A robot

Abstract

The present invention relates to a robot, comprising: a robotic arm; an actuator, arranged at the end of the robotic arm, the actuator comprising a rotating shaft, a shaft transmission assembly and a shaft drive assembly, the shaft transmission assembly comprising a first transmission assembly and a second transmission assembly respectively connected to the rotating shaft, the first transmission assembly comprising a first transmission wheel, the second transmission assembly comprising a second transmission wheel, the shaft drive assembly being drivingly connected to the first transmission wheel and the second transmission wheel, and being used to drive the first transmission wheel and / or the second transmission wheel to rotate so that the rotating shaft rotates around its axis and / or moves along its axis direction; a braking device, the braking device comprising a movable brake component and a brake drive component connected to the movable brake component, the brake drive component being used to drive the movable brake component to move close to or away from the first transmission wheel and the second transmission wheel, so that the movable brake component directly or indirectly contacts the first transmission wheel and the second transmission wheel or the movable brake component is separated from the first transmission wheel and the second transmission wheel.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a robot. Background Art

[0002] Existing industrial robots are generally provided with a brake system. For example, in a SCARA (horizontal multi-joint) industrial robot, the third joint and / or the fourth joint are usually provided with a brake structure.

[0003] Some related technologies use a solution where the third and fourth motors have built-in brakes. However, if there is a problem with the brakes, the entire motor needs to be replaced, increasing maintenance costs.

[0004] Some other related technologies use external brakes, which make the robot structure complex and increase the cost to a certain extent. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a robot.

[0006] A robot provided by the present invention comprises: a robotic arm; an actuator, which is arranged at the end of the robotic arm, the actuator comprising a rotating shaft, a shaft transmission assembly and a shaft drive assembly, the shaft transmission assembly comprising a first transmission assembly and a second transmission assembly respectively connected to the rotating shaft, the first transmission assembly comprising a first transmission wheel, the second transmission assembly comprising a second transmission wheel, the shaft drive assembly being drivingly connected to the first transmission wheel and the second transmission wheel, for driving the first transmission wheel and / or the second transmission wheel to rotate so that the rotating shaft rotates around its axis and / or moves along its axis direction; a braking device, the braking device comprising a movable brake component and a brake drive component connected to the movable brake component, the brake The vehicle driving component is used to drive the movable brake component to move closer to or away from the first transmission wheel and the second transmission wheel; wherein, in the braking state, the brake driving component drives the movable brake component to move closer to the first transmission wheel and the second transmission wheel, so that the movable brake component directly or indirectly contacts the first transmission wheel and the second transmission wheel to limit the rotation of the rotating shaft around its axis and the movement along its axis; in the non-braking state, the brake driving component drives the movable brake component to move away from the first transmission wheel and the second transmission wheel, so that the movable brake component disengages from the first transmission wheel and the second transmission wheel, thereby releasing the rotation of the rotating shaft around its axis and the movement along its axis.

[0007] In some embodiments, the first transmission wheel is provided with a first brake part, and the second transmission wheel is provided with a second brake part; the movable brake component includes an upper brake part and a lower brake part, the upper brake part faces the first brake part, and the lower brake part faces the second brake part; in the braking state, the brake driving component drives the movable brake component to move close to the first transmission wheel and the second transmission wheel, so that the upper brake part contacts the first brake part, and the lower brake part contacts the second brake part, so as to limit the rotation of the rotating shaft around its axis and the movement along its axis direction; in the non-braking state, the brake driving component drives the movable brake component to move away from the first brake part and the second brake part, so that the upper brake part disengages from the first brake part and the lower brake part disengages from the second brake part, so as to release the rotation of the rotating shaft around its axis and the movement along its axis direction.

[0008] In some embodiments, the movable brake component is supported on the first transmission wheel or the second transmission wheel and can move relative to the first transmission wheel or the second transmission wheel; the braking device also includes a driving brake pad supported on the brake driving component, and the brake driving component can drive the driving brake pad to move towards or away from the movable brake component; in the braking state, the brake driving component drives the driving brake pad to move towards the movable brake component until the driving brake pad contacts the movable brake component, driving the movable brake component to move towards the first brake part and the second brake part, so that the upper brake part contacts the first brake part, and the lower brake part contacts the second brake part, so as to limit the rotation of the rotating shaft around its axis and the movement along its axis; in the non-braking state, the brake driving component drives the driving brake pad away from the movable brake component, so that the driving brake pad disengages from the movable brake component, and the upper brake part disengages from the first brake part, and the lower brake part disengages from the second brake part, so as to release the rotating shaft from rotating around its axis and moving along its axis.

[0009] In some embodiments, the movable brake component also includes a connecting portion connecting the upper brake portion and the lower brake portion, wherein the connecting portion passes through the second transmission wheel; the first brake portion is located on the lower surface of the first transmission wheel, and the second brake portion is located on the lower surface of the second transmission wheel; the driving brake pad is located below the movable brake component and faces the lower brake portion; in a braking state, the brake driving component drives the driving brake pad to move close to the movable brake component until the driving brake pad contacts the lower surface of the lower brake portion, driving the movable brake component to move close to the first brake portion and the second brake portion, so that the upper brake portion contacts the first brake portion, and the upper surface of the lower brake portion contacts the second brake portion, so as to limit the rotation of the rotating shaft around its axis and the movement along the axis; in a non-braking state, the brake driving component drives the driving brake pad to move away from the movable brake component so that the driving brake pad is separated from the lower surface of the lower brake portion, and the upper brake portion is separated from the first brake portion, and the upper surface of the lower brake portion is separated from the second brake portion, so as to release the rotating shaft from rotating around its axis and moving along its axis.

