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 seat body, a brake piece, a brake structure and a driving structure. The brake piece is arranged on the outer side of a motor rotor and is configured to rotate with the motor rotor. The brake structure is connected to the seat body in sliding mode in a first direction and is connected to the driving structure in transmission mode; the driving structure is configured to drive the brake structure to slide relative to the seat body in the first direction, so that the brake structure is switched between an expanded state and a contracted state. In the expanded state, the brake structure releases the brake piece, so that the motor rotor works. In the contracted state, the brake structure locks the brake piece, so that the motor rotor is braked. The brake mechanism provided by the application can realize the locking or releasing of the brake piece by switching the brake structure between the two states, and can realize the braking or working of the motor rotor, thereby improving the braking reliability of the brake mechanism.

Description

Technical Field

[0001] This application relates to the field of braking technology, and in particular to braking mechanisms, robot joints, and robots. Background Technology

[0002] Robots are widely used in industries such as automotive, electronics, light industry, and aerospace, and with the development of intelligent manufacturing technology, they are evolving towards higher speeds, higher precision, heavier loads, and lighter weights. Robot joints often require motors to achieve swinging or rotation to complete designated movements, while braking mechanisms are also needed for braking. However, the reliability of current braking mechanisms needs improvement. Summary of the Invention

[0003] Based on this, a braking mechanism, a robot joint, and a robot are provided to improve the braking reliability of the braking mechanism.

[0004] One aspect of this application provides a braking mechanism, comprising:

[0005] seat body;

[0006] A brake element, for mounting on the outside of a motor rotor, the brake element being configured to rotate with the rotation of the motor rotor; and

[0007] A braking structure and a driving structure are provided, wherein the braking structure is slidably connected to the seat body along a first direction and is drive-connected to the driving structure; the driving structure is configured to drive the braking structure to slide relative to the seat body along the first direction, so that the braking structure switches between an extended state and a retracted state.

[0008] In the deployed state, the braking structure releases the brake to enable the motor rotor to operate.

[0009] In the retracted state, the braking structure locks the brake element to brake the motor rotor.

[0010] In one embodiment, the braking mechanism further includes an adjusting member;

[0011] The adjusting member is rotatably connected to the seat and is transmitted between the driving structure and the braking structure. The adjusting member can rotate around the rotation axis under the drive of the driving structure. The adjusting member and the braking structure are configured to generate relative motion in a second direction.

[0012] During the rotation of the adjusting member, the braking structure can slide relative to the seat body along the first direction under the drive of the adjusting member, so that the braking structure switches between the extended state and the retracted state;

[0013] The rotation axis is parallel to or coincides with the rotation axis of the brake component.

[0014] In one embodiment, the braking structure has a first end slidably connected to the seat, the first end having a mating surface facing the brake element;

[0015] In the retracted state, the mating surface abuts against the side wall of the brake component to provide a force that prevents the brake component from rotating;

[0016] In the unfolded state, the mating surface is separated from the side wall of the brake component.

[0017] In one embodiment, a brake portion is provided on the outer peripheral side of the brake component;

[0018] The shape of the mating surface is complementary to the shape of the outer peripheral surface of the brake part.

[0019] In one embodiment, the brake portion is provided as a plurality of brake portions, all of which are arranged along the circumference of the brake member, and a groove is formed between two adjacent brake portions;

[0020] The shape of the mating surface is adapted to the shape of the groove wall.

[0021] In one embodiment, the braking structure has a second end slidably connected to the adjusting member, the second end having a mating portion; the adjusting member has a guide portion;

[0022] The mating part slides in the guide part along the second direction.

[0023] In one embodiment, the distance between the beginning of the guide portion and the rotation axis is defined as a first distance, and the distance between the end of the guide portion and the rotation axis is defined as a second distance;

[0024] The first spacing is greater than the second spacing;

[0025] The guide portion extends in an arc shape between the beginning end and the end end along the second direction.

[0026] In one embodiment, the drive structure includes an electromagnetic switch and a moving part;

[0027] The electromagnetic switch is mounted on the base, and the movable part and the adjusting part are rotatably connected.

