Intelligent robot with band-type brake structure

Abstract

The invention relates to the technical field of robots, in particular to an intelligent robot with a band-type brake structure, which comprises a base, a mechanical arm is rotatably mounted at the upper end of the base, a device box is fixedly mounted at the inner end of the mechanical arm, a driven shaft is rotatably mounted at the left end of the inner side of the device box, and an inner support frame is fixedly mounted at the inner end of the device box; a supporting ring is fixedly connected to the left end of the inner side of the device box, a slow descending device is arranged between the supporting ring and the inner supporting frame, a self-locking ring is rotationally installed at the right end of the supporting ring and located on the periphery of the driven shaft, and a band-type brake device is arranged between the self-locking ring and the driven shaft and can make the robot keep a stable state. The robot is provided with a safety sensing device, when it is detected that a person or an obstacle approaches, a push rod is driven to be rapidly separated from a driven sleeve, a mechanical arm is made to rapidly lock a tail end execution port under the emergency situation, and potential safety hazards caused by misoperation are prevented.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an intelligent robot with a brake structure. Background Art

[0002] With the rapid development of robotics technology, intelligent robots have been widely used in many fields, such as industrial automation, medical care, and home services. In order to meet the requirements of different working environments and tasks, intelligent robots pay more and more attention to the accuracy and safety of motion control in their design. At present, many intelligent robots use motor drive systems to achieve movement, but due to the complexity of the external environment, robots often face problems such as load changes and sudden obstacles during movement, resulting in the risk of position deviation or cessation of movement of the robot. Therefore, improving the accuracy of robot movement and ensuring its safety in the event of failure or special circumstances is an important direction of current technological development.

[0003] After searching, it was found that the prior art publication number is CN217453933U, which discloses an intelligent robot with a brake structure, including a main body, mounting blocks with horizontal structure distribution are installed on the top and bottom outer walls of the main body by bolts, and an auxiliary groove is opened on the top inner wall of the main body, telescopic cylinders are installed on the outer walls of both sides of the main body by bolts, and the output end of the telescopic cylinder is installed with a push seat located inside the main body by bolts, a sliding rod is installed on the inner wall of the auxiliary groove by bolts, and an auxiliary block slidably connected to the sliding rod is welded on the top of the push seat, a No. 1 spring sleeved on the outer wall of the sliding rod is welded on the inner walls of both sides of the auxiliary groove, and a No. 2 spring is sleeved on the outer wall of the sliding rod between the auxiliary blocks. The scheme uses the telescopic cylinder set up, and the telescopic cylinder can utilize the setting of the push seat and the auxiliary block to enable the device to perform brake processing on the connecting structure, and the setting of the No. 1 spring and the No. 2 spring is utilized to make the moving function of the device push seat more perfect.

[0004] Therefore, based on the above search and combined with existing technologies, when the power is off, if the robot maintains the current action, such as staying in the suspended, clamped, or transported state, if it is under high load conditions, the robotic arm may accidentally fall or collide due to loss of active control. At the same time, it will also cause the motor, electromagnetic brake, gear transmission device, etc. inside the robot to be under stress for a long time, thereby causing damage to the mechanical structure or increased wear. For this reason, we propose an intelligent robot with a brake structure. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent robot with a brake structure to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent robot with a brake structure, comprising a base, a mechanical arm is rotatably installed on the upper end of the base, an end execution port is rotatably installed on the end of the mechanical arm away from the base through a rotating shaft, a device box is fixedly installed on the inner end of the mechanical arm, a passive shaft is rotatably installed on the inner left end of the device box, an inner support frame is fixedly installed on the inner end of the device box, a support ring is fixedly connected to the inner left end of the device box, a slow-descent device is arranged between the support ring and the inner support frame, when the mechanical arm drags an object, the slow-descent device controls the mechanical arm to slowly descend under the action of the gravity of the object, a self-locking ring is rotatably installed on the right end of the support ring, the self-locking ring is located on the periphery of the passive shaft, and a brake device is arranged between the self-locking ring and the passive shaft, the brake device can keep the robot in a stable state.