[0010] In some embodiments, the movable brake component further includes a connecting portion connecting the upper brake portion and the lower brake portion, wherein the connecting portion passes through the first transmission wheel; the first brake portion is located on the upper surface of the first transmission wheel, and the second brake portion is located on the upper surface of the second transmission wheel; the driving brake pad is located above the movable brake component and faces the upper brake portion; in a braking state, the brake driving component drives the driving brake pad to move toward the direction close to the movable brake component until the driving brake pad contacts the upper surface of the upper brake portion, driving the movable brake component to move toward the direction close to the first brake portion and the second brake portion, so that the lower surface of the upper brake portion contacts the first brake portion, and the lower brake portion contacts the second brake portion, so as to limit the rotation of the rotating shaft around its axis and the movement along the axis; in a non-braking state, the brake driving component drives the driving brake pad to move away from the movable brake component so that the driving brake pad is separated from the upper surface of the upper brake portion, and the lower surface of the upper brake portion is separated from the first brake portion, and the lower brake portion is separated from the second brake portion, so as to release the rotating shaft from rotating around its axis and moving along its axis.

[0011] In some embodiments, the movable brake component is supported on the brake actuation component.

[0012] In some embodiments, the first brake portion is located on the lower surface of the first transmission wheel, and the second brake portion is located on the lower surface of the second transmission wheel; the movable brake component is sleeved on the outside of the second transmission wheel, and the brake drive component is located below the movable brake component.

[0013] In some embodiments, the first brake portion is located on the upper surface of the first transmission wheel, and the second brake portion is located on the upper surface of the second transmission wheel; the movable brake component is sleeved on the outside of the first transmission wheel; and the brake drive component is located above the movable brake component.

[0014] In some embodiments, the first braking portion is a rough surface formed on the upper surface or lower surface of the first transmission wheel, or the first braking portion is a first brake pad provided on the upper surface or lower surface of the first transmission wheel; and / or, the second braking portion is a rough surface formed on the upper surface or lower surface of the second transmission wheel, or the second braking portion is a second brake pad provided on the upper surface or lower surface of the second transmission wheel.

[0015] In some embodiments, the brake drive component is arranged on the first transmission wheel or the second transmission wheel, the brake drive component includes a first brake drive component and a second brake drive component, the movable brake component includes a first movable brake component and a second movable brake component, the first brake drive component supports the first movable brake component, and the second brake drive component supports the second movable brake component; in the braking state, the first brake drive component drives the first movable brake component to directly or indirectly contact the first transmission wheel or the first fixed component fixed on the robotic arm, and the second brake drive component drives the second movable brake component to directly or indirectly contact the second transmission wheel or the second fixed component fixed on the robotic arm to limit the rotation of the rotating shaft around its axis and the movement along the axis direction; in the non-braking state, the first brake drive component drives the first movable brake component to disengage from the first transmission wheel or the first fixed component, and the second brake drive component drives the second movable brake component to disengage from the second transmission wheel or the second fixed component to release the rotation of the rotating shaft around its axis and the movement along its axis direction.

[0016] In some embodiments, the brake drive component includes any one of the following: an elastic drive component, a magnetic drive component, a hydraulic drive component, and a pneumatic drive component.

[0017] In some embodiments, the rotating shaft is a ball spline shaft, the first transmission assembly includes a screw nut in cooperation with the ball spline shaft, the screw nut is rotatably arranged on the end of the robotic arm through a screw nut seat, and the first transmission wheel is connected to the screw nut; the second transmission assembly includes a spline nut in cooperation with the ball spline shaft, the spline nut is rotatably arranged on the robotic arm through a spline nut seat, and the second transmission wheel is connected to the spline nut;

[0018] The shaft drive assembly includes a third motor and a fourth motor. The drive shaft of the third motor is connected to the first transmission wheel through a first transmission belt, and the drive shaft of the fourth motor is connected to the second transmission wheel through a second transmission belt.

[0019] In some embodiments, the robotic arm is a multi-joint robot, comprising at least a first robotic arm and a second robotic arm, one end of the first robotic arm being rotatably disposed on a base and being rotatable around a first axis, the other end of the first robotic arm being connected to the second robotic arm, and the second robotic arm being rotatable around a second axis, the actuator being rotatably disposed at the end of the second robotic arm, being rotatable around a third axis and moving along the third axis, wherein the first axis, the second axis and the third axis are parallel.

[0020] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0021] The present invention drives the movable brake component to move closer to or away from the first transmission wheel and the second transmission wheel through the brake driving component, so that the movable brake component contacts or disengages with the first transmission wheel and the second transmission wheel, thereby controlling the braking of the rotating shaft. Compared with the previous technology, the solution of building a brake into the motor and adding a brake structure to the outside of the robot has a simple structure, the braking device is relatively independent, and it is easy to replace and maintain.

