Brake mechanism, robot joint, and robot

Abstract

The application relates to a brake mechanism, a robot joint and a robot. The brake mechanism comprises a rotating shaft, a plurality of brake spokes and two brake members. The plurality of brake spokes are uniformly and spacedly arranged on the outer periphery of the rotating shaft along the axis of the rotating shaft, and each brake spoke extends along the radial direction of the rotating shaft. The two brake members are spacedly arranged along the radial direction of the rotating shaft and are spacedly arranged along the circumferential direction of the rotating shaft. The two brake members can synchronously extend or retract towards the side close to the brake spokes in response to a control instruction to stop or release the rotation of the brake spokes. When one of the brake members abuts against the brake spokes, the other brake member is spacedly arranged along the circumferential direction of the rotating shaft and away from the brake spokes. The brake mechanism allows the rotating shaft to rotate through an angle smaller than the interval between the two adjacent brake spokes within the time from the extension of the brake member to the realization of the braking, thereby shortening the maximum value of the braking stroke and the response time, and being beneficial to more precisely controlling the relative position of the two relative rotating members or controlling the brake distance.

Description

Technical Field

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

[0002] To enable relative rotation and stopping between two relatively rotating parts, a braking mechanism is provided in the related art. The braking mechanism has a rotating shaft for driving the parts to rotate, and multiple brake spokes 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 brake spokes to block the brake spokes and stop the rotating shaft from rotating.

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

[0004] Therefore, it is necessary to provide a braking mechanism, 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 mechanism is provided, comprising:

[0006] Shaft;

[0007] Multiple brake spokes are evenly spaced around the axis of the rotating shaft on its outer periphery, and each brake spoke extends radially along the rotating shaft; and

[0008] Two braking elements are spaced apart from the rotating shaft radially and circumferentially from each other. The two braking elements are configured to extend or retract synchronously along the axial direction of the rotating shaft in response to a control command, so as to prevent or release the rotation of the brake spokes.

[0009] When one of the braking components abuts against the brake spoke, the other braking component is spaced apart from the brake spoke along the circumference of the rotating shaft.

[0010] In the aforementioned braking mechanism, when one braking element abuts against a brake spoke, the other braking element is positioned circumferentially between two adjacent brake spokes along the shaft. This means that for a braking element that is not abutting a brake spoke when the shaft stops, the distance it travels relative to the shaft circumferentially from its extension to braking is less than the interval between two adjacent brake spokes during the time it takes to extend. Therefore, compared to having only one braking element, this braking mechanism reduces the maximum angle the shaft can rotate after the braking element extends, thus shortening the maximum braking stroke and response time. This allows for more precise control of the relative positions of the two rotating elements or control of the braking distance.

[0011] In one embodiment, when the brake member is extended, the braking mechanism has a first state and a second state respectively;

[0012] When the braking mechanism is in the first state, the number of brake spokes located between the two braking elements is m.

[0013] When the braking mechanism is in the second state, the number of brake spokes located between the two brake members is m+1;

[0014] Where m is an integer, and m≥0.

[0015] In one embodiment, the movable distance of the two brake members relative to the brake spokes on their outer sides in the first state is equal to the movable distance of the two brake members relative to the brake spokes on their inner sides in the second state.

[0016] In one embodiment, in the first state, the circumferential distance between one of the brake members and the nearest outer brake spoke is d1, and the circumferential distance between the other brake member and the nearest outer brake spoke is d2;

[0017] In the second state, the circumferential distance between one of the brake components and the nearest inner brake spoke is d3, and the circumferential distance between the other brake component and the nearest inner brake spoke is d4.

[0018] The two braking elements are configured to satisfy a first condition, which includes: d1 + d2 = d3 + d4.

[0019] In one embodiment, the number of brake spokes is n, the circumferential angular distance between two brake elements is x, the circumferential angular distance between two adjacent brake spokes is a, and the circumferential angular distance between the two sides of a single brake spoke is b.

[0020] The circumferential angular distance x between the two braking components is configured as follows:

[0021]

[0022] Where N is an integer, and N≥0.

[0023] In one embodiment,

[0024] In one embodiment, each brake spoke has a first end and a second end opposite to each other along the radial direction of the pivot, the first end being connected to the pivot, and the brake element being disposed closer to the second end than the first end along the radial direction of the pivot.

[0025] In one embodiment, the braking mechanism 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 brake spokes in response to the control command.

