Braking mechanism, robot joint, and robot

Abstract

The application relates to a brake mechanism, a robot joint and a robot. The brake mechanism comprises a brake part, a first magnetic group, a second magnetic group and a moving assembly. The first magnetic group is connected to the brake part, and the first magnetic group comprises a first magnetic piece and a second magnetic piece, the magnetic pole positions of the first magnetic piece and the second magnetic piece being opposite. The second magnetic group comprises a third magnetic piece. The moving assembly is used for driving the third magnetic piece to switch between an unlocking position and a brake position. When the third magnetic piece is in the brake position, the magnetic poles of the third magnetic piece and the end of the first magnetic piece facing each other are the same, so that the brake part is driven to move away from the third magnetic piece, so that the brake part abuts against a driving shaft, thereby limiting the rotation of the driving shaft. When the third magnetic piece is in the unlocking position, the magnetic poles of the third magnetic piece and the end of the second magnetic piece facing each other are different, so that the brake part is driven to move close to the third magnetic piece, so that the brake part is separated from the driving shaft, and the response speed is faster.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a braking mechanism, a robot joint, and a robot. Background Technology

[0002] With the rapid development of industrial automation technology, robots, as an important type of industrial automation equipment, are receiving increasing attention and are being used more and more widely. Among the technologies related to robots, the control of moving parts such as robot joints is the most important and critical.

[0003] In existing robot joint modules, electromagnetic braking is commonly used, employing electromagnets, springs, and brake discs. Traditional electromagnetic braking requires energizing the electromagnet to generate magnetic force, compressing the spring and pushing the brake disc to disengage it from the motor shaft, thus enabling the motor to operate. This invention provides a braking mechanism that utilizes magnetic principles, differing from traditional methods. Summary of the Invention

[0004] Based on this, the present invention provides a braking mechanism that utilizes magnetic principles, which is different from the traditional method.

[0005] A braking mechanism for braking or unlocking a drive shaft, comprising:

[0006] The braking unit is connected to a first magnetic group, which includes a first magnetic element and a second magnetic element arranged along a first direction. The magnetic poles of the first magnetic element and the second magnetic element are in opposite positions, wherein the first direction is perpendicular to the axial direction of the braking mechanism.

[0007] The second magnetic assembly includes a third magnetic element, which is arranged axially with the first magnetic assembly along the braking mechanism, and has a braking position and an unlocking position. When the third magnetic element is in the braking position, the magnetic poles at the opposite ends of the third magnetic element and the first magnetic element are the same, so as to drive the braking part to approach and abut against the driving shaft, and the braking part restricts the rotation of the driving shaft. When the third magnetic element is in the unlocking position, the magnetic poles at the opposite ends of the third magnetic element and the second magnetic element are opposite, so as to drive the braking part to separate from the driving shaft.

[0008] A movable component, connected to the third magnetic element, is used to drive the third magnetic element to move along the first direction, so that the third magnetic element switches between the unlocked position and the braking position.

[0009] In one embodiment, when the third magnetic element is in the braking position, the third magnetic element is aligned with the first magnetic element along the axial direction of the braking mechanism;

[0010] When the third magnetic component is in the unlocked position, the third magnetic component and the second magnetic component are aligned along the axial direction of the braking mechanism.

[0011] In one embodiment, the second magnetic group includes a fourth magnetic element, and the number of the first magnetic element, the second magnetic element, the third magnetic element, and the fourth magnetic element are all multiple; the multiple first magnetic elements and the second magnetic elements are alternately arranged along the first direction;

[0012] The plurality of the third magnetic elements and the fourth magnetic elements are alternately arranged along the first direction, and their magnetic poles are in opposite positions.

[0013] In one embodiment, the moving component includes a fixed member and a moving member arranged along the first direction; the moving member is connected to the third magnetic member, and the moving member moves closer to and further away from the fixed member to switch the third magnetic member between the unlocked position and the braking position.