[0022] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an undue limitation of the present invention. Obviously, the drawings described below are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive effort. In the accompanying drawings:

[0024] Figure 1 is a schematic diagram of the overall structure of a robot according to an exemplary embodiment of the present invention;

[0025] Figure 2 is an enlarged schematic diagram of an amplified portion of an actuator according to an exemplary embodiment of the present invention;

[0026] Figure 3 According to an exemplary embodiment of the present invention Figure 2 Enlarged schematic diagram of the middle brake device;

[0027] Figure 4 is an enlarged schematic diagram of a braking device according to another exemplary embodiment of the present invention;

[0028] Figure 5 is an enlarged schematic diagram of a braking device according to another exemplary embodiment of the present invention;

[0029] Figure 6 is an enlarged schematic diagram of a braking device according to another exemplary embodiment of the present invention;

[0030] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0031] In the description of the present invention, it should be noted that the terms "inside" and "outside" etc. indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," "in contact," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0033] like Figures 1 to 6 As shown, the present invention provides a robot, which, when the robot is in a stopped state, can simultaneously limit the rotation of the shaft around its axis and the movement along its axis through a braking device, thereby preventing the shaft from rotating downward due to gravity, causing the J3 axis and the J4 axis to exceed the soft limit shaft and be hit. The structure is simple and the limit is reliable.

[0034] The robot of the present invention comprises: a mechanical arm, an actuator 40 and a braking device. Figure 1As shown, the robot can be a SCARA industrial robot, for example, it can include a four-axis motion mechanism, namely, J1 axis, J2 axis, J3 axis and J4 axis. Specifically, the robot arm can include at least two-axis robot arms, such as a first robot arm 20 and a second robot arm 30, one end of the first robot arm 20 is rotatably disposed on the machine base and can rotate (rotate) around a first axis J1 to form a J1 axis, the other end of the first robot arm 20 is connected to the second robot arm 30, and the second robot arm 30 can rotate (rotate) around a second axis J2 to form a J2 axis, and the actuator is rotatably disposed at the end of the second robot arm 30, and can rotate around a third axis J3 to form a J3 axis and move along the third axis to form a J4 axis, wherein the first axis, the second axis and the third axis are parallel.

[0035] The first motor 21 can be fixed on the machine base 10, and its output shaft is connected to the first reducer 22; the input end of the first reducer 22 is connected to the output shaft of the first motor 21, and the output end is connected to one end of the first mechanical arm 20. Under the deceleration effect of the first reducer 22, the first motor 21 drives the first mechanical arm 20.

[0036] 0 and the components mounted thereon rotate about the J1 axis. The second motor 31 is mounted on the second robotic arm 30. The input end of the second reducer 32 is connected to the motor output shaft of the second motor 31, and the output end is connected to the first robotic arm 20. Under the deceleration effect of the second reducer 32, the second motor 31 drives the second robotic arm 30 and the components mounted thereon to rotate about the J2 axis.

[0037] The actuator 40 is disposed at the end of a robotic arm, such as the end of the second robotic arm 30. The actuator includes a rotating shaft 41, a shaft transmission assembly, and a shaft drive assembly.

[0038] The shaft transmission assembly includes a first transmission assembly 42 and a second transmission assembly 43 that are respectively connected to the rotating shaft 41. The first transmission assembly 42 includes a first transmission wheel 423, and the second transmission assembly 43 includes a second transmission wheel 433. The shaft drive assembly is drivingly connected to the first transmission wheel 423 and the second transmission wheel 433, and is used to drive the first transmission wheel 423 and / or the second transmission wheel 433 to rotate so that the rotating shaft 41 rotates around its axis and / or moves along its axis, forming the J3 axis and the J4 axis.

[0039] Specifically, the rotating shaft 41 can be a ball spline shaft having a screw groove and a spline groove on its outer surface. The first transmission assembly 42 includes a screw nut 421 that is mated with the ball spline shaft 41. The screw nut 421, which serves as the inner race of the screw nut, is rotatably disposed at the end of the robotic arm (e.g., the second robotic arm 30) via a screw nut seat 422, which serves as the outer race of the screw nut. A first transmission wheel 423 is connected to the screw nut 421. The screw nut 421 is mated with the screw groove on the rotating shaft 41. The screw nut seat 422 can be fixed to the housing 31 of the second robotic arm 30 via a mounting plate 424. The screw nut seat 422 is a fixed component, while the screw nut 421 is a movable component that can rotate relative to the screw nut seat 422 but cannot move axially. The first transmission wheel 423 is sleeved on the exterior of the rotating shaft 41 and can be integrally formed with or fixedly connected to the screw nut 421. When the first transmission wheel 423 is driven to rotate, the screw nut 421 rotates with it relative to the screw nut seat 422.

