Brake device for joint module

Abstract

The invention provides a brake device for a joint module, and belongs to the technical field of joint modules, the brake device comprises a shell, a second friction plate is mounted on the shell, a first bearing and a second bearing are mounted in the middle of the shell, a rotating shaft is mounted in the first bearing and the second bearing, and a shaft end cover and a first friction plate are mounted on the rotating shaft; a first screw is installed between the rotating shaft and the first friction plate, a second screw is installed on the shaft end cover, the first bearing comprises a first inner race installed on the outer side of the rotating shaft, a first outer race is arranged on the outer side of the first inner race, and a first ball is installed between the first inner race and the first outer race. And the second bearing comprises a second inner race mounted on the rotating shaft. The joint module solves the problem that when a motor shaft of an existing joint module axially moves, a gap between two friction plates changes along with the motor shaft, and consequently brake torque fluctuates and even brake fails.

Description

Technical Field

[0001] The present invention relates to the technical field of joint modules, and specifically to a braking device for a joint module. Background Art

[0002] With the continuous development of precision equipment, robot technology has been widely used in various industries, especially high-precision transmission systems such as collaborative robots and medical robotic arms. In order to ensure the motion accuracy and stability of these precision equipment, the braking system of the joint module has become one of the key components, and there are still some deficiencies in traditional braking devices.

[0003] For example, the invention patent with the publication number CN117047818A discloses a robot joint module with an electromagnetic brake, which includes a main body component. The main body component includes a housing, and a motor component and a braking component are arranged inside the housing; the motor component includes a first stator base, a second stator base, a stator core, a stator winding, a third bearing seat, a rotor shaft, a rotor frame and a permanent magnet; the braking component includes a guide rod, a spring, a slider, an electromagnet, a braking ring and a brake pad. By combining the motor component and the braking component and installing them inside the housing, and installing the braking component radially outside the motor rotor, the axial length of the joint module is reduced, which is convenient for the installation and use of the robot joint module. The braking component is driven to work by an electromagnet, and the brake pad is set as an annular structure to meet the braking requirements of the robot joint module. At the same time, the structure of the driving device of the joint module is simplified, which is beneficial to the miniaturization and lightweight development of the joint module. Although the above device can achieve the braking function, there are the following problems in use: Complex installation: The traditional two-piece brake requires on-site adjustment of the friction plate gap, and the assembly time is as long as 2-3 hours per unit; Difficult debugging: The gap adjustment depends on the experience of workers, which is likely to cause fluctuations in braking torque (more than ±15%); Inconvenient maintenance: The coupling degree between the braking module and the driving unit is high, and the replacement requires overall disassembly; Unstable performance: The two friction plates are respectively fixed on the motor shaft and the motor housing. When the motor shaft moves axially, the gap between the two friction plates changes accordingly, resulting in fluctuations in braking torque or even brake failure. When the motor shaft has radial runout, it is easy to cause the two friction plates to be non-parallel, and the contact is intermittent during braking, and the torque is unstable.

[0004] Moreover, the existing joint module cannot adjust the rotational resistance of the braking device, and cannot conveniently install the bearing of the braking structure, and cannot prevent the axial movement of the bearing and the shaft part, resulting in insufficient stability. Summary of the Invention

[0005] In view of the problems existing in the existing robot joint modules, the present invention is proposed.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: A braking device for a joint module, including a housing, a second friction plate is installed on the housing, a first bearing and a second bearing are installed in the middle of the housing, a rotating shaft is installed in the first bearing and the second bearing, a shaft end cover and a first friction plate are installed on the rotating shaft, a first screw is installed between the rotating shaft and the first friction plate, and a second screw is installed on the shaft end cover.

[0007] As a preferred solution of the present invention, the first bearing includes a first inner race installed on the outer side of the rotating shaft, a first outer race is arranged on the outer side of the first inner race, and a first ball is installed between the first inner race and the first outer race.

[0008] As a preferred solution of the present invention, the second bearing includes a second inner race installed on the rotating shaft, a second outer race is arranged on the outer side of the second inner race, and a second ball is installed between the second inner race and the second outer race.