[0007] As a further solution of the present invention, the brake device includes a matching sleeve, the matching sleeve is fixedly mounted on the outer surface of the passive shaft, the outer surface of the matching sleeve is provided with a movable sleeve, and the outer surface of the movable sleeve is provided with an unlocking sleeve, the right end of the unlocking sleeve is fixedly connected to the passive sleeve, a servo motor is fixedly installed on the inner end of the device box, the output end of the servo motor is fixedly connected to the driving shaft, and the end of the driving shaft away from the servo motor is provided with a movable block.

[0008] As a further solution of the present invention, when the movable block moves toward the unlocking sleeve, it can be inserted into the interior of the passive sleeve, the right end of the support ring is rotatably connected to a support plate, the right end of the support plate is slidably connected to a plurality of locking tooth blocks, and the locking tooth blocks are arranged in a ring shape on the periphery of the passive shaft. The movable block can be inserted into the passive sleeve to ensure precise alignment during unlocking, avoid unlocking failure due to component misalignment, and improve system stability.

[0009] As a further solution of the present invention, a gear ring is fixedly installed on the inner end of the self-locking ring. After the multiple locking tooth blocks move in the direction away from the passive shaft, they engage with the gear ring at the inner end of the self-locking ring. The movable sleeve and the locking tooth block are fixedly connected by a traction plate. The outer surface of the passive shaft is sleeved with a matching ring. The inner end of the matching ring is fixedly installed with a plurality of reset spring plates, and the outer surface of the reset spring plate is fixedly connected to the outer surface of the locking tooth block by a snap fastener. Through the elastic force of the reset spring plate, the locking tooth block is always forced toward the self-locking ring to ensure that it remains in a locked state.

[0010] As a further solution of the present invention, an abutment block is fixedly connected to the outer surface of the movable sleeve, and an unlocking hole is opened on the outer surface of the unlocking sleeve, and the abutment block is inserted into the unlocking hole. When the unlocking sleeve rotates, the abutment block moves toward the right along the shape trajectory inside the unlocking hole. When the abutment block moves, it drives the movable sleeve to move toward the right. Through the cooperation between the abutment block and the unlocking hole, it is ensured that when the unlocking sleeve rotates, the abutment block moves accurately along the preset trajectory, thereby avoiding misoperation or jamming and improving the unlocking accuracy.

[0011] As a further solution of the present invention, the slow descent device includes a brake ring, which is fixedly connected to the inner end of the inner support frame. The inner end of the inner support frame is sleeved with a rotating sleeve, and the brake ring is sleeved on the outer surface of the rotating sleeve. The outer surface of the brake ring is fixedly installed with an automatic reset electric push rod for resetting after power failure.

[0012] As a further solution of the present invention, the telescopic end of the automatic reset electric push rod is fixedly connected with a locking pin, and the outer surfaces of the support ring and the self-locking ring are provided with a plurality of sliding grooves, and the locking pin is embedded in the sliding groove on the outer surface of the support ring. After the locking pin moves to the left, it is inserted into the sliding groove on the outer surface of the support ring. The locking pin is driven to move by the automatic reset electric push rod, ensuring that it can be accurately embedded in the sliding groove of the support ring during the reset process, thereby avoiding dislocation or reset failure and improving the reset accuracy and reliability.

[0013] As a further solution of the present invention, a plurality of compression cylinders are fixedly installed on the inner end of the rotating sleeve, and the compression cylinders are arranged in a ring shape. The end of the self-locking ring close to the rotating sleeve is rotatably connected to a plurality of traction rods, the traction rods correspond to the compression cylinder, and the end of the traction rod away from the self-locking ring is rotatably connected to the compression cylinder, a movable rod is passed through the inner left end of the compression cylinder, and a piston is fixedly connected to the right end of the movable rod, and the piston is passed through the interior of the compression cylinder, and a triangular block is fixedly installed on the right end of the traction rod, and the slope surface of the triangular block is in contact with the left end of the movable rod.