[0040] The second transmission assembly 43 includes a spline nut 431 that is coupled to the ball spline shaft. The spline nut 431, serving as the inner race of the spline nut, is rotatably mounted on a mechanical swing arm (e.g., the second mechanical arm 30) via a spline nut seat 432, serving as the outer race of the spline nut. A second transmission wheel 433 is coupled to the spline nut 431. The spline nut 431 is coupled to the spline groove of the rotating shaft 41. The spline nut seat 432 can be secured to the housing 31 of the second mechanical arm 30 via a connector. The spline nut seat 432 is a fixed member, while the spline nut 431 is a movable member that can rotate relative to the spline nut seat 432 but cannot move axially. The second transmission wheel 433 is spaced axially from the second transmission wheel 423, for example, the second transmission wheel 433 is located below the first transmission wheel 423. The second transmission wheel 433 is sleeved on the outside of the rotating shaft 41 and can be integrally formed with the spline nut 431 or fixedly connected. When the second transmission wheel 433 is driven to rotate, the spline nut 431 rotates relative to the spline nut seat 432 along with the second transmission wheel 433.

[0041] The shaft drive assembly includes a third motor 44 and a fourth motor 45, which are mounted on the robotic arm. The drive shaft of the third motor 44 is connected to the first transmission wheel 423 via a first transmission belt (not shown), and the drive shaft of the fourth motor 45 is connected to the second transmission wheel 433 via a second transmission belt (not shown). The third motor 44 controls the rotation of the first transmission wheel 423, driving the screw nut 421 to rotate relative to the screw nut seat 422, causing the rotating shaft 41 to move axially to form the J3 axis. The fourth motor 45 controls the rotation of the second transmission wheel 433, driving the spline nut 431 to rotate relative to the spline nut seat 432, causing the rotating shaft 41 and the screw nut 421 to rotate synchronously.

[0042] Specifically, the SCARA robot J3 axis and J4 axis can be driven by the third motor 44 and the fourth motor 45 to drive the screw nut 421 and the spline nut 431 respectively, so that the shaft 41 moves up and down and / or rotates. Figure 1 As shown, there is only one revolute pair between the inner ring of the screw nut (screw nut 421) and the outer ring of the screw nut (screw nut seat 422). The outer ring of the screw nut is fixed to the screw nut mounting plate 424, which is fixed to the second robot arm 30. The rotation shaft 41 and the inner ring of the screw nut form a helical pair. The inner ring of the screw nut is fixed to the first transmission wheel 423 (e.g., a screw nut pulley). The third motor 44 drives the screw nut pulley to achieve motion control of the screw nut 421.

[0043] There is only one revolute pair between the inner ring of the spline nut (spline nut 431) and the outer ring of the spline nut (spline nut seat 432). The outer ring of the spline nut is fixed to the second robotic arm 30. The rotating shaft 41 and the inner ring of the spline nut are spline-coupled, allowing axial movement but not rotational movement. The inner ring of the spline nut is fixed to the second transmission wheel 433 (e.g., a spline nut pulley). The fourth motor 45 drives the second transmission wheel 433 to control the motion of the spline nut 431.

[0044] J3-axis motion: The rotational motion of the rotating shaft 41 is restricted (due to the spline fit between the rotating shaft 41 and the spline nut 431, the rotation of the rotating shaft 41 is restricted, i.e., the rotational motion of the spline nut 431 and the second transmission wheel 433 is restricted). By rotating the first transmission wheel 423, the screw nut 421 will simultaneously rotate the rotating shaft 41 and perform axial motion (because: the rotating shaft 41 and the screw nut 421 are fitted with a helical pair). Since the axial motion of the screw nut 421 is restricted (because: the screw nut seat 422 is fixed to the second robot arm 30 and only has a revolute pair with the screw nut 421), the axial motion of the screw nut 421 on the rotating shaft 41 is converted into axial motion of the rotating shaft 41 on the screw nut 421.

[0045] J4-axis motion: When the rotating shaft 41 and the screw nut 421 rotate synchronously (i.e., the spline nut 431 and the second transmission wheel 433 (e.g., the spline nut pulley) drive the rotating shaft 41 to rotate synchronously with the spline nut 431 and the first transmission wheel 423 (e.g., the screw nut pulley)), the relative position between the rotating shaft 41 and the screw nut 421 will not change. The rotating shaft 41 and the screw nut 421 only experience rotational motion relative to the screw nut seat 422. Therefore, the rotating shaft 41 only experiences rotational motion relative to the second robot arm 30, i.e., the J4-axis.

[0046] By properly controlling the movement timing of the J3 axis and the J4 axis, the shaft 41 can be rotated while moving up and down axially.

[0047] The braking device includes a movable brake component 51 and a brake drive component 52 connected to the movable brake component 51. The brake drive component 52 is used to drive the movable brake component 51 toward or away from the first transmission wheel 423 and the second transmission wheel 433. In the braking state, that is, when the robot is stopped, to prevent the rotating shaft 41 from rotating downward due to gravity, the brake drive component 52 drives the movable brake component 51 to move toward the first transmission wheel 423 and the second transmission wheel 433, so that the movable brake component 51 directly or indirectly contacts the first transmission wheel 423 and the second transmission wheel 433, thereby limiting the rotation of the rotating shaft 41 about its axis and movement along its axis. In the non-braking state, the brake drive component 52 drives the movable brake component 51 away from the first transmission wheel 423 and the second transmission wheel 433, so that the movable brake component 51 disengages from the first transmission wheel 423 and the second transmission wheel 433, thereby releasing the rotating shaft 41 from rotating about its axis and moving along its axis.

