A mechanical brake, torque testing fixture, testing method and assembly method

Abstract

This invention provides a mechanical brake, a torque testing fixture, a testing method, and an assembly method. The mechanical brake includes: a brake center shaft, a brake pad assembly, a friction limiting ring, a coil spring, and a brake locking flange. The brake center shaft has a hollow shaft hole at its center and a disc structure at its end, with a stepped ring on the upper part of the disc. The center hole of the brake pad assembly is installed on the outside of the stepped ring of the brake center shaft. The friction limiting ring is installed on the upper part of the stepped ring of the brake center shaft, and an annular stepped surface is provided on the upper surface of the friction limiting ring. The coil spring is installed on the stepped surface of the friction limiting ring. The brake locking flange is installed on the brake center shaft above the friction limiting ring and the coil spring. The mechanical brake provided by this invention can avoid the complex and cumbersome operation and repeated disassembly and assembly in the production process, and can reduce the risk of torque reduction in the structure, reducing disassembly steps and component damage during maintenance.

Description

Technical Field

[0001] This invention relates to the field of robot braking technology, and in particular to a mechanical brake, torque detection fixture, detection method, and assembly method. Background Technology

[0002] Most existing collaborative robots use electromagnetic brakes and mechanical brakes for their joints. Mechanical brakes are basically of the following two types:

[0003] (1) One method involves sequentially placing core components of the brake assembly, such as large shims, wear-resistant plates, and star-shaped brake plates, onto the high-speed shaft of the harmonic reducer. A retaining ring is then used to press down and engage the brake plate with the corresponding retaining ring groove on the high-speed shaft. The brake plate is then engaged by friction between the star-shaped brake plate and the electromagnet spring rod on the joint. The torque is measured by creating a fixture that can hold the high-speed shaft in place. A torque wrench can be connected to the fixture to rotate the entire high-speed shaft. Under the clamping action of the spring rod and the star-shaped brake plate, the wear-resistant plate rubs against the brake plate. The torque value measured by the torque wrench is the brake torque of that joint. The disadvantage of this structure is that the retaining ring assembly and clamping process is difficult. If the measured torque value after assembly is inconsistent with the target range, all brake components need to be disassembled and reassembled. The torque value is adjusted by adding or removing shims of different thicknesses within the components until the target state is achieved.

[0004] (2) Another optimized structure involves placing the aforementioned brake assembly parts onto the motor shaft, followed by the installation of adjusting shims, wave springs, or coil springs. Finally, a brake press-fit flange is pressed into the top, forming a tight fit with the high-speed shaft. The torque checking method for this structure is similar to the first scheme. Its advantage is that when the detected torque is too low, simply pressing the flange downwards increases the spring compression, thereby increasing the brake torque. This avoids the need to prepare and assemble shims of different specifications. When the torque is too high, using a tool to slightly pull the flange upwards can reduce the torque, eliminating the need for multiple disassembly and reassembly. The drawbacks of this approach are that the flange pressing process is difficult to control, making it impossible to accurately press the required torque; the flange is tightly fitted onto the high-speed shaft and presses down on the spring, which has an upward spring force. Over time, the flange may shift on the high-speed shaft, reducing the torque of the joint brake and posing a significant safety hazard to the robot; during production and maintenance, if it is necessary to remove parts such as the brake assembly, motor, and reducer, the flange must be pulled out using tooling. This step is difficult, and the pulled-out flange is prone to deformation and needs to be scrapped, wasting costs.

[0005] In addition, both of the above solutions require several parts of the brake assembly to be installed into the joint in sequence. The number of parts is large, and they do not form a real assembly. The assembly steps are numerous, which can easily lead to material quality problems and assembly negligence.