[0014] As a further solution of the present invention, a plurality of rectangular holes are opened on the outer surface of the rotating sleeve, and a support shell is fixedly connected in each of the rectangular holes. Support wheels are rotatably installed on the left and right ends of the inner side of the support shell. The outer surfaces of the two support wheels are tensioned by a drive belt, and a brake pad is fixedly connected to the upper end of the drive belt. The outer surface of the brake pad is in contact with the inner wall of the brake ring.

[0015] As a further solution of the present invention, an extrusion block is fixedly installed on the inner end of the support shell, the upper end of the extrusion block contacts the bottom end of the brake pad, and a telescopic cylinder is fixedly installed on the inner end of the support shell through a clamp, the telescopic end of the telescopic cylinder is fixedly connected to the outer surface of the driving belt, and the input end of the telescopic cylinder and the output end of the compression cylinder are connected through a pressure pipe.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, the robot is equipped with a safety sensing device. When it detects that a person or obstacle is approaching, the robot quickly disengages the passive sleeve by driving the push rod, so that the robot arm quickly locks the end execution port in an emergency to prevent safety hazards caused by misoperation; 2. In the event of a power outage, the present invention automatically resets the electric push rod to control the locking pin, so that the mechanical arm can rely on its own gravity to drive the passive shaft to rotate in the opposite direction. At the same time, the self-locking ring starts to rotate, and the hydraulic oil squeezes the internal pressure of the telescopic cylinder to make the brake pads and the brake ring in close contact, thereby realizing the slow-descent function, avoiding impact damage to the mechanical arm caused by heavy-load and high-speed falling, and dynamically adjusting the brake force according to the load size, so that the greater the load, the more obvious the slow-descent effect of the mechanical arm, thereby improving the equipment life and operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an intelligent robot with a brake structure; Figure 2 This is the internal disassembly diagram of the robotic arm; Figure 3 It is a schematic diagram of the structure inside the device box; Figure 4 It is a structural schematic diagram of the brake device; Figure 5 This is the disassembly diagram of the brake device; Figure 6 It is a schematic diagram of the position relationship between the locking gear block and the matching ring; Figure 7 This is a schematic diagram of the structure inside the unlocking sleeve; Figure 8 Schematic diagram of the internal structure of the inner support frame; Fig. 9 It is a structural schematic diagram of the descending device; Fig.10 It is a schematic diagram of the internal structure of the compression cylinder; Fig.11 Schematic diagram of the internal structure of the support shell.

[0018] In the figure: 1. base; 2. mechanical arm; 3. device box; 4. servo motor; 5. driving push rod; 41. driving shaft; 42. active crown gear; 43. passive crown gear; 51. driving ring; 201, passive shaft; 202, self-locking ring; 203, unlocking sleeve; 204, movable block; 205, passive sleeve; 206, locking tooth block; 207, support plate; 208, matching ring; 209, movable sleeve; 210, matching sleeve; 211, reset spring; 212, traction sheet; 213, abutment block; 214, abutment ring; 215, reset spring; 301, inner support frame; 302, support ring; 303, automatic reset electric push rod; 304, locking pin; 305, brake ring; 306, rotating sleeve; 401, compression cylinder; 402, traction rod; 403, movable rod; 404, triangular block; 405, piston; 501, support shell; 502, extrusion block; 503, brake pad; 504, drive belt; 505, telescopic cylinder; 506, pressure pipe. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Example 1: Please refer to Figure 1 - Figure 3 , an intelligent robot with a brake structure, including a base 1, a mechanical arm 2 is rotatably installed on the upper end of the base 1, and an end execution port is rotatably installed on the end of the mechanical arm 2 away from the base 1 through a rotating shaft, which is used to connect a standardized interface of different tools or actuators, allowing the replacement of different working devices, such as a clamp, a welding gun, a spray gun, etc., and a device box 3 is fixedly installed on the inner end of the mechanical arm 2 by bolts. The device box 3 adopts a modular design and can be disassembled separately for repair or maintenance after the outer protective shell of the mechanical arm 2 is removed, thereby improving the robot maintenance efficiency and reducing resource consumption. A passive shaft 201 is rotatably installed on the inner left end of the device box 3, and the passive An active crown gear 42 is fixedly welded on one end of the shaft 201 away from the device box 3, and a passive crown gear 43 is rotatably installed on the inner left end of the mechanical arm 2. The passive crown gear 43 meshes with the active crown gear 42, and the passive crown gear 43 is fixedly connected to the terminal execution port. An inner support frame 301 is fixedly installed on the inner end of the device box 3 by bolts, and a support ring 302 is fixedly welded on the inner left end of the device box 3. A slow-down device is arranged between the support ring 302 and the inner support frame 301. When the mechanical arm 2 drags an object, the slow-down device controls the mechanical arm 2 to slowly descend under the action of the gravity of the object, thereby preventing the mechanical arm 2 from being subjected to heavy loads for a long time and causing structural damage or performance degradation; A self-locking ring 202 is rotatably installed at the right end of the support ring 302. The self-locking ring 202 is located on the periphery of the passive shaft 201, and a brake device is provided between the self-locking ring 202 and the passive shaft 201. The brake device can keep the robot in a stable state, thereby improving the accuracy and safety of the robot's motion control.