[0028] The electromagnetic switch is configured to drive the movable member to move closer to or away from the adjusting member in a third direction, so that the adjusting member rotates about the rotation axis.

[0029] The third direction is parallel to the axis of rotation.

[0030] In one embodiment, the movable member is threadedly connected to the adjusting member.

[0031] In one embodiment, the braking structure is configured as a plurality of them;

[0032] All of the braking structures are spaced apart from each other around the rotation axis of the brake element along the circumference of the seat.

[0033] Another aspect of this application provides a robot joint, including the aforementioned braking mechanism.

[0034] In another aspect, this application also provides a robot including the aforementioned robot joint.

[0035] The aforementioned braking mechanism, robot joint, and robot, wherein the braking mechanism includes at least a base, a brake component, a braking structure, and a drive structure, the drive structure driving the braking structure to slide relative to the base along a first direction, allowing the braking structure to switch between an extended state and a retracted state. In the extended state, the braking structure releases the brake component, enabling the motor rotor to operate. When the braking structure switches to the retracted state, it locks the brake component, stopping its rotation and thus braking the motor rotor. By switching the braking structure between these two states, the locking or releasing of the brake component is achieved, thereby braking or operating the motor rotor, improving the braking reliability of the braking mechanism. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the deployed state of a braking mechanism according to an embodiment of this application;

[0037] Figure 2 This is a schematic diagram of the retracted state of a brake mechanism according to an embodiment of this application;

[0038] Figure 3 This is a cross-sectional schematic diagram of a braking mechanism according to an embodiment of this application;

[0039] Figure 4 for Figure 1 A schematic diagram showing the separation of the braking structure and the brake components;

[0040] Figure 5 for Figure 2 A schematic diagram showing the contact between the braking structure and the brake components.

[0041] Figure 6 This is a schematic diagram of the brake mechanism in an embodiment of this application from another perspective, showing its unfolded state.

[0042] Figure 7This is a schematic diagram of the retracted state of a braking mechanism according to an embodiment of this application from another perspective.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100. Braking mechanism; 110. Seat body; 111. Seat body; 1111. Receiving cavity; 1112. Wall; 1113. Mating hole; 112. End cap; 120. Brake component; 121. Brake part; 122. Groove; 130. Braking structure; 131. First end; 1311. Mating surface; 132. Second end; 1321. Mating part; 133. Connecting arm; 1331. First arm; 1332. Second arm; 1333. Third arm; 140. Drive structure; 141, electromagnetic switch; 1411, housing; 1412, core; 1413, guide rod; 142, moving part; 150, adjusting part; 151, guide part; 152, mounting part; 153, rotating disk; 154, adjusting part; 160, bearing; 170, support part; R1, rotation axis; R2, rotation axis; D1, first gap; D2, second gap; S1, first direction; S2, second direction; Z, third direction; 200, motor rotor. 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 the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this 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, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "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 according to the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "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. "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 when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0051] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the components are shown in the drawings only as examples and not necessarily to actual scale.

[0052] For ease of description, the accompanying drawings only show structures relevant to embodiments of this application.

[0053] Figure 1 A schematic diagram of the brake mechanism 100 in its deployed state according to an embodiment of this application is shown; Figure 2 A schematic diagram of the retracted state of a brake mechanism 100 according to an embodiment of this application is shown;Figure 3 A cross-sectional schematic diagram of a braking mechanism 100 according to an embodiment of this application is shown.

[0054] See Figure 1 and Figure 2 and combined Figure 3 A braking mechanism 100 provided in one embodiment of this application includes a base 110, a brake element 120, a braking structure 130, and a drive structure 140. The brake element 120 is sleeved on the outside of a motor rotor 200 and is configured to rotate with the rotation of the motor rotor 200. The braking structure 130 is slidably connected to the base 110 along a first direction S1 and is drively connected to the drive structure 140. The drive structure 140 is configured to drive the braking structure 130 to slide relative to the base 110 along the first direction S1, thereby switching the braking structure 130 between an extended state and a retracted state. In the extended state, the braking structure 130 releases the brake element 120 to allow the motor rotor 200 to operate. In the retracted state, the braking structure 130 locks the brake element 120 to brake the motor rotor 200.