[0006] The current assembly method for frameless servo motor rotors in collaborative robots typically involves gluing the motor rotor to the high-speed input shaft of the reducer, allowing it to dry for a period of time, and then proceeding with subsequent assembly. The disadvantages of this method are that the amount of glue applied is difficult to control; too much glue can overflow and enter the joint, affecting its operation, while too little glue can cause loosening and detachment, leading to joint malfunctions. When core components such as the motor or harmonic reducer malfunction and require repair or replacement, separating the rotor and reducer is quite troublesome: due to the tight adhesive, it is difficult to press the motor rotor out, and this process can easily damage the reducer or motor. Even after separation, residual glue at the mating surfaces is difficult to clean, affecting secondary assembly. Therefore, it is common for the reducer and motor to be scrapped together, resulting in waste. Summary of the Invention

[0007] The technical problem to be solved by the embodiments of the present invention is to provide a mechanical brake, a torque detection fixture, a detection method, and an assembly method, wherein: the mechanical brake solves the problem of complex assembly steps through structural optimization; the torque detection fixture is designed for the mechanical brake and solves the problem of torque detection of the brake assembly; the torque detection method is based on the torque detection fixture and the mechanical brake for torque detection; the assembly method for assembling the motor rotor based on the mechanical brake can shorten the assembly time of the motor and reducer, facilitate disassembly, and allow materials to be reused, thereby reducing resource cost waste.

[0008] To solve the above-mentioned technical problems, the present invention provides a mechanical brake, comprising:

[0009] The brake's central shaft has a hollow shaft hole at the center and a disc structure at the end, with a stepped ring on the upper part of the disc;

[0010] Brake pad assembly, the center hole of the brake pad assembly is installed on the outside of the stepped ring of the brake center shaft;

[0011] The friction limit ring is installed on the upper part of the stepped ring of the brake center shaft, and the upper surface of the friction limit ring is provided with an annular stepped surface.

[0012] A coil spring is installed on the stepped surface of the friction limiting ring;

[0013] The brake locking flange is installed on the brake center shaft above the friction limit ring and the coil spring. The brake locking flange limits the connection of the coil spring to the friction limit ring. The brake locking flange and the friction limit ring are connected to the side of the stepped ring of the brake center shaft by locking screws.

[0014] It also includes a brake pad, which connects the brake pad assembly and the disc of the brake center shaft.

[0015] The brake pad assembly includes a brake pad in the middle and wear-resistant brake pads on both sides of the brake pad. The brake pads on both sides abut against the brake pad and the friction limit ring, respectively. The radial dimension of the brake pad is larger than the radial dimension of other parts of the mechanical brake.

[0016] Other components include the brake center shaft, friction limit ring, coil spring, brake locking flange, and wear-resistant brake pads.

[0017] The brake pad is a star-shaped brake pad structure, with several protruding star points on the circumference of the brake pad.

[0018] The circumference of the disc of the brake center shaft is provided with multiple grooves so that it can be fixed by the torque detection fixture during torque detection.

[0019] The upper end of the brake center shaft is provided with a structure or shape adapted to the encoder.

[0020] The brake locking flange and friction limit ring have multiple recessed grooves on the circumference of the central hole so that they can be fixed by the torque testing fixture during torque testing.

[0021] The present invention also provides a torque testing fixture for testing the torque of a mechanical brake, comprising:

[0022] The brake support base has a circular receiving space to accommodate the lower part of the mechanical brake, and the top of the brake support base is provided with a locking structure that can fix the brake plate.

[0023] The brake support shaft is rotatably connected in the receiving space of the brake support base and is connected to the bottom of the brake center shaft of the mechanical brake.

[0024] A brake support bearing is connected between the brake support shaft and the brake support base so that the brake support shaft can rotate within the receiving space of the brake support base.

[0025] The torque testing head is used to connect to the brake locking flange of the mechanical brake. The top center of the torque testing head has a connector for connecting torque testing tools.

[0026] The locking structure is a locking groove that is adapted to the star-angle of the brake pad, or a protrusion that is connected to the through hole on the brake pad.

[0027] The lower part of the torque detection head is provided with an irregularly shaped boss that connects to the toothed groove of the brake locking flange.

[0028] The inner wall of the brake support shaft is provided with a boss that protrudes inward and connects to the groove of the brake center shaft.

[0029] The connector on the torque testing head is an internal hexagonal screw hole for accommodating the torque testing screw.

[0030] The torque testing head is also provided with a receiving hole for accommodating a locking screw.

[0031] This invention also provides a method for detecting the torque of a mechanical brake using a torque detection fixture, comprising:

[0032] Step a1: Assemble the brake center shaft of the mechanical brake onto the brake support shaft;

[0033] Step a2: Fix the brake pads of the mechanical brake onto the brake support base;

[0034] Step a3: Assemble the torque testing head onto the brake locking flange of the mechanical brake;

[0035] Step a4: Connect the torque testing tool to the torque testing head and twist the torque testing head to obtain a reading.