[0021] See also Figure 3 - Figure 7The holding brake device includes a matching sleeve 210, which is fixedly sleeved on the outer surface of the passive shaft 201, and a movable sleeve 209 is sleeved on the outer surface of the matching sleeve 210, and a rectangular bar is fixedly installed on the inner end of the movable sleeve 209, and a rectangular groove is opened on the outer surface of the matching sleeve 210, and the rectangular bar is embedded in the rectangular groove, so that the movable sleeve 209 moves left and right on the outer surface of the matching sleeve 210, and the rotation of the movable sleeve 209 can drive the matching sleeve 210 to rotate, and then the matching sleeve 210 drives the passive shaft 201 to rotate, and the outer surface of the movable sleeve 209 is sleeved with an unlocking sleeve 203, and the unlocking sleeve 203 A passive sleeve 205 is fixedly welded on the right end, and the inner end of the passive sleeve 205 is rotatably connected to the matching sleeve 210. A servo motor 4 is fixedly installed on the inner end of the device box 3 by bolts. A driving shaft 41 is fixedly connected to the output end of the servo motor 4, and a movable block 204 is sleeved on the end of the driving shaft 41 away from the servo motor 4. Specifically, a rectangular block is fixedly installed on the inner end of the movable block 204, and a rectangular groove matching the rectangular block is provided on the outer surface of the driving shaft 41. The rectangular block is inserted in the rectangular groove, so that the driving shaft 41 can drive the movable block 204 to rotate, and the movable block 204 can also move left and right.

[0022] When the movable block 204 moves toward the unlocking sleeve 203, it can be inserted into the interior of the passive sleeve 205. Specifically, a driving block is provided on the outer surface of the movable block 204, and a groove matching the driving block is provided on the inner wall of the passive sleeve 205. The end of the driving block is rounded and the outer surface is coated with lubricating butter, so that it is smoother when inserted into the inner wall of the passive sleeve 205. More specifically, the inner wall of the device box 3 is fixedly connected with a driving push rod 5 by a clamp, and the telescopic end of the driving push rod 5 is fixedly connected with a driving ring 51 by bolts, and the driving ring 51 is sleeved on the outer surface of the movable block 204.

