A robot joint actuator

Abstract

The application discloses a robot joint actuating mechanism, which comprises a motor end brake assembly, a motor assembly, a speed reducer assembly and a self-separation assembly connected in sequence, and the motor assembly is connected with a load transmission through the speed reducer assembly and the self-separation assembly. In the application, the self-separation coil can generate magnetic attraction force to drive the self-separation input shaft to move towards the self-separation output shaft and make the two ends of the self-separation input shaft to be separated from the output end of the speed reducer assembly and the self-separation output shaft when the self-separation coil is electrified, so that the safety of the actuating mechanism is ensured under abnormal conditions.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a robot joint actuation mechanism. Background Technology

[0002] From simple mechanical devices to complex systems with artificial intelligence and autonomous learning capabilities, robots are gradually becoming more intelligent, comprehensive, and collaborative. With continuous technological breakthroughs and expanding application scenarios, robots are increasingly integrating into every corner of human society, not only improving efficiency in manufacturing but also bringing new possibilities to the service sector, playing an increasingly important role in the development and transformation of future society.

[0003] With the development of robotics technology, the application scenarios of intelligent robots are no longer limited to the ground, but are gradually expanding into the space environment. Therefore, intelligent robots face a more complex external environment. When interacting with the environment, abnormal factors such as collisions, impacts, and sudden power outages can affect the joint structure of intelligent robots. If a robot joint is jammed by an external object, failure to stop the robot's movement in time can cause destructive damage to the joint structure. In the event of a sudden power outage, if the robot joint cannot maintain its position, the robot may lose balance, tilt, or fall, severely impacting its overall health. In the space environment, robot joints also need to operate under conditions of high and low temperatures, low air pressure, and drastic temperature changes. However, most existing robot joints are rigid joints, lacking power-off braking and the ability to separate the output and load ends. Therefore, in the face of power outages and abnormal situations, the safety of the output and load ends cannot be guaranteed.

[0004] Existing patent document CN108908397A discloses a robot articulated arm and a robot. The robot articulated arm includes a power supply and an energy consumption module. The power supply powers the robot's motors. The energy consumption module is located within the robot's body and absorbs energy fed back from the motors. When the robot performs negative work, the energy fed back from the motors is absorbed and consumed by the energy consumption module, preventing excessive charge buildup on the capacitors. However, this method cannot guarantee the safety of the actuation mechanism in abnormal situations. Summary of the Invention

[0005] The technical problem to be solved by this invention is how to ensure the safety of the actuation mechanism when facing abnormal situations.

[0006] The present invention solves the above-mentioned technical problems through the following technical means: a robot joint actuation mechanism, comprising a motor end brake assembly, a motor assembly, a reducer assembly, and a self-separation assembly connected in sequence. The motor assembly is connected to the load through the reducer assembly and the self-separation assembly. The self-separation assembly includes a housing, a self-separation input shaft, and a self-separation output shaft. The self-separation input shaft and the self-separation output shaft are rotatably connected inside the housing, and the self-separation input shaft can move relative to the self-separation output shaft. A self-separation coil is fixedly connected to one end of the self-separation output shaft facing the self-separation input shaft. The self-separation output shaft is elastically connected to the self-separation input shaft through an elastic element. The self-separation coil can drive the self-separation input shaft to move toward or away from the self-separation output shaft, causing both ends of the self-separation input shaft to simultaneously disengage from or engage with the output end of the reducer assembly and the self-separation output shaft, respectively.

[0007] By incorporating a self-separating output shaft, an elastic element, and a self-separating input shaft, the self-separating coil generates a magnetic attraction force on the self-separating input shaft when energized. This drives the input shaft towards the output shaft, causing both ends of the input shaft to disengage from the output end of the reducer assembly and the output shaft, respectively. When the self-separating coil is de-energized, the input shaft is pulled away from the output shaft by the elastic force of the elastic element, causing both ends to engage with the output end of the reducer assembly and the output shaft, respectively. This allows the motor assembly to transmit power to the load through the reducer assembly, the self-separating output shaft, and the self-separating input shaft, thus ensuring the safety of the actuation mechanism under abnormal conditions.