[0036] Step a1: The groove of the brake center shaft is adapted to the boss of the brake support shaft.

[0037] Step a2: The star-shaped connection of the brake pads is made in the locking groove of the brake support base.

[0038] Step a3: The irregular boss of the torque detection head is connected to the toothed groove of the brake locking flange.

[0039] Step a4: The torque detection head drives the brake locking flange, friction limit ring and brake center shaft to rotate synchronously, so that the wear-resistant brake pads on both sides of the brake pad rotate relative to the brake pad, thereby measuring the torque data.

[0040] Step a4: Torque data is obtained by measuring the forward and reverse rotation of the torque detection head.

[0041] This invention also provides an assembly method for assembling a motor rotor based on a mechanical brake, comprising:

[0042] Step b1: Provide the joint housing and the motor stator respectively, and assemble the joint housing and the motor stator;

[0043] Step b2: Provide a harmonic reducer, install the harmonic reducer on the joint housing, and then insert the motor rotor from the motor shaft side of the harmonic reducer and mate it with the electronic stator;

[0044] Step b3: Perform power assembly of the harmonic reducer;

[0045] Step b4: Provide a mechanical brake and test its torque before assembly. Then assemble the mechanical brake by directly mounting it on the motor's central shaft. Do not test the mechanical brake's torque on the joint during the assembly process.

[0046] Step b1: Assemble the joint housing and motor stator using conventional assembly techniques.

[0047] Step b2: First, install the harmonic reducer onto the joint housing and slightly tighten the four screws. Next, install the pre-installed motor rotor from the motor shaft side of the harmonic reducer, so that the inner hole of the motor central shaft mates with the motor shaft, and the motor rotor mates with the motor stator on the joint housing. Then, rotate the motor rotor assembly to adjust the angle so that the mounting hole on the inner side of the central shaft aligns with the threaded hole on the motor shaft, and tighten the screws.

[0048] Step b3: Flip the joint housing so that the motor shaft of the harmonic reducer faces downwards, loosen the four screws that were tightened beforehand, power on the motor and rotate the motor rotor to drive the harmonic reducer to rotate, thus achieving simultaneous installation and tightening.

[0049] The mechanical brake provided by this invention allows for direct assembly and disassembly of the entire brake on the robot joint, which is convenient and improves production and maintenance efficiency, avoiding material waste and structural risks. Furthermore, a torque detection fixture is designed based on this mechanical brake structure, and a torque detection method for the mechanical brake is designed in conjunction with the torque detection fixture. This allows the brake torque to be measured directly on the torque detection fixture after pre-assembly, and the brake torque can be adjusted directly on the torque detection fixture. The adjustment process is significantly simpler than before, eliminating the need to measure torque on the joint, thus accelerating production line assembly speed. This invention also proposes an assembly method for the motor rotor based on the mechanical brake, shortening the assembly time between the motor and the reducer, facilitating disassembly, and enabling material reuse, reducing resource waste. The assembly method of the frameless servo motor rotor and the high-speed shaft of the reducer is optimized, shortening production time and avoiding damage and waste during component disassembly.

[0050] The mechanical brake provided by this invention can be directly installed on the joint as a component, which improves production efficiency. The optimized structure has stable torque and is convenient and quick to maintain.

[0051] The mechanical brake provided by this invention solves the problem of a large number of brake parts and complex assembly steps in collaborative robot joints; it optimizes the assembly relationship between the components, making the robot joint disassembly and assembly process simple, greatly reducing material waste, and making maintenance work faster; it optimizes the detection method of joint brake torque, making the robot joint production process more efficient; and it optimizes the assembly method of the frameless servo motor and the reducer input shaft, resulting in a high reuse rate of the core components of the collaborative robot joint and accelerating the production speed.