[0026] According to another aspect of this application, a robot joint is provided, including a braking mechanism as described in any of the above embodiments.

[0027] 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

[0028] Figure 1 This is a schematic diagram of the braking mechanism in one embodiment of this application.

[0029] Figure 2 for Figure 1 A cross-sectional view of the braking mechanism in the illustrated embodiment.

[0030] Figure 3 This is a schematic diagram of the braking mechanism in a first state according to an embodiment of this application.

[0031] Figure 4 for Figure 3 The schematic diagram of the braking mechanism in the second state in the embodiment shown.

[0032] Figure 5 This is a schematic diagram of the braking mechanism in a first state according to another embodiment of this application.

[0033] Figure 6 for Figure 5 The schematic diagram of the braking mechanism in the second state in the embodiment shown.

[0034] Figure 7 This is a schematic diagram of the braking mechanism in a first state according to another embodiment of this application.

[0035] Figure 8 for Figure 7 The schematic diagram of the braking mechanism in the second state in the embodiment shown.

[0036] Figure 9 This is a schematic diagram of the braking mechanism in a first state according to another embodiment of this application.

[0037] Figure 10 for Figure 9 The schematic diagram of the braking mechanism in the second state in the embodiment shown.

[0038] Explanation of icon numbers:

[0039] 100. Braking mechanism;

[0040] 10. Shaft;

[0041] 20. Brake spokes;

[0042] 30. Braking components;

[0043] 40. First Space;

[0044] 50. Second Space. Detailed Implementation

[0045] 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.

[0046] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not 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 application.

[0047] Furthermore, where the terms "first" and "second" appear, these terms are 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 with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Figure 1 This is a schematic diagram of the braking mechanism in one embodiment of this application; Figure 2 for Figure 1 A cross-sectional view of the braking mechanism in the illustrated embodiment.

[0052] See Figure 1-2 The braking mechanism 100 provided in one embodiment of this application includes a rotating shaft 10, a plurality of brake spokes 20 and two brake elements 30.

[0053] Multiple brake spokes 20 are evenly spaced around the axis of a rotating shaft 10 on its outer periphery, with each brake spoke 20 extending radially along the shaft 10. Two brake elements 30 are spaced apart from the shaft 10 radially and circumferentially. The two brake elements 30 are configured to extend or retract synchronously along the axial direction of the shaft 10 towards the side closest to the brake spokes 20 in response to a control command, thereby preventing or releasing rotation of the brake spokes 20. When one brake element 30 abuts against a brake spoke 20, the other brake element 30 is spaced apart from the brake spoke 20 circumferentially along the shaft 10.

[0054] The aforementioned braking mechanism 100, by providing two braking elements 30, can synchronously extend along the axial direction of the rotating shaft 10 towards the side closer to the brake spokes 20 in response to control commands, so that the braking elements 30 can abut against the brake spokes 20, thereby preventing the rotation of the brake spokes 20 and achieving braking. The two braking elements 30 can also synchronously retract along the axial direction of the rotating shaft 10 to release the obstruction of the braking elements 30 to the brake spokes 20, i.e., release the braking. Since when one braking element 30 abuts against the brake spokes 20, the other braking element 30 is spaced apart along the circumference of the rotating shaft 10 between two adjacent brake spokes 20, the distance traveled relative to the rotating shaft 10 circumferentially from the time the rotating shaft 10 stops to the time braking is achieved by the braking element 30 that is not abutting against a brake spoke 20 is less than the interval between two adjacent brake spokes 20. Therefore, compared to having only one brake element 30, the aforementioned braking mechanism 100 reduces the maximum angle through which the rotating shaft 10 can rotate after the brake element 30 extends. For example, if one brake element 30 extends just after the previous brake spoke 20, then when braking is achieved, the other brake element 30 contacts the brake spoke 20 first, thus avoiding the need for the brake element 30 to completely traverse the gap between the previous and subsequent brake spokes 20 before braking is achieved. Therefore, the aforementioned braking structure 100 can shorten the maximum value of braking stroke and response time, which is beneficial for more precise control of the relative position of the two opposing rotating elements or control of the braking distance.

[0055] It is understandable that the number of brake spokes 20 is n, and the circumferential angular distance between the two brake components is x. Where M is any integer greater than 0. Thus, when one brake element 30 abuts against the brake spoke 20, the other brake element 20 is spaced apart from the brake spoke 20 along the circumference of the shaft 10.