[0014] In one embodiment, the fixing member is an electromagnet, and the moving member is a fifth magnetic member; the moving component includes an elastic member connected between the electromagnet and the fifth magnetic member;

[0015] When the electromagnet is energized, an attractive force is generated between the electromagnet and the fifth magnetic component, which drives the third magnetic component connected to the fifth magnetic component to move to the unlocked position, and the elastic component is compressed.

[0016] When the electromagnet is de-energized, the elastic element drives the fifth magnetic element away from the electromagnet, so that the third magnetic element moves to the braking position.

[0017] In one embodiment, the number of the second magnetic group and the fixing member is two groups, and the two groups of fixing members are arranged radially spaced along the braking mechanism;

[0018] The movable component includes a first segment, a second segment, and a third segment, both of which extend from the first segment along the first direction; the first segment is connected to the elastic component, and the second and third segments are respectively connected to two sets of second magnetic groups; the two sets of fixed components are located between the second segment and the third segment.

[0019] In one embodiment, the braking part is recessed into a first mounting groove along the axial direction of the braking mechanism, and the first magnetic assembly is accommodated in the first mounting groove.

[0020] The moving part is recessed into a second mounting groove along the axial direction of the braking mechanism, and the second magnetic assembly is housed in the second mounting groove.

[0021] In one embodiment, a guide mechanism is provided between the moving component and the third magnetic element, the guide mechanism being used to guide the movement of the third magnetic element along the first direction.

[0022] In one embodiment, the braking part is provided with a snap-fit ​​part along its own radial direction; when the third magnetic element is in the braking position, the snap-fit ​​part is used to snap-fit ​​with the drive shaft.

[0023] A robot joint includes a drive mechanism and a braking mechanism as described above, wherein the braking mechanism is connected to the drive mechanism when the third magnetic element is in the braking position.

[0024] A robot includes a base and a robot joint as described above, the robot joint being connected to the base.

[0025] This technical solution has the following beneficial effects: The aforementioned braking mechanism includes a braking part, a first magnetic group, a second magnetic group, and a moving component. The first magnetic group is connected to the braking part and includes a first magnetic element and a second magnetic element, with their magnetic poles in opposite positions. The second magnetic group includes a third magnetic element, which is arranged axially along the braking mechanism with the first magnetic group. The moving component is used to drive the third magnetic element to switch between an unlocked position and a braking position. When the third magnetic element is in the braking position, the magnetic poles at the opposite ends of the third magnetic element and the first magnetic element are the same, generating a repulsive force between them. This drives the braking part connected to the first magnetic group away from the third magnetic element, allowing the braking part to connect to the drive shaft and thus restricting the rotation of the drive shaft. When the third magnetic element is in the unlocked position, the magnetic poles at the opposite ends of the third magnetic element and the second magnetic element are opposite, generating an attractive force between them. This drives the braking part closer to the third magnetic element, causing the braking part to separate from the drive shaft and thus releasing the restriction on the rotation of the drive shaft. The braking mechanism drives the braking part to perform corresponding actions through the attraction or repulsion between magnetic components, so that the braking part abuts against the drive shaft or separates from the drive shaft, thereby achieving braking or unlocking. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the braking mechanism in the unlocked state according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 The diagram shown is a schematic of the braking mechanism without its housing.

[0028] Figure 3 for Figure 1The braking mechanism shown is a sectional view along section AA;

[0029] Figure 4 for Figure 3 A schematic diagram of the first and second magnetic groups in the braking mechanism shown;

[0030] Figure 5 for Figure 3 The diagram shows a cross-sectional view of the braking mechanism in the braking state.

[0031] Figure 6 for Figure 5 A schematic diagram of the first and second magnetic groups in the braking mechanism shown;

[0032] Figure 7 for Figure 1 A schematic diagram of the braking mechanism shown from another perspective;

[0033] Figure 8 for Figure 7 The sectional view shown is along section BB.

