Mechanical brake holding mechanism and motion joint with same

Abstract

The present application relates to a kind of mechanical brake mechanism and the motion joint with the mechanism, which is used to lock or unlock two movable parts relatively rotatable, comprising: locking unit, including fixed part and moving part, fixed part is fixed on one movable part, moving part is slidably arranged on the same movable part with fixed part, or slidably arranged on another movable part;Resilient unit, arranged on the side of moving part, for driving moving part to move in the direction close to fixed part, so that fixed part and moving part cooperate to lock two movable parts;Unlocking unit is connected with moving part, for driving moving part to move in the direction away from fixed part, so that fixed part and moving part are separated to unlock two movable parts.The brake mechanism of the present application has the advantages of compact structure, simple principle, easy to realize, high reliability, self-locking can be realized, just rely on operator to realize easy locking and unlocking, low requirement for environment.

Description

Technical Field

[0001] This invention relates to a mechanical device, specifically to a mechanical brake mechanism and a moving joint having the mechanism. Background Technology

[0002] Industrial products often contain numerous robotic arms, each typically using a brake to lock the rotation between two components. Currently, commonly used brakes include pneumatic, electromagnetic, and hydraulic types. All of these types of brakes require external force to lock or unlock, which somewhat limits their application.

[0003] However, in some special situations, it is often desirable to lock and unlock the joint brake without the aid of any external energy, that is, the operator needs to lock and unlock manually. Therefore, pneumatic, electromagnetic or hydraulic brakes are not allowed, but at the same time the reliability and convenience of the brake must be guaranteed. Summary of the Invention

[0004] To address the aforementioned problems, one objective of this invention is to provide a mechanical brake mechanism that has advantages such as compact structure, simple principle, ease of implementation, high reliability, and self-locking capability. Locking and unlocking can be easily achieved by an operator, and environmental requirements are low. Another objective of this invention is to provide a moving joint incorporating this mechanical brake mechanism.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a mechanical brake mechanism for locking or unlocking two relatively rotatable movable parts, the mechanical brake mechanism comprising: a locking unit, including a fixed member and a movable member, the fixed member being fixed to one of the movable parts, and the movable member being slidably disposed on the same movable part as the fixed member, or slidably disposed on the other movable part; an elastic unit disposed on one side of the movable member, for driving the movable member to move towards the fixed member, so that the fixed member and the movable member cooperate to lock the two movable parts; and an unlocking unit connected to the movable member, for driving the movable member to move away from the fixed member, so that the fixed member and the movable member disengage to unlock the two movable parts.

[0006] Preferably, in the mechanical brake mechanism, the fixed component is a toothed disc, the moving component is a toothed translation block, and the toothed translation block has a meshing part that cooperates with the toothed disc on the side adjacent to the toothed disc.

[0007] Preferably, in the mechanical brake mechanism, when the rotation axes of the two movable parts are aligned with the length direction of one of the movable parts, the toothed disk is an end-face toothed disk, and the end-face toothed disk is fixed on the other movable part; the tooth translation block is an end-face tooth translation block, and the end-face tooth translation block is slidably disposed on a movable part different from the end-face toothed disk.

[0008] Preferably, in the mechanical brake mechanism, the center line of the end face toothed disk is coaxial with the rotation axis of the two movable parts.

[0009] Preferably, in the mechanical brake mechanism, when the rotation axes of the two movable parts are perpendicular to the length direction of the two movable parts, the toothed disk is a circumferential toothed disk, and the circumferential toothed disk is fixed on one of the movable parts; the tooth translation block is a circumferential tooth translation block, and the circumferential tooth translation block is slidably disposed on the other movable part.

[0010] Preferably, in the mechanical brake mechanism, the center line of the circumferential toothed disc is coaxial with the rotation axis of the two movable parts.