[0008] As a preferred technical solution, the self-separating output shaft is rotatably connected to one end of the housing via a self-separating output end bearing, the self-separating output end bearing being a ball bearing, and the self-separating input shaft is movably connected to the other end of the housing via a self-separating input end bearing. The elastic element includes a self-separating spring, and the self-separating input end bearing being a linear bearing.

[0009] As a preferred technical solution, the housing includes a self-separating input end fixing seat and a self-separating output end fixing seat. One end of the self-separating input end fixing seat is fixedly connected to the reducer assembly, and the other end is enclosed and fixed with the self-separating output end fixing seat to form a cavity structure. The self-separating input shaft and the self-separating output shaft are both located in the cavity.

[0010] As a preferred technical solution, the output end of the reducer assembly is fixedly connected to a reducer output shaft conical tooth, one end of the self-separating input shaft is provided with a self-separating output shaft conical tooth hole that matches the reducer output shaft conical tooth, the other end of the self-separating input shaft is fixedly connected to a self-separating output end conical tooth, a self-separating output shaft guide hole is formed inside the self-separating output shaft, and a self-separating output shaft conical tooth hole that matches the self-separating output end conical tooth is provided inside the self-separating output shaft guide hole.

[0011] As a preferred technical solution, a self-separating input shaft guide shaft is fixedly connected to the outside of the self-separating input shaft, the bushing of the self-separating input end bearing is fixedly connected to the housing, and a bearing mating surface is formed on the self-separating output shaft, which rotates and engages with the self-separating output end bearing through the bearing mating surface.

[0012] As a preferred technical solution, a plurality of self-separating input shaft spring fixing posts are fixedly connected to one end of the self-separating input shaft guide shaft facing the self-separating output shaft, and one end of the self-separating spring is fixedly connected to the self-separating input shaft spring fixing post.

[0013] As a preferred technical solution, the self-separating output shaft is provided with a coil fixing groove that matches the self-separating coil, and a plurality of self-separating output shaft spring fixing posts are fixedly connected to the self-separating output shaft, with the other end of the self-separating spring being fixedly connected to the output shaft spring fixing post.

[0014] As a preferred technical solution, the motor-end brake assembly includes a motor-end brake mounting base, a brake friction plate, a brake coil, a brake spring, and a brake disc. The motor-end brake mounting base is fixedly connected to the motor assembly. The motor-end brake mounting base is elastically connected to the brake friction plate through the brake spring. A brake coil is fixedly connected to the motor-end brake mounting base. The brake disc is fixedly connected to the outside of the rear output shaft of the motor assembly. The brake coil can drive the brake friction plate to move the brake disc to abut against the rear output shaft of the motor.

[0015] As a preferred technical solution, the motor-end brake assembly, motor assembly, reducer assembly, and self-separation assembly are coaxial and linearly connected in sequence.

[0016] As a preferred technical solution, it also includes a reversing gearbox assembly, wherein the motor-end brake assembly and the motor assembly are coaxially arranged and are distributed in parallel with the coaxially arranged reducer assembly and self-separation assembly, the output end of the motor assembly is drivenly connected to the input end of the reversing gearbox assembly, and the output end of the reversing gearbox assembly is drivenly connected to the input end of the reducer assembly.

[0017] The advantages of this invention are:

[0018] (1) In this invention, by setting up a self-separating output shaft, an elastic element, and a self-separating input shaft, when the self-separating coil is energized, it can generate a magnetic attraction force on the self-separating input shaft to drive the self-separating input shaft to move toward the self-separating output shaft and cause the two ends of the self-separating input shaft to separate from the output end of the reducer assembly and the self-separating output shaft, respectively. When the self-separating coil is de-energized, the self-separating input shaft is subjected to the elastic force of the elastic element and moves away from the self-separating output shaft, causing the two ends of the self-separating input shaft to be riveted to the output end of the reducer assembly and the self-separating output shaft, respectively. This allows the motor assembly to transmit power to the load through the reducer assembly, the self-separating output shaft, and the self-separating input shaft, thereby ensuring the safety of the actuation mechanism under abnormal conditions.