[0009] As a preferred solution of the present invention, a first rotating ring is rotatably installed on both the first outer race and the second outer race, a second rotating ring is rotatably installed on both the first inner race and the second inner race, a first docking component is installed on the first rotating ring, and a second docking component is installed on the second rotating ring.

[0010] As a preferred solution of the present invention, a first connecting block is rotatably installed on the second ball, a second connecting block is rotatably installed on the first ball, first connecting pipes are fixedly arranged on both the first connecting block and the second connecting block, a bidirectional screw is threadedly installed between adjacent two first connecting pipes, an adjusting component is arranged in the middle of the bidirectional screw, a first supporting component and a second supporting component are respectively arranged on both sides of the adjusting component, the structures of the first supporting component and the second supporting component are the same, a connecting component is arranged on the outer side of the adjusting component, and grooves for docking with the first connecting block and the second connecting block are opened in both the first ball and the second ball.

[0011] As a preferred solution of the present invention, the first docking component includes a first block slidably installed in the first outer race and the second outer race, first springs are fixedly arranged between the first block and the first outer race, and between the first block and the second outer race, a first traction steel rope is fixedly connected to the first block, the first traction steel rope is guided by a first guide wheel and connected to the first rotating ring, the first guide wheel is rotatably connected to both the first outer race and the second outer race, and the outer wall of the first block is mutually attached to the inner wall of the rotating shaft.

[0012] As a preferred solution of the present invention, the second docking component includes a second clamping block slidably installed on the first inner seat ring and the second inner seat ring. Second springs are fixedly connected between the second clamping block and the first inner seat ring, and between the second clamping block and the second inner seat ring. A second traction steel rope is fixedly connected to the second clamping block. The second traction steel rope is guided by a second guide wheel and connected to a second rotating ring. The second guide wheel is rotatably connected between the first inner seat ring and the second inner seat ring. The outer wall of the second clamping block is in mutual contact with the inner wall of the housing.

[0013] As a preferred solution of the present invention, the adjusting component includes a first connecting ring fixedly connected to the outside of the bidirectional screw. A convex ring is fixedly connected to the outside of the first connecting ring. A second connecting ring is rotatably connected to the outside of the convex ring. A tightening rope is fixedly arranged between the second connecting ring and the first connecting ring.

[0014] As a preferred solution of the present invention, the second supporting component includes a sleeve fixedly connected to the first connecting ring. A clamping rod is slidably installed in the sleeve. A third spring is fixedly connected between the clamping rod and the sleeve. A connecting rope is fixedly connected to the clamping rod. The connecting rope is guided by a third guide wheel and connected to the second connecting ring. Card slots are evenly distributed along the circumferential direction at both ends of the first connecting pipe.

[0015] As a preferred solution of the present invention, the connecting component includes a connecting band fittingly arranged on the outside of the second connecting ring. Rubber clamping blocks and through holes are respectively arranged at both ends of the connecting band.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The gap calibration of the braking module of this device is completed before leaving the factory. During installation, only bolt tightening is required, and the working hours are shortened to 15 minutes. Through the non-adjustment design, the axial and radial runouts of the motor shaft do not affect the brake gap, and the braking torque remains stable. There is an opening on the rotating shaft of the braking module, which can be quickly inserted onto the protrusion of the motor shaft. The installation efficiency is increased by 80%, the debugging time is shortened from 3 hours to 0.5 hours, the consistency of the braking torque is improved to within ±3%, supporting plug-and-play replacement, and the maintenance cost is reduced by 60%.

[0017] 2. The device is provided with a first bearing and a second bearing. By installing a first connecting block and a second connecting block on the balls of the first bearing and the second bearing, and by rotating the bidirectional screw, the first connecting block and the second connecting block are mutually tightened, thereby changing the rotational resistance of the two bearings, so as to adjust the rotational resistance of the braking device subsequently, enhancing the adaptability of the device. And this device can make the bidirectional screws at multiple positions rotate synchronously by pulling the connecting band on the connecting component. Figure 8As can be seen, the device can adjust the rotational resistance of the first bearing and the second bearing by synchronously rotating the bidirectional screw between each group of ball bearings, while keeping the resistance uniform when the inner race of the bearing rotates to various angles.

