Permanent-magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring
Permanent-magnetically Amplified Brake Mechanism Compensated and Stroke-Shortened by a Multistage Nonlinear Spring
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多级非线性弹簧补偿和缩短行程的永磁增强制动机构
DOI：
10.1109/lra.2022.3143231
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发表时间：
2022
影响因子：
5.2
通讯作者：
Tadokoro Satoshi
中科院分区：
文献类型：
--
作者：
Shimizu Tori;Tadakuma Kenjiro;Watanabe Masahiro;Abe Kazuki;Konyo Masashi;Tadokoro Satoshi
电磁（EM）制动器被广泛使用，但持续消耗电力以维持其激活状态。在这封信中，为了机器人和车辆的有效制动和空转，我们提出了一种制动机构的概念，该制动机构使用永磁体来放大制动片之间的压力，从而允许通过最小的外力来步进地调节制动扭矩。提出的机制的原型开发了一个新设计的补偿弹簧，而不是传统的锥形螺旋弹簧，包括两个线性弹簧，以缩短垫分离行程。为了验证概念，进行了基于日本工业标准的评估实验。最大静态和平均动态摩擦扭矩分别增加到161.0%和192.9%，当使用相同的电磁制动器的垫进行比较。当制动时间超过0.43 s时，也实现了节能;当测量1.0 s时，扭矩能量效率增加了8.7，成功地揭示了所提出的原理的有效性。此外，基于补偿磁体的力-位移特性，理论响应时间被数值分析为13.6 ms-与对比EM制动器相当-验证了14.0 ms的实际行为。
Electromagnetic (EM) brakes are widely used but consume electricity continuously to maintain their activated state. In this letter, for efficient braking and idling of robots and vehicles, we proposed a concept of a brake mechanism using a permanent magnet for the amplification of the pressing force between brake pads, allowing for the brake torque to be steplessly regulated by a minimal external force. The prototype of the proposed mechanism was developed with a newly devised compensation spring—not the conventional conical coil springs—comprising two linear springs to shorten the pad-detaching stroke. For proof of concept, evaluation experiments based on the Japanese Industrial Standards were conducted. Both the maximum static and average dynamic friction torques increased to 161.0% and 192.9%, respectively, when identical pads of an EM brake were used for comparison. Power saving was also achieved when braking for longer than 0.43 s; the torque–energy efficiency increased by 8.7 when measured for 1.0 s, successfully revealing the effectiveness of the proposed principle. Further, based on the force–displacement characteristic of the compensated magnet, the theoretical response time was numerically analyzed as 13.6 ms—comparable to the contrasted EM brake—validating the actual behavior of 14.0 ms.