Braking structure, robot joints and robot

Abstract

This application relates to a braking structure, a robot joint, and a robot. The braking structure includes a rotating shaft, multiple spoke groups, and two brake members. The multiple spoke groups are arranged rotationally symmetrically around the outer periphery of the rotating shaft. Each spoke group includes a first spoke and a second spoke with a first interval along the circumference of the rotating shaft. Both the first and second spokes extend radially along the rotating shaft. The two brake members are spaced apart from the rotating shaft radially and spaced apart from each other circumferentially along the rotating shaft. The two brake members are configured to extend or retract synchronously along the axial direction of the rotating shaft towards the side closer to the spoke group according to a control command, thereby preventing or releasing the rotation of the spoke group. This braking structure helps avoid the brake member needing to traverse the interval between two adjacent spoke groups to achieve braking. Therefore, compared to having only one brake member, it is advantageous to shorten the braking stroke and response time, and to more precisely control the relative position of the two opposing rotating members or control the braking distance.

Description

Technical Field

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

[0002] To enable relative rotation and stopping between two relatively rotating parts, a braking structure is provided in the related art. The braking structure has a rotating shaft for driving the parts to rotate, and multiple spoke groups spaced apart from each other are provided on the outer periphery of the rotating shaft. When braking, the braking element is inserted between two adjacent spoke groups or into one spoke group to block the spoke group and stop the rotating shaft.

[0003] However, the spacing between spoke groups can result in longer braking strokes and response times. For example, if the brake element receives a braking command just after the preceding spoke group, it needs to traverse the entire gap between the preceding and following spoke groups before contacting the following spoke group to apply brakes. This is disadvantageous for scenarios requiring precise control of the relative positions of two rotating components or for controlling braking distance. Summary of the Invention

[0004] Therefore, it is necessary to provide a braking structure, robot joint, and robot that can shorten the braking stroke and response time, so as to more precisely control the relative position of two opposing rotating parts or control the braking distance.

[0005] According to one aspect of this application, a braking structure is provided, comprising:

[0006] Shaft;

[0007] Multiple spoke groups are arranged rotationally symmetrically around the axis of the pivot on the outer periphery of the pivot. Each spoke group includes a first spoke and a second spoke with a first interval along the circumference of the pivot, and both the first and second spokes extend radially along the pivot.

[0008] Two brake elements are arranged radially from the pivot axis and spaced apart from each other along the pivot axis, and the two brake elements are arranged circumferentially from each other along the pivot axis. The two brake elements are configured to extend or retract synchronously along the axial direction of the pivot axis toward the side closer to the spoke assembly according to a control command, so as to prevent or release the rotation of the spoke assembly.

[0009] The aforementioned braking structure, with multiple spoke groups arranged rotationally symmetrically around the outer circumference of the shaft and two braking elements, avoids the need for the braking element to traverse the gap between adjacent spoke groups to achieve braking. Therefore, compared to a single braking element, this braking structure shortens the braking stroke and response time, and allows for more precise control of the relative positions of the two rotating elements or the braking distance.

[0010] In one embodiment, the circumferential distance between the two brake elements is greater than the circumferential distance between the outer walls of the first and second spokes of the same spoke group.

[0011] In one embodiment, any two adjacent spoke groups have a second interval along the circumference of the axis of rotation;

[0012] When the brake element is extended, the braking structure is in a first state or a second state. In the first state, the two brake elements fall into different second intervals. In the second state, the two brake elements fall into the first interval and the second interval respectively.

[0013] In the first state, the range of motion of the two brake components is substantially the same as that of the two brake components in the second state.

[0014] In one embodiment, a first side and a second side are defined circumferentially between the two braking elements along the axis of rotation;

[0015] When the brake structure is in the first state, the number of spoke groups located on the first side of the two brake members is m1, the number of spoke groups located on the second side of the two brake members is m2, and m1 < m2; in the first state, the circumferential distance between one of the brake members and the nearest spoke group located on the second side is d1, and the circumferential distance between the other brake member and the nearest spoke group located on the second side is d2.

