Brake, robot joint, and robot

Abstract

The application discloses a brake, a robot joint and a robot. The brake comprises a fixed seat, a brake pad, a plurality of convex teeth arranged at a circumferential interval on the brake pad, the brake pad being used for being connected with a to-be-braked part and being capable of rotating together with the connected to-be-braked part, and a brake device comprising a brake part, the brake part being used for braking the rotation of the brake pad, wherein the brake part is arranged to be rotatable, the rotation movement of the brake part has a first angle position, the brake part comprises an abutting part and a push piece, the push piece is used for extending between adjacent convex teeth, so that the brake part is rotated to the first angle position by the push piece and the abutting part is abutted between the fixed seat and the convex teeth to limit the brake pad and the brake part from continuously rotating when the brake part reaches the first angle position. The brake provided by the scheme is more stable and reliable in braking and has a longer service life.

Description

Technical Field

[0001] This application relates to the field of braking devices, and more particularly to a brake, a robot joint, and a robot. Background Technology

[0002] Existing brakes (such as robot joint brakes) use electromagnets to drive push rods to extend and retract, and brake the high-speed shaft by colliding the push rod with the chuck driven by the high-speed shaft. However, this method has problems such as unstable performance, poor reliability, and short product life, which is not suitable for some applications with high safety requirements. Summary of the Invention

[0003] One objective of this application is to provide a brake that provides more stable and reliable braking with a longer service life.

[0004] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0005] One aspect of this application provides a brake, comprising: a fixed base; a brake pad having a plurality of protruding teeth spaced circumferentially on it, the brake pad being usable for connection to a braked component and capable of rotating together with the connected braked component; and a braking device, comprising a braking member, the braking member being usable for braking the rotation of the brake pad, wherein the braking member is configured to rotate, the rotation of the braking member having a first angular position, the braking member comprising abutting portion and a paddle, the paddle being usable for extending between adjacent protruding teeth, such that the braking member, through the paddle abutting against the protruding teeth, can rotate to the first angular position under the drive of the brake pad, and when the braking member reaches the first angular position, the abutting portion abuts against the fixed base and the protruding teeth to limit the continued rotation of the brake pad and the braking member.

[0006] According to some technical solutions of this application, the braking member is defined with a central portion, and the braking member can rotate about the central portion to reach or leave the first angular position; the abutment portion includes a first protrusion and a second protrusion, the first protrusion and the second protrusion being respectively arranged to bulge laterally relative to the central portion. When the braking member rotates about the central portion to the first angular position, one of the first protrusion and the second protrusion abuts against the fixed seat to limit the braking member from continuing to rotate, and the other of the first protrusion and the second protrusion abuts against the tooth to stop the brake pad from rotating.

[0007] According to some technical solutions of this application, the first protrusion and the second protrusion are located on both sides of the central portion, and a certain angle is formed between the first protrusion and the second protrusion; the paddle is arranged to bulge to the side relative to the central portion, and the paddle is arranged in the circumferential direction of the central portion between the first protrusion and the second protrusion.

[0008] According to some technical solutions of this application, the outer surfaces of the first protrusion and the second protrusion each include a top surface, a first side surface, and a second side surface. The first side surface transitions between the paddle and the top surface and forms a groove with the paddle. The second side surface is located on the side of the first protrusion or the second protrusion opposite to the first side surface. When the brake is rotated to the first angle position, the top surface of one of the first protrusion and the second protrusion abuts against the side surface of one of the teeth, and the groove between the first side surface and the paddle accommodates the other tooth. The second side surface of the other of the first protrusion and the second protrusion abuts against the fixing seat.

[0009] According to some technical solutions of this application, the first protrusion and the second protrusion are symmetrical structures; and / or the central part includes a first rod, the first rod is located on one axial side of the abutment and the paddle, the first rod can be inserted into the mating hole on the housing of the robot joint and can rotate in the mating hole.

[0010] According to some technical solutions of this application, the rotational movement of the brake member has two first angular positions and a second angular position located between the two first angular positions. When the brake member reaches the second angular position, the paddle is located between two adjacent protrusions, and both the first protrusion and the second protrusion are separated from the protrusions. The brake also includes a reset member, which cooperates with the brake member and can provide a force to the brake member to drive the brake member to the second angular position.

[0011] According to some technical solutions of this application, the reset member includes a magnetic element, which can generate an attractive or repulsive force with the braking member to drive the braking member to the second angular position.

[0012] According to some technical solutions of this application, the reset member includes a first elastic member. When the brake member is located at the first angular position, the brake member abuts against the first elastic member, causing the first elastic member to elastically deform. The elastic force generated by the first elastic member can be used to drive the brake member to the second angular position. The first elastic member is at least one or more of a spring, a spring, and a torsion spring. And / or the reset member includes a spring with a convex cone portion and connecting pieces located on both sides of the convex cone portion. The connecting pieces are connected to the fixed seat. The brake member has a guide concave surface on the side opposite to the lever. The convex cone portion abuts against the guide concave surface and can slide on the guide concave surface.

[0013] According to some technical solutions of this application, the brake element is configured to be movable, and the movable movement of the brake element has a braking position and a releasing position. When the brake element moves to the braking position, the paddle can extend between adjacent teeth to drive the brake element to rotate to the first angle position through the paddle and the teeth. When the brake element moves to the releasing position, the abutment and the paddle are separated from the brake pad. The braking device also includes a driving element, which can be used to drive the brake element to move, so that the brake element switches between the braking position and the releasing position.

[0014] According to some technical solutions of this application, the driving member includes an electromagnet and a second elastic member. The central part of the braking member includes a second rod, which is located on the axial side of the abutment and the paddle. The second rod cooperates with the electromagnet to enable the braking member to move under the drive of the electromagnet. The second elastic member abuts against the second rod and the electromagnet. The electromagnet generates a force to drive the braking member to the release position when energized. When the braking member is in the release position, the braking member causes the second elastic member to elastically deform. The elastic force generated by the second elastic member can be used to drive the braking member to the braking position. And / or the driving member is disposed on the fixed base.

