Braking device for joint module

Abstract

The present application provides a brake device for a joint module, which belongs to the technical field of joint modules and includes a housing, a second friction plate installed on the housing, a first bearing and a second bearing installed in the middle of the housing, a rotating shaft installed in the first bearing and the second bearing, a shaft end cover and a first friction plate installed on the rotating shaft, a first screw installed between the rotating shaft and the first friction plate, a second screw installed on the shaft end cover, the first bearing includes a first inner race installed on the outside of the rotating shaft, a first outer race is provided on the outside of the first inner race, and a first ball is installed between the first inner race and the first outer race. The second bearing includes a second inner race installed on the rotating shaft. The present application solves the problem that when the motor shaft of the existing joint module moves axially, the gap between the two friction plates changes accordingly, resulting in fluctuations in the braking torque or even brake failure.

Description

Technical Field

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

[0002] With the continuous development of precision equipment, robotics 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. Traditional braking devices still have some shortcomings.

[0003] For example, the invention patent with publication number CN117047818A discloses a robot joint module with electromagnetic brake, including a main body component, the main body component includes a shell, the interior of the shell is provided with a motor component and a brake component; 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 brake component includes a guide rod, a spring, a slider, an electromagnet, a brake ring and a brake pad. By combining the motor component and the brake component and installing them inside the shell, and installing the brake component on the radial outside of the motor rotor, the axial length of the joint module is reduced, the installation and use of the robot joint module is facilitated, the brake component is driven to work by the electromagnet, and the brake pad is set to a ring structure to meet the braking requirements of the robot joint module, while simplifying the structure of the joint module drive device, which is conducive to the miniaturization and lightweight development of the joint module. Although the above device can realize the braking function, there are the following problems when it is used:

[0004] Complex installation: Traditional two-disc brakes require on-site adjustment of the friction pad gap, and assembly takes up to 2-3 hours per unit;

[0005] Difficult debugging: Clearance adjustment depends on worker experience, which can easily lead to fluctuations in braking torque (more than ±15%);

[0006] Inconvenient maintenance: The brake module is highly coupled to the drive unit, and replacement requires complete disassembly;

[0007] Unstable performance: The two friction plates are fixed to the motor shaft and motor housing, respectively. When the motor shaft moves axially, the gap between the two friction plates fluctuates, causing braking torque fluctuations and even brake failure. Radial runout of the motor shaft can easily cause the two friction plates to become non-parallel, resulting in intermittent contact during braking and unstable torque.

[0008] In addition, the existing joint module cannot adjust the rotational resistance of the brake device, cannot conveniently install the bearings of the brake structure, cannot prevent axial movement of the bearings and shafts, and lacks stability. Summary of the Invention

[0009] In view of the problems existing in the existing robot joint modules, the present invention is proposed.

[0010] To solve the above technical problems, the present invention provides the following technical solutions: a braking device for a joint module, comprising a housing, a second friction plate installed on the housing, a first bearing and a second bearing installed in the middle of the housing, a rotating shaft installed in the first bearing and the second bearing, a shaft end cover and a first friction plate installed on the rotating shaft, a first screw installed between the rotating shaft and the first friction plate, and a second screw installed on the shaft end cover.

[0011] As a preferred solution of the present invention, the first bearing includes a first inner race installed on the outside of the rotating shaft, a first outer race is provided on the outside of the first inner race, and a first ball is installed between the first inner race and the first outer race.

[0012] As a preferred solution of the present invention, the second bearing includes a second inner race mounted on the rotating shaft, a second outer race is provided outside the second inner race, and a second ball is installed between the second inner race and the second outer race.

[0013] As a preferred solution of the present invention, a first swivel is rotatably mounted on both the first outer race and the second outer race, a second swivel is rotatably mounted on both the first inner race and the second inner race, a first docking assembly is mounted on the first swivel, and a second docking assembly is mounted on the second swivel.

[0014] As a preferred solution of the present invention, a first connecting block is rotatably mounted on the second ball, a second connecting block is rotatably mounted on the first ball, a first connecting tube is fixedly mounted on the first connecting block and the second connecting block, a bidirectional screw is threadedly mounted between two adjacent first connecting tubes, an adjusting assembly is arranged in the middle of the bidirectional screw, a first supporting assembly and a second supporting assembly are respectively arranged on both sides of the adjusting assembly, the first supporting assembly and the second supporting assembly have the same structure, a connecting assembly is arranged on the outside of the adjusting assembly, and a groove for docking with the first connecting block and the second connecting block is provided in the first ball and the second ball.

