A braking system and joint module, a collaborative robot

Abstract

This invention discloses a braking system, a joint module, and a collaborative robot. The braking system includes a brake disc and a braking mechanism that cooperates with the brake disc. The brake disc is fixed to a motor shaft on a motor to rotate with it. The brake disc has multiple protrusions along its circumference. The braking mechanism includes a stop lever and a driving member that drives the stop lever to move between braking and non-braking positions. The stop lever includes a bidirectional stop lever and unidirectional stop levers symmetrically arranged on both sides of the bidirectional stop lever. The unidirectional stop lever includes an integrally designed inclined portion and a side portion. The inclined portion is located near the brake disc and tilts from the side near the bidirectional stop lever to the other side. When the driving member drives the stop lever to the braking position, the stop lever engages with the protrusions of the brake disc to restrict the rotation of the brake disc. When the driving member drives the stop lever to the non-braking position, the stop lever allows the brake disc to rotate.

Description

Technical Field

[0001] This invention relates to the field of motor braking control technology, and more specifically, to a braking system, joint module, and collaborative robot. Background Technology

[0002] The motor braking system is an indispensable core component of articulated robots, playing a crucial role in their performance and stability. During the movement of an articulated robot, frequent acceleration, deceleration, and stopping are required, and the performance of the braking system directly affects the robot's motion control and precision. Therefore, braking performance is one of the important indicators for evaluating the performance of an articulated robot. Conventional pin-type braking achieves braking through the meshing of a pin with a gear or gear disc, resulting in high braking force and a large range of motion for the motor shaft; for example, a six-tooth brake pad has a range of motion of approximately 60°. Electromagnetic brakes, on the other hand, are more expensive, generate significant frictional heat, and are prone to producing dust that contaminates the optical encoder. Summary of the Invention

[0003] To address the aforementioned problems, the present invention provides a braking system, including a brake disc and a braking mechanism cooperating with the brake disc; the brake disc is fixed to a motor shaft on a motor to rotate accordingly; the brake disc has a plurality of protrusions along its circumference; the braking mechanism includes a stop lever and a driving member that drives the stop lever to move between braking and non-braking positions; the stop lever includes a bidirectional stop lever and unidirectional stop levers symmetrically arranged on both sides of the bidirectional stop lever; the unidirectional stop lever includes an integrally designed inclined portion and a side portion; the inclined portion is located on the side closer to the brake disc and is inclined from the side closer to the bidirectional stop lever to the other side; when the driving member drives the stop lever to the braking position, the stop lever engages with the protrusions of the brake disc to restrict the rotation of the brake disc; when the driving member drives the stop lever to the non-braking position, the stop lever allows the brake disc to rotate.

[0004] The present invention also provides a joint module, including a joint housing, wherein the braking system is disposed within the joint housing.

[0005] The present invention also provides a robot including the aforementioned joint module.

[0006] Compared with the prior art, the beneficial effects of this invention are:

[0007] (1) The unidirectional stop bar symmetrically arranged on both sides of the bidirectional stop bar cooperates with the bidirectional stop bar to restrict the rotation of the brake disc in different directions, thereby improving the flexibility and adaptability of braking; at the same time, it also realizes bidirectional limiting, so that the brake disc can be limited in both directions, thereby limiting the range of motion after braking and improving the accuracy and stability of braking.

[0008] (2) The one-way lever has an inclined part and a side part, which ensures that when the force exerted by the inclined part of the brake disc on the protrusion of the brake disc is greater than a threshold, the protrusion of the brake disc can squeeze and slide over the inclined part to achieve braking, thus avoiding the problem of braking failure or jamming due to low speed and improving the reliability of braking. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a braking system in a braking state according to an embodiment of the present invention;

[0011] Figure 2 yes Figure 1 A magnified view of position A of the central braking system;

[0012] Figure 3 yes Figure 1 The diagram shows the location of the protrusion in the braking system.

[0013] Figure 4 This is a schematic diagram of the braking mechanism and stop lever in the braking system;

[0014] Figure 5 This is a schematic diagram of the braking system in a non-braking state according to an embodiment of the present invention;

[0015] Figure 6 yes Figure 5 A magnified view of position B of the central braking system;

[0016] Figure 7 yes Figure 5 A cross-sectional view of the motor braking system shown.

