Joint braking device and robotic arm

Abstract

The present application discloses a joint braking device and a robotic arm. The device includes a brake sprocket, a friction block, a fixed sprocket, an electromagnet, a first elastic member, and a second elastic member. The brake sprocket and the friction block are disposed between the fixed sprocket and the electromagnet, the brake sprocket including a recess, the friction block being located in the recess of the brake sprocket; the first elastic member is disposed between the friction block and the bottom wall of the brake sprocket recess, and the second elastic member is disposed between the brake sprocket and the electromagnet. During braking, the electromagnet is de-energized, the brake sprocket loses its adsorption force and moves toward the fixed sprocket. The friction block first frictionally connects with the fixed sprocket under the elastic force of the first elastic member, and the brake sprocket meshes with the fixed sprocket under the elastic force of the second elastic member. The present application uses the device and the robotic arm to achieve rapid braking while further reducing the impact force and noise caused by braking.

Description

Technical Field

[0001] One or more embodiments of the present application relate to the field of motors, and in particular, to a joint braking device and a robotic arm. Background Art

[0002] With the continuous development of collaborative robotics technology, more and more industries are beginning to adopt intelligent collaborative robots. These robots are characterized by highly collaborative operations with humans, achieving true interactive cooperation between robots and humans through technologies such as safety sensors, network communications, and decision-making control. These robots have already been widely used in industries such as domestic services, 3C electronics, and automotive parts, and they also have great application prospects in specialized fields such as nuclear energy, manned space flight, and lunar exploration.

[0003] However, achieving collaborative robots still faces numerous technical challenges. Robotic joints, as a crucial component of the mechanical structure, significantly impact the robot's performance, reliability, and precision. Especially in miniaturized robots, joints are required to be smaller and offer higher performance, including higher torque, greater precision, and a longer lifespan.

[0004] Joint braking plays a crucial role in collaborative robots, directly impacting their motion control, precise positioning, and safety. Therefore, this application proposes a joint braking device and robotic arm to achieve rapid braking while reducing impact and noise. Summary of the Invention

[0005] Traditional single braking methods, such as friction braking, have a wide range of applications but suffer from low braking accuracy, long braking times, and the need for heat dissipation and cooling measures. Friction plate wear can also easily lead to brake failure. Toothed braking, which uses the meshing principle, offers high braking accuracy but generates high impact forces at high speeds, which can be highly destructive to the entire mechanism. This application provides a joint braking device and robotic arm to address these shortcomings.

[0006] According to a first aspect of one or more embodiments of the present application, a joint braking device is provided, comprising:

[0007] The brake sprocket and the friction block are arranged between the fixed sprocket and the electromagnet, the brake sprocket includes a recess, and the friction block is located in the recess of the brake sprocket;

[0008] a first elastic member disposed between the friction block and the bottom wall of the recessed portion of the brake sprocket, and a second elastic member disposed between the brake sprocket and the electromagnet;

[0009] During braking, the electromagnet is powered off, the brake sprocket loses its adsorption force and moves toward the fixed sprocket. The friction block is first frictionally connected with the fixed sprocket under the elastic force of the first elastic member, and the brake sprocket is meshed with the fixed sprocket under the elastic force of the second elastic member.

[0010] Optionally, the brake sprocket is provided with teeth meshing with the fixed sprocket, the first elastic member is used to apply a force to the friction block away from the recess of the brake sprocket, and the second elastic member is used to apply a force to the brake sprocket away from the electromagnet.

[0011] Optionally, the brake sprocket is movably engaged with the friction block, and the brake sprocket drives the friction block to move away from the electromagnet along the axis direction of the second elastic member through the engaging structure.

[0012] Optionally, during braking, since the elastic force of the second elastic member is greater than the elastic force of the first elastic member, the upper surface of the friction block is first frictionally connected with the bottom wall of the fixed sprocket, and the first elastic member continues to be compressed. The force of compression of the first elastic member is less than the force of the second elastic member bouncing up. Driven by the elastic force of the second elastic member, the brake sprocket moves away from the electromagnet along the axis direction of the second elastic member until the brake sprocket is meshed with the fixed sprocket.

[0013] Optionally, the first elastic member is a wave spring.

[0014] Optionally, the second elastic member is a spring array.

[0015] Optionally, the device further comprises:

[0016] A motor housing, fixedly connected to the fixed gear disc;

[0017] The motor shaft is movably connected to the brake sprocket and the friction block, and the motor shaft drives the brake sprocket and the friction block to rotate circumferentially.