[0018] 3. The device is provided with a first docking component and a second docking component. When pulling the first rotating ring and the second rotating ring, combined with Figure 3 it can be seen that the first traction steel ropes and the second traction steel ropes on the outer race and the inner race of the bearing will respectively pull the first latch and the second latch, causing the first latch to contract into the outer race of the bearing and the second latch to contract into the inner race of the bearing. At this time, when installing the bearing, both the outer race and the inner race of the bearing can be kept in a clamped state, thereby preventing the first bearing, the second bearing, and the shaft part from axially moving, and enhancing the stability of the device during operation.

[0019] 4. The device is provided with an adjustment component, a first support component, and a second support component. When adjusting the number of rotation turns of the bidirectional screw, the second connecting ring can be rotated, and the connecting rope on the second connecting ring is used to pull the clamping rod, causing the clamping rod to contract into the inside of the sleeve. At this time, the tensioning rope is also gradually stretched, and the clamping rod will gradually disengage from the card slot, so that the bidirectional screw is disengaged from the engaged state. Under the pulling force of the tensioning rope, the first connecting ring will drive the bidirectional screw to rotate until the clamping rod moves to the next card slot, and the fixing work of the bidirectional screw is completed again, enhancing the convenience of the device when adjusting the rotational resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the drawings and detailed embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them: Figure 1 is an exploded view of a braking device for a joint module of the present invention; Figure 2 is a schematic side cross-sectional structure diagram of the present invention; Figure 3 is Figure 2 an enlarged schematic view of the structure at A in Figure 4 is a schematic connection structure diagram of the first ball bearing and the second connecting block of the present invention; Figure 5 is Figure 4 an enlarged schematic view of the structure at B in Figure 6 is Figure 4 an enlarged schematic view of the structure at C in Figure 7It is a schematic diagram of the connection structure between the second outer seat ring and the first rotating ring of the present invention; Figure 8 It is Figure 7 An enlarged schematic diagram of the structure at D in Figure 9 It is a schematic diagram of the connection structure between the first connecting ring and the second connecting ring of the present invention; Figure 10 It is Figure 9 An enlarged schematic diagram of the structure at E in Figure 11 It is Figure 9 An enlarged schematic diagram of the structure at F in Figure 12 It is a schematic diagram of the splitting structure between the first clamping block and the second outer seat ring of the present invention; Figure 13 It is a schematic diagram of the splitting structure between the first ball and the second connecting block of the present invention.

[0021] Reference numerals: 1. Outer shell; 2. Rotating shaft; 3. Axial end cover; 4. First screw; 5. First friction plate; 6. Second friction plate; 7. First bearing; 701. First inner seat ring; 702. First outer seat ring; 703. First ball; 8. Second bearing; 801. Second inner seat ring; 802. Second outer seat ring; 803. Second ball; 9. Second screw; 10. First rotating ring; 11. Second rotating ring; 12. First docking assembly; 1201. First traction steel rope; 1202. First guide wheel; 1203. First clamping block; 1204. First spring; 13. Second docking assembly; 1301. Second traction steel rope; 1302. Second guide wheel; 1303. Second clamping block; 1304. Second spring; 14. First connecting block; 15. Second connecting block; 16. First connecting pipe; 17. Bidirectional screw; 18. Adjusting assembly; 1801. First connecting ring; 1802. Second connecting ring; 1803. Convex ring; 1804. Tightening rope; 19. First support assembly; 20. Second support assembly; 2001. Pipe sleeve; 2002. Third spring; 2003. Connecting rope; 2004. Clamping rod; 2005. Card slot; 2006. Third guide wheel; 21. Connecting assembly; 2101. Connecting belt; 2102. Rubber clamping block; 2103. Through hole; 22. Groove. Detailed implementation manners

[0022] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will make a detailed description of the specific implementation manners of the present invention with reference to the accompanying drawings.