[0017] Figure 8 This is a schematic diagram of the state of the protrusion pressing against the inclined part in a braking system according to an embodiment of the present invention;

[0018] Figure 9 yes Figure 8 A magnified view of position C of the braking system. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] like Figure 1-4 As shown, an embodiment of the present invention provides a braking system, including a brake disc 21 and a braking mechanism 22 cooperating with the brake disc 21; the brake disc 21 is fixed to a motor shaft 23 on a motor to rotate accordingly; the brake disc 21 has a plurality of protrusions 211 along its circumference; the braking mechanism 22 includes a stop lever and a driving member that drives the stop lever to move between braking and non-braking positions; the stop lever includes a bidirectional stop lever 224 and unidirectional stop levers 223 symmetrically arranged on both sides of the bidirectional stop lever 224; the unidirectional stop lever 223 includes an integrally designed inclined portion 2231 and a side portion 2232; the inclined portion 2231 is located near the brake disc 21 and is inclined from the side near the bidirectional stop lever 224 to the other side; when the driving member drives the stop lever to the braking position, the stop lever engages with the protrusions 211 of the brake disc 21 to restrict the rotation of the brake disc 21; when the driving member drives the stop lever to the non-braking position, the stop lever allows the rotation of the brake disc 21. The unidirectional stop levers 223, symmetrically arranged on both sides of the bidirectional stop lever 224, can restrict the rotation of the brake disc 21 in different directions, thereby improving the flexibility and adaptability of braking.

[0022] Figure 1 This is a schematic diagram of a braking system in a braking state according to an embodiment of the present invention. Figure 2 yes Figure 1 A magnified view of position A of the central braking system. Figure 3 yes Figure 1The diagram showing the location of the protruding part of the braking system is as follows: Figure 1-3 As shown, in one specific embodiment, when the driving member drives the stop lever to the braking position, when the force exerted on the inclined portion 2231 of the one-way stop lever 223 by the protrusion 211 of the brake disc 21 exceeds a threshold, the protrusion 211 presses against one end of the inclined portion 2231 and engages with the two-way stop lever 224, while the other end is blocked by the one-way stop lever 223, thereby limiting the rotation of the brake disc 21 to achieve braking. The combination of the two-way stop lever 224 and the one-way stop lever 223 enables a two-way limiting function, allowing the brake disc 21 to be limited in both directions. It also limits the range of motion of the brake disc 21 after braking, thereby improving braking accuracy and stability, and contributing to the safety and stability of the entire system.

[0023] Figure 8 This is a schematic diagram of the state in which the protrusion presses against the inclined portion in a braking system according to an embodiment of the present invention. Figure 9 yes Figure 8 A magnified view of position C of the braking system, as shown below. Figure 8 , 9 As shown, in a preferred embodiment, when the drive member drives the lever to the braking position, if the force exerted on the inclined portion 2231 of the one-way lever 223 by the protrusion 211 of the brake disc 21 is less than or equal to a threshold, the protrusion 211 is blocked by the inclined portion 2231, thus achieving braking. This ensures that the protrusion 211 of the brake disc 21 can only squeeze and pass over the inclined portion 2231 when the threshold is exceeded, ensuring that braking only occurs when braking is required. This avoids the problem of ineffective braking or jamming due to low speed, and improves the reliability of braking.

[0024] In one specific embodiment, the bidirectional stop lever 224 is a cylindrical structure; the unidirectional stop lever 223 is a rounded cuboid, and the tilt angle of the inclined portion 2231 is adjustable. Preferably, the tilt angle of the inclined portion 2231 is smaller than the friction angle of the contact surface between the protrusion 211 and the unidirectional stop lever 223. Specifically, the tilt angle of the inclined portion 2231 is 10° to 15°. This ensures the normal operation of the unidirectional stop lever. When the force exerted on the inclined portion 2231 of the unidirectional stop lever 223 by the protrusion 211 of the brake disc 21 is less than or equal to a threshold value, the protrusion 211 is blocked by the inclined portion 2231. At this time, the direction of the force changes, and the frictional force can prevent the protrusion 211 from sliding in the opposite direction, effectively limiting the range of motion of the brake disc 21 under this condition. Furthermore, the threshold value varies depending on the angle of inclination of the inclined portion 2231. This threshold is the boundary value of the force exerted by the one-way stop lever 223 to block the movement of the protrusion 211 of the brake disc 21. A force exceeding this threshold will cause the protrusion 211 to press against and engage with one end of the inclined portion 2231 and the two-way stop lever 224. In a preferred embodiment, the highest point and the side portion 2232 of the inclined portion 2231 are at the same height, and the value of this threshold is determined based on the size design of the one-way stop lever 223. Furthermore, by adjusting this threshold, the magnitude and sensitivity of the braking force can be controlled according to actual needs and application scenarios, achieving precise control of the braking process and making the braking effect more stable and controllable.

[0025] In one specific embodiment, the protrusion 211 has a hollow structure, and the protrusion 211 includes a tangential surface that engages with the contact angle of the bidirectional stop bar 224 and the unidirectional stop bar 223.

[0026] Figure 4 This is a structural diagram of the braking mechanism and shift lever in the braking system, such as... Figure 4 As shown, in one specific embodiment, the driving member includes: a push rod assembly 222 for driving the stop lever to a non-braking position; and a spring-loaded member 225 for driving the stop lever to a braking position.