[0015] According to some technical solutions of this application, the fixing seat is located on the side of the brake pad, and the fixing seat is provided with a recessed portion with an opening facing the brake pad. A receiving space is formed between the recessed portion and the brake pad. When the brake member moves to the braking position, the abutment portion and the paddle are located in the receiving space. The brake member rotates in the receiving space to make the abutment portion abut against the inner wall surface of the recessed portion and the protruding teeth. When the brake member moves to the release position, the abutment portion and the paddle leave the receiving space.

[0016] According to some technical solutions of this application, the number of serrations on the brake pad is more than 20; and / or the idle angle of the brake pad is less than 60°.

[0017] According to some technical solutions of this application, the number of serrations on the brake pad is 36; and / or the idle angle of the brake pad is 10°.

[0018] According to some technical solutions of this application, the interior of the convex tooth is defined by a hollow cavity.

[0019] According to some technical solutions of this application, the brake pad includes: a connecting portion configured to be connected to the brake element; a plurality of Y-shaped ribs, the plurality of Y-shaped ribs being arranged at circumferential intervals along the connecting portion, the bottom end of each Y-shaped rib being connected to the connecting portion, the adjacent ends of two adjacent Y-shaped ribs being joined together to define the convex tooth having the hollow cavity inside, and the upper part of the Y-shaped rib forming a tooth groove with an opening.

[0020] According to some technical solutions of this application, the brake pad is provided with a mounting hole, wherein the brake pad can be mounted on the brake element by fasteners passing through the mounting hole; or the brake element is defined with an adhesive surface, the adhesive surface being used to attach adhesive so that the brake pad can be bonded to the brake element.

[0021] According to some technical solutions of this application, each brake pad is provided with one or more brake devices; based on the case where each brake pad is provided with multiple brake devices, the multiple brake devices are distributed around the brake pad at circumferential intervals.

[0022] Another embodiment of this application provides a robot joint, including: a member to be braked; and a brake as described in any of the above technical solutions, wherein the brake pads of the brake are connected to the member to be braked.

[0023] According to some technical solutions of this application, the robot joint further includes: a housing, a portion of the braked component extending out of the housing and connected to the brake pad, a fixing seat of the brake being disposed on the surface of the housing, the fixing seat being integral with the housing or being a separate structure; a mounting groove is provided on the housing, a bushing is provided in the mounting groove, the bushing forming a mating hole, and the braked component of the brake being able to extend into the mating hole and rotate relative to the mating hole.

[0024] Another embodiment of this application provides a robot including the robot joints described in any of the above technical solutions.

[0025] In this application, the brake includes a fixed base, brake pads, and a braking device. The brake pads are used to connect to the part to be braked and rotate together with it. The braking device is used to brake the brake pads, thereby braking the part to be braked accordingly. In this design, the braking component of the braking device includes a stop and a paddle. When the braking component is used to brake the brake pads, the paddle extends between two adjacent teeth of the brake pads. The rotating brake pads drive the paddle through the teeth, causing the braking component to rotate to a first angular position. By rotating the braking component to the first angular position, the stop abuts against the teeth of the brake pads and the fixed base. In this way, the movement of the teeth is blocked by the stop, thereby restricting the rotation of the brake pads and achieving brake pad braking. In this structure, the braking component rotates to cause the stop to abut against the fixed base and the teeth for braking. Thus, the force relief point for braking the brake pads is configured on the fixed base, which satisfies the force relief requirement while improving the force distribution effect of the braking component. This makes it easier to ensure the long-term accuracy of the brake, making the braking more stable and reliable, and extending the product's service life.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0027] The above and other objectives, features and advantages of this application will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0028] Figure 1 This is a front view structural diagram of a robot joint in a first mode according to an embodiment of this application.

[0029] Figure 2 yes Figure 1 The diagram shows the structure of the AA cross section.

[0030] Figure 3 yes Figure 2 The enlarged structural diagram of part D shown in the figure.

[0031] Figure 4 This is a front view structural diagram of a robot joint in a second mode according to an embodiment of this application.

[0032] Figure 5 yes Figure 4 The diagram shows a structural schematic of the BB cross-section.

[0033] Figure 6 yes Figure 5 The enlarged structural diagram of part E shown in the figure.

[0034] Figure 7 This is a top view of the robot joint in a second mode according to an embodiment of this application.

[0035] Figure 8 yes Figure 7 The diagram shows a structural schematic of the CC cross-section.

[0036] Figure 9 yes Figure 8 An enlarged structural diagram of part F shown in the figure.

[0037] Figure 10 yes Figure 9 The diagram shows the structure in another state.

[0038] Figure 11 This is a cross-sectional structural diagram of a brake disc according to one embodiment of this application.

[0039] Figure 12 This is a three-dimensional structural schematic diagram of a braking component according to an embodiment of this application.

[0040] Figure 13 This is a three-dimensional structural schematic diagram of the first elastic member according to an embodiment of this application.

[0041] Figure 14 This is a three-dimensional structural diagram of a robot joint according to an embodiment of this application.

[0042] The annotations in the attached figures are explained as follows:

[0043] Robot joint 1;

[0044] Brake 10;

[0045] Fixing base 100; Recessed portion 102;

[0046] Brake pad 200; tooth 202; hollow cavity 204; connecting part 210; mounting hole 211; Y-shaped rib 220; first rib 221; second rib 222; third rib 223; tooth groove 224;

[0047] Braking device S;

[0048] Brake component 300; brake disc 302; abutment portion 310; first protrusion 311; top convex surface M3111; first side surface M3112; second side surface M3113; second protrusion 312; top convex surface N3121; first side surface N3122; second side surface N3123; guide concave surface 3124; paddle shifter 320; center portion 330; first lever 331; second lever 332; groove 340;

[0049] First elastic element 400; Convex portion 410; Connecting piece 420;

[0050] Drive component 500; electromagnet 510; second elastic component 520;

[0051] Housing 20; Mounting groove 21; Bushing 22; Mating hole 23;

[0052] Waiting to brake component 30. Detailed Implementation

[0053] Although this application can be readily embodied in various forms of implementation, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is understood that this specification should be regarded as an exemplary illustration of the principles of this application and is not intended to limit the application to what is described herein.

[0054] Therefore, a feature described in this specification is used to illustrate one feature of one embodiment of this application, and does not imply that every embodiment of this application must have the described feature. Furthermore, it should be noted that this specification describes many features. While certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0055] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, inside, outside, etc.) used to explain the structure and movement of the various elements of this application are relative rather than absolute. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, these directional indications also change accordingly.