[0023] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those specifically described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0024] Secondly, the present invention will be described in detail in conjunction with the schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional views showing the device structure will be enlarged locally out of the general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0026] As Figures 1 - 13 shown, a braking device for a joint module includes a housing 1, a second friction plate 6 is installed on the housing 1, a first bearing 7 and a second bearing 8 are installed in the middle of the housing 1, a rotating shaft 2 is installed in the first bearing 7 and the second bearing 8, a shaft end cover 3 and a first friction plate 5 are installed on the rotating shaft 2, a first screw 4 is installed between the rotating shaft 2 and the first friction plate 5, a second screw 9 is installed on the shaft end cover 3, and the side clearance of the first bearing 7 and the second bearing 8 is adjusted by rotating the first screw 4, thereby improving the rotation accuracy of the rotating shaft 2. As Figure 2 shown, a notch is provided at the end of the rotating shaft 2, and the notch is sleeved on the protrusion of the motor shaft to realize the synchronous rotation of the braking module and the motor. Fixing holes are provided on the flange of the housing 1, and the housing 1 is fixed on the motor housing through the fixing holes.

[0027] In this embodiment, the first bearing 7 includes a first inner race 701 installed outside the rotating shaft 2, a first outer race 702 is provided outside the first inner race 701, and first balls 703 are installed between the first inner race 701 and the first outer race 702. As Figure 7 shown, the first balls 703 enable the first inner race 701 to rotate within the first outer race 702.

[0028] In this embodiment, the second bearing 8 includes a second inner race 801 installed on the rotating shaft 2, a second outer race 802 is provided outside the second inner race 801, and second balls 803 are installed between the second inner race 801 and the second outer race 802. The second balls 803 enable the second inner race 801 to rotate stably inside the second outer race 802.

[0029] In this embodiment, a first rotating ring 10 is rotatably installed on both the first outer seat ring 702 and the second outer seat ring 802, and a second rotating ring 11 is rotatably installed on both the first inner seat ring 701 and the second inner seat ring 801. A first docking component 12 is installed on the first rotating ring 10, and a second docking component 13 is installed on the second rotating ring 11. As Figure 2 and Figure 3 shown, the first docking component 12 and the second docking component 13 can stably install the first outer seat ring 702 and the second outer seat ring 802 as well as the first inner seat ring 701 and the second inner seat ring 801 on the two bearings.

[0030] In this embodiment, a first connecting block 14 is rotatably installed on the second ball 803, and a second connecting block 15 is rotatably installed on the first ball 703. First connecting pipes 16 are fixedly arranged on both the first connecting block 14 and the second connecting block 15. A bidirectional screw 17 is installed between adjacent first connecting pipes 16 in a threaded manner. An adjusting component 18 is arranged in the middle of the bidirectional screw 17. A first supporting component 19 and a second supporting component 20 are respectively arranged on both sides of the adjusting component 18. The structures of the first supporting component 19 and the second supporting component 20 are the same. A connecting component 21 is arranged on the outer side of the adjusting component 18. Grooves 22 for docking with the first connecting block 14 and the second connecting block 15 are formed in both the first ball 703 and the second ball 803. Combining Figure 4 it can be seen that the spherical first connecting block 14 and second connecting block 15 can prevent the rotation of the first ball 703 and the second ball 803 from affecting the first connecting pipe 16, enabling the device to work stably. The first supporting component 19 and the second supporting component 20 keep the bidirectional screw 17 in the first connecting pipe 16 in a docking state with the first connecting pipe 16 after the adjustment is completed.