[0011] Preferably, the elastic unit of the mechanical brake mechanism includes: a retaining plate fixed on the movable part, which is the same as the movable member, and the retaining plate is located on the side of the movable member away from the fixed member; and an elastic member pressed between the movable member and the retaining plate.

[0012] Preferably, the elastic element of the mechanical brake mechanism includes: a guide screw, which is threadedly connected to both the moving part and the retaining plate; and a compression spring, which is sleeved on the guide screw, with one end of the compression spring abutting against the retaining plate and the other end of the compression spring abutting against the moving part.

[0013] Preferably, in the mechanical brake mechanism, the guide screws are multiple screws arranged symmetrically to each other.

[0014] Preferably, in the mechanical brake mechanism, the unlocking unit includes an unlocking control line, one end of which is connected to the moving part, and the other end of which is connected to an external handle.

[0015] Preferably, the mechanical brake mechanism includes an unlocking control line comprising: an outer sleeve, one end of which is connected to the retaining plate; and an inner pull rope, one end of which passes through the outer sleeve and is fixedly connected to the moving part, and the other end of which is connected to an external handle.

[0016] Preferably, in the mechanical brake mechanism, the teeth of the circumferential tooth translation block are triangular or trapezoidal.

[0017] Preferably, in the mechanical brake mechanism, the tooth profile of the circumferential tooth translation block satisfies the following condition: except for the two outermost teeth, the intersection of the extension line of the inner surface of each remaining tooth with the translation line of the circumferential tooth translation block is located on the body side of the circumferential tooth translation block relative to the tooth.

[0018] Preferably, in the mechanical brake mechanism, the intersection of the extended inner surface lines of the two outermost teeth of the circumferential tooth translation block with the translation line of the circumferential tooth translation block is located on the body side of the circumferential tooth translation block relative to the teeth, or the inner surface lines of the two outermost teeth are parallel to the translation line of the circumferential tooth translation block.

[0019] Preferably, in the mechanical brake mechanism, the toothed disc and the toothed translation block can be adjusted to make the locking state either self-locking or non-self-locking by adjusting the inclination angle of the teeth.

[0020] A motion joint includes a robotic arm consisting of a plurality of relatively rotatable movable parts connected in series, and a brake mechanism for locking or unlocking two adjacent movable parts, the brake mechanism being the aforementioned mechanical brake mechanism.

[0021] The present invention has the following advantages due to the adoption of the above technical solutions: The present invention adopts a purely mechanical brake mechanism, which solves the complex brake problem in the market in a simple and clear way. It can be used in some harsh environments where it is inconvenient to use electromagnetic, pneumatic, hydraulic or other methods for brake application. It has high reliability, safety and convenience, and is often used in some robotic arms that require manual operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a motion joint according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the motion joint in this embodiment of the invention from another perspective;

[0024] Figure 3 This is a schematic diagram of the end face tooth meshing locking mechanism of this embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the circumferential tooth meshing locking mechanism of this embodiment of the present invention;

[0026] Figure 5 This is an assembly diagram of the connecting rod and end face tooth meshing locking mechanism of this embodiment of the present invention;

[0027] Figure 6 This is an assembly drawing of the connecting rod and circumferential tooth meshing locking mechanism of this embodiment of the present invention;

[0028] Figure 7This is a schematic diagram of the structure of the peripheral tooth translation block in this embodiment of the present invention. Detailed Implementation

[0029] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are only for illustrating the essential spirit of the technical solution of the present invention.

[0030] like Figure 1 As shown in the figure, in this embodiment, it is assumed that a robotic arm is composed of a series of links 1, 2 and 3, and the rotation axis between links 1 and 2 is consistent with the length direction of link 2, while the rotation axis between links 2 and 3 is perpendicular to the length direction of links 2 and 3.