[0034] Reference numerals: 100-Braking mechanism; 110-Braking part; 111-Snap-fit ​​groove; 120-First magnetic group; 121-First magnetic element; 122-Second magnetic element; 130-Second magnetic group; 131-Third magnetic element; 132-Fourth magnetic element; 140-Moving component; 141-Fixing component; 142-Moving component; 143-Elastic component; 144-Connecting rod; 150-Friction pad; 160-Guide mechanism; 181-Cover plate; 182-Base; 200-Drive shaft; 210-Snap-fit ​​block. Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "first direction," "circumferential," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0041] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, an embodiment of the present invention provides a braking mechanism 100 for braking or unlocking a drive shaft 200, including a braking part 110, a second magnetic assembly 130, and a moving component 140. The braking part 110 is connected to a first magnetic assembly 120, which includes a first magnetic element 121 and a second magnetic element 122 arranged along a first direction, with the magnetic poles of the first magnetic element 121 and the second magnetic element 122 in opposite positions. The second magnetic assembly 130 includes a third magnetic element 131, which is arranged opposite to the first magnetic assembly 120 along the axial direction of the braking mechanism 100. The third magnetic element 131 has a braking position and an unlocking position. When the third magnetic element 131 is in the braking position, the magnetic poles of the ends of the third magnetic element 131 and the first magnetic element 121 facing each other are the same, driving the braking part 110 to approach and abut against the drive shaft 200 along the axial direction of the braking mechanism 100, thus restricting the rotation of the drive shaft 200. When the third magnetic element 131 is in the unlocked position, the magnetic poles at the opposite ends of the third magnetic element 131 and the second magnetic element 122 are opposite, thereby driving the braking part 110 to separate from the drive shaft 200 along the axial direction of the braking mechanism 100. The moving assembly 140 is connected to the third magnetic element 131 and is used to drive the third magnetic element 131 to move along a first direction, thereby switching the third magnetic element 131 between the unlocked position and the braking position. The first direction is perpendicular to the axial direction of the braking mechanism 100.

[0042] In a practical application scenario, the first direction is the X direction shown in the diagram, and the axial direction is the Z direction shown in the diagram. For ease of understanding and description, the X direction will be used to refer to the first direction mentioned above, and the Z direction will be used to refer to the axial direction mentioned above.

[0043] like Figure 5 and Figure 6As shown, the braking mechanism 100 also includes a friction plate 150 arranged along the Z-direction with the braking part 110. The friction plate 150 is used to connect to the drive shaft 200 and can rotate synchronously with the drive shaft 200. The friction plate 150 is located on the side of the braking part 110 closer to the drive shaft 200. When the third magnetic element 131 is in the braking position, at least a portion of the third magnetic element 131 and the first magnetic element 121 are aligned along the Z-direction, and their opposing ends have the same magnetic poles. This generates a repulsive force between the third magnetic element 131 and the first magnetic element 121, thereby driving the first magnetic assembly 120 and the braking part 110 connected to the first magnetic assembly 120 away from the third magnetic element 131, causing the braking part 110 to abut against the friction plate 150. Under the frictional torque between the braking part 110 and the friction plate 150, the drive shaft 200 stops quickly.

[0044] like Figure 3 and Figure 4 As shown, when the third magnetic element 131 is in the unlocked position, at least a portion of the third magnetic element 131 and the second magnetic element 122 are aligned along the Z direction, and the magnetic poles at their opposite ends are opposite, generating an attractive force between them, thereby driving the braking part 110 to move closer to the third magnetic element 131, causing the braking part 110 to separate from the friction plate 150, that is, the braking part 110 to separate from the drive shaft 200, thereby releasing the restriction on the rotation of the drive shaft 200.

[0045] Compared to existing braking methods that use elastic elements and electromagnets, this invention drives the braking unit to perform corresponding actions through the magnetic force generated between two sets of magnetic elements. This creates a frictional torque between the braking unit and the friction pad, resulting in faster braking speed and more reliable braking. Furthermore, it generates less heat, thus extending the service life of the braking mechanism and providing continuous and reliable braking and unlocking functions. Simultaneously, replacing the elastic element and electromagnet with two sets of magnetic elements in the Z-direction results in a more compact overall layout, reducing the space occupied by the braking mechanism along the Z-direction and making it smaller in size. The braking unit can specifically be a brake pad.