[0023] like Figure 5 , Figure 6 , Figure 7As shown, the right end of the support ring 302 is rotatably connected to a support plate 207, and the right end of the support plate 207 is slidably connected to a plurality of locking tooth blocks 206. The support plate 207 is fixedly sleeved on the outer surface of the passive shaft 201, and the locking tooth blocks 206 are annularly arranged on the periphery of the passive shaft 201. Specifically, a plurality of guide blocks are fixedly installed on the right end of the support plate 207, and a guide groove is opened on the left end of the locking tooth block 206, which is sleeved on the outer surface of the guide block. A tooth ring is fixedly installed on the inner end of the self-locking ring 202, and a plurality of locking tooth blocks 206 are oriented away from the passive shaft 201. After moving to the right, it meshes with the toothed ring at the inner end of the self-locking ring 202. The movable sleeve 209 and the locking tooth block 206 are fixedly connected by the traction piece 212. A plurality of guide rods are fixedly welded to the outer surface of the matching sleeve 210. The guide rods are arranged in a ring shape and are located on the left side of the movable sleeve 209. The outer surface of the traction piece 212 contacts the guide rods, so that the traction piece 212 changes direction, so that when the movable sleeve 209 moves to the right, the locking tooth block 206 is pulled to move toward the direction of the passive shaft 201 through the traction piece 212. Specifically, the traction piece 212 is made of a bendable metal material. The outer surface of the passive shaft 201 is sleeved with a matching ring 208, and a plurality of reset springs 211 are fixedly mounted on the inner end of the matching ring 208. The outer surface of the reset spring 211 is fixedly connected to the outer surface of the locking tooth block 206 by a buckle. Through the elastic force of the reset spring 211, the locking tooth block 206 is always forced toward the self-locking ring 202 to ensure that it remains in a locked state. The outer surface of the movable sleeve 209 is fixedly connected with two abutment blocks 213, which are located at the upper and lower ends of the movable sleeve 209, and the outer surface of the unlocking sleeve 203 is provided with two unlocking holes, and the abutment blocks 213 are arranged inside the unlocking holes, and the unlocking holes are " " shape, when the unlocking sleeve 203 rotates, the abutment block 213 moves toward the right along the shape track inside the unlocking hole, and when the abutment block 213 moves, it drives the movable sleeve 209 to move toward the right; The inner end of the unlocking sleeve 203 is provided with an abutment ring 214, which is connected to the passive sleeve 205 via a reset spring 215, and the left end of the abutment ring 214 contacts the right end of the movable sleeve 209, and the contact surface between the abutment ring 214 and the movable sleeve 209 is smeared with lubricating butter to reduce friction.

[0024] Example 2: Please refer to Figure 8 - Fig.11, an intelligent robot with a brake structure, based on the embodiment 1, the slow-down device includes a brake ring 305, the brake ring 305 is fixedly connected to the inner end of the inner support frame 301, the inner end of the inner support frame 301 is sleeved with a rotating sleeve 306, and the brake ring 305 is sleeved on the outer surface of the rotating sleeve 306, and the outer surface of the brake ring 305 is fixedly installed with an automatic reset electric push rod 303 for resetting after power failure. When the power is off or the power supply is lost, the push rod will automatically retract. The specific working principle of the automatic reset electric push rod 303 is an existing mature technology, which will not be described in detail here. A locking pin 304 is fixedly welded to the telescopic end of the automatic reset electric push rod 303, and a plurality of slide grooves are provided on the outer surfaces of the support ring 302 and the self-locking ring 202, and the slide grooves at the two locations correspond to each other. The locking pin 304 is embedded in the slide groove on the outer surface of the support ring 302, and the locking pin 304 is inserted into the slide groove on the outer surface of the support ring 302 after moving to the left; A plurality of compression cylinders 401 are fixedly welded to the inner end of the rotating sleeve 306, and the compression cylinders 401 are arranged in a ring shape. The end of the self-locking ring 202 close to the rotating sleeve 306 is rotatably connected to a plurality of traction rods 402 through a universal shaft. The traction rods 402 correspond to the compression cylinders 401, and the end of the traction rods 402 away from the self-locking ring 202 is rotatably connected to the compression cylinder 401. A movable rod 403 is penetrated at the inner left end of the compression cylinder 401, and a piston 405 is fixedly welded to the right end of the movable rod 403. The piston 405 is inserted into the interior of the compression cylinder 401 and fits tightly with the inner wall of the compression cylinder 401. The piston 405 is connected to the compression cylinder 401 through a pressure relief spring. A triangular block 404 is fixedly installed on the right end of the traction rod 402. The slope surface of the triangular block 404 contacts the left end of the movable rod 403. When the self-locking ring 202 rotates, the traction rod 402 deflects, which drives the triangular block 404 to rotate, and then the slope surface of the triangular block 404 squeezes the movable rod 403 to move to the right. like Fig. 9 , Fig.10 , Fig.11 As shown, the outer surface of the rotating sleeve 306 is provided with a plurality of rectangular holes, and the supporting shells 501 are fixedly connected in the rectangular holes. Support wheels are rotatably installed at both left and right ends of the inner side of the supporting shell 501. The outer surfaces of the two supporting wheels are tensioned and sleeved by a driving belt 504. The upper end of the driving belt 504 is fixedly connected with a brake pad 503. The outer surface of the brake pad 503 contacts the inner wall of the brake ring 305. Specifically, the brake pad 503 is trapezoidal. When the rotating sleeve 306 moves toward the left side, the larger the contact area between the brake pad 503 and the inner wall of the brake ring 305, the greater the friction force. An extrusion block 502 is fixedly welded to the inner end of the support shell 501, and the upper end of the extrusion block 502 contacts the bottom end of the brake pad 503. The extrusion block 502 is trapezoidal, so that the brake pad 503 can fully and closely contact the inner wall of the brake ring 305. A telescopic cylinder 505 is fixedly installed on the inner end of the support shell 501 through a clamp, and the telescopic end of the telescopic cylinder 505 is fixedly connected to the outer surface of the driving belt 504, and the input end of the telescopic cylinder 505 is connected to the output end of the compression cylinder 401 through a pressure pipe 506, and the interior of the compression cylinder 401 is filled with hydraulic oil.