[0055] The braking mechanism 100 provided in this embodiment of the application has a driving structure 140 that drives a braking structure 130 to slide relative to a seat 110 along a first direction S1, allowing the braking structure 130 to switch between an extended state and a retracted state. In the extended state, the braking structure 130 releases the brake element 120, causing the motor rotor 200 to operate. In the retracted state, the braking structure 130 locks the brake element 120, stopping its rotation and thus braking the motor rotor 200. By switching the braking structure 130 between these two states, the locking or releasing of the brake element 120 is achieved, thereby braking or operating the motor rotor 200, improving the braking reliability of the braking mechanism 100.

[0056] It should be noted that the first direction S1 refers to the direction in which a corresponding braking structure 130 slides toward the brake member 120. In some embodiments described later, when multiple braking structures 130 are provided, the first direction S1 also refers to multiple directions accordingly. The first direction S1 will be described in conjunction with the situations shown in some embodiments, and will not be elaborated further here. Furthermore, the braking mechanism 100 in this application is used as an example for robot joints and robots, which is for ease of explanation and not for limitation. It is understood that the braking mechanism 100 is used to brake a rotary motor, and in addition to robot joints and robots, it can also be applied to other structures or devices that are driven by motors and require braking, without limitation here.

[0057] Continue reading Figure 1 or Figure 2In some embodiments, multiple braking structures 130 are provided, all of which are spaced apart from each other along the circumference of the seat 110 around the rotation axis R1 of the brake member 120. Thus, the multiple braking structures 130, driven by the drive structure 140, can move synchronously toward the rotation axis R1 to switch between an extended state and a retracted state. Furthermore, when switching to the retracted state, the multiple braking structures 130 can lock the brake member 120 from multiple positions, improving locking efficiency and reliability. In the embodiments of this application, three braking structures 130 are provided, making the force on the brake member 120 more balanced during braking and resulting in better braking effect. Of course, in other embodiments, the number of braking structures 130 can also be other than that specified here.

[0058] Combining the previous explanation of the first direction S1 and Figure 1 and Figure 2 When there are multiple braking structures 130, the first direction S1 does not refer to a single direction, but rather to the direction in which a corresponding braking structure 130 slides towards the rotation axis R2. When there are three braking structures 130, such as... Figure 1 or Figure 2 As shown, the first direction S1 also refers to three directions.

[0059] like Figure 3 As shown, in the embodiment of this application, the seat 110 includes a seat body 111 and an end cap 112 disposed on the seat body 111. The seat body 111 has a receiving cavity 1111, in which the motor rotor 200 is housed. Specifically, the receiving cavity 1111 is formed by the wall portion 1112 of the seat body 111. A mating hole 1113 is formed on the wall portion 1112 along a first direction S1. The first end 131 of the braking structure 130 extends into the mating hole 1113 to slide relative to the seat body 111 within the receiving cavity 1111 along the first direction S1. Further, the outer contour of the mating hole 1113 is adapted to the outer contour of the first end 131, specifically to... Figure 3 In one embodiment, the first end 131 is arranged in a square rod shape, and the mating hole 1113 is arranged in a square shape. In conjunction with some embodiments in the context, when there are three braking structures 130, three mating holes 1113 are correspondingly opened on the wall portion 1112, and the opening direction of the three mating holes 1113 also corresponds to a first direction S1.

[0060] Combination Figures 1 to 3As shown, in some embodiments, the braking mechanism 100 further includes an adjusting member 150. The adjusting member 150 is rotatably connected to the seat 110 and is drively connected between the drive structure 140 and the braking structure 130. The adjusting member 150 can rotate about a rotation axis R2 under the drive of the drive structure 140. The adjusting member 150 and the braking structure 130 are configured to generate relative movement along a second direction S2. During the rotation of the adjusting member 150, the braking structure 130 can slide relative to the seat 110 along a first direction S1 under the drive of the adjusting member 150, so that the braking structure 130 switches between an extended state and a retracted state. The rotation axis R2 is parallel to or coincides with the rotation axis R1 of the braking member 120. Thus, by means of the rotation of the adjusting member 150, the driving force of the drive structure 140 is transmitted to the braking structure 130, thereby causing the braking structure 130 to slide relative to the seat 110, realizing the switching of the braking structure 130 between the extended and retracted states, thereby releasing or braking the motor rotor 200. Moreover, by converting rotational motion into linear motion, the braking mechanism 100 can brake the motor rotor 200 with a smaller axial space, improving the structural compactness of the braking mechanism 100, and making it easier to arrange the braking mechanism 100 in the robot joints or robot in some of the embodiments described later.