[0016] When the brake structure is in the second state, one of the brake elements is located in the first interval and the other brake element is located in the second interval; in the second state, the circumferential distance between the brake element located in the first interval and the inner wall of the nearest first spoke is d3, and the circumferential distance between the brake element located in the first interval and the inner wall of the nearest second spoke is d4.

[0017] The two braking elements are configured to satisfy a first condition, which includes: d1 + d2 = d3 + d4.

[0018] In one embodiment, the number of spoke groups is n, and n is a positive odd number;

[0019] The two braking components are symmetrically arranged about the axis of the rotating shaft.

[0020] In one embodiment, the circumferential angular distance between the inner walls of the first and second spokes of the same spoke group is x, and the circumferential angular distance between the two sides of the first spoke and the two sides of the second spoke are both b.

[0021] The circumferential angular distance x between the inner walls of the first and second spokes of the same spoke group is configured as follows:

[0022]

[0023] In one embodiment, along the radial direction of the pivot, the spoke assembly has a first end and a second end opposite to each other, the first end being connected to the pivot, and the brake being disposed closer to the second end than to the first end along the radial direction of the pivot.

[0024] In one embodiment, the brake structure further includes a controller electrically connected to each of the two brake elements, the controller being configured to issue the control command to the two brake elements so that the two brake elements synchronously extend or retract along the axial direction of the shaft toward the side closer to the spoke assembly in response to the control command.

[0025] According to another aspect of this application, a robot joint is provided, including a braking structure as described in any of the above embodiments.

[0026] According to another aspect of this application, a robot is provided, including a robot joint as described in any of the foregoing embodiments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the brake structure in one embodiment of this application.

[0028] Figure 2 for Figure 1 A cross-sectional view of the brake structure in the illustrated embodiment.

[0029] Figure 3 for Figure 1 The illustrated embodiment shows a schematic diagram of the braking structure in its first state.

[0030] Figure 4 for Figure 1 The schematic diagram of the brake structure in the second state in the embodiment shown.

[0031] Explanation of icon numbers:

[0032] 100. Brake structure;

[0033] 10. Shaft;

[0034] 20. Spoke; 21. First spoke; 22. Second spoke;

[0035] 30. First interval;

[0036] 40. Second interval;

[0037] 50. Braking component; 52. First side; 53. Second side. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are 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 this application. However, this application can be implemented 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 this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply 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 this application.

[0040] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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 expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" 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. Similarly, "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.

[0043] It should be noted that if 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. If 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. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0044] Figure 1 This is a schematic diagram of the brake structure in one embodiment of this application; Figure 2 for Figure 1 A cross-sectional view of the brake structure in the illustrated embodiment.

[0045] See Figure 1-2 The brake structure 100 provided in one embodiment of this application includes a rotating shaft 10, multiple spoke groups 20 and two brake elements 50.

[0046] Multiple spoke groups 20 are arranged in a rotationally symmetrical manner around the axis of the shaft 10 at intervals on the outer periphery of the shaft 10. Each spoke group 20 includes a first spoke 21 and a second spoke 22 having a first interval 30 along the circumference of the shaft 10. Both the first spoke 21 and the second spoke 22 extend radially along the shaft 10. Two brake members 50 are arranged radially and spaced apart from the shaft 10, and are also spaced apart from each other circumferentially along the shaft 10. The two brake members 50 are configured to extend or retract synchronously along the axial direction of the shaft 10 toward the side closer to the spoke group 20 according to a control command, so as to prevent or release the rotation of the spoke group 20.

[0047] The aforementioned brake structure 100, by providing two brake elements 50, can simultaneously extend along the axial direction of the shaft 10 towards the side closest to the spoke group 20. This ensures that when braking, at least one brake element 50 abuts against the spoke group 20, stopping the shaft 10 and achieving braking. The two brake elements 50 can also simultaneously retract along the axial direction of the shaft 10 to release the obstruction of the brake elements 50 on the spoke group 20, thus releasing the brake. Since multiple spoke groups 20 are arranged rotationally symmetrically around the outer periphery of the shaft 10, and there are two brake elements 50, it avoids the need for the brake element 50 to traverse the gap between adjacent spoke groups 20 after extending to achieve braking. Therefore, compared to having only one brake element 50, the aforementioned brake structure 100 helps to shorten the braking stroke and response time, and allows for more precise control of the relative positions of the two rotating elements or the braking distance.

