Brake device, industrial robot and method

A brake device comprising:

• a first device;
• a brake element having a first frictional brake surface and an engageable structure;
• a second device movable relative to the first device;
• a second frictional brake surface;
• a force device arranged to press the first frictional brake surface and the second frictional brake surface against each other;
• and
• an actuator connected to the first device, the actuator including an engaging structure movable between a disengaged position, where the engaging structure does not engage the engageable structure, and an engaged position, where the engaging structure engages the engageable structure to brake relative motion between the first device and the second device;
• wherein the engaging structure and/or the engageable structure is configured such that the engaging structure resiliently engages the engageable structure when the engaging structure adopts the engaged position.

An industrial robot comprising a brake device having:

• a first device;
• a brake element having a first frictional brake surface and an engageable structure;
• a second device movable relative to the first device;
• a second frictional brake surface;
• a force device arranged to press the first frictional brake surface and the second frictional brake surface against each other with a pressing force;
• and
• an actuator connected to the first device, the actuator including an engaging structure movable between a disengaged position, where the engaging structure does not engage the engageable structure, and an engaged position, where the engaging structure engages the engageable structure to brake relative motion between the first device and the second device;
• wherein a dynamic friction coefficient between the first frictional brake surface and the second frictional brake surface is less than 0.3;
• and
• wherein the pressing force is dimensioned with respect to the dynamic friction coefficient.

A method of preparing a brake device, the method comprising:

• providing a brake device having:
• a brake element having a first frictional brake surface and an engageable structure;
• a second device movable relative to the first device;
• a second frictional brake surface;
• a force device arranged to press the first frictional brake surface and the second frictional brake surface against each other with a pressing force;
• and
• an actuator connected to the first device, the actuator including an engaging structure movable between a disengaged position, where the engaging structure does not engage the engageable structure, and an engaged position, where the engaging structure engages the engageable structure to brake relative motion between the first device and the second device;
• wherein a dynamic friction coefficient between the first frictional brake surface and the second frictional brake surface is less than 0.3;
• and
• dimensioning the pressing force based on the dynamic friction coefficient.