[0061] It should be noted that the second direction S2 refers to the direction of relative movement between the adjusting member 150 and the braking structure 130. The adjusting member 150 guides the braking structure 130 in linear motion during its rotation around the rotation axis R2. The second direction S2 in this application is not a direction extending in one direction, but rather a direction extending in multiple directions. For example, if a component extends in one direction, it is constructed to extend in a straight line. If a component extends in multiple directions, it can be constructed to extend in a curved shape or a broken line shape, etc. The second direction S2 will be described later with reference to some embodiments, and will not be elaborated further here.

[0062] In the embodiments of this application, the rotation axis R2 coincides with the rotation axis R1, thereby ensuring that the adjusting member 150 and the brake member 120 can rotate coaxially, which facilitates the processing and manufacturing of the parts. Of course, in some other embodiments, the rotation axis R2 may also be parallel to the rotation axis R1, that is, the rotation centers of the adjusting member 150 and the brake member 120 are misaligned. In this case, the size and structure of the braking structure 130 can be adaptively adjusted, as long as the rotation of the adjusting member 150 can drive the braking structure 130 to slide, thereby locking or releasing the brake member 120.

[0063] like Figure 3As shown, in conjunction with the foregoing embodiments, in some embodiments, the adjusting member 150 includes a mounting portion 152, which is rotatably connected to the seat 110 so that the seat 110 supports the adjusting member 150, making the transmission between the drive structure 140 and the braking structure 130 more reliable. Furthermore, the braking mechanism 100 also includes a bearing 160 disposed between the mounting portion 152 and the seat 110 to make the rotation of the adjusting member 150 smoother. Still further, in conjunction with the foregoing embodiments, the mounting portion 152 and the end cap 112 are rotatably connected by means of the bearing 160.

[0064] Figure 4 for Figure 1 A schematic diagram showing the separation of the braking structure 130 and the brake component 120. Figure 5 for Figure 2 A schematic diagram showing the abutment between the braking structure 130 and the brake component 120.

[0065] like Figure 4 and Figure 5 As shown, and in combination Figure 3 In some embodiments, the braking structure 130 has a first end 131 slidably connected to the base 110, and the first end 131 has a mating surface 1311 facing the brake member 120. In the retracted state, the mating surface 1311 abuts against the side wall of the brake member 120 to provide a force that prevents the brake member 120 from rotating. In the extended state, the mating surface 1311 separates from the side wall of the brake member 120. Thus, in the retracted state of the braking structure 130, the abutment between the mating surface 1311 of the first end 131 and the side wall of the brake member 120 prevents the brake member 120 from rotating, thereby preventing the rotation of the motor rotor 200 and achieving braking. In the extended state, the mating surface 1311 separates from the side wall of the brake member 120, thereby releasing the brake member 120 and allowing the motor rotor 200 to rotate. Specifically, in some embodiments, a brake portion 121 is provided on the outer peripheral side of the brake member 120, and the shape of the mating surface 1311 is complementary to the shape of the outer peripheral surface of the brake portion 121. Thus, by complementing each other's shapes, the first mating part 1321 can lock the brake component 120 better and faster, thereby achieving efficient braking.