[0046] like Figure 6 As shown, in one embodiment, the first magnetic element 121, the second magnetic element 122, and the third magnetic element 131 are all arranged along the Z direction shown in the figure. When the upper end of the first magnetic element 121 is the S pole, the lower end is the N pole. Correspondingly, the upper end of the second magnetic element 122 is the N pole, and the lower end is the S pole. The upper end of the third magnetic element 131 is the N pole, and the lower end is the S pole. By arranging the magnetic elements along the Z direction, the reliability of the magnetic force generated between the two sets of magnetic elements is ensured. It can be understood that the positions of the magnetic poles of each magnetic element can also be interchanged, as long as the positions of the corresponding magnetic poles are reversed. Each magnetic element can specifically be a permanent magnet.

[0047] like Figure 5 and Figure 6 As shown, in one embodiment, when the third magnetic element 131 is in the braking position, the third magnetic element 131 is completely aligned with the first magnetic element 121 along the Z direction. Figure 3 and Figure 4 As shown, when the third magnetic component 131 is in the unlocked position, it is fully aligned with the second magnetic component 122 along the Z direction. Full alignment means that the left and right end faces of each magnetic component in both sets are basically aligned along the X direction, resulting in a greater magnetic force between them, thus better driving the braking unit 110 to perform the corresponding action. In other embodiments, the two sets of magnetic components can also be partially aligned, meaning there is a certain misalignment between them in the Z direction, as long as the aligned portions can generate sufficient magnetic force.

[0048] like Figure 5 and Figure 6 As shown, in one embodiment, the second magnetic group 130 includes a fourth magnetic element 132, and there are multiple first magnetic elements 121, second magnetic elements 122, third magnetic elements 131, and fourth magnetic elements 132. Multiple first magnetic elements 121 and second magnetic elements 122 are alternately arranged along the X-direction, and multiple third magnetic elements 131 and fourth magnetic elements 132 are alternately arranged along the X-direction, with the magnetic poles of the third magnetic elements 131 and fourth magnetic elements 132 opposite in position. Thus, when the braking unit 110 is in the braking position, a repulsive force is generated between each first magnetic element 121 and the corresponding third magnetic element 131, and a repulsive force is generated between each second magnetic element 122 and the corresponding fourth magnetic element 132. The interaction between the multiple magnetic elements generates a large repulsive force, thereby providing a larger force to the braking unit 110 and making its response speed faster.

[0049] like Figure 5 , Figure 7 and Figure 8 As shown, in one embodiment, the braking part 110 is provided with a locking part along its own radial direction; when the third magnetic member 131 is in the braking position, the locking part engages with the drive shaft 200. Specifically, the drive shaft is provided with a locking block 210 protruding outward along its own radial direction, and the braking part is recessed with a locking groove 111 along its own radial direction. When the third magnetic member 131 is in the braking position, the braking part 110 abuts against the friction plate 150, so that the locking block engages with the locking groove, and the braking part 110 restricts the rotation of the drive shaft 200 and the friction plate 150.

[0050] like Figure 1 and Figure 2As shown, in one embodiment, the moving component 140 includes a fixed member 141 and a moving member 142 arranged along the X direction. The moving member 142 is connected to a third magnetic member 131. By moving the moving member 142 closer to and further away from the fixed member 141, the third magnetic member 131 is moved along the X direction to switch between an unlocked position and a braking position, thereby achieving braking or unlocking of the drive shaft 200. Figure 3 and Figure 5 As shown, when the moving member 142 moves closer to the fixed member 141, it can move the third magnetic member 131 from the braking position to the unlocking position. When the moving member 142 moves away from the fixed member 141, it can move the third magnetic member 131 from the unlocking position to the braking position.