[0052] The mechanical brake provided by this invention can avoid the complex and cumbersome operation and repeated disassembly and assembly in the production and assembly process, and can reduce the risk of torque reduction in the structure. It also reduces the disassembly steps and parts damage during the maintenance process, thereby improving production and maintenance efficiency, reducing product structural risks, reducing the probability of parts being damaged due to structural design and operation, reducing costs and waste. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the internal cross-sectional structure of the robot joint described in an embodiment of the present invention;

[0054] Figure 2 This is an exploded view of the mechanical brake described in an embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram of the structure of the brake center shaft according to an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the assembly structure of the robot joint described in an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the connection between the torque detection fixture and the mechanical brake as described in an embodiment of the present invention;

[0058] Figure 6 This is a schematic diagram of the torque detection fixture described in an embodiment of the present invention;

[0059] Figure 7 This is a schematic diagram of the structure of the torque detection head according to an embodiment of the present invention;

[0060] Figure 8 This is a schematic diagram of the connection between the torque detection fixture and the mechanical brake as described in an embodiment of the present invention.

[0061] In the picture:

[0062] 10. Mechanical brake;

[0063] 11. Brake center shaft; 111. Disc; 112. Stepped ring; 113. Groove;

[0064] 12. Brake pad assembly; 121. Brake pad; 122. Wear-resistant brake pad;

[0065] 13. Friction limiting ring; 131. Stepped surface;

[0066] 14. Wire spring;

[0067] 15. Brake locking flange; 151. Tooth groove;

[0068] 16. Locking screws;

[0069] 17. Brake gasket.

[0070] 20. Torque testing fixture;

[0071] 21. Brake support base;

[0072] 22. Brake support shaft; 221. Boss;

[0073] 23. Brake support bearing;

[0074] 24. Torque testing head; 241. Irregularly shaped boss; 242. Connector;

[0075] 30. Joint shell;

[0076] 31. Motor stator;

[0077] 32. Motor rotor;

[0078] 33. Harmonic reducer. Detailed Implementation

[0079] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0080] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0082] like Figure 1-8 As shown, the present invention provides a mechanical brake 10, comprising:

[0083] The brake center shaft 11 has an overall cylindrical structure with a hollow shaft hole at the center and a disc 111 structure at the end. A stepped ring 112 is provided on the upper part of the disc 111. The main function of the disc 111 is to provide bottom support and form a limiting function at the end, thereby constraining the brake pad assembly 12.

[0084] The brake pad assembly 12 has a central hole installed on the outside of the stepped ring 112 of the brake center shaft 11. The brake pad assembly 12 can play the role of torque transmission and braking. The thickness of the stepped ring 112 is adapted to the overall thickness of the brake pad assembly 12, so that the brake pad assembly 12 can be sleeved on the outside of the stepped ring 112 as a whole, and under the action of the friction limiting ring 13, the brake pad assembly 12 can play the role of torque transmission and braking.

[0085] Friction limiting ring 13 is installed on the upper part of the stepped ring 112 of the brake center shaft 11. The upper surface of the friction limiting ring 13 is provided with an annular stepped surface 131. The friction limiting ring 13 provides a support carrier for the coil spring 14 and forms a friction braking effect with the wear-resistant brake pad 122. The stepped surface 131 is used to connect with the coil spring 14. The diameter of the stepped surface 131 is adapted to the inner diameter of the wear-resistant brake pad 122, so that the coil spring 14 can apply axial force to the wear-resistant brake pad 122.

[0086] The wire spring 14 has a ring structure and is installed on the stepped surface 131 of the friction limiting ring 13;

[0087] A brake locking flange 15 is mounted on the brake central shaft 11 above the friction limiting ring 13 and the coil spring 14. The brake locking flange 15 limits the connection of the coil spring 14 to the friction limiting ring 13. The brake locking flange 15 and the friction limiting ring 13 are connected to the side of the stepped ring 112 of the brake central shaft 11 by locking screws 16. The brake locking flange 15 and the friction limiting ring 13 together form an annular space to clamp the coil spring 14 within it. The brake locking flange and the friction limiting ring 13 are connected to the brake central shaft 11 by locking screws 16. The friction limiting ring 13 and the brake central shaft 11 form an annular space to clamp the brake pad assembly 12 within it.

[0088] The mechanical brake provided by this invention also includes a brake pad 17 connected between the brake pad assembly 12 and the disc 111 of the brake central shaft 11. The diameter of the brake pad 17 is only smaller than that of the brake pad 121, but larger than that of other mechanical brake components. It includes the brake central shaft 11 and the wear-resistant brake pad 122, thereby allowing it to be closer to the robot shell and effectively seal the motor rotor.