[0027] In one specific embodiment, the driving component further includes an electromagnet 221. When the electromagnet 221 is energized, the stop lever is driven to a non-braking position, and when the electromagnet 221 is de-energized, the stop lever is driven to a braking position.

[0028] In one specific embodiment, the spring-loaded element 225 is a return spring.

[0029] Figure 5 This is a schematic diagram of the braking system in a non-braking state according to an embodiment of the present invention. Figure 6 yes Figure 1A magnified view of position B of the braking system. Figure 7 yes Figure 5 The cross-sectional view of the motor braking system shown is as follows: Figure 5-7 As shown, in a specific embodiment, the electromagnet 221, when energized, generates a thrust to push the push rod assembly 222 to drive the bidirectional stop rod 224 and the unidirectional stop rods 223 symmetrically arranged on both sides of the bidirectional stop rod 224 to move down to the non-braking position. At this time, the motor shaft 23 drives the brake disc 21 to rotate freely; Figure 8-9 As shown, after the electromagnet 221 is de-energized, the push rod assembly 222, under the action of the return spring, drives the bidirectional stop 224 and the one-way stop 223 to move upward to the braking position. When the force exerted by the inclined portion 2231 of the one-way stop 223 on the protrusion 211 of the brake disc 21 is less than or equal to a threshold, the protrusion 211 is blocked by the inclined portion 2231, thus achieving braking; Figure 1-3 As shown, when the force exerted by the inclined portion 2231 of the one-way stop lever 223 on the protrusion 211 of the brake disc 21 exceeds a threshold, the protrusion 211 squeezes and slides across one end of the inclined portion 2231 and engages with the two-way stop lever 224, while the other end is blocked by the one-way stop lever 223, thereby limiting the rotation of the brake disc 21 to achieve braking. After braking, the range of motion of the brake disc 21 is extremely small, which improves the accuracy and stability of the braking system.

[0030] Correspondingly, embodiments of the present invention also provide a joint module, including a joint housing 25, wherein the aforementioned braking system is disposed within the joint housing 25.

[0031] In one specific embodiment, the joint housing 25 is further provided with a driver, and the driver 24 is positioned above the brake disc 21.

[0032] Correspondingly, embodiments of the present invention also provide a robot including the aforementioned joint module.

[0033] It should be noted that other aspects of the braking system disclosed in this invention can be found in the prior art, and will not be repeated here.

[0034] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A braking system, characterized in that, It includes a brake disc and a braking mechanism that cooperates with the brake disc; the brake disc is fixed to a motor shaft on a motor so as to rotate with it; the brake disc is provided with a plurality of protrusions along the circumferential direction; The braking mechanism includes a stop lever and a drive member that drives the stop lever to move between a braking and non-braking position; the stop lever includes a two-way stop lever and a one-way stop lever symmetrically arranged on both sides of the two-way stop lever; the one-way stop lever includes an integrally designed inclined portion and a side portion; the inclined portion is located on the side closer to the brake disc and is inclined from the side closer to the two-way stop lever to the other side; When the drive member drives the lever to the braking position, the lever engages with the protrusion of the brake disc to restrict the rotation of the brake disc; when the drive member drives the lever to the non-braking position, the lever allows the rotation of the brake disc. When the drive unit drives the lever to the braking position, when the force exerted on the inclined portion of the one-way lever by the protrusion of the brake disc is greater than a threshold, the protrusion squeezes and slides across one end of the inclined portion to engage with the two-way lever, while the other end is blocked by the one-way lever, thereby limiting the rotation of the brake disc to achieve braking.

2. The braking system according to claim 1, characterized in that, The bidirectional stop bar is a cylindrical structure; the unidirectional stop bar is a rounded cuboid.

3. The braking system according to claim 1, characterized in that, The protrusion has a hollow structure and includes a tangential surface that engages with the contact angle of the bidirectional stop and the unidirectional stop.

4. The braking system according to claim 1, characterized in that, The tilt angle of the inclined portion is less than the friction angle between the protrusion and the contact surface of the one-way stop bar.

5. The braking system according to claim 1, characterized in that, The driving component includes: a push rod assembly for driving the stop lever to a non-braking position; and a spring-loaded component for driving the stop lever to a braking position.

6. The braking system according to claim 5, characterized in that, The driving component also includes an electromagnet. When the electromagnet is energized, the stop lever is driven to a non-braking position, and when the electromagnet is de-energized, the stop lever is driven to a braking position.

7. A joint module, characterized in that, It includes a joint housing, within which a braking system as described in any one of claims 1 to 6 is disposed.

8. The joint module according to claim 7, characterized in that, The joint housing also includes a driver, which is positioned above the brake disc.

9. A collaborative robot, characterized in that, Includes the joint module according to any one of claims 7 to 8.

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