[0056] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided to make the description of this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0057] The preferred embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0058] One embodiment of this application provides a brake 10. The brake 10 can be used to brake a robot joint 1, specifically, for example, to brake a high-speed axis waiting brake 30 of the robot joint 1 (more specifically, such as the joint of a collaborative robot).

[0059] like Figure 14 As shown, the brake 10 includes a mounting base 100, brake pads 200, and a braking device S.

[0060] Brake pad 200 can be connected to the braked member 30 and can rotate together with the connected braked member 30. For example, brake pad 200 can be connected to the high-speed axis of robot joint 1, so that brake pad 200 rotates together with the height axis.

[0061] The brake pad 200 has multiple protruding teeth 202 spaced circumferentially along its upper edge.

[0062] The braking device S includes a braking element 300, which can be used to brake the rotation of the brake pad 200 so that the brake pad 200 is braked together with the brake element 30 connected to the brake pad 200.

[0063] The brake element 300 is configured to rotate, and its rotational movement has a first angular position. (Combined with...) Figure 14 and Figure 12 It is understood that the brake member 300 includes an abutment portion 310 and a paddle 320. The paddle 320 can be inserted between adjacent teeth 202, so that the brake member 300 can rotate to a first angle position under the drive of the brake pad 200 by abutting against the teeth 202 through the paddle 320. When the brake member 300 reaches the first angle position, the abutment portion 310 can abut against the fixed seat 100 and the teeth 202 to limit the brake pad 200 and the brake member 300 from continuing to rotate.

[0064] Please see Figure 7 , Figure 8 and Figure 9 , Figure 7 , Figure 8 and Figure 9 The diagram shows the engagement structure between the brake element 300 and the brake pad 200 in the first angular position. (As shown...) Figure 9As shown, the abutment portion 310 of the brake member 300 can be understood with reference to the first protrusion 311 and the second protrusion 312 shown in the attached drawings. When the brake member 300 is used to brake the brake pad 200 that rotates in the G1 direction, the paddle 320 extends between two adjacent teeth 202 of the brake pad 200. Driven by the teeth 202 that move in the G1 direction, the paddle 320 causes the brake member 300 to automatically rotate in the g1 direction to a first angular position. When the brake member 300 is in the first angular position, the abutment portion 310 abuts against the fixed seat 100 and the teeth 202 to limit the brake pad 200 from continuing to rotate in the G1 direction and to limit the brake member 300 from continuing to rotate in the g1 direction. That is, by abutting the abutting part 310 against the fixed seat 100, the brake member 300 can be restricted from continuing to rotate in the g1 direction, so that the abutting part 310 can be stabilized at the first angle position, thereby ensuring that the abutting part 310 and the tooth 202 maintain stable contact. By abutting the abutting part 310 against the tooth 202, the brake pad 200 can be restricted from continuing to rotate in the G1 direction, thereby correspondingly achieving braking of the brake member 30.

[0065] Those skilled in the art will understand that in conventional technical solutions, the brake 10 uses an electromagnet 510 to drive a push rod, causing the push rod to engage in the chuck. Braking is achieved by limiting the rotation of the chuck through collision between the push rod and the chuck. Compared to conventional technical solutions, in the structure of this embodiment, the brake element 300 is mainly used to transmit torque, and the braking force relief point is configured on the fixed seat 100. This achieves braking while reducing shearing forces on the brake element 300, greatly optimizing its force distribution. During long-term use, the accuracy of the brake element 300 in aspects such as shape, movement, and drive is more easily guaranteed, resulting in more stable and reliable braking, a longer product lifespan, and enabling the brake 10 to perform reliable and high-precision braking over a long period. This also makes the brake 10 suitable for scenarios requiring higher braking precision.

[0066] In some embodiments, the number of teeth 202 on the brake pad 200 may optionally be 20 or more. This greatly reduces the return stroke of the brake 10, resulting in higher braking accuracy and reliability.

[0067] Alternatively, the number of serrations 202 on the brake pad 200 may be 25 to 60. This reduces the return stroke while preventing the serrations 202 from being too densely distributed. As a result, when the brake element 300 is used to brake the brake pad 200, the paddle 320 can more easily enter between adjacent serrations 202, further improving the braking success rate.

[0068] Alternatively, the brake pad 200 may have 30 to 40 teeth 202. More preferably, the brake pad 200 may have 36 teeth 202.

[0069] In some embodiments, such as Figure 8 As shown, the interior of the protruding tooth 202 is defined by a hollow cavity 204. In this way, when the braking protruding tooth 202 is impacted, the protruding tooth 202 can deform into the hollow cavity 204 to absorb the impact energy, reduce the probability of damage to the protruding tooth 202 due to impact during braking, extend the life of the brake 10 and improve the reliability of the brake 10.

[0070] In some embodiments, such as Figure 8 As shown, the brake pad 200 includes a connecting portion 210 and a plurality of Y-shaped ribs 220.

[0071] The connecting portion 210 is configured to connect with the member to be braked 30. Further, for example, Figure 8 As shown, one or more mounting holes 211 are provided on the connecting portion 210, and the brake pad 200 can be mounted on the brake member 30 by fasteners passing through the mounting holes 211. Of course, in other embodiments, an adhesive surface may also be defined on the connecting portion 210 of the brake member, the adhesive surface being used to attach adhesive so that the brake pad 200 can be bonded to the brake member 30.

[0072] Multiple Y-shaped ribs 220 are arranged at circumferential intervals along the connecting portion 210. Each Y-shaped rib 220 specifically includes a first rib 221, a second rib 222, and a third rib 223. The first rib 221, the second rib 222, and the third rib 223 intersect at a point, and each pair forms an angle with the others. The lower rib of the Y-shaped rib 220 is the third rib 223, which is connected to the connecting portion 210. The upper two ribs of the Y-shaped rib 220 are the first rib 221 and the second rib 222, which together form an open groove 224. The first rib 221 of the Y-shaped rib 220 connects to the third rib 223 of the adjacent Y-shaped rib 220 to define a protruding tooth 202, and a hollow cavity 204 is formed between the Y-shaped rib 220 and the adjacent Y-shaped rib 220. The third rib 223 of the Y-shaped rib 220 connects with the first rib 221 of the adjacent Y-shaped rib 220 to define the protruding tooth 202, and a hollow cavity 204 is formed between the Y-shaped rib 220 and the adjacent Y-shaped rib 220. In this way, while defining the protruding tooth 202 on the brake pad 200, multiple thin beams are formed inside the brake pad 200 through ribs, which can generate a certain buffering effect during braking, improve the reliability of the brake 10, and help extend the service life of the brake 10.