[0051] like Figure 2 , Figure 3 and Figure 5 As shown, in a specific embodiment, the fixing member 141 is an electromagnet, and the moving member 142 is a fifth magnetic member. The moving assembly 140 also includes an elastic member 143 connected between the electromagnet and the fifth magnetic member. When the electromagnet is energized, an attractive force is generated between the electromagnet and the fifth magnetic member. The fifth magnetic member moves closer to the electromagnet and compresses the elastic member 143, causing the third magnetic member 131 connected to the fifth magnetic member to move from the braking position to the unlocking position, that is, the third magnetic member 131 and the second magnetic member 122 are aligned along the Z direction. Figure 5 As shown, when the electromagnet is de-energized, the third magnetic component 131 moves to the braking position under the reset action of the elastic component 143. The position switching of the third magnetic component 131 is easily achieved through the cooperation of the electromagnet and the elastic component 143. To reduce the heat generated by the electromagnet, the voltage of the electromagnet can be appropriately reduced, as long as the magnetic force generated by the energized electromagnet is sufficient to compress the elastic component 143, causing the fifth magnetic component to move to the unlocked position. Specifically, the fifth magnetic component can be a permanent magnet, and the elastic component can be a spring.

[0052] A connecting rod 144 is provided between the elastic element 143 and the fifth magnetic element, extending along the X direction. The electromagnet is connected to the connecting rod 144 via the elastic element 143, and the connecting rod 144 is connected to the fifth magnetic element. One end of the elastic element 143 abuts against the connecting rod 144 and is partially sleeved on the connecting rod 144. The connecting rod 144 guides and limits the deformation direction of the elastic element 143, causing the elastic element to generate a force along the X direction, thus better driving the third magnetic element 131 to move along the X direction.

[0053] In other embodiments, the fixing member can be a cylinder, the moving member can be a push block connected to the cylinder piston rod, and the third magnetic member is connected to the push block. When the cylinder piston rod extends, it drives the push block and the third magnetic member away from the cylinder body, causing the third magnetic member to move to the braking position. When the cylinder piston rod retracts, it drives the push block and the third magnetic member closer to the cylinder body, causing the third magnetic member to move to the unlocking position.

[0054] like Figure 2 and Figure 3 As shown, in one embodiment, a guide mechanism 160 is provided between the moving component 140 and the third magnetic component 131. The guide mechanism 160 is used to guide the movement of the third magnetic component 131 along the X direction. Specifically, the guide mechanism 160 is a guide block, and the moving component 142 is provided with a sliding groove. Through the sliding engagement of the guide block and the sliding groove, the moving component 142 and the third magnetic component 131 are guided to move along the X direction.

[0055] Furthermore, a guide post can be provided between the braking unit and the friction pad, with the guide post passing through both the braking unit and the friction pad, and the braking unit slidably connected to the guide post. When the third magnetic component switches between the braking position and the unlocking position, the guide post guides the movement of the braking unit along the Z direction, improving the smoothness of the braking unit's movement.

[0056] like Figure 2 As shown, in one embodiment, the number of the first magnetic group 120, the second magnetic group 130, and the fixing member 141 are all two groups, and the two groups of the first magnetic group are radially along the drive shaft 200. Figure 2 The braking mechanism 100 is arranged at intervals along the Y direction, with two sets of second magnetic groups and two sets of fixing members also arranged at intervals along the Y direction. The moving member 142 has a U-shaped structure, comprising a first segment, a second segment, and a third segment, with the second and third segments extending from the first segment along the X direction. The first segment is connected to the elastic member 143, and the second and third segments are respectively connected to the two sets of second magnetic groups; the two sets of fixing members 141 are located between the second and third segments. By arranging the two sets of first magnetic groups and two sets of second magnetic groups radially, the magnetic force generated between the magnetic members is more evenly distributed radially, making the movement of the braking part 110 along the Z direction more precise and reliable. By placing the fixing members 141 between the moving members 142, the overall layout of the braking mechanism 100 is more compact.

[0057] like Figure 5As shown, in one embodiment, the braking part 110 is recessed downward along the Z-direction to form a first mounting groove, and the first magnetic assembly 120 is accommodated in the first mounting groove. The moving member 142 is recessed upward along the Z-direction to form a second mounting groove, and the second magnetic assembly 130 is accommodated in the second mounting groove. That is, the first magnetic assembly 120 is mounted inside the braking part 110, and the third magnetic element 131 in the second magnetic assembly 130 is mounted inside the moving member 142. With this arrangement, the space occupied by the braking mechanism along the Z-direction is reduced, making its layout more compact.