[0089] The brake pad assembly 12 includes a brake pad 121 located in the middle and wear-resistant brake pads 122 located on both sides of the brake pad 121. The brake pads 121 on both sides abut against the brake pad 17 and the friction limiting ring 13, respectively. The radial dimension of the brake pad 121 is larger than the radial dimension of other parts of the mechanical brake 10. The edge of the brake pad 121 is used to gradually fix it to the robot shell, so that the brake pad 121 remains stationary, thereby forming a torque transmission between it and the wear-resistant brake pads 122.

[0090] Other components include the brake center shaft 11, friction limit ring 13, coil spring 14, brake locking flange 15, and wear-resistant brake pad 122.

[0091] The brake pad 121 has a star-shaped structure, with several protruding star points on its circumference. When the mechanical brake is tested for torque on the torque testing fixture, the star points of the brake pad 121 can be fixed to the brake support base 21 of the torque testing fixture, thereby simulating the working state of the brake pad 121 and detecting the torque of the mechanical brake.

[0092] The disc 111 of the brake center shaft 11 has multiple grooves 113 on its circumference, which can be fixed by the torque testing fixture 20 during torque testing. The boss 221 on the brake support shaft 22 of the torque testing fixture 20 can be inserted into the grooves 113, so that the brake support shaft 22 and the brake center shaft 11 can rotate synchronously; thus, during the torque testing process, the brake center shaft 11 can rotate with the rotation of the brake locking flange 15.

[0093] The upper end of the brake center shaft 11 is provided with a structure or shape adapted to the encoder. For example... Figure 3 As shown, a notch shape adapted to the encoder is provided on the central shaft of the brake.

[0094] Multiple recessed grooves 151 are provided on the circumference of the central hole of the brake locking flange 15 and the friction limiting ring 13, so that they can be fixed by the torque testing fixture 20 during torque testing. The irregularly shaped boss 241 below the torque testing head 24 of the torque testing fixture 20 can be inserted downward into the grooves 151, so that the brake locking flange 15 can be rotated by the driving action of the torque testing head 24 to detect torque.

[0095] Combination Figure 5-8 As shown, the present invention also provides a torque detection fixture 20 for detecting the torque of the mechanical brake 10, comprising:

[0096] The brake support base 21 has a circular receiving space to accommodate the lower part of the mechanical brake 10, and the top of the brake support base 21 is provided with a locking structure that can fix the brake plate 121. The receiving space of the brake support base 21 is used to accommodate the lower structure of the mechanical brake 10, mainly to allow the brake center shaft 11 of the mechanical brake 10 to be installed into the receiving space of the brake support base 21. The brake support base 21 can also be connected and fixed to the brake plate 121, so that the brake plate 121 is fixed relative to the brake support base 21, and the brake center shaft 11 can rotate in the receiving space.

[0097] The brake support shaft 22 is rotatably connected in the receiving space of the brake support base 21 and connected to the bottom of the brake center shaft 11 of the mechanical brake 10. The brake support shaft 22 is a movable part that can be connected to the brake center shaft 11 of the mechanical brake 10 and rotates with the rotation of the brake center shaft 11. Since the brake plate 121 is fixed on the brake support base 21 and remains stationary, the brake center shaft 11 can rotate within the brake support base 21 to detect torque.

[0098] A brake support bearing 23 is connected between the brake support shaft 22 and the brake support base 21 so that the brake support shaft 22 can rotate within the receiving space of the brake support base 21; the outer ring of the brake support bearing 23 is fixedly connected to the brake support base 21, and the inner ring of the brake support bearing 23 is connected to the brake support shaft 22 so that it rotates with the brake support shaft 22.

[0099] The torque detection head 24 is used to connect to the brake locking flange 15 of the mechanical brake 10. The top center of the torque detection head 24 is provided with a connector head 242 for connecting to the torque detection tool. The torque detection head 24 is a transmission component for torque detection. The center of the torque detection head 24 is connected to the torque detection tool and receives the detection torque from the torque detection tool. Thus, the torque detection head 24 drives the brake locking flange 15 to drive the brake central shaft 11 to rotate synchronously, thereby achieving the function of torque detection.

[0100] The locking structure is a locking groove (e.g., a star-angle adapter connected to the brake piece 121) Figure 6 (as shown), or a protrusion connected to the through hole on the brake plate 121. The purpose of the locking structure is to lock the brake plate 121 and prevent the brake plate 121 from rotating. Therefore, it can be designed in combination with the structural features of the brake plate 121, and it is not limited to locking grooves or protrusion structures.