[0018] Optionally, the part of the motor shaft that cooperates with the brake sprocket and the friction block is a square shaft, and the square shaft is fixed to the motor shaft by a top screw, or the square shaft is fixed to the motor shaft through an open ring groove of the motor shaft and by gluing to achieve synchronous rotation.

[0019] Optionally, the electromagnet is fixedly connected to the motor housing, the electromagnet includes a sliding groove, and the second elastic member rotates along the sliding groove of the electromagnet.

[0020] According to a second aspect of one or more embodiments of the present application, a robotic arm is provided, characterized in that the robotic arm includes an optional joint braking device.

[0021] By applying the embodiment provided in the present application, the friction block is bounced up and frictionally connected to the fixed sprocket by the first elastic member, and the brake sprocket is bounced up and engaged with the fixed sprocket for braking by the second elastic member, thereby dividing the joint braking process into two stages, reducing the impact force and noise caused by high-speed braking. At the same time, the friction block is arranged in the recess of the fixed sprocket, making the overall structure compact, which is conducive to reducing the overall volume of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] Figure 1 This is a structural schematic diagram of a joint braking device shown in a specific exemplary embodiment of the present application;

[0024] Figure 2 This is a structural schematic diagram of a joint braking device shown in another specific embodiment of the present application. DETAILED DESCRIPTION

[0025] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0026] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to a determination". It is worth noting that the structure A described in this application is on the upper / lower / left / right side of structure B, relative to the execution subject, and only indicates relative position and does not have consistency. At the same time, the terms clockwise or counterclockwise, forward or backward are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, structure A on the upper side of structure B may also be regarded as structure B on the upper side of structure A.

[0028] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0029] The present application provides a joint braking device. Figure 1 .like Figure 1 As shown, the joint braking device includes: a braking sprocket 1, a friction block 2, a fixed sprocket 3, an electromagnet 4, a first elastic member 5, and a second elastic member 6.

[0030] In one embodiment of the application, a brake sprocket 1 and a friction block 2 are disposed between a fixed sprocket 3 and an electromagnet 4. The brake sprocket 1 includes a recess, and the friction block 2 is located within the recess. The brake sprocket 1 is provided with teeth that mesh with the fixed sprocket 3. The brake sprocket 1 is L-shaped, and the friction block 2 is located within the L-shaped recess. The two partially overlap in the L-shaped recess to form a brake assembly, reducing the size of the brake joint. This is equivalent to adding a friction block to the toothed braking system for friction braking, improving braking effectiveness without increasing the size of the brake assembly.

[0031] In one embodiment, the brake sprocket 1 is made of magnetic material and can be attracted to the electromagnet 4 when the electromagnet 4 is energized. In this case, the second elastic member 6 is compressed. When the electromagnet 4 is de-energized, the brake sprocket 1 loses its attraction, and the second elastic member 6 rebounds to its original length, exerting a force on the brake sprocket 1 away from the electromagnet 4.

[0032] In one embodiment of the application, electromagnet 4 is energized to attract brake sprocket 1, causing brake sprocket 1 and friction block 2 to disconnect from fixed sprocket 3, and compressing second elastic member 6. Specifically, when electromagnet 4 is energized, it attracts brake sprocket 1 and compresses second elastic member 6 downward. At this point, friction block 2 is embedded in brake sprocket 1 and is driven downward by brake sprocket 1, so that neither friction block 2 nor brake sprocket 1 contacts fixed sprocket 3, allowing motor shaft 8 to rotate normally.

[0033] In one specific embodiment, when the electromagnet 4 is de-energized, the brake sprocket 1 is no longer attracted, the second elastic member 6 is no longer compressed, and the second elastic member 6 drives the brake sprocket 1 away from the electromagnet 4 along the axis of the second elastic member 6. That is, after the electromagnet 4 is de-energized, the brake sprocket 1 is no longer attracted, the second elastic member 6 is no longer compressed, and it recovers its deformation, causing the friction block 2 and the brake sprocket 1 to be lifted by the first elastic member 5 and move upward together.