[0019] (2) In this invention, by setting up the motor-end brake assembly, when the brake device loses power, the brake friction plate, under the action of the spring, adheres to the friction disc on the left side of the motor, and the DC motor is locked by friction, preventing the DC motor from rotating. When power is applied, the energized solenoid generates a magnetic field attraction, and the brake friction plate separates from the friction disc on the left side of the motor under the action of electromagnetic force, allowing the motor to operate normally. This ensures that the load maintains its current position and prevents it from losing balance in the event of a power outage.

[0020] (3) In this invention, the direct-connection layout makes the actuating mechanism have advantages such as small radial size and high transmission efficiency, and the parallel layout makes the actuating mechanism have advantages such as small axial size and flexible installation method.

[0021] (4) In this invention, welding technology is used to weld the motor end brake device, the dual-redundant DC brushed motor, the multi-stage planetary reducer and the output end self-separation device together, which reduces the use of connecting parts, reduces the weight of the mechanism, and reduces the axial dimension of the motor, so that the actuation mechanism has compactness and lightweight characteristics.

[0022] (5) In this invention, a dual-redundant brushed DC motor is used as the power source. The dual-redundant brushed DC motor has no electronic components, has high reliability, and can rotate reliably as soon as it is powered on. At the same time, the commutator and brushes of the brushed DC motor adopt a dual-redundant structure, which increases the reliability of the brushed DC motor. The dual-redundant brushed DC motor adopts solid lubrication and has the ability to withstand high temperature, low temperature and wide temperature range. Attached Figure Description

[0023] Figure 1 This is a schematic cross-sectional view of the actuation mechanism provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a schematic diagram of the actuation mechanism structure provided in Embodiment 2 of the present invention;

[0025] Figure 3This is a schematic cross-sectional view of the motor-end brake assembly provided in Embodiment 1 of the present invention;

[0026] Figure 4 This is a schematic diagram of the rear output shaft structure of the motor provided in Embodiment 1 of the present invention;

[0027] Figure 5 This is a schematic diagram of the reducer assembly structure provided in Embodiment 1 of the present invention;

[0028] Figure 6 This is a schematic diagram of the self-separating component structure provided in Embodiment 1 of the present invention;

[0029] Figure 7 This is a schematic diagram of the rear view of the self-separating input shaft structure provided in Embodiment 1 of the present invention;

[0030] Figure 8 This is a schematic diagram of the front view of the self-separating input shaft structure provided in Embodiment 1 of the present invention;

[0031] Figure 9 This is a schematic diagram of the rear view of the self-separating output shaft structure provided in Embodiment 1 of the present invention;

[0032] Figure 10 This is a front view schematic diagram of the self-separating output shaft structure provided in Embodiment 1 of the present invention;

[0033] Reference numerals: 1. Motor-end brake assembly; 101. Motor-end brake mounting base; 101a. Brake mounting base spring mounting post; 101b. Brake mounting base coil mounting slot; 101c. Brake mounting base guide hole; 102. Brake friction plate; 102a. Brake friction plate mounting post; 102b. Brake friction plate guide post; 102c. Brake friction plate friction surface; 103. Brake coil; 104. Brake spring; 105. Brake disc; 2. Motor assembly; 201. Motor rear output shaft; 3. Reducer assembly; 301. Reducer output shaft; 301a. Reducer output shaft bevel gear; 4. Self-separation assembly; 401. Self-separation... 402. Self-separating input end mounting base; 403. Self-separating input end bearing; 404. Self-separating input shaft; 404a. Self-separating output end tapered tooth; 404b. Self-separating input shaft spring fixing post; 404c. Self-separating output shaft tapered tooth hole; 404d. Self-separating input shaft guide shaft; 405. Self-separating spring; 406. Self-separating coil; 407. Self-separating output shaft; 407a. Self-separating output shaft threaded hole; 407b. Self-separating output shaft guide hole; 407c. Self-separating output shaft tapered tooth hole; 407d. Bearing mating surface; 408. Self-separating output end bearing; 5. Reversing gearbox assembly. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1

[0036] The actuation structure in this embodiment is a direct-drive layout, which has the advantages of small radial dimension and high transmission efficiency.