[0031] like Figure 1 , Figure 3 , Figure 5 As shown, when the mechanical brake mechanism provided in this embodiment is used for locking and unlocking connecting rod 1 and connecting rod 2, the mechanical brake mechanism is an end face tooth meshing locking mechanism, which includes: an end face toothed disc 41, fixed on connecting rod 1, and the center line of the end face toothed disc 41 is coaxially arranged with the rotation center line of connecting rod 1 and connecting rod 2; an end face tooth translation block 42, which is slidably arranged on connecting rod 2 through a slider 43 and a guide rail 44, and the side of the end face tooth translation block 42 near the end face toothed disc 41 has meshing teeth that cooperate with the end face toothed disc 41. The end face tooth translation block 42 can move along the length direction of connecting rod 2, thereby meshing or disengaging with the end face toothed disc 41.

[0032] Meanwhile, a retaining plate 46 is fixedly installed on the connecting rod 2 on the other side of the end face toothed block 42, away from the end face toothed disk 41. Two guide screws 47 are symmetrically arranged on the retaining plate 46 along the length direction of the connecting rod 2, and the two guide screws 47 are threadedly connected to both the end face toothed block 42 and the retaining plate 46. A compression spring 48 is sleeved on the two guide screws 47. One end of the compression spring 48 abuts against the end face toothed block 42, and the other end of the compression spring 48 abuts against the retaining plate 46. An unlocking control line 45 is provided on the retaining plate 46 between the two guide screws 47. The unlocking control line 45 is mainly composed of an outer sleeve 45-1 and an inner steel wire rope 45-2. One end of the outer sleeve 45-1 is connected to the retaining plate 46. One end of the inner steel wire rope 45-2 passes through the outer sleeve 45-1 and is fixedly connected to the end face tooth translation block 42. The other end of the inner steel wire rope 45-2 is connected to a handle (not shown in the general product diagram).

[0033] Therefore, under natural conditions, several compression springs 48 will push the end face tooth translation block 42 to engage with the end face toothed disk 41. At this time, the kinematic pair between connecting rod 1 and connecting rod 2 is in a locked state, and connecting rod 1 and connecting rod 2 cannot rotate freely. When sufficient force is used to pull the inner ring steel wire rope 45-2 of the unlocking control line 45, the end face tooth translation block 42 will overcome the friction and the elastic force of the compression springs 48 and disengage from the end face toothed disk 41. At this time, the kinematic pair between connecting rod 1 and connecting rod 2 will be in an unlocked state, and connecting rod 1 and connecting rod 2 can rotate freely.

[0034] like Figure 2 , Figure 4 , Figure 6 As shown, when the mechanical brake mechanism provided in this embodiment is used for locking and unlocking connecting rods 2 and 3, the brake mechanism is a circumferential tooth meshing locking mechanism, which includes: a circumferential toothed disc 51, fixed on connecting rod 2, and the center line of the circumferential toothed disc 51 is coaxially arranged with the rotation center line of connecting rod 2 and connecting rod 3; a circumferential toothed translation block 52, which is slidably arranged on connecting rod 3 through a slider 53 and a guide rail 54, and the side of the circumferential toothed translation block 52 near the circumferential toothed disc 51 has meshing teeth that cooperate with the circumferential toothed disc 51. The circumferential toothed translation block 52 can move along the length direction of connecting rod 3, thereby meshing or disengaging with the circumferential toothed disc 51.

[0035] Meanwhile, a retaining plate 56 is fixedly installed on the other side of the circumferential toothed translation block 52, away from the circumferential toothed disk 51. Two guide screws 57 are symmetrically arranged on the retaining plate 56 along the length direction of the connecting rod 3, and the two guide screws 57 are threadedly connected to both the circumferential toothed translation block 52 and the retaining plate 56. A compression spring 58 is sleeved on the two guide screws 57. One end of the compression spring 58 abuts against the circumferential toothed translation block 52, and the other end of the compression spring 58 abuts against the retaining plate 56. An unlocking control line 55 is provided on the retaining plate 56 between the two guide screws 57. The unlocking control line 55 is mainly composed of an outer sleeve 55-1 and an inner steel wire rope 55-2. One end of the outer sleeve 55-1 is connected to the retaining plate 56. One end of the inner steel wire rope 55-2 passes through the outer sleeve 55-1 and is fixedly connected to the circumferential tooth translation block 52. The other end of the inner steel wire rope 55-2 is connected to a handle (not shown in the general product diagram).