[0048] In some embodiments, as Figure 1 As shown, the circumferential distance between the two brake elements 50 is greater than the circumferential distance between the outer walls of the first spoke 21 and the second spoke 22 of the same spoke group 20. This prevents the two brake elements 50 from jamming the spoke group 20 when they are located on the outside of the same spoke group 20, which would prevent the brake elements 50 from retracting axially along the shaft 10.

[0049] It should be noted that in this application, the distance refers to the distance between the physical sidewalls of the component, not the distance between the central axes of the component.

[0050] Figure 3 for Figure 1 A schematic diagram of the braking structure in the first state in the embodiment shown; Figure 4 for Figure 1 The schematic diagram of the brake structure in the second state in the embodiment shown.

[0051] In some embodiments, combined with Figure 1 and Figure 3-4 As shown, any two adjacent spoke groups 20 have a second interval 40 along the circumference of the axis of rotation 10. When the brake member 50 is extended, the brake structure 100 is in a first state or a second state. In the first state, the two brake members 50 ( Figure 3 The dashed line indicates that the two brake elements (50, 50, 50) fall into two different second intervals 40. In the second state, the two brake elements (50, 50, 50) Figure 4 The areas marked by the dashed lines fall within the first interval 30 and the second interval 40, respectively. In the first state, the movable range of the two brake components 50 is essentially the same as that in the second state. It should be noted that the movable range of the two brake components 50 in the first state is negatively correlated with that in the second state. Therefore, by setting the movable range of the two brake components 50 in the first state to be essentially the same as that in the second state, a large difference between their movable ranges in the first and second states can be avoided, which could lead to a longer braking stroke and response time when the brake structure 100 is in either the first or second state.

[0052] It should be noted that the movable range refers to the range that a single brake element 50 rotates relative to the pivot 10 from its extension to its contact with the spoke assembly 20, without considering the other brake element 50.

[0053] It should be understood that the circumferential dimension of the second interval 40 is greater than the circumferential dimension of the first interval 30.

[0054] In some embodiments, such as Figure 1 As shown, a first side 52 and a second side 53 are defined circumferentially between the two braking elements 50 along the axis of rotation 10. (Combined) Figure 3 As shown, when the brake structure 100 is in the first state, the number of spoke groups 20 located on the first side 52 of the two brake members 50 is m1, and the number of spoke groups 20 located on the second side 53 of the two brake members 50 is m2, where m1 < m2. In the first state, the circumferential distance between one brake member 50 and the nearest spoke group 20 located on the second side 53 is d1, and the circumferential distance between the other brake member 50 and the nearest spoke group 20 located on the second side 53 is d2. Figure 4 As shown, when the brake structure 100 is in the second state, one brake element 50 is located within the first interval 30, and the other brake element 50 is located within the second interval 40. In the second state, the circumferential distance between the brake element 50 located in the first interval 30 and the inner wall of the nearest first spoke 21 is d3, and the circumferential distance between the brake element 50 located in the first interval 30 and the inner wall of the nearest second spoke 22 is d4. The two brake elements 50 are configured to satisfy a first condition, which includes: d1 + d2 = d3 + d4.

[0055] It is understandable that if Figure 3As shown, when the brake structure 100 is in the first state, d1+d2 is the maximum circumferential distance that the rotating shaft 10 is allowed to rotate through after the brake member 50 extends. That is, in the first state, the circumferential distance rotated by the rotating shaft 10 during the time from the extension of the brake member 50 to the achievement of braking is less than or equal to d1+d2. Similarly, as... Figure 4 As shown, when the brake structure 100 is in the second state, d3+d4 is the maximum circumferential distance that the brake structure 100 allows the rotating shaft 10 to rotate through after the brake member 50 extends. Since the values ​​of d1+d2 and d3+d4 are negatively correlated, by setting d1+d2=d3+d4, the maximum angle that the brake structure 100 allows the rotating shaft 10 to rotate through in the first state after the brake member 50 extends is equal to the maximum angle that the rotating shaft 10 is allowed to rotate through in the second state. This minimizes the maximum angle that the rotating shaft 10 is allowed to rotate through after braking, further shortening the maximum value of the braking stroke and response time. This is more conducive to more precise control of the relative position of the two relatively rotating members or control of the braking distance.