[0031] In this embodiment, the first docking component 12 includes a first clamping block 1203 slidably installed in the first outer seat ring 702 and the second outer seat ring 802. First springs 1204 are fixedly arranged between the first clamping block 1203 and the first outer seat ring 702, and between the first clamping block 1203 and the second outer seat ring 802. A first towing steel cable 1201 is fixedly connected to the first clamping block 1203. The first towing steel cable 1201 is guided by a first guide wheel 1202 and connected to the first rotating ring 10. The first guide wheel 1202 is rotatably connected to both the first outer seat ring 702 and the second outer seat ring 802. The outer wall of the first clamping block 1203 is in mutual fit with the inner wall of the rotating shaft 2. The device rotates the first rotating ring 10 to pull the first clamping block 1203 under the guiding action of the first guide wheel 1202. After the first clamping block 1203 is pulled, the first spring 1204 is compressed until the first clamping block 1203 is completely retracted into the second outer seat ring 802 for subsequent docking with the rotating shaft 2.

[0032] In this embodiment, the second docking component 13 includes a second latch 1303 slidably mounted on the first inner seat ring 701 and the second inner seat ring 801. Second springs 1304 are fixedly connected between the second latch 1303 and the first inner seat ring 701, and between the second latch 1303 and the second inner seat ring 801. A second traction steel cable 1301 is fixedly connected to the second latch 1303. The second traction steel cable 1301 is guided by a second guide pulley 1302 and connected to the second swivel ring 11. The second guide pulley 1302 is rotatably connected between the first inner seat ring 701 and the second inner seat ring 801. The outer wall of the second latch 1303 is in mutual contact with the inner wall of the housing 1. As Figure 3 shown, by rotating the second swivel ring 11, the second traction steel cable 1301 on the second swivel ring 11 pulls the second latch 1303 under the guiding action of the second guide pulley 1302, and the second spring 1304 is compressed, so that the second latch 1303 contracts into the interior of the second inner seat ring 801 for subsequent stable docking with the housing 1.

[0033] In this embodiment, the adjusting component 18 includes a first connecting ring 1801 fixedly connected to the outside of the bidirectional screw 17. A convex ring 1803 is fixedly connected to the outside of the first connecting ring 1801. A second connecting ring 1802 is rotatably connected to the outside of the convex ring 1803. An elastic cord 1804 is fixedly arranged between the second connecting ring 1802 and the first connecting ring 1801. When the second connecting ring 1802 is rotated, the first connecting ring 1801 will be pulled by the elastic cord 1804. After the first connecting ring 1801 is disengaged from the engaged state, it will drive the first connecting ring 1801 to rotate under the pulling force of the elastic cord 1804 for subsequent automatic engagement after adjusting the number of rotation turns of the first connecting ring 1801.

[0034] In this embodiment, the second supporting component 20 includes a sleeve 2001 fixedly connected to the first connecting ring 1801. A clamping rod 2004 is slidably mounted in the sleeve 2001. A third spring 2002 is fixedly connected between the clamping rod 2004 and the sleeve 2001. A connecting cord 2003 is fixedly connected to the clamping rod 2004. The connecting cord 2003 is guided by a third guide pulley 2006 and connected to the second connecting ring 1802. Card slots 2005 are evenly distributed along the circumferential direction at both ends of the first connecting pipe 16. When the second connecting ring 1802 rotates, it will first pull the connecting cord 2003 on the third guide pulley 2006, and the connecting cord 2003 will first pull the clamping rod 2004 to compress the third spring 2002. When the clamping rod 2004 disengages from the card slot 2005, the first connecting pipe 16 can be disengaged from the engaged state for subsequent adjustment of the tension of the balls between adjacent two bearings, thereby changing the overall rotational resistance of the device.

[0035] In this embodiment, the connecting component 21 includes a connecting belt 2101 fittingly arranged outside the second connecting ring 1802. Rubber blocks 2102 and through holes 2103 are respectively arranged at both ends of the connecting belt 2101. By clamping the rubber blocks 2102 into the inside of the through holes 2103, the head and tail connection of the connecting belt 2101 is realized. The connecting belt 2101 drives the second connecting rings 1802 at multiple positions to rotate, thereby synchronously adjusting the rotational resistance of multiple groups of balls.