[0058] like Figures 1 to 3 As shown, in one embodiment, the braking mechanism 100 further includes a cover plate 181 and a base 182. The cover plate 181 and the base 182 together form a receiving cavity, in which the braking part 110 and the friction plate 150 are both located, and the first magnetic assembly 120 is located in the first mounting groove formed by the braking part 110. The base 182 and the cover plate 181 enclose multiple components, providing a certain degree of dust protection. Specifically, the base 182 and the cover plate 181 are connected by fasteners such as bolts. The fixing member 141 is mounted on the cover plate 181. The guide block is fixed to the cover plate 181 by fasteners such as bolts, and a positioning member such as a positioning pin is provided between them to position the connection position of the two.

[0059] When the aforementioned braking mechanism 100 and moving assembly 140 specifically include an electromagnet, a permanent magnet, a connecting rod, and a spring, and the braking part 110 specifically comprises a brake pad, when the system is energized, the electromagnet in the moving assembly 140 is energized to generate magnetic force, attracting the permanent magnet connected to the connecting rod to its initial position, while the elastic element 143 is compressed. At this time, the third magnetic element 131 and the second magnetic element 122 in the first magnetic group 120 attract each other with opposite poles, and the attraction between them drives the brake pad away from the friction plate 150, thereby fixing the brake pad to the cover plate 181. Since the brake pad and the friction plate 150 are separated, the drive shaft 200 connecting the friction plate 150 can rotate freely.

[0060] When the system is powered off, the electromagnet loses power, causing the magnetic force to disappear. The connecting rod and the permanent magnet connected to the connecting rod reset under the action of the elastic element 143. At this time, the third magnetic element 131 and the first magnetic element 121, with their corresponding like poles, repel each other. The repulsive force between them ejects the brake pad, causing it to move towards the friction plate 150 and press against it. A frictional torque is generated between the brake pad, the friction plate 150, and the base 182, causing the drive shaft 200 to stop quickly, thus achieving the braking function. This braking mechanism 100 can be used for braking robot joints, as well as for ordinary motors or mechanical transmission systems, to achieve rapid stopping and accurate positioning. It can also be used for safety (risk prevention) braking during power outages.

[0061] Furthermore, the present invention also provides a robot joint (not shown), including a drive mechanism and the aforementioned braking mechanism. When the third magnetic element is in the braking position, the braking part in the braking mechanism is connected to the drive shaft of the drive mechanism. The axial direction of the braking mechanism is the same as the axial direction of the drive mechanism. Because this robot joint has the aforementioned braking mechanism, it can drive the braking part to perform corresponding actions through the attraction or repulsion generated between different magnetic elements, causing the braking part to abut against or separate from the drive shaft, thereby achieving braking or unlocking of the robot joint. This results in faster braking speed and more reliable braking; moreover, it generates less heat, thus extending the service life of the robot joint.

[0062] Furthermore, the present invention also provides a robot (not shown), including a base and the aforementioned robot joints, the robot joints being connected to the base. This robot can drive a braking unit to perform corresponding actions through the attractive or repulsive forces generated between different magnetic components, achieving braking or unlocking of the robot with faster response and greater reliability.