[0101] The lower part of the torque detection head 24 is provided with a shaped boss that connects to the toothed groove of the brake locking flange 15. The purpose of the shaped boss on the torque detection head 24 is to connect to the toothed groove on the brake locking flange 15, so that the brake locking flange 15 can rotate synchronously when the torque detection head 24 rotates.

[0102] The inner wall of the brake support shaft 22 is provided with a boss 221 that protrudes inward and connects to the groove of the brake center shaft 11. The function of the boss 221 is to fit and connect with the groove 113 on the brake center shaft 11 so that the brake center shaft and the brake support shaft 22 rotate synchronously.

[0103] The connector 242 on the torque testing head 24 is an internal hexagonal screw hole for accommodating the torque testing screw.

[0104] The torque testing head 24 is also provided with a receiving hole for accommodating the locking screw 16, thereby avoiding the locking screw 16 and ensuring that the lower end face of the torque testing head 24 is in contact with the end face of the brake locking flange 15.

[0105] Combination Figure 5-8 The present invention also provides a method for detecting the torque of a mechanical brake 10 using a torque detection fixture 20, comprising:

[0106] Step a1: Assemble the brake center shaft 11 of the mechanical brake 10 onto the brake support shaft 22 so that the brake center shaft 11 and the brake support shaft 22 can rotate synchronously, so that the rotation of the brake center shaft 11 will not be hindered during the torque detection process.

[0107] Step a2: Fix the brake pad 121 of the mechanical brake 10 onto the brake support base 21, so that the brake pad 121 can be fixed on the brake support base 21 and the brake pad 121 can remain fixed during the torque test.

[0108] Step a3: Assemble the torque detection head 24 onto the brake locking flange 15 of the mechanical brake 10. The torque detection head 24 can drive the brake locking flange 15 to rotate.

[0109] Step a4: Connect the torque testing tool to the torque testing head 24 and twist the torque testing head 24 to obtain a reading.

[0110] Step a1: The groove 113 of the brake center shaft 11 is adapted to the boss 221 of the brake support shaft 22.

[0111] In step a2, the star-shaped connection of the brake pad 121 is made in the locking groove of the brake support base 21.

[0112] Step a3: The irregular boss of the torque detection head 24 is connected to the tooth groove of the brake locking flange 15.

[0113] In step a4, the torque detection head 24 drives the brake locking flange 15, friction limit ring 13 and brake center shaft 11 to rotate synchronously, so that the wear-resistant brake pads 122 on both sides of the brake pad 121 rotate relative to the brake pad 121, thereby measuring the torque data.

[0114] Step a4: Torque data is obtained by measuring the forward and reverse rotation of the torque detection head 24.

[0115] The present invention also provides an assembly method for assembling a motor rotor 32 based on a mechanical brake 10, comprising:

[0116] Step b1: Provide the joint housing 30 and the motor stator 31 respectively, and assemble the joint housing 30 and the motor stator 31;

[0117] Step b2: Provide a harmonic reducer 33, install the harmonic reducer 33 on the joint housing 30, and then insert the motor rotor 32 from the motor shaft side of the harmonic reducer 33 and cooperate with the electronic stator.

[0118] Step b3: Perform power assembly of harmonic reducer 33;

[0119] Step b4: Provide the mechanical brake 10, and test the torque of the mechanical brake 10 before assembly. Then assemble the mechanical brake 10 by directly mounting it on the central shaft of the motor. During the assembly process, do not test the torque of the mechanical brake 10 on the joint.

[0120] Step b1: Assemble the joint housing 30 and the motor stator 31 using conventional assembly techniques.

[0121] Step b2: First, install the harmonic reducer 33 onto the joint housing 30 and slightly tighten the four screws. Next, install the pre-installed motor rotor 32 from the motor shaft side of the harmonic reducer 33, so that the inner hole of the motor central shaft mates with the motor shaft, and the motor rotor 32 mates with the motor stator 31 on the joint housing 30. Then, rotate the motor rotor 32 assembly to adjust the angle so that the mounting hole on the inner shaft mates with the threaded hole on the motor shaft, and tighten the screw 16.