[0037] See Figure 1 A robot joint actuation mechanism includes a motor-end brake assembly 1, a motor assembly 2, a reducer assembly 3, and a self-separation assembly 4 connected in sequence. The motor-end brake assembly 1, motor assembly 2, reducer assembly 3, and self-separation assembly 4 are integrated linearly. Under limited technical parameter requirements, the overall structure can be made slender and compact, which is convenient for the spatial installation of the integrated system.

[0038] The motor-end brake assembly 1 is fixedly connected to one side of the motor assembly 2. The other side of the motor assembly 2, i.e. the output end, is connected to the input end of the reducer assembly 3. The output end of the reducer assembly 3 extends into the self-separation assembly 4. The motor assembly 2 and the reducer assembly 3 are fixedly connected, and the reducer assembly 3 and the self-separation assembly 4 are fixedly connected. The axes of the motor-end brake assembly 1, the motor assembly 2, the reducer assembly 3, and the self-separation assembly 4 are coaxial.

[0039] See Figure 3 The motor-end brake assembly 1 includes a motor-end brake mounting base 101, a brake friction plate 102, a brake coil 103, a brake spring 104, and a brake disc 105. The motor-end brake mounting base 101 facing the motor assembly 2 has a brake mounting base guide hole 101c, a brake mounting base coil mounting groove 101b, and a brake mounting base spring fixing post 101a arranged radially along its end. The brake friction plate 102 can move relative to the motor-end brake mounting base 101 towards or away from the motor assembly 2. The brake friction plate 102 facing the motor-end brake mounting base 101 has a brake friction plate guide post 102b adapted to the brake mounting base guide hole 101c and a brake friction plate fixing post 102a adapted to the brake mounting base spring fixing post 101a arranged radially along its end. The brake friction plate 102 away from the motor-end brake mounting base 101 forms a brake friction plate friction surface 102c.

[0040] The motor end brake mounting base 101 is elastically connected to the brake friction plate 102 through the brake spring 104. The brake spring 104 is sleeved on the outside of the brake mounting base spring fixing post 101a and the brake friction plate fixing post 102a. The brake mounting base spring fixing post 101a and the brake friction plate fixing post 102a have the same size. The brake coil 103 is set in the brake mounting base coil mounting groove 101b. The brake disc 105 is welded to the motor rear output shaft 201 of the motor assembly 2.

[0041] When the brake coil 103 is de-energized, the brake friction plate 102 moves away from the brake fixing seat spring fixing column 101a under the spring force of the brake spring 104, and the friction surface 102c of the brake friction plate abuts against the brake disc 105, thereby causing the motor rear output shaft 201 to stop moving through friction.

[0042] When the brake coil 103 is energized, it generates a magnetic field, which in turn generates a magnetic attraction force on the brake friction plate 102. This causes the brake friction plate 102 to move towards the brake fixing seat spring fixing post 101a, thereby disengaging from the brake disc 105, allowing the motor rear output shaft 201 to rotate freely.

[0043] See Figure 4 In this embodiment, the motor assembly 2 is a DC brushed motor, and the reducer assembly 3 is a planetary gear reducer. Both the DC brushed motor and the planetary gear reducer are existing technologies, and their specific structures will not be described in detail. The end of the motor assembly 2 away from the motor end brake assembly 1 is welded to the reducer assembly 3. Power is transmitted from the motor assembly 2 to the reducer assembly 3. The output end of the reducer 3 is fixedly connected to the reducer output shaft bevel gear 301a, and the reducer output shaft bevel gear 301a extends into the self-separating assembly 4.