[0056] 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.

[0057] Figure 3 This is a schematic diagram of the braking mechanism in a first state according to an embodiment of this application; Figure 4 for Figure 3 The schematic diagram of the braking mechanism in the second state in the embodiment shown.

[0058] In some embodiments, combined with Figure 1 and Figure 3-4 As shown, when the brake element 30 ( Figure 3 and Figure 4 When the brake mechanism 100 extends (as indicated by the dashed line), it has a first state and a second state. When the brake mechanism 100 is in the first state, the number of brake spokes 20 located between the two brake members 30 is m. When the brake mechanism 100 is in the second state, the number of brake spokes 20 located between the two brake members 30 is m+1. Here, m is an integer, and m≥0. Thus, since the number of brake spokes 20 located between the two brake members 30 is an integer in both the first and second states, it prevents the brake spokes 20 from jamming when the two brake members 30 extend, thus avoiding the brake members 30 being unable to retract.

[0059] In some embodiments, such as Figure 3-4 As shown, the movable distance of the two brake elements 30 relative to their outer brake spokes 20 in the first state is equal to the movable distance of the two brake elements 30 relative to their inner brake spokes 20 in the second state. It should be noted that the movable distance of the two brake elements 30 relative to their outer brake spokes 20 in the first state is the maximum distance the shaft 10 is allowed to rotate during the time from when the brake element 30 extends to when braking is achieved in the first state. Conversely, the movable distance of the two brake elements 30 relative to their inner brake spokes 20 in the first state is the maximum distance the shaft 10 is allowed to rotate during the time from when the brake element 30 extends to when braking is achieved in the second state. Since the maximum distance that the rotating shaft 10 can rotate through in the first state is negatively correlated with the maximum distance that the rotating shaft 10 can rotate through in the second state, by setting the maximum distance that the rotating shaft 10 can rotate through in the first state to be equal to the maximum distance that the rotating shaft 10 can rotate through in the second state, the maximum distance that the rotating shaft 10 can rotate through after the brake member 30 is extended is minimized, thereby further shortening the maximum value of the braking stroke and response time, which is more conducive to more precise control of the relative position of the two relatively rotating members or control of the braking distance.

[0060] It should be noted that the two brake elements 30 together divide the first space and the second space in the circumferential direction of the rotating shaft 10. The circumferential dimension of the first space is less than or equal to the circumferential dimension of the second space. The outer side of the two brake elements 30 refers to the side of the two brake elements 30 that is closer to the second space, and the inner side of the two brake elements 30 refers to the side of the two brake elements 30 that is closer to the first space.

[0061] Specifically, such as Figure 1 and Figure 3-4 As shown, in the first state, the circumferential distance between one brake element 30 and the nearest outer brake spoke 20 is d1, and the circumferential distance between the other brake element 30 and the nearest outer brake spoke 20 is d2. In the second state, the circumferential distance between one brake element 30 and the nearest inner brake spoke 20 is d3, and the circumferential distance between the other brake element 30 and the nearest inner brake spoke is d4. The two brake elements 30 are configured to satisfy a first condition, which includes: d1 + d2 = d3 + d4.

[0062] It should be noted that, as Figure 3 As shown, when the braking mechanism 100 is in the first state, d1+d2 is the maximum distance that the rotating shaft 10 is allowed to rotate circumferentially by the braking mechanism 100. That is, in the first state, the distance that the rotating shaft 10 rotates circumferentially is less than or equal to d1+d2 during the time from the extension of the brake member 30 to the achievement of braking. Similarly, as... Figure 4 As shown, when the braking mechanism 100 is in the second state, d3+d4 is the maximum distance that the rotating shaft 10 is allowed to rotate circumferentially by the braking mechanism 100. That is, in the second state, the distance that the rotating shaft 10 rotates circumferentially from the extension of the brake member 30 to the achievement of braking is less than or equal to d3+d4. Since the values ​​of d1+d2 and d3+d4 are negatively correlated, by setting d1+d2=d3+d4, the maximum distance that the rotating shaft 10 is allowed to rotate in the first state after the brake member 30 is extended is equal to the maximum distance that the rotating shaft 10 is allowed to rotate in the second state, thereby minimizing the maximum distance that the rotating shaft 10 is allowed to rotate after the brake member 30 is extended.

[0063] Figure 5 This is a schematic diagram of the braking mechanism in a first state according to another embodiment of this application; Figure 6 for Figure 5 The schematic diagram of the braking mechanism in the second state in the embodiment shown.

