Research And Realization Of Light Brake For Cooperative Robot Integrated Joint

Brake plays a vital role in ensuring the safety and reliability of the equipment.In recent years,with the continuous development of the industrial automation in our country,the level of human-machines cooperation has reached a new height,and the brake for collaborative robot joint has been also proposed in higher request.Therefore,the research on the joint brake of the cooperative robot has practical significance.Aiming at the integrated joint of 7 axis light cooperative robot,this paper develops a double-sided loss electromagnetic brake with light weight compared with the traditional brake.First,the design index of the brake has been determined according to the joint dimension of the cooperative robot,and the two-sided brake structural scheme that different from the traditional electromagnetic disk brake has been selected.The brake material has been selected according to the design requirement,and the main size of brake parts have been determined and checked.Secondly,by using ANSYS Workbench,the finite element analysis has been carried out to verify the reliability of the structure.According to the simulation results,the parts of brake have been treated with light weight on the premise of guaranteed performance.The design of the brake pairs has been optimized,and the total light weight of the rotor and the reduction of the brake pairs shaft to the occupied space have been realized,and the optimized joint brake is finally obtained.Using Ansoft Maxwell to simulate the performance of electromagnet,the rationality of the design has been verified.The factors affecting electromagnetic suction of electromagnet main characteristic parameters have been analyzed,and its change rate is proportional to the magnetic induction intensity,and the magnetic induction is under the influence of work air gap and the electric current.Finally,the prototype manufacture and performance test of the joint brake have been carried out.The coil of the brake has been wound,and the electromagnet has been encapsulated,fit with other parts and a complete prototype of the joint brake has been obtained.The static and dynamic performance of the brake have been tested.The result shows that the brake can work normally under the 5kg load required by the robot and can achieve the designed braking torque when it is static;In dynamic state,the braking process of the brake can be mainly divided into 3 stages,and the brake can complete the braking process when the motor reaches the rated torque,so as to meet the design target.