[0044] See Figure 5 , Figure 6 , Figure 7 , Figure 8The self-separating component 4 includes a self-separating input end fixing seat 401, a self-separating output end fixing seat 402, a self-separating input end bearing 403, a self-separating input shaft 404, a self-separating spring 405, a self-separating coil 406, a self-separating output shaft 407, and a self-separating output end bearing 408. The self-separating input end fixing seat 401 and the self-separating output end fixing seat 402 are enclosed and welded together to form a cavity structure. The cavity is open at both ends, and the bevel tooth 301a of the reducer output shaft extends into the cavity from one end. The self-separating input end bearing 403, the self-separating input shaft 404, the self-separating spring 405, the self-separating coil 406, the self-separating output shaft 407, and the self-separating output end bearing 408 are all located in the cavity. The self-separating input shaft 404 is rotatably connected to the self-separating input end fixing seat 401 through the self-separating input end bearing 403, and the self-separating output shaft 407 is rotatably connected to the self-separating output end fixing seat 402 through the self-separating output end bearing 408.

[0045] The self-separating coil 406 can generate a magnetic attraction force on the self-separating input shaft 404, and the magnetic attraction force is greater than the friction force between the bevel tooth 301a of the reducer output shaft and the bevel tooth hole 404c of the self-separating output shaft. The self-separating output end bearing 408 is a ball bearing, and the self-separating input end bearing 403 is a linear bearing. The bushing of the self-separating input end bearing 403 is fixedly connected to the self-separating input end fixed seat 401.

[0046] The self-separating input shaft 404 is provided with a self-separating output end conical tooth 404a, a self-separating input shaft spring fixing post 404b, a self-separating output shaft conical tooth hole 404c, and a self-separating input shaft guide shaft 404d. The end of the self-separating input shaft 404 facing the reducer assembly 3 is formed with a self-separating output shaft conical tooth hole 404c that matches the reducer output shaft conical tooth 301a. The self-separating input shaft guide shaft 404d is fixedly connected to the circumferential outer wall that mates with the cavity, and slides with the inner wall of the cavity through the self-separating input shaft guide surface 404d. The end of the self-separating input shaft 404 away from the reducer assembly 3 is fixedly connected with the self-separating output end conical tooth 404a. Multiple self-separating input shaft spring fixing posts 404b are fixedly connected to the end of the self-separating input shaft guide shaft 404d facing the self-separating output shaft 407.

[0047] The self-separating input shaft 404 is elastically connected to the self-separating output shaft 407 via a self-separating spring 405. The self-separating spring 405 is located outside the self-separating input shaft spring fixing post 404b, with one end fixedly connected to the self-separating input shaft spring fixing post 404b. Multiple self-separating output shaft spring fixing posts are fixedly connected to the self-separating output shaft 407, and the other end of the self-separating spring 405 is fixedly connected to the output shaft spring fixing post.

[0048] See Figure 9 , Figure 10The self-separating output shaft 407 is provided with a self-separating output shaft threaded hole 407a, a self-separating input shaft spring fixing post 404b, a self-separating output shaft tapered tooth hole 407c, and a bearing mating surface 407d. A self-separating output shaft guide hole 407b is formed inside the self-separating output shaft 407b. The self-separating output shaft tapered tooth hole 407c, which matches the tapered tooth 404a of the self-separating output end, is provided inside the guide hole 407b and rotates with the self-separating output end bearing 408 through the bearing mating surface 407b. In this embodiment, the self-separating output shaft tapered tooth hole 407c is located at... The self-separating output shaft guide hole 407b is located in the middle. The self-separating output end tapered tooth 404a can extend into the rear of the self-separating output shaft guide hole 407b. The self-separating output shaft 407 is provided with multiple self-separating output shaft threaded holes 407a at the end opposite to the self-separating input shaft 404. It is fixedly connected to the external load through the self-separating output shaft threaded holes 407a. The end of the self-separating output shaft 407 opposite to the self-separating input shaft 404 is also formed with a bearing mating surface 407d. It is rotatably mated with the self-separating output end fixed seat 402 through the bearing mating surface 407d, the self-separating output end bearing 408, and the self-separating output end fixed seat 402.