[0066] More specifically, multiple brake portions 121 are provided, all of which are arranged circumferentially along the brake member 120, and a groove 122 is formed between adjacent brake portions 121. The shape of the mating surface 1311 is adapted to the shape of the groove wall of the groove 122. In this way, the groove 122 between adjacent brake portions 121 can better adapt to the mating surface 1311, thereby achieving locking of the brake member 120. Specifically, the brake portion 121 is constructed with a toothed structure. The toothed structure of the brake portion 121 is easier to manufacture and process. It can be understood that the mating surface 1311 is constructed by two inclined surfaces arranged at an angle, thereby engaging with the groove between adjacent toothed structures to prevent rotation of the brake portion 121, and thus brake the brake member 120. In the embodiments of this application, the first end 131 is clearance-fitted with the groove 122, thereby increasing the ease with which the first end 131 leaves or enters the groove 122 when the braking structure 130 switches between the extended and retracted states, while also reducing friction. Of course, in some other embodiments, the mating surface 1311 may also be configured to have a limiting space that can limit the braking part 121; that is, in the retracted state, the toothed braking part 121 is housed within the limiting space. It is understood that as long as the mating surface 1311 and the braking part 121 can cooperate to prevent the braking member 120 from rotating, it is acceptable.

[0067] Figure 6 This is a schematic diagram showing the brake mechanism 100 of one embodiment of the present application in an unfolded state from another perspective; Figure 7 This is a schematic diagram of the retracted state of a brake mechanism 100 according to an embodiment of this application from another perspective.

[0068] like Figure 6 and Figure 7 As shown, and in combination Figure 1 or Figure 2 In some embodiments, the braking structure 130 has a second end 132 slidably connected to the adjusting member 150, and a mating portion 1321 is provided on the second end 132. The adjusting member 150 is provided with a guide portion 151, and the mating portion 1321 is slidably mated to the guide portion 151 along the second direction S2. In this way, during the rotation of the adjusting member 150, the guide portion 151 can be guided to slide relative to the seat 110 by means of the relative sliding between the guide portion 151 and the mating portion 1321, thereby driving the braking structure 130 to move toward or away from the brake member 120, thereby locking or releasing the brake member 120.

[0069] Specifically, the guide portion 151 is constructed as a recessed structure or a hole structure, and the mating portion 1321 extends at least partially into the guide portion 151 to slide and engage with it. In conjunction with some of the foregoing embodiments, multiple guide portions 151 are provided to correspond one-to-one with the mating portions 1321 of multiple braking structures 130. In the embodiment of this application, three guide portions 151 are provided. In conjunction with some of the foregoing embodiments, the adjusting member 150 includes a rotating disk 153 connected to the mounting portion 152, and the guide portion 151 is disposed on the rotating disk 153.

[0070] Continue reading Figure 6 or Figure 7 In some specific embodiments, the distance between the beginning of the guide portion 151 and the rotation axis R2 is defined as a first distance D1, and the distance between the end of the guide portion 151 and the rotation axis R2 is defined as a second distance D2, where the first distance D1 is greater than the second distance D2. The guide portion 151 extends in an arc shape along the second direction S2 between its beginning and end. It can be understood that the beginning of the guide portion 151 is relatively close to the edge of the adjusting member 150, while the end of the guide portion 151 is relatively close to the rotation axis R2. Thus, when the adjusting member 150 rotates, the generally arc-shaped guide portion 151 guides the mating portion 1321 to slide between the beginning and end of the guide portion 151, thereby achieving the switching of the braking structure 130 between the extended and retracted states. In the embodiments of this application, the guide portion 151 is constructed as a hole structure with a generally arc-shaped outer contour, and the mating portion 1321 is configured as a cylindrical pin structure.

[0071] It should be noted that the second direction S2 is an arc-shaped extension direction. As the rotating disk 153 rotates, the guide portion 151, which extends in an arc shape along the second direction S2, drives the mating portion 1321 to move linearly along the first direction S1. Here, "extending in an arc shape along the second direction S2" refers to the direction in which the guide portion 151 extends, but does not limit the shape of the guide portion 151. Since the beginning and end of the guide portion 151 extend obliquely away from each other, that is, the guide portion 151 is not a structure extending in one direction, but rather a structure extending in multiple directions.