[0122] Step b3: Flip the joint housing 30 so that the motor shaft of the harmonic reducer 33 faces downward, loosen the four screws that were tightened beforehand, power on and rotate the motor rotor 32 to drive the harmonic reducer 33 to rotate, thus achieving simultaneous installation and tightening.

[0123] The mechanical brake provided by this invention allows for direct assembly and disassembly of the entire brake on the robot joint, which is convenient and improves production and maintenance efficiency, avoiding material waste and structural risks. Furthermore, a torque detection fixture is designed based on this mechanical brake structure, and a torque detection method for the mechanical brake is designed in conjunction with the torque detection fixture. This allows the brake torque to be measured directly on the torque detection fixture after pre-assembly, and the brake torque can be adjusted directly on the torque detection fixture. The adjustment process is significantly simpler than before, eliminating the need to measure torque on the joint, thus accelerating production line assembly speed. This invention also proposes an assembly method for the motor rotor based on the mechanical brake, shortening the assembly time between the motor and the reducer, facilitating disassembly, and enabling material reuse, reducing resource waste. The assembly method of the frameless servo motor rotor and the high-speed shaft of the reducer is optimized, shortening production time and avoiding damage and waste during component disassembly.

[0124] The mechanical brake provided by this invention can be directly installed on the joint as a component, which improves production efficiency. The optimized structure has stable torque and is convenient and quick to maintain.

[0125] The mechanical brake provided by this invention solves the problem of a large number of brake parts and complex assembly steps in collaborative robot joints; it optimizes the assembly relationship between the components, making the robot joint disassembly and assembly process simple, greatly reducing material waste, and making maintenance work faster; it optimizes the detection method of joint brake torque, making the robot joint production process more efficient; and it optimizes the assembly method of the frameless servo motor and the reducer input shaft, resulting in a high reuse rate of the core components of the collaborative robot joint and accelerating the production speed.

[0126] The mechanical brake provided by this invention can avoid the complex and cumbersome operation and repeated disassembly and assembly in the production and assembly process, and can reduce the risk of torque reduction in the structure. It also reduces the disassembly steps and parts damage during the maintenance process, thereby improving production and maintenance efficiency, reducing product structural risks, reducing the probability of parts being damaged due to structural design and operation, reducing costs and waste.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. Mechanical brake (10), including: The brake center shaft (11) has a hollow shaft hole in the center and a disc (111) structure at the end. A stepped ring (112) is provided on the upper part of the disc (111). Brake pad assembly (12), the center hole of the brake pad assembly (12) is installed on the outside of the stepped ring (112) of the brake center shaft (11); Friction limiting ring (13) is installed on the upper part of the stepped ring (112) of the brake center shaft (11), and an annular stepped surface (131) is provided on the upper surface of the friction limiting ring (13). A wire spring (14) is installed on the stepped surface (131) of the friction limiting ring (13); A brake locking flange (15) is installed on the brake center shaft (11) above the friction limit ring (13) and the coil spring (14). The brake locking flange (15) limits the coil spring (14) to the friction limit ring (13). The brake locking flange (15) and the friction limit ring (13) are connected to the side of the stepped ring (112) of the brake center shaft (11) by locking screws (16). The mechanical brake (10) also includes a brake pad (17) connected between the brake pad assembly (12) and the disc (111) of the brake center shaft (11). The brake pad assembly (12) includes a brake pad (121) located in the middle and wear-resistant brake pads (122) located on both sides of the brake pad (121). The wear-resistant brake pads (122) on both sides abut against the brake pad (17) and the friction limiting ring (13) respectively. The radial dimension of the brake pad (121) is larger than the radial dimension of other parts of the mechanical brake (10). The brake plate (121) is a star-shaped brake plate (121) structure, with several protruding star points on the circumference of the brake plate (121); The circumference of the disc (111) of the brake center shaft (11) is provided with multiple grooves (113) so that it can be fixed by the torque detection fixture during torque detection. The upper end of the brake center shaft (11) is provided with a structure or shape adapted to the encoder; Multiple recessed grooves (151, 131) are provided on the circumference of the central hole of the brake locking flange (15) and the friction limiting ring (13) so that they can be fixed by the torque testing fixture during torque testing.