[0048] The present invention drives the movable brake component 51 to move closer to or away from the first transmission wheel 423 and the second transmission wheel 433 through the brake driving component 52, so that the movable brake component 51 contacts or disengages from the first transmission wheel 423 and the second transmission wheel 433, thereby controlling the braking of the rotating shaft 41. Compared with the previous technology, the solution of building a brake into the motor and the method of adding a brake structure to the outside of the robot, the structure is simple, the braking device is relatively independent, and it is easy to replace and maintain.

[0049] In some embodiments, as Figure 2-Figure 5 As shown, a first brake portion 4231 is provided on the first transmission wheel 423, and a second brake portion 4331 is provided on the second transmission wheel 433. In some examples, the first brake portion 4231 is a rough surface formed on the upper or lower surface of the first transmission wheel 423, or the first brake portion 4231 is a first brake pad provided on the upper or lower surface of the first transmission wheel 423. And / or, the second brake portion 4331 is a rough surface formed on the upper or lower surface of the second transmission wheel 433, or the second brake portion 4331 is a second brake pad provided on the upper or lower surface of the second transmission wheel 433.

[0050] The movable brake component 51 includes an upper brake part 511 and a lower brake part 512, the upper brake part 511 faces the first brake part 4231, and the lower brake part 512 faces the second brake part 4331; in the braking state, the brake driving component 52 drives the movable brake component 51 to move close to the first transmission wheel 423 and the second transmission wheel 433, so that the upper brake part 511 contacts the first brake part 4231, and the lower brake part 512 contacts the second brake part 4331, so as to limit the rotation of the rotating shaft 41 around its axis and the movement along its axis; in the non-braking state, the brake driving component 52 drives the movable brake component 51 away from the first brake part 4231 and the second brake part 4331, so that the upper brake part 511 disengages from the first brake part 4231 and the lower brake part 512 disengages from the second brake part 4331, so as to release the rotating shaft 41 from rotating around its axis and moving along its axis.

[0051] The present invention enables the upper brake portion 511 and the lower brake portion 512 of a movable brake component 51 to simultaneously contact the first brake portion 4231 on the first transmission wheel 423 and the second brake portion 4331 on the second transmission wheel 433, thereby ensuring braking reliability and facilitating installation, replacement and maintenance.

[0052] In some examples, such as Figure 2 、 Figure 3 、 Figure 4 As shown, the movable brake component 51 is supported on the first transmission wheel 423 or the second transmission wheel 433 and can move relative to the first transmission wheel 423 or the second transmission wheel 423. The braking device also includes a driving brake pad 53 supported on a brake driving component 52. The brake driving component 52 can drive the driving brake pad 53 to move toward or away from the movable brake component 51. In the braking state, the brake driving component 52 drives the driving brake pad 53 to move toward the movable brake component 51 until the driving brake pad 53 contacts the movable brake component 51, driving the movable brake component 53 to move toward the first brake portion 4231 and the second brake portion 4331, so that the upper brake portion 511 contacts the first brake portion 4231. , and the lower brake part 512 contacts the second brake part 4331 to limit the rotation of the rotating shaft 41 around its axis and the movement along its axis; in the non-braking state, the brake driving component 52 drives the driving brake pad 53 to move away from the movable brake component 51, so that the driving brake pad 53 is disengaged from the movable brake component 51, and the upper brake part 511 is disengaged from the first brake part 4231, and the lower brake part 512 is disengaged from the second brake part 4331, so as to release the rotating shaft 41 from rotating around its axis and moving along its axis.

[0053] The present invention supports the movable brake component 51 through the first transmission wheel 423 or the second transmission wheel 433, and cooperates with the driving brake pad 53 to indirectly drive the movable brake component 51 to brake or release the first transmission wheel 423 and the second transmission wheel 423. In the released state, the driving brake pad 53 is disengaged from the movable brake component 51, and the movable brake component 51 rotates following the first transmission wheel 423 or the second transmission wheel 433.

[0054] In one example, if Figure 2 and Figure 3 As shown, the movable brake component 51 also includes a connecting portion 513 connecting the upper brake portion 511 and the lower brake portion 512, wherein the connecting portion 513 passes through the second transmission wheel 433; the first brake portion 4231 is located on the lower surface of the first transmission wheel 423, and the second brake portion 4331 is located on the lower surface of the second transmission wheel 433; the driving brake pad 53 is located below the movable brake component 51 and faces the lower brake portion 4331; in the braking state, the brake driving component 52 drives the driving brake pad 53 to move close to the movable brake component 51 until the driving brake pad 53 contacts the lower surface of the lower brake portion 512, driving the movable brake component 51 to move close to the first brake portion 423 1 and the second brake portion 4331 move so that the upper brake portion 511 contacts the first brake portion 4231, and the upper surface of the lower brake portion 512 contacts the second brake portion 4331, so as to limit the rotation of the rotating shaft 41 around its axis and the movement along the axial direction; in the non-braking state, the brake driving component 52 drives the driving brake pad 53 to move away from the movable brake component 51 so that the driving brake pad 53 is separated from the lower surface of the lower brake portion 512, and the upper brake portion 511 is separated from the first brake portion 4231, and the upper surface of the lower brake portion 512 is separated from the second brake portion 4331, so as to release the rotating shaft 41 from rotating around its axis and moving along its axial direction.