[0034] In one embodiment of the application, a first elastic member 5 is disposed between the friction block 2 and the bottom wall of the recess in the brake sprocket 1, for applying a force to the friction block 2 away from the recess in the brake sprocket 1. A second elastic member 6 is disposed between the brake sprocket 1 and the electromagnet 4, for applying a force to the brake sprocket 1 away from the electromagnet 4. This dual elastic member design allows for a segmented braking process. After the fixed sprocket 3 decelerates due to friction with the friction block, it engages with the brake sprocket 3 for braking. Specifically, during high-speed operation, the first elastic member 5 applies a force to the friction block 2 away from the recess in the brake sprocket 1, causing the friction block 2 to abut against the fixed sprocket 3 for deceleration. During deceleration, the second elastic member 6 also applies a force to the brake sprocket 1 away from the electromagnet 4 until the brake sprocket 1 abuts against the fixed sprocket 3, completing the braking process. Different deceleration methods are used at different speeds. Friction deceleration is used at high speeds to reduce impact force. In one specific embodiment, the upper surface of the friction block 2 abuts the bottom wall of the fixed sprocket 3, and friction braking achieves deceleration. The first elastic member 5 is compressed. At this time, the upward force of the second elastic member 6 is greater than the downward force generated by the compression of the first elastic member 5. The brake sprocket 1 continues to move upward under the upward force of the second elastic member 6, engaging with the fixed sprocket 3 to achieve an emergency stop. In other words, the brake sprocket 1 only engages with the fixed sprocket 3 under the action of the second elastic member 6 after the speed has slowed down. At this time, the speed is low and the impact force is also small, achieving accurate braking and a quick stop.

[0035] In one embodiment, when the first elastic member 5 is uncompressed, the distance between the upper surface of the friction block 2 and the bottom wall of the fixed sprocket 3 is smaller than the distance between the upper surface of the brake sprocket 1 and the bottom wall of the fixed sprocket 3. In another embodiment, when the first elastic member 5 is compressed, the distance between the upper surface of the friction block 2 and the bottom wall of the fixed sprocket 3 is also smaller than the distance between the upper surface of the brake sprocket 1 and the bottom wall of the fixed sprocket 3. By prioritizing frictional connection between the friction block 2 and the fixed sprocket 3 and then decelerating through friction braking, the impact force caused by hard braking during high-speed rotation of the motor shaft is avoided.

[0036] In another specific embodiment, the upper surface of the friction block 2 is frictionally connected to the bottom wall of the fixed sprocket 3, the first elastic member 5 is compressed, and the force exerted by the compression of the first elastic member 5 is less than the force exerted by the second elastic member 6. Driven by the second elastic member 6, the brake sprocket 1 moves away from the electromagnet 4 along the axis of the second elastic member 6 until the sprockets of the brake sprocket 1 and the fixed sprocket 3 engage. The brake sprocket 1 is subjected to the downward force exerted by the compression of the first elastic member 5 and the upward force exerted by the second elastic member 6. By controlling the difference in these two elastic forces, the timing of the engagement of the brake sprocket 1 with the fixed sprocket 3 is determined, thereby achieving braking with minimal impact within a limited time.

[0037] In another specific embodiment, the part of the motor shaft 8 that cooperates with the brake sprocket 1 and the friction block 2 can be optionally a square shaft or a triangular shaft. The square shaft can be fixed to the motor shaft 8 by a top screw, or fixed by gluing through the open ring groove of the motor shaft 8 to achieve synchronous rotation.

[0038] Figure 2 FIG. 1 is a structural diagram of a joint braking device according to another specific embodiment of the present application. Figure 2 As shown, in one embodiment, the device further includes: a motor housing 7 fixedly connected to the fixed sprocket 3; and a motor shaft 8 movably connected to the brake sprocket 1 and the friction block 2, with the motor shaft 8 driving the brake sprocket 1 and the friction block 2 in circumferential rotation. That is, the motor housing 7 and the fixed sprocket 3 remain stationary, while the motor shaft 8 drives the brake sprocket 1 and the friction block 2 in circumferential rotation. The braking objective is that after the fixed sprocket 3 and the friction block 2 are frictionally decelerated, the fixed sprocket 3 engages with the brake sprocket 1, causing the brake sprocket 1 to become immobilized and the motor shaft 8 movably connected to the brake sprocket 1 to also stop rotating. Furthermore, the electromagnet 4 can be fixedly connected to the motor housing 7, with the electromagnet 4 including a slide groove, and the second elastic member 6 rotating along the slide groove of the electromagnet 4. In another embodiment, the electromagnet 4 can also be fixedly connected to the motor shaft 8, rotating as the motor shaft 8 rotates, while remaining relatively stationary relative to the brake sprocket 1.