[0036] It should be noted that the present invention is a braking device for a joint module. First, as Figure 1 and Figure 2 shown, first, the first friction plate 5 is fixed on the rotating shaft 2 with the first screw 4, then the first bearing 7 is pressed into the rotating shaft 2, then the second friction plate 6 is installed on the outer shell 1, the rotating shaft 2 is inserted into the outer shell 1, the second bearing 8 is pressed into the other end, and then the shaft end cover 3 is installed and tightened with the second screw 9. The braking module is connected to the joint module through three screw holes on the outer shell 1.

[0037] As Figures 2 - 13 shown, the device changes the rotational resistance of the first inner race 701 and the second inner race 801 in the first outer race 702 and the second outer race 802 by adjusting the tension of the first balls 703 and the second balls 803 on the first bearing 7 and the second bearing 8. First, the rubber blocks 2102 are clamped into the inside of the through holes 2103 to realize the head and tail connection of the connecting belt 2101. The connecting belt 2101 drives the second connecting rings 1802 at multiple positions to rotate. When the second connecting ring 1802 rotates, the connecting rope 2003 on the third guide wheel 2006 pulls the lever 2004, causing the lever 2004 to contract into the inside of the sleeve 2001. At this time, the third spring 2002 is compressed, and the elastic cord 1804 is gradually stretched. The first connecting ring 1801 has a tendency to rotate (combined with Figure 6 shown, when the lever 2004 has not completely moved out of the card slot 2005, the first connecting ring 1801, the sleeve 2001, the bidirectional screw 17, and the first connecting pipe 16 all remain in a clamped state). As the lever 2004 gradually disengages from the card slot 2005, the bidirectional screw 17 disengages from the clamped state. Under the pulling force of the elastic cord 1804, the first connecting ring 1801 will drive the bidirectional screw 17 to rotate, causing the adjacent two first connecting pipes 16 to move towards or away from each other until the lever 2004 moves into the next card slot 2005, and the fixing work of the bidirectional screw 17 is completed again. During adjustment, it is necessary to keep the first bearing 7 and the second bearing 8 pressed against each other, thereby ensuring that the two adjacent first connecting pipes 16 themselves do not rotate, ensuring the overall stability of the device. As Figure 3As shown, when the first rotating ring 10 and the second rotating ring 11 are rotated, the first traction steel ropes 1201 and the second traction steel ropes 1301 on the outer and inner raceways of the two bearings, under the action of the first guide pulley 1202 and the second guide pulley 1302, respectively pull the first latch 1203 and the second latch 1303, causing the first spring 1204 and the second spring 1304 to be compressed. The first latch 1203 retracts into the outer raceway of the two bearings, and the second latch 1303 retracts into the inner raceway of the two bearings. At this time, the bearings are installed so that both the outer and inner raceways of the two bearings can maintain a clamped state, thereby preventing axial movement of the first bearing 7, the second bearing 8, and the shaft member. The first connecting block 14 and the second connecting block 15 in the groove 22 can prevent the first connecting pipe 16 from being affected when the bearings are working.

[0038] Although the present invention has been described above with reference to the embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the disclosed embodiments of the present invention can be combined with each other in any way. The reason for not exhaustively describing the situations of these combinations in this specification is only to save space and resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A braking device for a joint module, comprising a housing (1), characterized in that: A second friction plate (6) is installed on the outer shell (1). A first bearing (7) and a second bearing (8) are installed in the middle of the outer shell (1). A rotating shaft (2) is installed in the first bearing (7) and the second bearing (8). A shaft end cover (3) and a first friction plate (5) are installed on the rotating shaft (2). A first screw (4) is installed between the rotating shaft (2) and the first friction plate (5). A second screw (9) is installed on the shaft end cover (3).

2. The braking device for a joint module according to claim 1, characterized in that: The first bearing (7) includes a first inner race (701) installed on the outer side of the rotating shaft (2). A first outer race (702) is arranged on the outer side of the first inner race (701). First balls (703) are installed between the first inner race (701) and the first outer race (702).

3. A braking device for a joint module according to claim 2, characterized in that: The second bearing (8) includes a second inner race (801) installed on the rotating shaft (2). A second outer race (802) is arranged on the outer side of the second inner race (801). Second balls (803) are installed between the second inner race (801) and the second outer race (802).