[0072] It should also be noted that, in combination Figure 6 and Figure 7 When there are multiple guide sections 151, the second direction S2 does not refer to a single direction, but rather to the extension direction corresponding to one guide section 151. When there are three guide sections 151, such as... Figure 6 or Figure 7As shown, the second direction S2 also refers to three directions. In conjunction with some of the embodiments described above, one guide portion 151 corresponds to one second direction S2, and one guide portion 151 corresponds to a mating portion 1321 of a braking structure 130, thereby guiding the mating portion 1321 to slide along a corresponding first direction S1.

[0073] like Figure 3 As shown, in an embodiment of this application, the braking structure 130 further includes a connecting arm 133 connected between the first end 131 and the second end 132. The connecting arm 133 has a first arm portion 1331, a second arm portion 1332, and a third arm portion 1333 connected in sequence, wherein the first arm portion 1331 is connected to the first end 131, and the second arm portion 1332 is connected to the second end 132. The first arm portion 1331 and the third arm portion 1333 are respectively angled to the second arm portion 1332. Thus, by means of the bent connection of the first arm portion 1331, the second arm portion 1332, and the third arm portion 1333, the axial space occupied by the braking structure 130 can be reduced, thereby reducing the axial space occupied by the braking mechanism 100. In the embodiments of this application, the first arm portion 1331 and the second arm portion 1332 are arranged at a right angle, and the third arm portion 1333 and the second arm portion 1332 are arranged at a right angle, and the extension direction of the first arm portion 1331 is parallel to the extension direction of the third arm portion 1333.

[0074] Please refer to it again. Figures 1 to 3 In some embodiments, the drive structure 140 includes an electromagnetic switch 141 and a movable member 142. The electromagnetic switch 141 is mounted on the base 110, and the movable member 142 is rotatably connected to the adjusting member 150. The electromagnetic switch 141 is configured to drive the movable member 142 to move closer to or further away from the adjusting member 150 along a third direction Z, causing the adjusting member 150 to rotate about a rotation axis R2. The third direction Z is parallel to the rotation axis R2. Thus, by driving the movable member 142 to move in the third direction Z using the electromagnetic switch 141, the linear motion of the movable member 142 is converted into the rotational motion of the adjusting member 150, thereby guiding the movement of the braking structure 130.

[0075] like Figure 3 As shown, in some specific embodiments, the movable member 142 is threadedly connected to the adjusting member 150 to achieve the conversion between linear motion and rotational motion. In conjunction with the aforementioned embodiments, the adjusting member 150 also includes an adjusting part 154 connected to the rotating disk 153, and the adjusting part 154 is threadedly connected to the movable member 142. It can be understood that the movable member 142 and the adjusting part 154 are similar to a lead screw and nut structure, enabling self-locking and making braking more reliable.

[0076] Combination Figures 1 to 3As shown, in some embodiments, the braking mechanism 100 further includes a support member 170, which is supported between the base 110 and the drive structure 140, so that the drive structure 140 can reliably apply a driving force to the braking structure 130. The electromagnetic switch 141 includes a housing 1411 and a core 1412. The housing 1411 is mounted on the support member 170, and the core 1412 is configured to move within the housing 1411 along a third direction Z. The core 1412 is connected to the movable member 142. Specifically, the electromagnetic switch 141 also includes a guide rod 1413, which passes through the housing 1411 along a third direction Z and is connected to the core 1412. The outer contour of the guide rod 1413 is square to ensure that the guide rod 1413 moves within the housing 1411 along a third direction Z without rotation, thereby driving the movable member 142 to move along a third direction Z by the core 1412.

[0077] In some embodiments, the core 1412 and the movable member 142 are an integrated structure. Of course, the core 1412 and the movable member 142 can also be separate structures, as long as the movable member 142 can be fixedly connected to the core 1412 and move with the movement of the core 1412. The electromagnetic switch 141 also includes an elastic member (not shown in the figure), which is elastically connected between the housing 1411 and the movable member 142. After the electromagnetic switch 141 is de-energized, the elastic potential energy stored in the elastic member provides a force to push the movable member 142 to move, so that the movable member 142 moves toward the adjusting member 150.