[0056] It should be noted that, as Figure 1 As shown, the two brake elements 50 together divide the first space and the second space in the circumferential direction of the rotating shaft. The first side 52 of the two brake elements 50 refers to the side of the two brake elements 50 that is closer to the first space, and the second side 53 of the two brake elements 50 refers to the side of the two brake elements 50 that is closer to the second space.

[0057] In some embodiments, such as Figure 1 As shown, the number of spoke groups 20 is n, and n is a positive odd number. The two brake elements 50 are symmetrically arranged about the axis of rotation 10. Thus, when the brake elements 50 are extended, the two brake elements 50 are in the first state (see...). Figure 3 ) or second state (see Figure 4 This allows the circumferential distance that the rotating shaft 10 can rotate through after the brake element 50 extends to be less than the second interval 40, thereby shortening the maximum value of the braking stroke and response time.

[0058] In some embodiments, such as Figure 1 and Figure 3-4 As shown, the circumferential angular distance between the inner walls of the first spoke 21 and the second spoke 22 of the same spoke group 20 is x, and the circumferential angular distance between the two sides of the first spoke 21 and the two sides of the second spoke 22 is b. The circumferential angular distance x between the inner walls of the first spoke 21 and the second spoke 22 of the same spoke group 20 is configured as follows: It should be noted that the circumferential angular distance between two adjacent spoke groups 20 is y, and n(x+y+2b)=360°. Therefore, after the brake element 50 extends, as... Figure 3 As shown, the maximum angle that the brake structure 100 allows the rotating shaft 10 to rotate circumferentially in the first state is... like Figure 4 As shown, in the second state, the brake structure 100 allows the maximum angle through which the shaft 10 rotates circumferentially is x. Because... Negatively correlated with x, when When the brake structure 100 is in place, the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake element 50 is extended is minimized, and the calculation shows that... When the brake structure 100 extends, the maximum angle that the rotating shaft 10 is allowed to rotate through is minimized, further shortening the maximum value of the braking stroke and response time.

[0059] Understandably, when hour, The maximum angle that the rotating shaft 10 is allowed to rotate through after the brake element 50 is extended is:

[0060] It should be noted that n and b can be set according to usage requirements, and n and b should be within an appropriate range to avoid excessive circumferential distance between two adjacent spoke groups 20, resulting in a longer braking stroke and response time, and to avoid excessive circumferential distance between two adjacent spoke groups 20, resulting in the brake element 30 easily colliding with or getting stuck with the spoke group 20.

[0061] Alternatively, 3 ≤ n ≤ 7, b = 6°.

[0062] In some embodiments, n = 3, b = 6°, and when x = 24°, y = 84°, the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake member 50 is extended is 24°.

[0063] In some embodiments, n = 5, b = 6°, and when x = 13°, y = 48°, the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake member 50 is extended is 13°.

[0064] In some embodiments, n = 7, b = 6°, and when x = 6.86°, y = 32.57°, the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake member 50 is extended is 6.86°.

[0065] In other embodiments, n and b may be set in other ways as needed, and no limitation is made here.

[0066] In some embodiments, as Figure 1 As shown, along the radial direction of the shaft 10, the spoke assembly 20 has a first end and a second end opposite to each other. The first end is connected to the shaft 10, and along the radial direction of the shaft 10, the brake member 50 is positioned closer to the second end than the first end. This reduces the braking torque of the brake member 50 on the shaft 10.

[0067] In some embodiments, the brake structure 100 further includes a controller (not shown) electrically connected to each of the two brake elements 50. The controller issues control commands to the two brake elements 50 so that the two brake elements 50 extend or retract synchronously along the axial direction of the shaft 10 toward the side closer to the spoke assembly 20 in response to the control commands. This improves the automation level of the brake structure 100.

[0068] Specifically, the control commands include a braking command and a brake release command. The two brake elements 50 are configured to extend synchronously along the axial direction of the shaft 10 toward the side closer to the spoke assembly 20 in response to the braking command, and the two brake elements 50 are configured to retract synchronously along the axial direction of the shaft 10 in response to the brake release command.