[0025] Specifically, a safety sensing device is provided on the periphery of the base 1 to detect the approach of a human body or an obstacle and trigger the emergency stop function of the robot when necessary to ensure the safety of human-machine collaboration. This is an existing mature technology and will not be elaborated here.

[0026] The working principle of the present invention is: When the robot is running, the output end of the servo motor 4 drives the driving shaft 41 to rotate, and drives the passive sleeve 205 to rotate through the movable block 204, and then the passive sleeve 205 drives the unlocking sleeve 203 to rotate, and the abutment block 213 moves to the right along the shape trajectory inside the unlocking hole, and then the abutment block 213 moves, which drives the movable sleeve 209 to move to the right, and pulls the locking tooth block 206 to move away from the self-locking ring 202 through the traction piece 212. At this time, the abutment block 213 is located at the edge of the unlocking hole. At this time, the movable sleeve 209 moves to the left, pushing the abutment ring 214 forward, thereby compressing the reset spring 215, and the unlocking sleeve 203 continues to rotate, then the movable sleeve 209 and the passive shaft 201 rotate, and then the rotation of the passive shaft 201 drives the active crown tooth 42 to rotate, and the passive crown tooth 43 drives the end execution port to rotate under the action of meshing with it; When a person or object approaches the robot, it is detected by the safety sensing device on the periphery of the base 1, and then the emergency stop function of the robot is triggered, and then the telescopic end of the driving push rod 5 drives the movable block 204 to disengage from the interior of the passive sleeve 205 through the driving ring 51. At this time, the reset spring 215 pushes the abutment ring 214 to move to the left under the action of the elastic force, and the movable sleeve 209 moves to the left under the thrust of the abutment ring 214, and the abutment block 213 returns to the center of the unlocking hole on the outer surface of the unlocking sleeve 203, and the locking tooth block 206 is meshed with the tooth ring on the inner wall of the self-locking ring 202 under the elastic force of the reset spring 211, and the end execution port cannot rotate at this time; Then when the power is off, the automatic reset electric push rod 303 first drives the locking pin 304 to move and retract to the outer surface of the self-locking ring 202. At this time, the mechanical arm 2 drives the passive shaft 201 to reverse under the action of gravity (Note: the joint design of the mechanical arm 2 includes a limit mechanism to prevent rotation exceeding a safe angle to avoid mechanical damage or misoperation, which is a prior art). At this time, the locking tooth block 206 is meshed with the tooth ring inside the self-locking ring 202, and the self-locking ring 202 also starts to rotate; Next, when the self-locking ring 202 rotates, the traction rod 402 is driven to deflect, and then the triangular block 404 is driven to rotate. Under the pressure of the slope surface of the triangular block 404, the movable rod 403 moves to the right, and the piston 405 is driven to move to the right, and the hydraulic oil inside the compression cylinder 401 is squeezed into the inside of the telescopic cylinder 505 through the pressure pipe 506. Then, the telescopic end of the telescopic cylinder 505 drives the driving belt 504 to rotate, so that the brake pad 503 moves toward the direction of the brake ring 305. If the mass of the object carried by the robot arm 2 is large, the greater the force borne by the traction rod 402, the greater the deflection angle of the traction rod 402, and the rotating sleeve 306 starts to move to the left, so that the contact area between the brake pad 503 and the brake ring 305 is larger. At the same time, under the restriction of the extrusion block 502, the contact between the brake pad 503 and the brake ring 305 is made tighter, thereby slowing down the rotation speed of the robot arm 2, thereby preventing the robot arm 2 from being subjected to heavy loads for a long time and causing structural damage or performance degradation; When the robot arm 2 resumes work, the servo motor 4 drives the passive shaft 201 to rotate slowly through the driving shaft 41, and the automatic reset electric push rod 303 drives the locking pin 304 to move to the left. At this time, the sliding groove on the outer surface of the support ring 302 is not corresponding to the locking pin 304, but the locking pin 304 always maintains the force to move to the left, and the robot arm 2 has rotated a certain angle (the angle deflection is small to prevent the robot arm 2 from reversing too fast, and at this time the locking tooth block 206 does not mesh with the tooth ring at the inner end of the self-locking ring 202), and then the push rod 5 is driven to disconnect the connection between the passive sleeve 205 and the movable block 204, and the robot arm 2 rotates in the opposite direction under the action of gravity (at this time the locking tooth block 206 meshes with the tooth ring at the inner end of the self-locking ring 202) to achieve that the locking pin 304 is re-inserted into the sliding groove on the outer surface of the support ring 302, and then the robot reset operation is completed.