[0055] In another example, Figure 4As shown, the movable brake component 51 also includes a connecting portion 513 connecting the upper brake portion 511 and the lower brake portion 512, wherein the connecting portion 513 passes through the first transmission wheel 423; the first brake portion 4231 is located on the upper surface of the first transmission wheel 423, and the second brake portion 4331 is located on the upper surface of the second transmission wheel 433; the driving brake pad 53 is located above the movable brake component 51 and faces the upper brake portion 511; in the braking state, the brake driving component 52 drives the driving brake pad 53 to move toward the direction close to the movable brake component 51 until the driving brake pad 53 contacts the upper surface of the upper brake portion 511, driving the movable brake component 51 toward the direction close to the first The brake part 4231 and the second brake part 4331 move in the direction so that the lower surface of the upper brake part 511 contacts the first brake part 4231, and the lower brake part 512 contacts the second brake part 4331, so as to limit the rotation of the rotating shaft 41 around its axis and the movement along the axial direction; in the non-braking state, the brake driving component 52 drives the driving brake pad 53 to move away from the movable brake component 51 so that the driving brake pad 53 is separated from the upper surface of the upper brake part 511, and the lower surface of the upper brake part 511 is separated from the first brake part 5231, and the lower brake part 512 is separated from the second brake part 5331, so as to release the rotating shaft 41 from rotating around its axis and moving along its axial direction.

[0056] above Figure 2 and Figure 4 The difference between the embodiments lies in the supporting position of the movable brake component 51 and the setting positions of the first brake part 4231 and the second brake part 4331.

[0057] In some embodiments, as Figure 5 As shown, the movable brake component 51 is supported by the brake driving component 52. In the braking state, the brake driving component 52 drives the movable brake component 51 to move closer to the first transmission wheel 423 and the second transmission wheel 433, so that the upper brake portion 511 contacts the first brake portion 4231 and the lower brake portion 512 contacts the second brake portion 4331, thereby limiting the rotation of the rotating shaft 41 around its axis and the movement along its axis. In the non-braking state, the brake driving component 52 drives the movable brake component 51 away from the first brake portion 4231 and the second brake portion 4331, so that the upper brake portion 511 disengages from the first brake portion 4231 and the lower brake portion 512 disengages from the second brake portion 4331, thereby releasing the rotating shaft 41 from rotating around its axis and moving along its axis.

[0058] Figure 5 and Figure 2-4The difference between the embodiments is that the movable brake component 51 is supported on the brake driving component 52 and is directly driven by the brake driving component 52 without the need for a separate driving brake pad 53.

[0059] In one example, the first brake portion 4231 is located on the lower surface of the first transmission wheel 423, and the second brake portion 4331 is located on the lower surface of the second transmission wheel 433. The movable brake component 51 is sleeved on the exterior of the second transmission wheel 433, and the brake driving component 52 is located below the movable brake component. The movable brake component 51 can be a frame structure.

[0060] In another example, the first brake portion 4231 is located on the upper surface of the first transmission wheel 423, and the second brake portion 4331 is located on the upper surface of the second transmission wheel 433; the movable brake component 51 is sleeved on the outside of the first transmission wheel 423; the brake driving component 52 is located above the movable brake component 51.

[0061] In some embodiments, as Figure 6 As shown, the brake driving component 52 is arranged on the first transmission wheel 423 or the second transmission wheel 433.

[0062] In one example, the brake drive component 52 is provided on the second transmission wheel 433. Specifically, the brake drive component 52 includes a first brake drive component 521 and a second brake drive component 522. The movable brake component 51 includes a first movable brake component 514 and a second movable brake component 515. The first brake drive component 521 supports the first movable brake component 514, and the second brake drive component 522 supports the second movable brake component 515. The first movable brake component 514 and the second movable brake component 515 are respectively located on the upper and lower sides of the second transmission wheel 433. In the braking state, the first brake drive component 521 drives the first movable brake component 514 to directly or indirectly contact the first transmission wheel 423. Direct contact can be direct contact between the first movable brake component 514 and the lower surface of the first transmission wheel 423, and indirect contact can be contact between the first movable brake component 514 and the first brake portion 4231 provided on the lower surface of the first transmission wheel 423. The second brake driving component 522 drives the second movable brake component 515 to directly or indirectly contact the second fixed component 4 fixed to the robotic arm to restrict the rotation of the rotating shaft 41 about its axis and movement along its axis; the second fixed component can be a spline nut seat 432 or a spline nut seat support plate 4332. In the non-braking state, the first brake driving component 521 drives the first movable brake component 514 to disengage from the first transmission wheel 423, and the second brake driving component 522 drives the second movable brake component 515 to disengage from the second fixed component 4332, thereby preventing the rotating shaft 41 from rotating about its axis and moving along its axis.