[0036] Therefore, under natural conditions, several compression springs 58 will push the circumferential toothed translation block 52 to engage with the circumferential toothed disk 51. At this time, the kinematic pair between connecting rod 2 and connecting rod 3 is in a locked state, and connecting rod 2 and connecting rod 3 cannot rotate freely. When sufficient force is used to pull the inner steel wire rope 55-2 of the unlocking control line 55, the circumferential toothed translation block 52 will overcome the friction and the elastic force of the compression springs 58 and disengage from the circumferential toothed disk 51. At this time, the kinematic pair between connecting rod 2 and connecting rod 3 will be in an unlocked state, and connecting rod 2 and connecting rod 3 can rotate freely.

[0037] In the above embodiments, preferably, the tooth shape of the peripheral tooth translation block 52 is triangular or trapezoidal.

[0038] In the above embodiments, preferably, the tooth shape of the circumferential tooth translation block 52 needs to meet the following conditions: except for the two outermost teeth, the intersection point P of the extension line of the inner surface of each tooth and the translation line X of the circumferential tooth translation block 52 is located on the body side of the circumferential tooth translation block 52 relative to the tooth.

[0039] In the above embodiments, preferably, the intersection point P of the extension lines of the inner surfaces A and B of the two outermost teeth of the circumferential tooth translation block 52 and the translation line X of the circumferential tooth translation block 52 is located on the body side of the circumferential tooth translation block 52 relative to the teeth, or the inner surfaces of the two outermost teeth are parallel to the translation line X of the circumferential tooth translation block 52 (limit state).

[0040] In the above embodiments, preferably, the end face toothed disk 41 and the end face tooth translation block 42, as well as the peripheral toothed disk 51 and the peripheral tooth translation block 52, can all be adjusted by adjusting the inclination angle of the teeth to make the locking state either self-locking or non-self-locking.

[0041] In the above embodiments, preferably, the unlocking control line 45 and the unlocking control line 55 can be controlled by the same unlocking control line or by separate unlocking control lines, thereby achieving single action or linkage.

[0042] Based on the mechanical brake mechanism provided in the above embodiments, the present invention also provides a motion joint, including a mechanical arm composed of a connecting rod 1, a connecting rod 2 and a connecting rod 3 connected in series, wherein the connecting rod 1 and the connecting rod 2 are locked and unlocked by the end face tooth meshing locking mechanism provided in the above embodiments, and the connecting rod 2 and the connecting rod 3 are locked and unlocked by the circumferential tooth meshing locking mechanism provided in the above embodiments.