[0073] In some embodiments, such as Figure 12As shown, the brake member 300 defines a central portion 330, and the brake member 300 can rotate about the central portion 330 to reach or leave a first angular position; the abutment portion 310 includes a first protrusion 311 and a second protrusion 312, which are respectively provided to protrude laterally relative to the central portion 330. Wherein, as Figure 8 As shown, when the brake element 300 rotates around the center portion 330 to the first angular position, one of the first protrusion 311 and the second protrusion 312 abuts against the fixed seat 100 to limit the brake element 300 from continuing to rotate, and the other of the first protrusion 311 and the second protrusion 312 abuts against the tooth 202 to stop the brake pad 200 from rotating. In this way, the brake element 300 roughly forms a lever structure, which is simpler in structure, and the brake element 300 can transmit torque more efficiently between the fixed seat 100 and the tooth 202. This can minimize the shearing force on the brake element 300, and the shape, movement and other precision of the brake element 300 are easier to maintain, which is more conducive to the long-term reliable and high-precision braking of the brake 10.

[0074] Furthermore, such as Figure 12 As shown, the first protrusion 311 and the second protrusion 312 are located on both sides of the central portion 330, forming a certain angle between them; the paddle 320 is provided to protrude laterally relative to the central portion 330, and is positioned circumferentially around the central portion 330 between the first protrusion 311 and the second protrusion 312. This allows for braking of the brake pad 200 in both directions of rotation. More specifically, to accommodate… Figure 9 Taking the scenario shown as an example, for the brake pad 200 rotating in the G1 direction, the paddle 320 drives the brake element 300 to rotate in the g1 direction to a first angular position, so that the first protrusion 311 abuts against the fixed seat 100 and the second protrusion 312 abuts against the tooth 202, thereby braking the brake pad 200 rotating in the G1 direction. For the brake pad 200 rotating in the opposite direction of G1, the paddle 320 drives the brake element 300 to rotate in the opposite direction of G1 to a first angular position, so that the second protrusion 312 abuts against the fixed seat 100 and the first protrusion 311 abuts against the tooth 202, thereby braking the brake pad 200 rotating in the opposite direction of G1. In this way, the same brake element 300 can meet the braking needs of the brake pad 200 in two opposite directions, which can further improve the integration of the robot joint 1.

[0075] In some embodiments, combined Figure 9 and Figure 11As shown, the outer surface of the first protrusion 311 includes a convex top surface M3111, a first side surface M3112, and a second side surface M3113. The first side surface M3112 transitions between the lever 320 and the convex top surface M3111, and the first side surface M3112 and the lever 320 together form a groove 340. The second side surface M3113 is located on the side of the first protrusion 311 opposite to the first side surface M3112. The outer surface of the second protrusion 312 includes a convex top surface N3121, a first side surface N3122, and a second side surface N3123. The first side surface N3122 transitions between the lever 320 and the convex top surface N3121, and the first side surface N3122 and the lever 320 together form a groove 340. The second side surface N3123 is located on the side of the second protrusion 312 opposite to the first side surface N3122.

[0076] For example Figure 9 Taking the scenario shown as an example, when the brake 300 rotates to the first angle position along the g1 direction, the convex top surface N3121 of the second protrusion 312 abuts against the side of one of the protruding teeth 202, and the groove 340 between the first side surface N3122 and the paddle 320 accommodates the other protruding tooth 202, and the second side surface M3113 of the first protrusion 311 abuts against the fixing seat 100.

[0077] It is understandable that in another scenario, when the brake 300 rotates to the first angle position in the opposite direction of g1, the convex top surface M3111 of the first protrusion 311 abuts against the side of one of the protruding teeth 202, and the groove 340 between the first side surface M3112 and the paddle 320 accommodates the other protruding tooth 202, and the second side surface N3123 of the second protrusion 312 abuts against the fixing seat 100.

[0078] Further optional, such as Figure 11 As shown, the first protrusion 311 and the second protrusion 312 are roughly symmetrical structures.

[0079] It is understood that the first protrusion 311 and the second protrusion 312 described in this application are generally symmetrical structures, or the first protrusion 311 and the second protrusion 312 are symmetrical structures. It is permissible for there to be small or slight deviations in structure or size between the first protrusion 311 and the second protrusion 312, and it is not required that the first protrusion 311 and the second protrusion 312 must be absolutely symmetrical.

[0080] The first protrusion 311 and the second protrusion 312 are configured to be approximately symmetrical. In this way, the torque received by the brake element 300 when braking the brake pad 200 rotating in the G1 direction is approximately the same in magnitude but approximately opposite in direction to the torque received when braking the brake pad 200 rotating in the opposite direction of G1. Thus, the internal stress of the brake element 300 can be released in the opposite direction to a certain extent, resulting in higher reliability and longer service life of the brake element 300.

[0081] In some embodiments, such as Figure 11 As shown, the central portion 330 includes a first rod 331, which is located on one axial side of the abutment portion 310 and the lever 320. The first rod 331 can be inserted into and rotate within the mating hole 23 on the housing 20 of the robot joint 1. Thus, by engaging the first rod 331 with the mating hole 23 on the housing 20 of the robot joint 1, the rotation center position of the brake 300 can be kept approximately constant, allowing the brake 300 to rotate more smoothly and thereby improving the braking accuracy of the brake pad 200.