[0039] In another specific embodiment, the joint braking device further comprises: a motor housing 7, movably connected to the brake sprocket 1 and the friction block 2, and fixedly connected to the electromagnet 4; and a motor shaft 8, fixedly connected to the fixed sprocket 3, with the motor shaft 8 driving the fixed sprocket 3 to rotate circumferentially. That is, the motor housing 7, the brake sprocket 1, the friction block 2, and the electromagnet 4 remain stationary, while the motor shaft 8 can drive the fixed sprocket 3 and the friction block 2 to rotate circumferentially. The braking goal is that after the fixed sprocket 3 and the friction block 2 are frictionally decelerated, the fixed sprocket 3 meshes with the brake sprocket 1, the fixed sprocket 3 is locked and immobilized, and the motor shaft 8, which is fixedly connected to the fixed sprocket 3, also stops rotating.

[0040] In one embodiment, the first elastic member 5 is a wave spring, positioned between the lower surface of the friction block 2 and the bottom wall of the recess in the brake sprocket 1, to apply a force to push the friction block 2 away from the recess in the brake sprocket 1. Wave springs offer the advantage of space optimization. By replacing conventional coil springs, they can reduce the spring height by 50%. Their compact design reduces the spring cavity volume, making them more suitable for tight radial and axial spaces, making them particularly advantageous in small joints such as collaborative robots.

[0041] In one embodiment, the second elastic member 6 is specifically a spring array, disposed between the brake sprocket 1 and the electromagnet 4, and is used to apply a force to the brake sprocket 1 away from the electromagnet 4. Multiple spring arrays are provided on the electromagnet, and at least three spring holes are fixed on the surface of the electromagnet 4 facing the brake sprocket 1. The combined force of these multiple springs is greater, ensuring that even after the first elastic member 5 contacts the fixed sprocket 3, the upward force of the second elastic member 6 is still greater than the downward force of the compressed first elastic member 5, allowing the brake sprocket 1 to continue to move upward.

[0042] In another specific embodiment, the first elastic member 5 is specifically a spring array, and the second elastic member 6 is specifically a wave spring. Other parts that can play an elastic role can also serve as the first elastic member 5 or the second elastic member 6. The present application does not impose any restrictions on this. It only needs to ensure that after the first elastic member 5 contacts the fixed sprocket 3, the upward force of the second elastic member 6 can still be greater than the downward force of the first elastic member 5 under compression, and the brake sprocket 1 can continue to move upward.

[0043] In one embodiment, the brake sprocket 1 is movably engaged with the friction block 2. The brake sprocket 1, through the engaging structure, drives the friction block away from the electromagnet 4 along the axis of the second elastic member 6. The engaging structure can be specifically an S-shaped slot, the hollow space in the S-shaped slot having a certain width to allow space for relative movement between the friction block 2 and the brake sprocket 1. After the friction block 2 is elastically moved by the first elastic member 5 into the S-shaped slot of the brake sprocket 1 and engaged with the friction block 2, the brake sprocket 1 can directly drive the friction block 2 upward through the S-shaped slot.

[0044] Corresponding to the embodiments of the aforementioned devices, an embodiment of the present application further provides a robotic arm, which includes a joint braking device provided by any one of the aforementioned embodiments or a combination thereof. The device includes:

[0045] The brake sprocket and the friction block are arranged between the fixed sprocket and the electromagnet. The brake sprocket includes a recess, and the friction block is located in the recess of the brake sprocket; the first elastic member is arranged between the friction block and the bottom wall of the brake sprocket recess, and the second elastic member is arranged between the brake sprocket and the electromagnet; when braking, the electromagnet is powered off, the brake sprocket loses its adsorption force and moves toward the fixed sprocket. The friction block is first frictionally connected with the fixed sprocket under the elastic force of the first elastic member, and the brake sprocket is meshed with the fixed sprocket under the elastic force of the second elastic member.

[0046] In a specific embodiment, the brake sprocket is provided with teeth meshing with the fixed sprocket, the first elastic member is used to apply force to the friction block away from the recess of the brake sprocket, and the second elastic member is used to apply force to the brake sprocket away from the electromagnet.

[0047] In a specific embodiment, the brake sprocket is movably engaged with the friction block, and the brake sprocket drives the friction block to move away from the electromagnet along the axis direction of the second elastic member through the engaging structure.

[0048] In a specific embodiment, the brake sprocket is movably engaged with the friction block, and the brake sprocket drives the friction block to move away from the electromagnet along the axis direction of the second elastic member through the engaging structure.