[0078] like Figures 1 to 7 As shown, and in conjunction with some of the aforementioned embodiments, the working process of the braking mechanism 100 is illustrated by way of example. When the electromagnetic switch 141 is energized, the core 1412 is attracted by magnetic force, causing the movable member 142 to move away from the adjusting member 150 along the third direction Z. The adjusting part 154 of the adjusting member 150 rotates relative to the movable member 142, causing the rotating disk 153 to rotate counterclockwise. The guide part 151 on the rotating disk 153 guides the mating part 1321 on the braking structure 130 to slide from the end to the beginning, thereby switching to the unfolded state of the braking structure 130. In the unfolded state, the sliding of the mating part 1321 causes the mating surface 1311 on the first end 131 of the braking structure 130 to separate from the outer peripheral surface of the brake part 121, thereby releasing the brake member 120 and allowing the motor to rotate.

[0079] After the electromagnetic switch 141 is de-energized, the elastic element in the electromagnetic switch 141 pushes the movable element 142 to move towards the adjusting element 150 along the third direction Z. The adjusting element 150 rotates clockwise, and the guide portion 151 on the rotating disk 153 guides the mating portion 1321 to slide from the beginning to the end, so as to switch to the retracted state of the braking structure 130. In the retracted state, the sliding of the mating portion 1321 causes the mating surface 1311 on the first end 131 of the braking structure 130 to abut against the side wall of the brake element 120, thereby preventing the rotation of the brake element 120 and braking the brake element 120, thus realizing motor braking.

[0080] Based on the same inventive concept, another aspect of this application provides a robot joint, including the aforementioned braking mechanism 100. By using the aforementioned braking mechanism 100, since the braking mechanism 100 occupies less axial space, the robot joint can more easily arrange other parts, making the robot joint lighter and more compact, and with higher braking efficiency and better braking effect.

[0081] Based on the same inventive concept, another aspect of this application provides a robot including the aforementioned robot joints. A robot using these robot joints can meet the requirements of lightweight robot design, while also enabling it to better perform designated actions.

[0082] Combination Figures 1 to 7 The braking mechanism 100 provided in this application embodiment drives the braking structure 130 to slide relative to the seat 110 along the first direction S1, allowing the braking structure 130 to switch between an extended state and a retracted state. In the extended state, the braking structure 130 releases the brake element 120, causing the motor rotor 200 to operate. In the retracted state, the braking structure 130 locks the brake element 120, stopping its rotation and thus braking the motor rotor 200, improving the braking reliability of the braking mechanism 100. Furthermore, by converting the rotational motion into linear motion of the braking structure 130 through the adjusting member 150, and then releasing or locking the brake element 120 by the braking structure 130, braking of the motor rotor 200 can be achieved with a smaller axial space, improving the structural compactness of the braking mechanism 100 and making it easier to arrange the braking mechanism 100 in robot joints or robots in some of the embodiments described later. The braking structure 130 is configured with multiple parts, which can lock the brake component 120 from multiple positions, improve the locking efficiency, make the force on the brake component 120 more balanced during braking, and improve the braking effect.

[0083] In the retracted state of the braking structure 130, the mating surface 1311 of the first end 131 abuts against the side wall of the brake member 120, preventing the brake member 120 from rotating, thereby preventing the rotation of the motor rotor 200 and achieving braking. In the unfolded state, the mating surface 1311 separates from the side wall of the brake member 120, thereby releasing the brake member 120 and allowing the motor rotor 200 to rotate. By using the complementary shapes of the mating surface 1311 and the outer peripheral surface of the brake part 121, the first mating part 1321 can lock the brake member 120 better and faster, thereby achieving efficient braking.

[0084] During the rotation of the adjusting member 150, the guide portion 151 slides relative to the seat 110 by means of the relative sliding between the guide portion 151 and the mating portion 1321, thereby driving the braking structure 130 to move toward or away from the brake member 120, thereby locking or releasing the brake member 120. The guide portion 151 is generally arc-shaped, so that the mating portion 1321 slides between the beginning and end of the guide portion 151 when the adjusting member 150 rotates. The movable member 142 in the drive structure 140 is threadedly connected to the adjusting member 150 so that, under the drive of the electromagnetic switch 141, the linear motion of the movable member 142 is converted into the rotational motion of the adjusting member 150. The electromagnetic switch 141 also includes an elastic member so that, after the electromagnetic switch 141 is de-energized, the elastic potential energy stored in the elastic member provides a force to push the movable member 142 to move, so that the movable member 142 moves toward the adjusting member 150.