[0064] In some embodiments, such as Figure 3-4 As shown, the number of brake spokes 20 is n, the circumferential angular distance between two brake elements 30 is x, the circumferential angular distance between two adjacent brake spokes 20 is a, and the circumferential angular distance between the two sides of a single brake spoke 20 is b. The circumferential angular distance x between two brake elements 30 is configured as follows: N is an integer, and N≥0. This ensures that x will not be in the state where... to Within the range, thus avoiding the brake element 30 from jamming the brake spoke 20 and causing the brake element 30 to be unable to retract axially along the shaft 10.

[0065] Optionally, N can be 0, 1, 2... etc., which can be set according to the usage requirements and are not limited herein.

[0066] It should be understood that since all the brake spokes 20 are evenly spaced along the circumferential direction of the rotating shaft 10,

[0067] Figure 5 This is a schematic diagram of the brake mechanism in the first state in another embodiment of the present application; Figure 6 is Figure 5 a schematic diagram of the brake mechanism in the second state in the illustrated embodiment.

[0068] Optionally, It should be noted that as Figure 3 and Figure 5 shown, when the brake mechanism 100 is in the first state, the maximum angle allowed for the rotating shaft 10 to rotate along its circumferential direction is As Figure 4 and Figure 6 shown, when the brake mechanism 100 is in the second state, the maximum angle allowed for the rotating shaft 10 to rotate along its circumferential direction is Since is negatively correlated with , when , the maximum angle allowed for the rotating shaft 10 to rotate after the braking member 30 extends out is the smallest when the brake mechanism 100 is in the braking state. It is calculated that , the maximum angle allowed for the rotating shaft 10 to rotate after braking is the smallest when the brake mechanism 100 is in the braking state, further shortening the maximum values of the braking stroke and the response time.

[0069] [[ID=​​​​​​​​​​​

[0072] Optionally, let (2a + b) - x = x - (a + 2b), and calculate to obtain When the brake mechanism 100 is in the state where the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is minimized, it is

[0073] Figure 7 is a schematic diagram of the brake mechanism in the first state in another embodiment of the present application; Figure 8 is Figure 7 a schematic diagram of the brake mechanism in the second state in the illustrated embodiment.

[0074] In some embodiments, as Figure 7-8 shown, when N = 2, 2a + 3b < x < 3a + 2b. When the brake mechanism 100 is in the first state, the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is (3a + 2b) - x. When the brake mechanism 100 is in the second state, the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is x - (2a + 3b).

[0075] Optionally, let (3a + 2b) - x = x - (2a + 3b), and calculate to obtain When the brake mechanism 100 is in the state where the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is minimized, it is

[0076] Figure 9 is a schematic diagram of the brake mechanism in the first state in another embodiment of the present application; Figure 10 is Figure 9 a schematic diagram of the brake mechanism in the second state in the illustrated embodiment.

[0077] In some embodiments, as Figure 9-10 shown, when N = 3, 3a + 4b < x < 4a + 3b. When the brake mechanism 100 is in the first state, the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is (3a + 2b) - x. When the brake mechanism 100 is in the second state, the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is x - (2a + 3b).

[0078] Optionally, let (4a + 3b) - x = x - (3a + 2b), and calculate to obtain When the brake mechanism 100 is in the state where the maximum angle that the rotating shaft 10 is allowed to turn after the braking member 30 extends is minimized, it is

[0079] 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 brake spokes 20, resulting in a longer braking stroke and response time, and to avoid excessive circumferential distance between two adjacent brake spokes 20, resulting in the brake element 30 easily colliding with or getting stuck on the brake spokes 20.

[0080] Alternatively, 5 ≤ n ≤ 7, b = 6°.

[0081] In one embodiment, n = 5, x can be 36° (N = 0), 108° (N = 1) or 180° (N = 2), and the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake member 30 is extended is 30°.

[0082] In one embodiment, n = 6, x can be 30° (N = 0), 90° (N = 1), 150° (N = 2) or 180° (N = 3), and the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake member 30 is extended is 24°.

[0083] In one embodiment, n = 7, x can be 25.715° (N = 0), 77.145° (N = 1), 128.575° (N = 2) or 180° (N = 3), and the maximum angle that the rotating shaft 10 is allowed to rotate through after the brake member 30 is extended is 19.7°.