4. The braking device for a joint module according to claim 3, characterized in that: First rotating rings (10) are rotatably installed on both the first outer race (702) and the second outer race (802). Second rotating rings (11) are rotatably installed on both the first inner race (701) and the second inner race (801). A first docking assembly (12) is installed on the first rotating ring (10). A second docking assembly (13) is installed on the second rotating ring (11).

5. A braking device for a joint module according to claim 4, characterized in that: A first connecting block (14) is rotatably installed on the second ball (803). A second connecting block (15) is rotatably installed on the first ball (703). First connecting pipes (16) are fixedly arranged on both the first connecting block (14) and the second connecting block (15). A bidirectional screw (17) is threadedly installed between adjacent first connecting pipes (16). An adjusting assembly (18) is arranged in the middle of the bidirectional screw (17). A first support assembly (19) and a second support assembly (20) are respectively arranged on both sides of the adjusting assembly (18). The first support assembly (19) and the second support assembly (20) have the same structure. A connecting assembly (21) is arranged on the outer side of the adjusting assembly (18). Grooves (22) for docking with the first connecting block (14) and the second connecting block (15) are respectively formed in the first ball (703) and the second ball (803).

6. The braking device for a joint module according to claim 5, characterized in that: The first docking component (12) includes a first clamping block (1203) slidably installed in a first outer seat ring (702) and a second outer seat ring (802). First springs (1204) are fixedly arranged between the first clamping block (1203) and the first outer seat ring (702), and between the first clamping block (1203) and the second outer seat ring (802). A first traction steel cable (1201) is fixedly connected to the first clamping block (1203). The first traction steel cable (1201) is guided by a first guide pulley (1202) and connected to a first swivel ring (10). The first guide pulley (1202) is rotatably connected to the first outer seat ring (702) and the second outer seat ring (802). The outer wall of the first clamping block (1203) is in mutual contact with the inner wall of the rotating shaft (2).

7. The braking device for a joint module according to claim 6, characterized in that: The second docking component (13) includes a second clamping block (1303) slidably installed on a first inner seat ring (701) and a second inner seat ring (801). Second springs (1304) are fixedly connected between the second clamping block (1303) and the first inner seat ring (701), and between the second clamping block (1303) and the second inner seat ring (801). A second traction steel cable (1301) is fixedly connected to the second clamping block (1303). The second traction steel cable (1301) is guided by a second guide pulley (1302) and connected to a second swivel ring (11). The second guide pulley (1302) is rotatably connected to the first inner seat ring (701) and the second inner seat ring (801). The outer wall of the second clamping block (1303) is in mutual contact with the inner wall of the housing (1).

8. The braking device for a joint module according to claim 7, characterized in that: The adjusting component (18) includes a first connecting ring (1801) fixedly connected to the outside of a bidirectional screw (17). A convex ring (1803) is fixedly connected to the outside of the first connecting ring (1801). A second connecting ring (1802) is rotatably connected to the outside of the convex ring (1803). An elastic cord (1804) is fixedly arranged between the second connecting ring (1802) and the first connecting ring (1801).

9. The braking device for a joint module according to claim 8, characterized in that: The second support component (20) includes a sleeve (2001) fixedly connected to the first connecting ring (1801). A clamping rod (2004) is slidably installed in the sleeve (2001). A third spring (2002) is fixedly connected between the clamping rod (2004) and the sleeve (2001). A connecting cord (2003) is fixedly connected to the clamping rod (2004). The connecting cord (2003) is guided by a third guide pulley (2006) and connected to the second connecting ring (1802). Card slots (2005) are circumferentially and uniformly arranged at both ends of the first connecting pipe (16).

10. A braking device for a joint module according to claim 9, characterized in that: The connecting component (21) includes a connecting belt (2101) fittingly arranged on the outside of the second connecting ring (1802). Rubber clamping blocks (2102) and through holes (2103) are respectively arranged at both ends of the connecting belt (2101).

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