[0069] Optionally, the brake element 50 may be an electromagnet, and the controller is used to control the brake element 50 to be de-energized and energized respectively. The brake element 50 is configured to move along the axial direction of the shaft 10 toward the side closer to the spoke group 20 when de-energized, and is configured to retract along the axial direction of the shaft 10 when energized.

[0070] According to another aspect of this application, a robot joint is provided, including a braking structure 100 as described in any of the above embodiments. The use of the braking structure 100 facilitates more precise control of the relative positions of two opposing rotating members connected to the robot or control of the braking distance. For example, the two opposing rotating members can be two robotic arms respectively connected to the robot joint, and the two robotic arms can rotate relative to each other by means of the robot joint.

[0071] According to another aspect of this application, a robot is provided, including a robot joint as described in any of the foregoing embodiments.

[0072] In some embodiments, the robot further includes multiple robotic arms connected by robotic joints. The use of these robotic joints allows for more precise control of the relative positions of the multiple robotic arms or control of braking distances.

[0073] 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.

[0074] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A braking structure, characterized in that, include: Shaft; Multiple spoke groups are arranged at intervals around the axis of the rotating shaft in a rotationally symmetrical manner on the outer periphery of the rotating shaft. Each spoke group includes a first spoke and a second spoke with a first interval along the circumference of the rotating shaft. Both the first spoke and the second spoke extend radially along the rotating shaft. as well as Two braking elements are spaced apart from the pivot axis radially and circumferentially. The two braking elements are configured to extend or retract synchronously along the pivot axis toward the side closer to the spoke assembly according to a control command, so as to prevent or release the rotation of the spoke assembly. The circumferential distance between the two brake components is greater than the circumferential distance between the outer walls of the first and second spokes of the same spoke group; Any two adjacent spoke groups have a second interval along the circumference of the axis of rotation; When the brake element is extended, the braking structure is in a first state or a second state. In the first state, the two brake elements fall into different second intervals. In the second state, the two brake elements fall into the first interval and the second interval respectively. In the first state, the range of motion of the two brake components is substantially the same as that of the two brake components in the second state.

2. The brake structure according to claim 1, characterized in that, A first side and a second side are defined circumferentially between the two braking elements along the axis of rotation; When the brake structure is in the first state, the number of spoke groups located on the first side of the two brake members is m1, the number of spoke groups located on the second side of the two brake members is m2, and m1 < m2; in the first state, the circumferential distance between one of the brake members and the nearest spoke group located on the second side is d1, and the circumferential distance between the other brake member and the nearest spoke group located on the second side is d2. When the brake structure is in the second state, one of the brake elements is located in the first interval and the other brake element is located in the second interval; in the second state, the circumferential distance between the brake element located in the first interval and the inner wall of the nearest first spoke is d3, and the circumferential distance between the brake element located in the first interval and the inner wall of the nearest second spoke is d4. The two braking elements are configured to satisfy a first condition, which includes: d1 + d2 = d3 + d4.

3. The brake structure according to claim 2, characterized in that, The number of spoke groups is n, and n is a positive odd number; The two braking components are symmetrically arranged about the axis of the rotating shaft.

4. The brake structure according to claim 3, characterized in that, The circumferential angular distance between the inner walls of the first and second spokes of the same spoke group is x, and the circumferential angular distance between the two sides of the first spoke and the two sides of the second spoke is b. The circumferential angular distance x between the inner walls of the first and second spokes of the same spoke group is configured as follows:

5. The braking structure according to any one of claims 1 to 4, characterized in that, Along the radial direction of the pivot, the spoke assembly has a first end and a second end opposite to each other, the first end being connected to the pivot, and the brake being disposed closer to the second end than to the first end along the radial direction of the pivot.

6. The braking structure according to any one of claims 1 to 4, characterized in that, The braking structure also includes a controller electrically connected to each of the two brake components. The controller is used to issue the control command to the two brake components so that the two brake components respond to the control command by synchronously extending or retracting along the axial direction of the shaft toward the side closer to the spoke assembly.

7. A robot joint, characterized in that, Includes the braking structure as described in any one of claims 1 to 6.

8. A robot, characterized in that, Including the robot joint as described in claim 7.

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