[0082] Furthermore, it is understandable that, in this design, during braking, the abutment part 310 abuts against the fixed seat 100 and the protruding tooth 202, so that the force-relieving point is located on the fixed seat 100. The brake element 300 is mainly used to bear or transmit torque, and is not used as a force-relieving point. The shear force on the brake element 300 is smaller, and the brake element 300 is not easily deformed. For example, compared with the structure of traditional design where the push rod directly collides with the chuck for braking, the first rod 331 of this brake element 300 does not need to collide with the protruding tooth for braking. Therefore, at least the first rod 331 of this brake element 300 is not easily deformed. When the brake 300 is driven to the braking position, the first rod 331 can accurately engage with the mating hole 23 on the robot joint housing to accommodate the first rod 331. This improves the braking success rate to a certain extent. In traditional technology, the push rod needs to directly collide with the chuck, which increases the risk of deformation. This undoubtedly increases the risk that the push rod cannot accurately engage with the mating hole on the robot joint housing, thus reducing the braking success rate. This design improves the existing problem by changing the design concept of the braking method of the brake 300, thereby increasing the braking success rate. Moreover, through this design, the smoothness of the rotational engagement between the brake 300 and the mating hole 23 can be better maintained. The smoother and more efficient rotation of the brake 300 can, in turn, improve the efficiency of the brake 300 in transmitting torque through the convex tooth 202 to the fixed seat 100, thus reducing the shear load on the brake 300. Meanwhile, as the shearing force from the convex teeth on the brake component 300 is reduced, the relative force between the brake component 300 and the housing 20 is also smaller. Thus, for scenarios using cast aluminum housing 20, the risk of deformation of housing 20 is correspondingly reduced. For example, the risk of deformation of mating hole 23 is reduced accordingly. As a result, the fitting accuracy between brake component 300 and mating hole 23 on housing 20 is also improved, further promoting the success rate of braking. The product can be more suitable for scenarios with higher precision requirements.

[0083] Further optional, such as Figure 3 and Figure 6As shown, a mounting groove 21 is provided on the housing 20 of the robot joint 1. A bushing 22 is provided inside the mounting groove 21 and is accommodated within it. The bushing 22 forms a mating hole 23. The first rod 331 of the brake 300 extends into the mating hole 23 formed by the bushing 22 and can rotate within it. In this way, the bushing 22 can guide the axial movement of the brake 300 and also protect the housing 20, preventing the housing 20 from directly contacting and bearing force with the first rod 331, thereby reducing the risk of deformation of the housing 20.

[0084] In some embodiments, such as Figure 12 As shown, the braking component 300 specifically includes a rod and a brake disc 302 disposed at a certain axial position on the rod. The brake disc 302 and the rod are connected as one unit.

[0085] The brake disc 302 has a radial width greater than the lever body. The brake disc 302 abuts against the teeth 202 of the brake pad 200 to brake the brake pad 200. More specifically, the brake disc 302 includes a paddle 320, a first protrusion 311, and a second protrusion 312, which are distributed at different circumferential positions on the brake disc 302. The first protrusion 311 and the second protrusion 312 extend toward opposite sides of the lever body, with the paddle 320 located between the first protrusion 311 and the second protrusion 312.

[0086] The rod body specifically includes a first rod 331 and a second rod 332. The first rod 331 and the second rod 332 are located on both sides of the axial direction of the brake disc 302. The first rod 331 and the second rod 332 are coaxially arranged. The first rod 331 is used to rotate and engage with the mating hole 23 on the housing 20 (specifically, the mating hole 23 formed by the bushing 22 in the mounting groove 21 of the housing 20). The second rod 332 is used to engage with the electromagnet 510 and the second elastic element 520, and can move under the drive of the electromagnet 510 or the second elastic element 520, so that the brake element 300 can move axially to switch between braking and release.

[0087] In some embodiments, the rotational movement of the brake 300 has two first angular positions and a second angular position between the two first angular positions. When the brake 300 reaches the second angular position, the paddle 320 is located between two adjacent protrusions 202, and both the first protrusion 311 and the second protrusion 312 are separated from the protrusions 202.

[0088] Please see the appendix Figure 7 , Figure 8 and Figure 9 The diagram shows the structure of robot joint 1 when the brake 300 rotates to one of the first angular positions. The structure of robot joint 1 when the brake 300 rotates to the other first angular position can be seen in the attached diagram. Figure 8 and Figure 9 To understand this, we can use a mirror image of the structure shown.

[0089] Please see the appendix Figure 10 The diagram shows the structure of robot joint 1 when the brake 300 rotates to the second angular position.

[0090] When the brake element 300 reaches the second angle position, the paddle 320 is located between two adjacent protrusions 202, and both the first protrusion 311 and the second protrusion 312 are separated from the protrusions 202. In this way, when the brake element 300 moves axially relative to the brake pad 200, the first protrusion 311 and the second protrusion 312 will not interfere or collide with the protrusions 202 of the brake pad 200 axially, resulting in a higher braking success rate and greatly reducing the risk of collision damage to the brake element 300, making the braking of the brake 10 more stable and reliable.

[0091] Further optional, such as Figures 8 to 10 As shown, the brake 10 also includes a reset member (specifically, refer to the first elastic member 400 shown in the attached figure for understanding). The reset member cooperates with the brake member 300 and can provide a force to the brake member 300 to drive the brake member 300 to the second angular position. In this way, when the paddle 320 is not driven by the convex tooth 202, the reset member can automatically reset the brake member 300 to the second angular position. Thus, in non-braking scenarios, when the brake member 300 moves freely in the axial direction, the first protrusion 311 and the second protrusion 312 will not abut or collide with the convex tooth 202, providing better protection for the convex tooth 202 and the first protrusion 311 and the second protrusion 312.

[0092] To give a further example, the reset member includes a first elastic member 400. When the brake member 300 is in a first angular position, the brake member 300 abuts against the first elastic member 400, causing the first elastic member 400 to elastically deform. The elastic force generated by the first elastic member 400 can be used to drive the brake member 300 to a second angular position. The first elastic member 400 is at least one or more of a spring, a torsion spring, and a combination thereof.

[0093] Of course, in other embodiments, the reset member may include a magnetic member, which can generate an attractive or repulsive force with the braking member 300 to drive the braking member 300 to the second angular position.

[0094] The first elastic element 400 is used as a spring sheet for further illustration;

[0095] like Figure 13As shown, the spring has a cone portion 410 and connecting pieces 420 located on both sides of the cone portion 410. The connecting pieces 420 are connected to the fixing base 100. As a further example, the connecting pieces 420 are provided with through holes, so that fasteners can be driven into the fixing base 100 through the through holes, so that the spring is fixed to the fixing base 100 by the connecting pieces 420.