[0049] In this embodiment, the reducer assembly 3 is a Dongzheng 56JX300K planetary gear reducer with a reduction ratio of 198:1, 4 reduction stages, and a rated torque of 30 Nm.

[0050] How to use:

[0051] When the motor-end brake assembly 1 and the motor assembly 2 are powered simultaneously, the brake friction plate 102 is attracted to the left by the brake coil 103, the motor-end brake assembly 1 opens, the motor assembly 2 can rotate normally, and the power is transmitted to the reducer assembly 3; when the motor-end brake assembly 1 is de-energized, the brake friction plate 102 is pressed to the right by the spring force of the brake spring 104, the brake friction surface 102c is pressed against the brake disc 105 for friction braking, the motor-end brake assembly 1 closes, and the motor assembly 2 stops moving.

[0052] When the self-separation assembly 4 is de-energized, the self-separation input shaft 404 is pressed to the left by the spring force of the self-separation spring 405. The bevel gear 301a of the left reducer output shaft meshes with the bevel gear hole 404c of the self-separation input end, and the bevel gear 404a of the right self-separation output end meshes with the bevel gear hole 407c of the self-separation output shaft. Power is transmitted from the reducer assembly 3 to the self-separation input shaft 404, and then from the self-separation input shaft 404 to the self-separation output shaft 407, realizing the power transmission from the motor to the load. When the self-separation assembly 4 is energized, the self-separation input shaft 404... Under the electromagnetic attraction of the self-separating coil 406, the input shaft 404 is displaced to the right. The bevel tooth 301a of the output shaft of the left reducer separates from the bevel tooth hole 404c of the self-separating input end, and the bevel tooth 404a of the output end of the right reducer separates from the bevel tooth hole 407c of the self-separating output shaft. The power is separated from the self-separating input shaft 404 by the reducer assembly 3, and the reducer assembly 3 rotates freely, realizing the power separation from the motor to the load. Abnormal conditions at the load end cannot affect the motor and reducer, ensuring the safe and reliable operation of the main body.

[0053] Example 2

[0054] See Figure 2 The difference between this embodiment and embodiment 1 is that the actuation structure is arranged in parallel and includes a reversing gearbox assembly 5. The motor end brake assembly 1, motor assembly 2 and reducer assembly 3 and self-separation assembly 4 are arranged in parallel and are coaxially arranged. The output end of motor assembly 2 is connected to reducer assembly 3 through reversing gearbox assembly 5. Reversing gearbox assembly 5 is existing technology and its structure will not be described in detail. In this embodiment, a 1-mode metal gearbox set of green magnetoelectric new energy technology is selected, with a gear ratio of 1:24. The output end of motor assembly 2 is connected to the input end of reversing gearbox assembly 5, and the output end of reversing gearbox assembly 5 is connected to the input end of reducer assembly 3.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot joint actuation mechanism, characterized in that, The assembly includes a motor-end brake assembly (1), a motor assembly (2), a reducer assembly (3), and a self-separation assembly (4) connected in sequence. The motor assembly (2) is connected to the load via the reducer assembly (3) and the self-separation assembly (4). The self-separation assembly (4) includes a housing, a self-separation input shaft (404), and a self-separation output shaft (407). Both the self-separation input shaft (404) and the self-separation output shaft (407) are rotatably connected within the housing, and the self-separation input shaft (404) can move relative to the self-separation output shaft (407). A self-separation coil (406) is fixedly connected to one end of the self-separation output shaft (407) facing the self-separation input shaft (404). The self-separation output shaft (407) is connected via an elastic element. The self-separating input shaft (404) is elastically connected to the self-separating coil (406), which can drive the self-separating input shaft (404) to move toward or away from the self-separating output shaft (407) and cause the two ends of the self-separating input shaft (404) to simultaneously disengage from or be riveted to the output end of the reducer assembly (3) and the self-separating output shaft (407); the self-separating output shaft (407) is rotatably connected to one end of the housing through the self-separating output end bearing (408), which is a ball bearing; the self-separating input shaft (404) is movably connected to the other end of the housing through the self-separating input end bearing (403); the elastic element includes a self-separating spring (405), and the self-separating input end bearing (403) is a linear bearing.