[0015] As a preferred solution of the present invention, the first docking assembly includes a first clamping block slidably installed in the first outer seat ring and the second outer seat ring, a first spring is fixedly arranged between the first clamping block and the first outer seat ring, and between the first clamping block and the second outer seat ring, a first traction steel rope is fixedly connected to the first clamping block, the first traction steel rope is connected to the first rotating ring through the guidance of the first guide wheel, the first guide wheel and the first outer seat ring, and the first guide wheel and the second outer seat ring are all rotatably connected, and the outer wall of the first clamping block is in contact with the inner wall of the rotating shaft.

[0016] As a preferred solution of the present invention, the second docking assembly includes a second clamping block slidably mounted on the first inner seat ring and the second inner seat ring, a second spring is 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 connected to the second swivel through the guidance of the second guide wheel, the second guide wheel and the first inner seat ring and the second inner seat ring are rotatably connected, and the outer wall of the second clamping block is in contact with the inner wall of the outer shell.

[0017] As a preferred solution of the present invention, the adjustment assembly 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, and an elastic rope is fixedly arranged between the second connecting ring and the first connecting ring.

[0018] As a preferred solution of the present invention, the second support assembly includes a pipe sleeve fixedly connected to the first connecting ring, a clamping rod is slidably installed in the pipe sleeve, a third spring is fixedly connected between the clamping rod and the pipe sleeve, a connecting rope is fixedly connected to the clamping rod, and the connecting rope is connected to the second connecting ring through the third guide wheel, and clamping grooves are evenly distributed along the circumference at both ends of the first connecting pipe.

[0019] As a preferred solution of the present invention, the connecting assembly includes a connecting belt that is fitted on the outside of the second connecting ring, and two ends of the connecting belt are respectively provided with rubber blocks and through holes.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The brake module of this device is factory-calibrated for clearance before shipment. Installation requires only bolt tightening, reducing work time to 15 minutes. The commissioning-free design ensures that axial and radial movement of the motor shaft does not affect the brake clearance, maintaining stable braking torque. The brake module has an opening on the rotating shaft that allows for quick insertion into the protrusion on the motor shaft, improving installation efficiency by 80% and reducing commissioning time from 3 hours to 0.5 hours. Braking torque consistency is improved to within ±3%, supporting plug-and-play replacement and reducing maintenance costs by 60%.

[0022] 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, the first connecting block and the second connecting block are tightened against each other by rotating the bidirectional screw, thereby changing the rotational resistance of the two bearings, so as to facilitate the subsequent adjustment of the rotational resistance of the brake device, thereby enhancing the adaptability of the device. In addition, the device can make the bidirectional screws at multiple positions rotate synchronously by pulling the connecting belt on the connecting assembly. Figure 8As can be seen from the figure, the device can adjust the rotational resistance of the first bearing and the second bearing by synchronously rotating the bidirectional screws between each set of balls, while maintaining uniform resistance when the inner race of the bearing rotates to various angles.

[0023] 3. The device is provided with a first docking assembly and a second docking assembly. When the first rotating ring and the second rotating ring are pulled, the first and second rotating rings are combined. Figure 3 It can be seen that the first traction steel rope and the second traction steel rope on the outer race and the inner race of the bearing will pull the first clamping block and the second clamping block respectively, so that the first clamping block shrinks into the outer race of the bearing and the second clamping block shrinks into the inner race of the bearing. At this time, the bearing is installed so that the outer race and the inner race of the bearing can remain in a clamped state, thereby preventing the first bearing, the second bearing and the shaft from axial movement, thereby enhancing the stability of the device during operation.