[0096] like Figure 9 and Figure 10 As shown, a guide concave surface 3124 is provided on the side of the brake component 300 opposite to the paddle 320. The convex cone portion 410 abuts against the guide concave surface 3124 and can slide on the guide concave surface 3124. Thus, as... Figure 9 As shown, when the brake 300 rotates to the first angular position, the side of the guide concave surface 3124 abuts against the convex cone 410, causing the convex cone 410 to elastically deform and store energy. When the torque applied by the tooth 202 to the first convex cone 311 or the second convex cone 312 disappears, the elastic deformation of the convex cone 410 recovers, and the elastic force of the convex cone 410 causes the brake 300 to rotate. This rotation causes the bottom of the guide concave surface 3124 to move to the position corresponding to the convex cone 410, thus resetting the brake 300 to the second angular position. This design has the advantages of simple structure, high reliability and accuracy in resetting.

[0097] In some embodiments, the brake 300 is configured to be movable, and the movable movement of the brake 300 has a braking position and a releasing position.

[0098] Please see the appendix Figure 4 , Figure 5 and Figure 6 The diagram shows the structure of robot joint 1 when the brake 300 moves to the braking position. When the brake 300 moves to the braking position, the paddle 320 can extend between adjacent teeth 202 to drive the brake 300 to rotate to a first angular position through the engagement of the paddle 320 and the teeth 202.

[0099] Please see the appendix Figure 1 , Figure 2 and Figure 3 The diagram shows the structure of robot joint 1 when the brake 300 moves to the release position. When the brake 300 moves to the release position, the abutment 310 and the paddle 320 separate from the brake pad 200.

[0100] The braking device S also includes a drive member 500, which drives the movement of the brake member 300, allowing the brake member 300 to switch between a braking position and a releasing position. Thus, the drive member 500 can control the brake member 300 to brake or release the brake pads 200, providing convenience and intelligence in use.

[0101] For example, such as Figure 12 As shown, the center portion 330 of the brake member 300 includes the second rod 332, which is located on the side of the abutment portion 310 and the paddle 320 facing away from the first rod 331 along the axial direction.

[0102] The driving member 500 includes an electromagnet 510 and a second elastic member 520. The second rod 332 cooperates with the electromagnet 510 to enable the brake member 300 to move under the drive of the electromagnet 510. The second elastic member 520 abuts between the second rod 332 and the electromagnet 510. When the electromagnet 510 is energized, it can generate a force to drive the brake member 300 to the release position. When the brake member 300 is in the release position, the brake member 300 causes the second elastic member 520 to elastically deform. The elastic force generated by the second elastic member 520 can be used to drive the brake member 300 to the braking position.

[0103] In this way, when the electromagnet 510 is energized, it can drive the brake 300 to the release position. When the electromagnet 510 is de-energized, the elastic force of the second elastic element 520 will cause the brake 300 to brake to the braking position, thereby effectively protecting the robot joint 1 from power loss.

[0104] To give a further example, such as Figure 1 and Figure 4 As shown, the mounting base 100 is located to the side of the brake pad 200, and the drive component 500 is mounted on the mounting base 100. Figure 9 and Figure 10 As shown, the mounting base 100 is provided with a recess 102 having an opening, the opening of the recess 102 facing the brake pad 200, and a receiving space is formed between the recess 102 and the brake pad 200.

[0105] Combination Figure 4 , Figure 5 , Figure 6 as well as Figure 9 , Figure 10 It is understood that when the brake member 300 moves to the braking position, the abutment part 310 and the paddle 320 are located in the receiving space. The brake member 300 rotates in the receiving space to make the abutment part 310 abut against the inner wall surface of the recess 102 and the protrusion 202.

[0106] Combination Figure 1 , Figure 2 , Figure 3 It is understandable that when the brake 300 moves to the release position, the abutment 310 and the paddle 320 leave the receiving space. At this time, the abutment 310 and the paddle 320 have a certain axial distance from the tooth 202 along the axial direction X, and the paddle 320 and the abutment 310 will not interfere with the movement of the tooth 202.

[0107] In some embodiments, optionally, the idle angle of the brake pad 200 is less than 60°. The idle angle of the brake pad 200 can be roughly understood as the maximum rotatable angle of the brake pad 200 when the paddle 320 is positioned between two adjacent teeth 202. Limiting the idle angle of the brake pad 200 to less than 60° better meets the requirements of braking applications requiring higher precision.

[0108] Alternatively, the idle angle of the brake pad 200 is 5° to 20°.

[0109] Alternatively, the free play angle of the brake pad 200 is 8° to 15°. More preferably, the free play angle of the brake pad 200 is 10°.

[0110] In some embodiments, each brake pad 200 may optionally be equipped with one or more braking devices S.

[0111] In this configuration, each brake pad 200 is equipped with multiple braking devices S, which are distributed circumferentially around the brake pad 200. This creates redundant braking effect around the brake pad 200, making braking of the brake pad 200 more reliable and safer.

[0112] like Figure 14 As shown, another embodiment of this application provides a robot joint 1, including: a member to be braked 30; a brake 10 in any of the above embodiments, wherein the brake pad 200 of the brake 10 is connected to the member to be braked 30.

[0113] In some embodiments, the robot joint 1 further includes a housing 20, a portion of the braked component 30 extends out of the housing 20 and is connected to a brake pad 200, and the fixing seat 100 of the brake 10 is disposed on the surface of the housing 20. The fixing seat 100 and the housing 20 are either an integral structure or a separate structure.

[0114] A specific example:

[0115] like Figures 1 to 14 As shown, the brake 10 of the robot joint 1 includes an electromagnet 510 (specifically, a small electromagnet), a shaped spring rod (i.e., a brake element 300), an elastic brake pad (i.e., a brake pad 200), an energy storage spring (i.e., a first elastic element 400), a guide bushing (i.e., a bushing 22), a fixed seat 100 (specifically, an electromagnet fixed seat), a high-speed shaft (i.e., the element to be braked 30), and a housing 20 (specifically, the outer shell of the robot joint), etc.

[0116] The mounting base 100 and the housing 20 are separate components, or the mounting base 100 and the housing 20 are integrated into one part.

[0117] One end of the high-speed shaft extends out of the housing 20 and a brake pad 200 is connected to the extended end of the high-speed shaft.