2. The robot joint actuation mechanism according to claim 1, characterized in that, The housing includes a self-separating input end fixing seat (401) and a self-separating output end fixing seat (402). One end of the self-separating input end fixing seat (401) is fixedly connected to the reducer assembly (3), and the other end is enclosed and fixed with the self-separating output end fixing seat (402) to form a cavity structure. The self-separating input shaft (404) and the self-separating output shaft (407) are both located in the cavity.

3. The robot joint actuation mechanism according to claim 1, characterized in that, The output end of the reducer assembly (3) is fixedly connected to the reducer output shaft conical teeth (301a). One end of the self-separating input shaft (404) is provided with a self-separating output shaft conical tooth hole (404c) that matches the reducer output shaft conical teeth (301a). The other end of the self-separating input shaft (404) is fixedly connected to the self-separating output end conical teeth (404a). The self-separating output shaft (407) is formed with a self-separating output shaft guide hole (407b). The self-separating output shaft guide hole (407b) is provided with a self-separating output shaft conical tooth hole (407c) that matches the self-separating output end conical teeth (404a).

4. The robot joint actuation mechanism according to claim 1, characterized in that, The self-separating input shaft (404) is fixedly connected to the outside of the self-separating input shaft (404), the bushing of the self-separating input end bearing (403) is fixedly connected to the housing, the self-separating output shaft (407) is formed with a bearing mating surface (407b), and rotates with the self-separating output end bearing (408) through the bearing mating surface (407b).

5. A robot joint actuation mechanism according to claim 4, characterized in that, The self-separating input shaft guide shaft (404d) is fixedly connected to a plurality of self-separating input shaft spring fixing posts (404b) at one end facing the self-separating output shaft (407), and one end of the self-separating spring (405) is fixedly connected to the self-separating input shaft spring fixing post (404b).

6. A robot joint actuation mechanism according to claim 5, characterized in that, The self-separating output shaft (407) is provided with a coil fixing groove that is compatible with the self-separating coil (406). Multiple self-separating output shaft spring fixing posts are fixedly connected to the self-separating output shaft (407). The other end of the self-separating spring (405) is fixedly connected to the output shaft spring fixing post.

7. A robot joint actuation mechanism according to claim 1, characterized in that, The motor-end brake assembly (1) includes a motor-end brake mounting base (101), a brake friction plate (102), a brake coil (103), a brake spring (104), and a brake disc (105). The motor-end brake mounting base (101) is fixedly connected to the motor assembly (2). The motor-end brake mounting base (101) is elastically connected to the brake friction plate (102) through the brake spring (104). The brake coil (103) is fixedly connected to the motor-end brake mounting base (101). The brake disc (105) is fixedly connected to the outside of the motor rear output shaft (201) of the motor assembly (2). The brake coil (103) can drive the brake friction plate (102) to drive the brake disc (105) to abut against the motor rear output shaft (201).

8. A robot joint actuation mechanism according to claim 7, characterized in that, The motor end brake assembly (1), motor assembly (2), reducer assembly (3), and self-separation assembly (4) are coaxial and linearly connected in sequence.

9. A robot joint actuation mechanism according to claim 7, characterized in that, It also includes a reversing gearbox assembly (5), the motor end brake assembly (1) and the motor assembly (2) are coaxially arranged and are parallel to the coaxially arranged reducer assembly (3) and self-separation assembly (4). The output end of the motor assembly (2) is connected to the input end of the reversing gearbox assembly (5), and the output end of the reversing gearbox assembly (5) is connected to the input end of the reducer assembly (3).

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