[0063] In another example, the brake drive component 52 is provided on the first transmission wheel 423. Specifically, the brake drive component 52 is provided on the first transmission wheel 423, and the brake drive component 52 includes a first brake drive component 521 and a second brake drive component 522. The movable brake component 51 includes a first movable brake component 514 and a second movable brake component 515. The first brake drive component 521 supports the first movable brake 514 component, and the second brake drive component 522 supports the second movable brake component 515. The first movable brake component 514 and the second movable brake component 515 are respectively located on the upper and lower sides of the first transmission wheel 423. In the braking state, the first brake drive component 521 drives the first movable brake component 514 to directly or indirectly contact the first fixed component fixed to the robotic arm. The first fixed component can be a screw nut seat 422 or a screw nut seat mounting plate 422. And the second brake driving component 522 drives the second movable brake component 515 to directly or indirectly contact the second transmission wheel 433 to limit the rotation of the rotating shaft 41 around its axis and the movement along the axial direction; in the non-braking state, the first brake driving component 521 drives the first movable brake component 514 to disengage from the first fixed component, and the second brake driving component 522 drives the second movable brake component 515 to disengage from the second transmission wheel 433 to release the rotating shaft 41 from rotating around its axis and moving along its axial direction.

[0064] In the above-mentioned embodiments, the brake driving component 52 may include any one of the following: an elastic driving component, a magnetic driving component, a hydraulic driving component, and a pneumatic driving component.

[0065] It is further understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0066] It will be further understood that the terms "first," "second," and the like are used to describe various types of information, but such information should not be limited to these terms. These terms are used solely to distinguish information of the same type from one another and do not indicate a particular order or level of importance. In fact, the terms "first," "second," and the like are fully interchangeable. For example, first information could be referred to as second information, and similarly, second information could be referred to as first information without departing from the scope of this disclosure.

[0067] It is further understood that although operations are described in a particular order in the drawings in the embodiments of the present disclosure, this should not be construed as requiring that the operations be performed in the particular order shown or in a serial order, or that all of the operations shown be performed to obtain the desired results. In certain circumstances, multitasking and parallel processing may be advantageous.

[0068] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0069] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A robot, characterized in that: include: robotic arm; an actuator, disposed at the end of the robotic arm, comprising a rotating shaft, a shaft transmission assembly, and a shaft drive assembly, wherein the shaft transmission assembly comprises a first transmission assembly and a second transmission assembly respectively connected to the rotating shaft, the first transmission assembly comprising a first transmission wheel, the second transmission assembly comprising a second transmission wheel, the shaft drive assembly being connected to the first transmission wheel and the second transmission wheel for driving the first transmission wheel and / or the second transmission wheel to rotate so that the rotating shaft rotates about its axis and / or moves along its axis; a braking device, the braking device comprising a movable braking component and a brake driving component connected to the movable braking component, the brake driving component being used to drive the movable braking component to move toward or away from the first transmission wheel and the second transmission wheel; Wherein, in the braking state, the brake driving component drives the movable brake component to move close to the first transmission wheel and the second transmission wheel, so that the movable brake component directly or indirectly contacts the first transmission wheel and the second transmission wheel, thereby limiting the rotation of the rotating shaft around its axis and the movement along its axis. In the non-braking state, the brake driving component drives the movable brake component to move away from the first transmission wheel and the second transmission wheel, so that the movable brake component is disengaged from the first transmission wheel and the second transmission wheel, thereby releasing the rotating shaft from rotating around its axis and moving along its axial direction.

2. The robot according to claim 1, characterized in that The first transmission wheel is provided with a first brake portion, and the second transmission wheel is provided with a second brake portion; The movable brake component includes an upper brake portion and a lower brake portion, wherein the upper brake portion faces the first brake portion, and the lower brake portion faces the second brake portion; In a braking state, the brake driving component drives the movable brake component to move close to the first transmission wheel and the second transmission wheel, so that the upper brake portion contacts the first brake portion, and the lower brake portion contacts the second brake portion, so as to limit the rotation of the rotating shaft around its axis and the movement along its axis. In the non-braking state, the brake driving component drives the movable brake component to move away from the first brake part and the second brake part, so that the upper brake part is disengaged from the first brake part and the lower brake part is disengaged from the second brake part, thereby releasing the rotating shaft from rotating around its axis and moving along its axial direction.

3. The robot according to claim 2, characterized in that The movable brake component is supported on the first transmission wheel or the second transmission wheel and is movable relative to the first transmission wheel or the second transmission wheel; The braking device further comprises a driving brake pad supported on the brake driving component, wherein the brake driving component is capable of driving the driving brake pad to move toward or away from the movable brake component; In the braking state, the brake driving component drives the driving brake pad to move in a direction close to the movable brake component until the driving brake pad contacts the movable brake component, thereby driving the movable brake component to move in a direction close to the first brake portion and the second brake portion, so that the upper brake portion contacts the first brake portion, and the lower brake portion contacts the second brake portion, thereby limiting the rotation of the rotating shaft around its axis and the movement along its axis. In the non-braking state, the brake driving component drives the driving brake pad to move away from the movable brake component, so that the driving brake pad is disengaged from the movable brake component, and the upper brake part is disengaged from the first brake part, and the lower brake part is disengaged from the second brake part, so as to release the rotating shaft from rotating around its axis and moving along its axial direction.