[0027] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed in the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent robot with a brake structure, comprising a base (1), characterized in that: A mechanical arm (2) is rotatably mounted on the upper end of the base (1); an end of the mechanical arm (2) away from the base (1) is rotatably mounted with an end execution port via a rotating shaft; a device box (3) is fixedly mounted on the inner end of the mechanical arm (2); a passive shaft (201) is rotatably mounted on the inner left end of the device box (3); an inner support frame (301) is fixedly mounted on the inner end of the device box (3); a support ring (302) is fixedly connected to the inner left end of the device box (3); A slow-down device is provided between the ring (302) and the inner support frame (301); when the robot arm (2) is dragging an object, the slow-down device controls the robot arm (2) to slowly descend under the action of the gravity of the object; a self-locking ring (202) is rotatably mounted on the right end of the support ring (302); the self-locking ring (202) is located on the periphery of the passive shaft (201); and a brake device is provided between the self-locking ring (202) and the passive shaft (201); the brake device can keep the robot in a stable state.

2. The intelligent robot with a brake structure according to claim 1, characterized in that: The holding brake device comprises a matching sleeve (210), the matching sleeve (210) being fixedly sleeved on the outer surface of the passive shaft (201), the outer surface of the matching sleeve (210) being sleeved with a movable sleeve (209), the outer surface of the movable sleeve (209) being sleeved with an unlocking sleeve (203), the right end of the unlocking sleeve (203) being fixedly connected to a passive sleeve (205), the inner end of the device box (3) being fixedly mounted with a servo motor (4), the output end of the servo motor (4) being fixedly connected to a drive shaft (41), and the end of the drive shaft (41) away from the servo motor (4) being sleeved with a movable block (204).

3. The intelligent robot with a brake structure according to claim 2, characterized in that: When the movable block (204) moves toward the unlocking sleeve (203), it can be inserted into the interior of the passive sleeve (205); the right end of the support ring (302) is rotatably connected to a support plate (207); the right end of the support plate (207) is slidably connected to a plurality of locking tooth blocks (206); and the locking tooth blocks (206) are arranged in a ring shape on the periphery of the passive shaft (201).