[0049] In a specific embodiment, during braking, since the elastic force of the second elastic member is greater than the elastic force of the first elastic member, the upper surface of the friction block is first frictionally connected with the bottom wall of the fixed sprocket, and the first elastic member continues to be compressed. The force of compression of the first elastic member is less than the force of the second elastic member bouncing up. Driven by the elastic force of the second elastic member, the brake sprocket moves away from the electromagnet along the axis direction of the second elastic member until the brake sprocket and the fixed sprocket are engaged.

[0050] In one embodiment, the first elastic member is a wave spring.

[0051] In another specific embodiment, the second elastic member is a spring array.

[0052] In a specific embodiment, the joint braking device further includes: a motor housing fixedly connected to the fixed gear disc; a motor shaft movably connected to the brake gear disc and the friction block, and the motor shaft drives the brake gear disc and the friction block to rotate circumferentially.

[0053] In a specific embodiment, the electromagnet is fixedly connected to the motor housing, the electromagnet includes a sliding groove, and the second elastic member rotates along the sliding groove of the electromagnet.

[0054] The foregoing description describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0055] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the inventions claimed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art not claimed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0056] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0057] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A joint braking device, characterized in that: include: The brake sprocket (1) and the friction block (2) are arranged between the fixed sprocket (3) and the electromagnet (4), the brake sprocket (1) includes a recessed portion, and the friction block (2) is located in the recessed portion of the brake sprocket (1); A first elastic member (5) is provided between the friction block (2) and the bottom wall of the recess of the brake sprocket (1); and a second elastic member (6) is provided between the brake sprocket (1) and the electromagnet (4); During braking, the electromagnet (4) is powered off, the brake sprocket (1) loses its adsorption force and moves toward the fixed sprocket (3), the friction block (2) is first frictionally connected with the fixed sprocket (3) under the elastic force of the first elastic member (5), and the brake sprocket (1) is meshed with the fixed sprocket (3) under the elastic force of the second elastic member (6); During braking, since the elastic force of the second elastic member (6) is greater than the elastic force of the first elastic member (5), the upper surface of the friction block (2) is first frictionally connected with the bottom wall of the fixed sprocket (3), and the first elastic member (5) continues to be compressed. The force of the compression of the first elastic member (5) is less than the force of the second elastic member (6) bouncing up. Driven by the elastic force of the second elastic member (6), the brake sprocket (1) moves away from the electromagnet (4) along the axis direction of the second elastic member (6) until the brake sprocket (1) and the fixed sprocket (3) are meshed.

2. The joint braking device according to claim 1, characterized in that: The brake sprocket (1) is provided with teeth meshing with the fixed sprocket (3); the first elastic member (5) is used to apply a force to the friction block (2) away from the recess of the brake sprocket (1); and the second elastic member (6) is used to apply a force to the brake sprocket (1) away from the electromagnet (4).

3. The joint braking device according to claim 1, characterized in that: The brake sprocket (1) is movably engaged with the friction block (2), and the brake sprocket (1) drives the friction block (2) away from the electromagnet (4) along the axis direction of the second elastic member (6) through the engaging structure.

4. The joint braking device according to claim 1, characterized in that: The first elastic member (5) is a wave spring.

5. The joint braking device according to claim 1, characterized in that: The second elastic member (6) is a spring array.

6. The joint braking device according to claim 1, characterized in that: The device further comprises: A motor housing (7) is fixedly connected to the fixed gear disc (3); The motor shaft (8) is movably connected to the brake sprocket (1) and the friction block (2), and the motor shaft (8) drives the brake sprocket (1) and the friction block (2) to rotate in a circumferential direction.

7. The joint braking device according to claim 6, characterized in that: The portion of the motor shaft (8) that cooperates with the brake gear disc (1) and the friction block (2) is a square shaft, and the square shaft is fixed to the motor shaft (8) by a top screw, or the square shaft is fixed to the motor shaft (8) by passing through an open ring groove of the motor shaft (8) and by gluing to achieve synchronous rotation.

8. The joint braking device according to claim 2, characterized in that: The electromagnet (4) is fixedly connected to the motor housing (7), the electromagnet (4) comprises a sliding groove, and the second elastic member (6) rotates along the sliding groove of the electromagnet (4).

9. A robotic arm, characterized in that: The robotic arm comprises the joint braking device according to any one of claims 1 to 8.

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