2. A torque testing fixture (20) for testing the torque of the mechanical brake (10) in claim 1, characterized in that, include: The brake support base (21) has a circular receiving space to receive the lower part of the mechanical brake (10), and the top of the brake support base (21) is provided with a locking structure that can fix the brake plate (121). The brake support pivot (22) is rotatably connected in the receiving space of the brake support base (21) and connected to the bottom of the brake center shaft (11) of the mechanical brake (10); A brake support bearing (23) is connected between the brake support shaft (22) and the brake support base (21) so that the brake support shaft (22) can rotate within the receiving space of the brake support base (21); A torque testing head (24) is used to connect to the brake locking flange (15) of the mechanical brake (10). The top center of the torque testing head (24) is provided with a connector (242) for connecting to a torque testing tool.

3. The torque testing fixture (20) according to claim 2, characterized in that, The locking structure is a locking groove that is adapted to the star-angle of the brake plate (121), or a protrusion that is connected to the through hole on the brake plate (121). The lower part of the torque detection head (24) is provided with a shaped boss (241) that is connected to the toothed groove (151) of the brake locking flange (15). The inner wall of the brake support shaft (22) is provided with a boss (221) that protrudes inward and is connected to the groove (113) of the brake center shaft (11). The connector (242) on the torque testing head (24) is an internal hexagonal screw hole for accommodating the torque testing screw; The torque testing head (24) is also provided with a receiving hole for accommodating the locking screw (16).

4. A method for detecting the torque of a mechanical brake (10) using the torque detection fixture (20) of claim 2, comprising: Step a1: Assemble the brake center shaft (11) of the mechanical brake (10) onto the brake support shaft (22); Step a2: Fix the brake pad (121) of the mechanical brake (10) onto the brake support base (21); Step a3: Assemble the torque testing head (24) onto the brake locking flange (15) of the mechanical brake (10); Step a4: Connect the torque testing tool to the torque testing head (24) and twist the torque testing head (24) to obtain the reading.

5. The method according to claim 4, characterized in that, Step a1: The groove of the brake center shaft (11) is adapted to the boss of the brake support shaft (22); Step a2, the star-shaped connection of the brake pad (121) is made in the locking groove of the brake support base (21); Step a3, the irregular boss of the torque detection head (24) is connected to the tooth groove of the brake locking flange (15); Step a4: The torque detection head (24) drives the brake locking flange (15), friction limit ring (13) and brake center shaft (11) to rotate synchronously, so that the wear-resistant brake pads (122) on both sides of the brake pad (121) rotate relative to the brake pad (121) by friction, thereby measuring the torque data; Step a4: Torque data is obtained by measuring the forward and reverse rotation of the torque detection head (24).

6. An assembly method for assembling a motor rotor based on the mechanical brake (10) in claim 1, comprising: Step b1: Provide the joint housing (30) and the motor stator (31) respectively, and assemble the joint housing (30) and the motor stator (31). Step b2: Provide a harmonic reducer (33), install the harmonic reducer (33) on the joint housing (30), and then insert the motor rotor (32) from the motor shaft side of the harmonic reducer (33) and mate it with the motor stator (31); Step b3: Perform power assembly of the harmonic reducer (33); Step b4: Provide a mechanical brake (10) and test the torque of the mechanical brake (10) before assembly. Then assemble the mechanical brake (10) by directly mounting the mechanical brake (10) on the central shaft of the motor and testing the torque of the mechanical brake (10) on the joint during the assembly process.

7. The method according to claim 6, characterized in that, Step b1: Assemble the joint housing (30) and the motor stator (31) using assembly technology. Step b2: First, install the harmonic reducer (33) onto the joint housing (30) and slightly tighten the four screws. Next, install the pre-installed motor rotor (32) from the motor shaft side of the harmonic reducer (33) so that the inner hole of the motor central shaft matches the motor shaft and the motor rotor (32) matches the motor stator (31) on the joint housing (30). Then, rotate the motor rotor (32) assembly to adjust the angle so that the inner hole of the central shaft matches the motor shaft and the mounting hole corresponds to the threaded hole on the motor shaft. Tighten the screws (16).

8. The method according to claim 7, characterized in that, Step b3: Flip the joint housing (30) so that the motor shaft of the harmonic reducer (33) faces downward, loosen the four screws that were tightened before, power on and rotate the motor rotor (32) to drive the harmonic reducer (33) to rotate, so as to install and tighten at the same time.

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