[0118] The elastic brake pad includes a large number (e.g., more than 20) of protruding teeth 202 and some fine beams (such as the first rib 221, second rib 222, and third rib 223 of the Y-shaped rib). This reduces energy transfer caused by the collision of the protruding teeth 202 during braking, extends the life of the brake 10, and improves its reliability. The connecting part 210 in the middle of the elastic brake pad is mounted on the high-speed shaft by screws or other methods (such as bonding or friction clamping). The number of protruding teeth 202 on the elastic brake pad determines the idle travel after the joint is de-energized; the larger the number of teeth, the smaller the idle travel. In this design, the elastic brake pad has more than 20 protruding teeth 202, preferably 36, with an idle travel angle of 10 degrees.

[0119] A mounting base 100 is disposed at one end of the housing 20, and is located at a certain position on the periphery of the brake pad 200. An electromagnet 510 is mounted on the mounting base 100. An energy storage spring is also mounted on the mounting base 100. The mounting base 100 serves two purposes: firstly, to securely mount the electromagnet 510 and the energy storage spring; and secondly, to provide a point of contact for dissipating force after the shaped spring rod (i.e., the brake element 300) collides with the protruding teeth 202 of the elastic brake pad during braking. Figure 9 As shown.

[0120] The irregularly shaped spring rod can cooperate with the electromagnet 510. More specifically, the second rod 332 of the braking component 300 can cooperate with the electromagnet 510. Figure 2 and Figure 3 As shown, the electromagnet 510 can provide both extension and retraction. When the electromagnet 510 is energized, the irregularly shaped spring retracts, as... Figure 5 and Figure 6 As shown, after the electromagnet 510 is de-energized, the irregularly shaped spring rod is pushed out by the second elastic element 520 between the second rod 332 and the electromagnet 510.

[0121] The irregularly shaped spring lever includes a long rod (i.e., the rod body) and an irregularly shaped disc (i.e., the brake disc 302). The irregularly shaped disc is used to collide with the protruding teeth 202 of the elastic brake pad to brake the elastic brake pad. The force after the irregularly shaped disc collides with the protruding teeth 202 is discharged onto the fixed seat 100, without damaging the entire braking system. Simultaneously, there is a paddle 320 on the irregularly shaped disc. When braking occurs, the irregularly shaped spring lever is pushed out. At this time, the paddle 320 of the irregularly shaped spring lever first enters the gap (i.e., the tooth groove 224) between two adjacent protruding teeth 202 of the elastic brake pad. When the elastic brake pad rotates, the protruding teeth 202 drive the paddle 320 of the irregularly shaped spring lever, thereby driving the irregularly shaped spring lever to rotate. When the irregularly shaped spring lever rotates to a certain angle (i.e., when the brake element 300 reaches the first angle position), the irregularly shaped disc of the irregularly shaped spring lever will press against the protruding teeth 202 of the elastic brake pad on one side and against the fixed seat 100 on the other side. Braking is then completed. Figure 9 As shown.

[0122] An energy storage spring is mounted on a fixed base 100. During a braking collision, a portion of the energy storage spring deforms to store energy. When the braking stops, this stored energy can restore the shaped spring lever to its initial position (i.e., near the second angle position). This allows the shaped spring lever's paddle 320 to smoothly engage between adjacent teeth 202 of the elastic brake pad during the next braking maneuver. Figure 10 As shown.

[0123] like Figure 3 and Figure 6 As shown, the guide bushing is installed in the mounting groove 21 of the housing 20 to guide the axial movement of the irregular spring rod. At the same time, it can also protect the housing 20 and prevent the mounting groove 21 of the housing 20 from deformation or wear.

[0124] Compared to existing pin-type or friction-type brakes, the robot joint 1 and its brake 10 provided in this specific embodiment have the following advantages:

[0125] 1. The return stroke can be reduced by about 10 times. The return stroke of some existing pin-type brakes is more than 60 degrees. The brake 10 in this specific embodiment can reduce the return stroke to about 10 degrees.

[0126] 2. Shorter axial effective dimension: The axial effective dimension of the structure in this specific embodiment is approximately the thickness of the elastic brake pad. The thickness of the elastic brake pad can be selected according to specific requirements, with a preferred range of approximately 2mm-4mm. Some existing pin-type brakes have an axial effective dimension of approximately 5mm-10mm, while some existing friction-type brakes have a larger axial dimension, with the thinnest being approximately 14mm-19mm. The shorter axial effective dimension of the structure in this specific embodiment better meets the high integration design requirements of robot joint 1 or collaborative robot joint 1.

[0127] 3. The robot joint 1 and its brake 10 provided in this specific embodiment are not friction structures, so they will not generate dust and will not affect the internal components of the robot joint 1. In contrast, existing pin-type brakes and friction brakes will generate dust, especially friction brakes.

[0128] 4. The robot joint 1 and its brake 10 provided in this specific embodiment utilize the fixed base 100 to provide a force relief point, which can significantly reduce the force on the shell 20 during collision, greatly improve collision stability, and extend service life.

[0129] In summary, the structure of this specific embodiment has a shorter effective axial dimension and lighter weight. At the same time, the braking performance is more stable, the braking distance is shorter, and the return stroke can be reduced, which is more conducive to some applications with high safety and precision requirements.

[0130] Another embodiment of this application provides a robot including the robot joint 1 in any of the above embodiments.

[0131] More specifically, the robot is a collaborative robot.