[0085] The robot joints and robot using the aforementioned braking mechanism 100 can more easily arrange other parts, making the robot joints lighter and smaller, with higher braking efficiency and better braking effect. It can also meet the lightweight design requirements of the robot and better complete the specified actions with the help of the robot joints.

[0086] 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.

[0087] 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 mechanism, characterized in that, include: seat body; A brake element is used to be sleeved on the outside of the motor rotor, and the brake element is configured to rotate with the rotation of the motor rotor; as well as A braking structure and a driving structure are provided, wherein the braking structure is slidably connected to the seat body along a first direction and is drive-connected to the driving structure; the driving structure is configured to drive the braking structure to slide relative to the seat body along the first direction, so that the braking structure switches between an extended state and a retracted state. In the deployed state, the braking structure releases the brake to enable the motor rotor to operate; in the retracted state, the braking structure locks the brake to brake the motor rotor. The braking mechanism further includes an adjusting member; the adjusting member is rotatably connected to the seat and is transmitted between the drive structure and the braking structure; the adjusting member can rotate around the rotation axis under the drive of the drive structure; the adjusting member and the braking structure are configured to generate relative motion in a second direction. During the rotation of the adjusting member, the braking structure can slide relative to the seat in the first direction under the drive of the adjusting member, so that the braking structure switches between the extended state and the retracted state; wherein, the rotation axis of the adjusting member and the rotation axis of the braking member are parallel to each other or coincide with each other; The braking structure has a second end that is slidably connected to the adjusting member, and the second end is provided with a mating part; the adjusting member is provided with a guide part, and the mating part is slidably mated with the guide part along the second direction; The braking structure further includes a connecting arm, which includes a first arm, a second arm, and a third arm connected in sequence. The first arm is connected to a first end, and the second arm is connected to a second end. The extension direction of the first arm is parallel to the extension direction of the third arm, and both are set at right angles to the second arm.

2. The braking mechanism according to claim 1, characterized in that, The braking structure has a first end that is slidably connected to the seat, and the first end has a mating surface facing the brake element; In the retracted state, the mating surface abuts against the side wall of the brake component to provide a force that prevents the brake component from rotating; In the unfolded state, the mating surface is separated from the side wall of the brake component.

3. The braking mechanism according to claim 2, characterized in that, The brake component has a brake section on its outer periphery; The shape of the mating surface is complementary to the shape of the outer peripheral surface of the brake part.

4. The braking mechanism according to claim 3, characterized in that, The brake part is provided in multiple parts, all of which are arranged along the circumference of the brake member, and a groove is formed between two adjacent brake parts; The shape of the mating surface is adapted to the shape of the groove wall.

5. The braking mechanism according to claim 1, characterized in that, The distance between the beginning of the guide portion and the rotation axis is defined as the first distance, and the distance between the end of the guide portion and the rotation axis is defined as the second distance; The first spacing is greater than the second spacing; The guide portion extends in an arc shape between the beginning end and the end end along the second direction.

6. The braking mechanism according to claim 1, characterized in that, The drive structure includes an electromagnetic switch and a moving part; The electromagnetic switch is mounted on the base, and the movable part and the adjusting part are rotatably connected. The electromagnetic switch is configured to drive the movable member to move closer to or away from the adjusting member in a third direction, so that the adjusting member rotates about the rotation axis. The third direction is parallel to the axis of rotation.

7. The braking mechanism according to claim 6, characterized in that, The movable part is threadedly connected to the adjusting part.

8. The braking mechanism according to any one of claims 1-7, characterized in that, The braking structure is configured as multiple; All of the braking structures are spaced apart from each other around the rotation axis of the brake element along the circumference of the seat.

9. A robot joint, characterized in that, Includes the braking mechanism as described in any one of claims 1-8.

10. A robot, characterized in that, Including the robot joint as described in claim 9.

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