[0084] In some embodiments, such as Figure 1 As shown, along the radial direction of the shaft 10, each brake spoke 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 element 30 is positioned closer to the second end than the first end. This reduces the braking torque of the brake element 30 on the shaft 10.

[0085] In some embodiments, the braking mechanism 100 further includes a controller (not shown) electrically connected to each of the two brake elements 30. The controller issues control commands to the two brake elements 30 so that the two brake elements 30 extend or retract synchronously along the axial direction of the shaft 10 toward the side closer to the brake spokes 20 in response to the control commands. This improves the automation level of the braking mechanism 100.

[0086] Specifically, the control commands include a braking command and a brake release command. The two brake elements 30 are configured to extend synchronously along the axial direction of the shaft 10 toward the side closer to the brake spokes 20 in response to the braking command, and the two brake elements 30 are configured to retract synchronously along the axial direction of the shaft 10 in response to the brake release command.

[0087] Optionally, the brake element 30 may be an electromagnet, and the controller is used to control the brake element 30 to be de-energized and energized respectively. The brake element 30 is configured to extend along the axial direction of the shaft 10 toward the side closer to the brake spoke 20 when de-energized, and is configured to retract along the axial direction of the shaft 10 when energized.

[0088] According to another aspect of this application, a robot joint is provided, including a braking mechanism 100 as described in any of the foregoing embodiments. The use of the braking mechanism 100 facilitates more precise control of the relative position of two opposing rotating members connected to the robot or control of the braking distance. For example, the two opposing rotating members may be two robotic arms respectively connected to the robot joint, and the two robotic arms are capable of relative rotation via the robot joint.

[0089] According to another aspect of this application, a robot is provided, including a robot joint as described in any of the foregoing embodiments.

[0090] 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.

[0091] 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.

[0092] 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 brake mechanism, characterized by, The brake mechanism comprises: a rotating shaft; a plurality of brake spokes, which are evenly spaced around the axis of the rotating shaft and extend along the radial direction of the rotating shaft; two brake members, which are spaced apart from the rotating shaft along the radial direction of the rotating shaft and are spaced apart from each other along the circumferential direction of the rotating shaft, and are configured to be synchronously extended or retracted along the axial direction of the rotating shaft towards the side close to the brake spokes in response to a control instruction, so as to stop or release the rotation of the brake spokes; wherein when one of the brake members abuts against the brake spokes, the other brake member is spaced apart from the brake spokes along the circumferential direction of the rotating shaft; the brake mechanism has a first state and a second state when the brake members are extended; when the brake mechanism is in the first state, the number of brake spokes located between the two brake members is m, when the brake mechanism is in the second state, the number of brake spokes located between the two brake members is m+1; wherein m is an integer and m≥0; the number of brake spokes is n, the circumferential angular distance of the two brake members is x, the circumferential angular distance of two adjacent brake spokes is a, and the circumferential angular distance of the two sides of a single brake spoke is b; the circumferential angular distance x of the two brake members is configured as: ； wherein N is an integer and N≥0; ； the movable distance of the two brake members relative to the brake spokes on their outer side in the first state is equal to the movable distance of the two brake members relative to the brake spokes on their inner side in the second state.

2. The brake mechanism of claim 1, wherein in the first state, the circumferential distance of one of the brake members to the brake spoke closest to the outer side is d1, and the circumferential distance of the other brake member to the brake spoke closest to the outer side is d2; in the second state, the circumferential distance of one of the brake members to the brake spoke closest to the inner side is d3, and the circumferential distance of the other brake member to the brake spoke closest to the inner side is d4; the two brake members are configured to satisfy a first condition, which comprises d1+d2=d3+d4.

3. The brake mechanism according to any one of claims 1 to 2, characterized in that, each brake spoke has a first end and a second end opposite to each other along the radial direction of the rotating shaft, the first end is connected to the rotating shaft, and the brake member is closer to the second end than the first end along the radial direction of the rotating shaft.

4. The brake mechanism according to any one of claims 1 to 2, characterized in that, The brake mechanism further comprises a controller electrically connected to the two brake members, respectively, and configured to send the control instruction to the two brake members so that the two brake members are synchronously extended or retracted along the axial direction of the rotating shaft towards the side close to the brake spokes in response to the control instruction.

5. A robot joint, characterized in that The brake mechanism comprises any one of claims 1 to 4.

6. A robot, characterized in that The robot joint comprises the brake mechanism of claim 5.

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