[0043] The above embodiments are only used to illustrate the present invention. The structure, connection method and manufacturing process of each component can be varied. All equivalent transformations and improvements made on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. A mechanical brake mechanism for locking or unlocking two relatively rotatable movable parts, characterized in that, The mechanical brake mechanism includes: The locking unit includes a fixing member and a moving member, the fixing member being fixed to one of the movable parts, and the moving member being slidably disposed on the other movable part; An elastic unit is disposed on one side of the movable member, which drives the movable member to move along the length direction of the movable part where the movable member is located towards the fixed member, so that the fixed member and the movable member cooperate to lock the two movable parts so that the two movable parts cannot rotate freely; An unlocking unit, connected to the movable component, is used to drive the movable component to move away from the fixed component along the length direction of the movable part where the movable component is located, so that the fixed component and the movable component are separated to unlock the two movable parts; The unlocking unit includes an unlocking control line, one end of which is connected to the movable part, and the other end of which is connected to an external handle. Pulling the unlocking control line causes the fixed part and the movable part to separate, thereby unlocking the two movable parts. The fixing component is a toothed disk, the moving component is a toothed translation block, and the toothed translation block has a meshing part on the side adjacent to the toothed disk that cooperates with a local section of the toothed disk; When the rotation axes of the two movable parts are aligned with the length direction of one of the movable parts, the toothed disk is an end-face toothed disk, and the end-face toothed disk is fixed on the other movable part; the tooth translation block is an end-face tooth translation block, and the end-face tooth translation block is slidably disposed on a movable part different from the end-face toothed disk; the side of the end-face tooth translation block adjacent to the end-face toothed disk has an end-face meshing portion that mates with a local section of the end-face toothed disk; When the rotation axes of the two movable parts are perpendicular to the length direction of both movable parts, the toothed disk is a circumferential toothed disk, and the circumferential toothed disk is fixed on one of the movable parts; the tooth translation block is a circumferential tooth translation block, and the circumferential tooth translation block is slidably disposed on the other movable part; the side of the circumferential tooth translation block adjacent to the circumferential toothed disk has a circumferential meshing portion that cooperates with a local section of the circumferential toothed disk.

2. The mechanical brake mechanism as described in claim 1, characterized in that, When the toothed disk is an end-face toothed disk, the center line of the end-face toothed disk is coaxial with the rotation axis of the two movable parts.

3. The mechanical brake mechanism as described in claim 1, characterized in that, When the toothed disk is a circumferential toothed disk, the center line of the circumferential toothed disk is coaxial with the rotation axis of the two movable parts.

4. The mechanical brake mechanism as described in any one of claims 1 to 3, characterized in that, The elastic unit includes: A retaining plate is fixed to the same movable part as the movable member, and the retaining plate is located on the side of the movable member away from the fixed member; An elastic element is pressed between the moving element and the retaining plate.

5. The mechanical brake mechanism as described in claim 4, characterized in that, The elastic element includes: The guide screw is threadedly connected to both the moving part and the retaining plate. A compression spring is sleeved on the guide screw, with one end of the compression spring abutting against the retaining plate and the other end of the compression spring abutting against the moving part.

6. The mechanical brake mechanism as described in claim 5, characterized in that, The guide screws are multiple screws arranged symmetrically to each other.

7. The mechanical brake mechanism as described in claim 4, characterized in that, The unlock control line includes: An outer sleeve, one end of which is connected to the retaining plate; An inner pull cord is provided, with one end passing through the outer sleeve and fixedly connected to the moving part, and the other end connected to the outer handle.

8. The mechanical brake mechanism as described in claim 1, characterized in that, The tooth shape of the circumferential tooth translation block is triangular or trapezoidal.

9. The mechanical brake mechanism as described in claim 8, characterized in that, The tooth profile of the circumferential tooth translation block satisfies the following condition: except for the two outermost teeth, the intersection of the extension line of the inner surface of each of the remaining teeth with the translation line of the circumferential tooth translation block is located on the body side of the circumferential tooth translation block relative to the tooth.

10. The mechanical brake mechanism as described in claim 9, characterized in that, The intersection of the extended inner surface lines of the two outermost teeth of the circumferential tooth translation block with the translation line of the circumferential tooth translation block is located on the body side of the circumferential tooth translation block relative to the teeth, or the inner surface lines of the two outermost teeth are parallel to the translation line of the circumferential tooth translation block.

11. The mechanical brake mechanism as described in any one of claims 1-3, 5-7, characterized in that, The toothed disc and tooth translation block can adjust the inclination angle of the teeth to make the locking state either self-locking or non-self-locking.

12. A type of movable joint, characterized in that, It includes a robotic arm consisting of a plurality of relatively rotatable movable parts connected in series, and a brake mechanism for locking or unlocking two adjacent movable parts, the brake mechanism being a mechanical brake mechanism as described in any one of claims 1 to 11.

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