides along the guide pin, the combining plate bears the combining block to be close to the ratchet wheel, the combining block contacts with the lower-layer tooth system in advance, the rotating speed of the ratchet wheel is reduced, the combining block is clamped into the large-interval double-layer tooth system, the ratchet wheel is continuously and quickly reduced to the low speed, and then the dense-interval peripheral tooth system of the ratchet wheel is meshed with the gear tooth system of the combining plate to stop the mechanical arm.

2. The brake apparatus for robot arm as claimed in claim 1, wherein the ratchet teeth of the upper teeth system have one end radially protruded from an outer circumference of the inner ring gear and the other end connected to an inner circumference of the outer ring gear.

3. The brake apparatus for robot arm as claimed in claim 1, wherein the ratchet teeth of the lower set of teeth have one end radially protruding from the same plane as the outer circumference of the inner toothed ring, and a stepped bent step is formed in the middle to extend below the inner circumference of the outer toothed ring.

4. The brake apparatus for robot arm as claimed in claim 1, wherein the outer ring has outer teeth with small and dense intervals.

5. The brake apparatus for robot arm as claimed in claim 1, wherein the coupling plate is provided with a plurality of closely spaced gear teeth, the gear teeth of the gear teeth being spaced to engage the peripheral gear teeth.

6. The brake apparatus for robot arm as claimed in claim 1, wherein the combining blocks are two blocks located at opposite ends of the same diameter.

7. The brake apparatus for robot arm of claim 1, wherein the engaging piece is engaged with the lower teeth in advance, and the engaging piece transmits the stationary resistance of the brake disc to generate contact friction with the lower teeth to reduce the rotation speed of the ratchet wheel, so that the engaging piece is engaged with the gap of the lower teeth in advance.

8. The brake apparatus for robot arm as claimed in claim 1, wherein the ratchet wheel has inner toothed ring with upper and lower edges fixed to the shaft via spring plates.

9. The brake apparatus for robot arm as claimed in claim 1, wherein the engaging piece slides at a low speed when being clamped into the gap of the double-layered rack system, and the return spring presses the engaging plate to move along the guide pin to push the rack gear system into the peripheral rack gear system, so that the peripheral rack gear system engages with the rack gear system.

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