4. The robot according to claim 3, characterized in that The movable brake component further includes a connecting portion connecting the upper brake portion and the lower brake portion, wherein the connecting portion passes through the second transmission wheel; the first brake portion is located on the lower surface of the first transmission wheel, and the second brake portion is located on the lower surface of the second transmission wheel; The driving brake pad is located below the movable brake component and faces the lower brake portion; In the braking state, the brake driving component drives the driving brake pad to move close to the movable brake component until the driving brake pad contacts the lower surface of the lower brake portion, and drives the movable brake component to move close to the first brake portion and the second brake portion, so that the upper brake portion contacts the first brake portion, and the upper surface of the lower brake portion contacts the second brake portion, thereby limiting the rotation of the rotating shaft around its axis and the movement along the axis. In the non-braking state, the brake driving component drives the driving brake pad to move away from the movable brake component so that the driving brake pad is separated from the lower surface of the lower brake part, and the upper brake part is separated from the first brake part, and the upper surface of the lower brake part is separated from the second brake part, so as to release the rotating shaft from rotating around its axis and moving along its axial direction.

5. The robot according to claim 3, characterized in that The movable brake component further includes a connecting portion connecting the upper brake portion and the lower brake portion, wherein the connecting portion passes through the first transmission wheel; the first brake portion is located on the upper surface of the first transmission wheel, and the second brake portion is located on the upper surface of the second transmission wheel; The driving brake pad is located above the movable brake component and faces the upper brake portion; In the braking state, the brake driving component drives the driving brake pad to move toward the direction close to the movable brake component until the driving brake pad contacts the upper surface of the upper brake portion, and drives the movable brake component to move toward the direction close to the first brake portion and the second brake portion, so that the lower surface of the upper brake portion contacts the first brake portion, and the lower brake portion contacts the second brake portion, so as to restrict the rotation of the rotating shaft around its axis and the movement along the axis. In the non-braking state, the brake driving component drives the driving brake pad to move away from the movable brake component so that the driving brake pad is separated from the upper surface of the upper brake part, and the lower surface of the upper brake part is separated from the first brake part, and the lower brake part is separated from the second brake part, so as to release the rotating shaft from rotating around its axis and moving along its axial direction.

6. The robot according to claim 2, characterized in that The movable brake component is supported by the brake drive component.

7. The robot according to claim 6, characterized in that The first brake portion is located on the lower surface of the first transmission wheel, and the second brake portion is located on the lower surface of the second transmission wheel; The movable brake component is sleeved on the outside of the second transmission wheel, and the brake driving component is located below the movable brake component.

8. The robot according to claim 6, characterized in that The first brake portion is located on the upper surface of the first transmission wheel, and the second brake portion is located on the upper surface of the second transmission wheel; The movable brake component is sleeved on the outside of the first transmission wheel; and the brake driving component is located above the movable brake component.

9. The robot according to any one of claims 2 to 8, characterized in that: The first brake portion is a rough surface formed on the upper surface or lower surface of the first transmission wheel, or the first brake portion is a first brake pad provided on the upper surface or lower surface of the first transmission wheel; and / or, The second braking portion is a rough surface formed on the upper surface or lower surface of the second transmission wheel, or the second braking portion is a second brake pad provided on the upper surface or lower surface of the second transmission wheel.

10. The robot according to claim 1, characterized in that The brake driving component is arranged on the first transmission wheel or the second transmission wheel, the brake driving component includes a first brake driving component and a second brake driving component, the movable brake component includes a first movable brake component and a second movable brake component, the first brake driving component supports the first movable brake component, and the second brake driving component supports the second movable brake component; In a braking state, the first brake driving component drives the first movable brake component to directly or indirectly contact the first transmission wheel or a first fixed component fixed to the robotic arm, and the second brake driving component drives the second movable brake component to directly or indirectly contact the second transmission wheel or a second fixed component fixed to the robotic arm to restrict the rotating shaft from rotating around its axis and moving along the axis direction; In the non-braking state, the first brake driving component drives the first movable brake component to disengage from the first transmission wheel or the first fixed component, and the second brake driving component drives the second movable brake component to disengage from the second transmission wheel or the second fixed component, so as to release the rotating shaft from rotating around its axis and moving along its axial direction.

11. The robot according to any one of claims 1, 2-8, and 10, characterized in that: The brake drive component includes any one of the following: an elastic drive component, a magnetic drive component, a hydraulic drive component, and a pneumatic drive component.

12. The robot according to any one of claims 1, 2-8, and 10, characterized in that: The rotating shaft is a ball spline shaft, the first transmission assembly includes a screw nut in cooperation with the ball spline shaft, the screw nut is rotatably arranged on the end of the robotic arm through a screw nut seat, and the first transmission wheel is connected to the screw nut; the second transmission assembly includes a spline nut in cooperation with the ball spline shaft, the spline nut is rotatably arranged on the robotic arm through a spline nut seat, and the second transmission wheel is connected to the spline nut; The shaft drive assembly includes a third motor and a fourth motor. The drive shaft of the third motor is connected to the first transmission wheel through a first transmission belt, and the drive shaft of the fourth motor is connected to the second transmission wheel through a second transmission belt.

13. The robot according to claim 12, characterized in that The robotic arm is a multi-joint robotic arm, comprising at least a first robotic arm and a second robotic arm, one end of the first robotic arm being rotatably disposed on a base and rotatable around a first axis, the other end of the first robotic arm being connected to the second robotic arm, the second robotic arm being rotatable around a second axis, the actuator being rotatably disposed at the end of the second robotic arm, and being rotatable around a third axis and movable along the third axis, wherein the first axis, the second axis and the third axis are parallel.

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