4. The intelligent robot with a brake structure according to claim 3, characterized in that: A toothed ring is fixedly mounted on the inner end of the self-locking ring (202); after the plurality of locking tooth blocks (206) move in a direction away from the driven shaft (201), they mesh with the toothed ring on the inner end of the self-locking ring (202); the movable sleeve (209) and the locking tooth block (206) are fixedly connected via a traction sheet (212); a matching ring (208) is sleeved on the outer surface of the driven shaft (201); a plurality of reset spring sheets (211) are fixedly mounted on the inner end of the matching ring (208); and the outer surface of the reset spring sheet (211) is fixedly connected to the outer surface of the locking tooth block (206) via a buckle; and through the elastic force of the reset spring sheet (211), the locking tooth block (206) is always forced toward the self-locking ring (202) to ensure that it remains in a locked state.

5. The intelligent robot with a brake structure according to claim 4, characterized in that: The outer surface of the movable sleeve (209) is fixedly connected with an abutment block (213), and the outer surface of the unlocking sleeve (203) is provided with an unlocking hole, and the abutment block (213) is inserted into the unlocking hole. When the unlocking sleeve (203) rotates, the abutment block (213) moves toward the right side along the shape trajectory inside the unlocking hole, and when the abutment block (213) moves, it drives the movable sleeve (209) to move toward the right side.

6. The intelligent robot with a brake structure according to claim 1, characterized in that: The slow-descent device comprises a brake ring (305), the brake ring (305) being fixedly connected to the inner end of the inner support frame (301), the inner end of the inner support frame (301) being sleeved with a rotating sleeve (306), and the brake ring (305) being sleeved on the outer surface of the rotating sleeve (306), and an automatic reset electric push rod (303) for resetting after power failure being fixedly mounted on the outer surface of the brake ring (305).

7. The intelligent robot with a brake structure according to claim 6, characterized in that: The telescopic end of the automatic reset electric push rod (303) is fixedly connected to a locking pin (304); the outer surfaces of the support ring (302) and the self-locking ring (202) are both provided with a plurality of sliding grooves; the locking pin (304) is embedded in the sliding grooves on the outer surface of the support ring (302); and the locking pin (304) is inserted into the sliding grooves on the outer surface of the support ring (302) after moving to the left.

8. The intelligent robot with a brake structure according to claim 7, characterized in that: A plurality of compression cylinders (401) are fixedly mounted on the inner end of the rotating sleeve (306), and the compression cylinders (401) are arranged in a ring shape. An end of the self-locking ring (202) close to the rotating sleeve (306) is rotatably connected to a plurality of traction rods (402), and the traction rods (402) correspond to the compression cylinder (401), and an end of the traction rods (402) away from the self-locking ring (202) is rotatably connected to the compression cylinder (401). A movable rod (403) is passed through the inner left end of the compression cylinder (401), and a piston (405) is fixedly connected to the right end of the movable rod (403), and the piston (405) is passed through the interior of the compression cylinder (401). A triangular block (404) is fixedly mounted on the right end of the traction rod (402), and the slope surface of the triangular block (404) contacts the left end of the movable rod (403).

9. The intelligent robot with a brake structure according to claim 8, characterized in that: The outer surface of the rotating sleeve (306) is provided with a plurality of rectangular holes, each of which is fixedly connected to a supporting shell (501), and supporting wheels are rotatably mounted on both left and right ends of the inner side of the supporting shell (501), and the outer surfaces of the two supporting wheels are tensioned and sleeved by a driving belt (504), and a brake pad (503) is fixedly connected to the upper end of the driving belt (504), and the outer surface of the brake pad (503) is in contact with the inner wall of the brake ring (305).

10. The intelligent robot with a brake structure according to claim 9, characterized in that: An extrusion block (502) is fixedly mounted on the inner end of the support shell (501), the upper end of the extrusion block (502) is in contact with the bottom end of the brake pad (503), a telescopic cylinder (505) is fixedly mounted on the inner end of the support shell (501) via a clamp, the telescopic end of the telescopic cylinder (505) is fixedly connected to the outer surface of the driving belt (504), and the input end of the telescopic cylinder (505) is connected to the output end of the compression cylinder (401) via a pressure pipe (506).

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