[0063] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A braking mechanism for braking or unlocking a drive shaft (200), characterized in that, include: The braking unit (110) is connected to a first magnetic group (120). The first magnetic group (120) includes a first magnetic element (121) and a second magnetic element (122) arranged along a first direction. The magnetic poles of the first magnetic element (121) and the second magnetic element (122) are in opposite positions. The first direction is perpendicular to the axial direction of the braking mechanism. The second magnetic assembly (130) includes a third magnetic element (131), which is arranged axially with the first magnetic assembly (120) along the braking mechanism and has a braking position and an unlocking position. When the third magnetic element (131) is in the braking position, the magnetic poles of the opposite ends of the third magnetic element (131) and the first magnetic element (121) are the same, so as to drive the braking part (110) to approach and abut against the driving shaft (200) relative to the driving shaft (200), and the braking part (110) restricts the rotation of the driving shaft (200). When the third magnetic element (131) is in the unlocking position, the magnetic poles of the opposite ends of the third magnetic element (131) and the second magnetic element (122) are different, so as to drive the braking part (110) to separate from the driving shaft (200). A moving component (140), connected to the third magnetic element (131), is used to drive the third magnetic element (131) to move along the first direction so that the third magnetic element (131) switches between the unlocked position and the braking position; The braking part (110) is provided with a snap-fit ​​part along its own radial direction; when the third magnetic element (131) is in the braking position, the snap-fit ​​part is used to snap-fit ​​with the drive shaft (200).

2. The braking mechanism according to claim 1, characterized in that, When the third magnetic element (131) is in the braking position, the third magnetic element (131) and the first magnetic element (121) are aligned along the axial direction of the braking mechanism; When the third magnetic element (131) is in the unlocked position, the third magnetic element (131) and the second magnetic element (122) are aligned along the axial direction of the braking mechanism.

3. The braking mechanism according to claim 2, characterized in that, The second magnetic group (130) includes a fourth magnetic element (132), and there are multiple first magnetic elements (121), second magnetic elements (122), third magnetic elements (131) and fourth magnetic elements (132); multiple first magnetic elements (121) and second magnetic elements (122) are alternately arranged along the first direction; The plurality of the third magnetic elements (131) and the fourth magnetic elements (132) are alternately arranged along the first direction, and their magnetic pole positions are opposite.

4. The braking mechanism according to claim 1, characterized in that, The moving component (140) includes a fixed member (141) and a moving member (142) arranged along the first direction; the moving member (142) is connected to the third magnetic member (131), and the moving member (142) moves closer to and further away from the fixed member (141) so that the third magnetic member (131) switches between the unlocked position and the braking position.

5. The braking mechanism according to claim 4, characterized in that, The fixing member (141) is an electromagnet, and the moving member (142) is a fifth magnetic member; the moving assembly (140) includes an elastic member (143) connected between the electromagnet and the fifth magnetic member. When the electromagnet is energized, an attractive force is generated between the electromagnet and the fifth magnetic component, which drives the third magnetic component (131) connected to the fifth magnetic component to move to the unlocked position, and the elastic component (143) is compressed. When the electromagnet is de-energized, the elastic element (143) drives the fifth magnetic element away from the electromagnet so that the third magnetic element (131) moves to the braking position.

6. The braking mechanism according to claim 5, characterized in that, The second magnetic group (130) and the number of the fixing members (141) are two groups, and the two groups of fixing members (141) are arranged radially apart along the braking mechanism; The movable member (142) includes a first segment, a second segment, and a third segment, the second segment and the third segment both extending from the first segment along the first direction; the first segment is connected to the elastic member (143), the second segment and the third segment are respectively connected to two sets of the second magnetic groups (130); the two sets of the fixing members (141) are located between the second segment and the third segment.

7. The braking mechanism according to claim 4, characterized in that, The braking part (110) is recessed into a first mounting groove along the axial direction of the braking mechanism, and the first magnetic assembly (120) is accommodated in the first mounting groove. The movable part (142) is recessed into a second mounting groove along the axial direction of the braking mechanism, and the second magnetic assembly (130) is accommodated in the second mounting groove.

8. The braking mechanism according to claim 1, characterized in that, A guide mechanism (160) is provided between the moving component (140) and the third magnetic component (131), the guide mechanism (160) being used to guide the movement of the third magnetic component (131) along the first direction.

9. A robot joint, characterized in that, Includes a drive mechanism and a braking mechanism (100) as described in any one of claims 1-8, wherein when the third magnetic element (131) is in the braking position, the braking mechanism (100) is connected to the drive mechanism.

10. A robot, characterized in that, It includes a base and the robot joint as described in claim 9, the robot joint being connected to the base.

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