[0132] Although this application has been described with reference to several typical embodiments, it should be understood that the terminology used is illustrative and exemplary, and not restrictive. Since this application can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A robot joint brake, characterized in that, include: Fixed base; The brake pad has a plurality of protruding teeth spaced apart along the circumferential direction. The brake pad can be connected to the braked component and can rotate together with the braked component. A braking device includes a braking element capable of braking the rotation of the brake pads, wherein the braking element includes a stop portion and a paddle, the braking element is configured to rotate and move axially relative to the fixed base, and the movement of the braking element has a braking position and a releasing position. The rotational movement of the brake component has a first angular position, and the abutment part abuts against the fixed seat and one of the protruding teeth at the same time, thereby transmitting the braking torque of the brake pad to the fixed seat through the abutment part to limit the continued rotation of the brake pad and the brake component. When the brake element moves to the braking position, the paddle can extend between the adjacent teeth, and the rotating brake pad, through the paddle and the teeth, drives the brake element to rotate to the first angle position; When the braking member moves to the release position, the abutment portion and the paddle are separated from the brake pad; the braking member has a central portion, and the braking member can rotate around the central portion to reach or leave the first angular position; The abutment portion includes a first protrusion and a second protrusion. The first protrusion and the second protrusion are respectively arranged to protrude to the side relative to the center portion. When the brake member rotates around the center portion to the first angle position, one of the first protrusion and the second protrusion abuts against the fixed seat to limit the brake member from continuing to rotate, and the other of the first protrusion and the second protrusion abuts against the tooth to stop the brake pad from rotating. The outer surfaces of the first protrusion and the second protrusion each include a top surface, a first side surface, and a second side surface. The first side surface transitions between the paddle and the top surface and forms a groove with the paddle. The second side surface is located on the side of the first protrusion or the second protrusion opposite to the first side surface. When the brake is rotated to the first angle position, the top surface of one of the first protrusion and the second protrusion abuts against the side of one of the protruding teeth, and the groove between the first side and the paddle accommodates the other protruding tooth, and the second side of the other of the first protrusion and the second protrusion abuts against the fixing seat.

2. The robot joint actuator according to claim 1, characterized in that, The first protrusion and the second protrusion are located on both sides of the central portion, and a certain angle is formed between the first protrusion and the second protrusion; The paddle is provided to bulge out to the side relative to the center portion, and the paddle is disposed circumferentially on the center portion and located between the first protrusion and the second protrusion.

3. The robot joint actuator according to claim 1, characterized in that, The first protrusion and the second protrusion are symmetrical structures; and / or The central portion includes a first rod located on one axial side of the abutment portion and the lever. The first rod can be inserted into and rotated in a mating hole on the housing of the robot joint.

4. The robot joint actuator according to claim 1, characterized in that, The rotational movement of the brake has two first angular positions and a second angular position between the two first angular positions. When the brake reaches the second angular position, the paddle is located between two adjacent protrusions, and both the first protrusion and the second protrusion are separated from the protrusions. The brake also includes a reset member, which cooperates with the brake and can provide a force to the brake to drive it to the second angular position.

5. The robot joint brake according to claim 4, characterized in that, The reset component includes a magnetic component, which can generate an attractive or repulsive force with the braking component to drive the braking component to the second angular position.

6. The brake according to claim 4, characterized in that, The reset member includes a first elastic element. When the braking member is located at the first angular position, the braking member abuts against the first elastic element, causing the first elastic element to elastically deform. The elastic force generated by the first elastic element can be used to drive the braking member to the second angular position. The first elastic element is at least one or a combination of a sheet spring, a spring, and a torsion spring; and / or The reset member includes a spring plate, which has a convex cone portion and connecting pieces located on both sides of the convex cone portion. The connecting pieces are connected to the fixed base. The brake member has a guide concave surface on the side opposite to the paddle, and the convex cone portion abuts against the guide concave surface and can slide on the guide concave surface.

7. The robot joint actuator according to claim 1, characterized in that, The braking device further includes a drive member, which can drive the brake member to move, so that the brake member switches between the braking position and the releasing position.

8. The robot joint actuator according to claim 7, characterized in that, The driving component includes an electromagnet and a second elastic element. The central portion of the braking component includes a second rod located on one axial side of the abutment portion and the paddle. The second rod cooperates with the electromagnet to enable the braking component to move under the drive of the electromagnet. The second elastic element abuts against the second rod and the electromagnet. When the electromagnet is energized, it generates a force to drive the braking component to the release position. When the braking component is in the release position, the braking component causes the second elastic element to elastically deform. The elastic force generated by the second elastic element can be used to drive the braking component to the braking position; and / or The driving component is mounted on the fixed base.

9. The robot joint actuator according to claim 7, characterized in that, The fixing seat is located to the side of the brake pad. The fixing seat is provided with a recessed portion with an opening facing the brake pad. A receiving space is formed between the recessed portion and the brake pad. When the brake member moves to the braking position, the abutment portion and the paddle are located in the receiving space. The brake member rotates in the receiving space to make the abutment portion abut against the inner wall surface of the recessed portion and the protruding teeth. When the brake member moves to the release position, the abutment portion and the paddle leave the receiving space.

10. The robot joint actuator according to claim 1, characterized in that, The number of serrations on the brake pad is 20 or more; and / or The idle angle of the brake pad is less than 60°.

11. The robot joint actuator according to claim 1, characterized in that, The brake pad has 36 serrations; and / or The idle angle of the brake pad is 10°.

12. The robot joint actuator according to claim 1, characterized in that, The protruding tooth defines a hollow cavity inside.

13. The robot joint actuator according to claim 12, characterized in that, The brake pads include: A connecting portion, the connecting portion being configured to be connected to the member to be braked; Multiple Y-shaped ribs are arranged at circumferential intervals along the connecting portion. The bottom end of each Y-shaped rib is connected to the connecting portion. The adjacent ends of two adjacent Y-shaped ribs are joined together to define the convex tooth with the hollow cavity inside. The upper part of the Y-shaped rib forms a toothed groove with an opening.

14. The robot joint actuator according to claim 1, characterized in that, The brake pad is provided with a mounting hole, wherein the brake pad can be mounted on the component to be braked by means of a fastener passing through the mounting hole; or The brake pad has an adhesive surface defined on it, which is used to attach an adhesive so that the brake pad can be bonded to the brake element.

15. The robot joint brake according to claim 1, characterized in that, Each of the brake pads is equipped with one or more of the aforementioned braking devices; In the case where each brake pad is equipped with multiple brake devices, the multiple brake devices are distributed around the brake pad at circumferential intervals.

16. A robot joint, characterized in that, include: The component to be braked; The robot joint brake as described in any one of claims 1 to 15, wherein the brake pads of the brake are connected together with the member to be braked.

17. The robot joint according to claim 16, characterized in that, Also includes: The housing has a portion of the braked component extending out of it and connected to the brake pads. The brake's mounting base is disposed on the surface of the housing. The mounting base and the housing are either an integral structure or a separate structure. The housing is provided with a mounting groove, and a bushing is provided in the mounting groove. The bushing forms a mating hole, and the brake element of the brake can extend into the mating hole and rotate relative to the mating hole.

18. A robot, characterized in that, Including the robot joint as described in claim 16 or 17.

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