[0024] 4. The device is provided with an adjustment assembly, a first support assembly and a second support assembly. When the number of rotations of the bidirectional screw is adjusted, the second connecting ring can be rotated, and the connecting rope on the second connecting ring can be used to pull the clamping rod to shrink the clamping rod to the inside of the pipe sleeve. At this time, the elastic rope is also gradually stretched, and the clamping rod will gradually disengage from the clamping groove, thereby causing the bidirectional screw to disengage from the engaged state. Under the tension of the elastic rope, the first connecting ring will drive the bidirectional screw to rotate until the clamping rod moves to the next clamping groove, completing the fixing of the bidirectional screw again, thereby enhancing the convenience of the device when adjusting the rotational resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. Among them:

[0026] Figure 1 This is an exploded view of a brake device for a joint module of the present invention;

[0027] Figure 2 It is a schematic side sectional structural diagram of the present invention;

[0028] Figure 3 yes Figure 2 A magnified schematic diagram of the structure at center A;

[0029] Figure 4 This is a schematic diagram of the connection structure between the first ball bearing and the second connecting block of the present invention;

[0030] Figure 5 yes Figure 4 A magnified schematic diagram of the structure at B in the middle;

[0031] Figure 6 yes Figure 4 A magnified schematic diagram of the structure at C in the middle;

[0032] Figure 7 It is a schematic diagram of the connection structure between the second outer race and the first swivel of the present invention;

[0033] Figure 8 yes Figure 7 A magnified schematic diagram of the structure at D in the middle;

[0034] Figure 9 This is a schematic diagram of the connection structure of the first connecting ring and the second connecting ring of the present invention;

[0035] Figure 10 yes Figure 9 A magnified schematic diagram of the structure at E in the middle;

[0036] Figure 11 yes Figure 9 A magnified schematic diagram of the structure at F in the middle;

[0037] Figure 12 This is a schematic diagram of the split structure of the first clamping block and the second outer race of the present invention;

[0038] Figure 13 It is a schematic diagram of the split structure of the first ball and the second connecting block of the present invention.

[0039] Figure numerals: 1, housing; 2, rotating shaft; 3, shaft end cover; 4, first screw; 5, first friction plate; 6, second friction plate; 7, first bearing; 701, first inner race; 702, first outer race; 703, first ball; 8, second bearing; 801, second inner race; 802, second outer race; 803, second ball; 9, second screw; 10, first swivel; 11, second swivel; 12, first docking assembly; 1201, first traction rope; 1202, first guide wheel; 1203, first clamp; 1204, first spring; 13, second docking assembly; 1301, second traction rope; 1302, second Guide wheel; 1303, second clamping block; 1304, second spring; 14, first connecting block; 15, second connecting block; 16, first connecting tube; 17, bidirectional screw; 18, adjusting assembly; 1801, first connecting ring; 1802, second connecting ring; 1803, convex ring; 1804, elastic cord; 19, first supporting assembly; 20, second supporting assembly; 2001, sleeve; 2002, third spring; 2003, connecting rope; 2004, clamping rod; 2005, clamping slot; 2006, third guide wheel; 21, connecting assembly; 2101, connecting belt; 2102, rubber clamping block; 2103, through hole; 22, groove. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0042] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0043] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0044] like Figures 1-13 As shown, a brake 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, and a second screw 9 is installed on the shaft end cover 3. By rotating the first screw 4, the side clearance between the first bearing 7 and the second bearing 8 is adjusted, thereby improving the rotation accuracy of the rotating shaft 2, as shown in FIG. Figure 2 As 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 brake module and the motor. A fixing hole is provided on the flange of the shell 1, and the shell 1 is fixed to the motor housing through the fixing hole.

[0045] In this embodiment, the first bearing 7 includes a first inner race 701 mounted on the outside of the rotating shaft 2, a first outer race 702 is provided on the outside of the first inner race 701, and a first ball 703 is installed between the first inner race 701 and the first outer race 702. Figure 7 As shown, the first balls 703 enable the first inner race 701 to rotate within the first outer race 702 .

[0046] In this embodiment, the second bearing 8 includes a second inner race 801 mounted on the rotating shaft 2, a second outer race 802 is provided on the outer side of the second inner race 801, and a second ball 803 is installed between the second inner race 801 and the second outer race 802. The second ball 803 enables the second inner race 801 to rotate stably inside the second outer race 802.

[0047] In this embodiment, the first outer race 702 and the second outer race 802 are both rotatably mounted with a first swivel 10, the first inner race 701 and the second inner race 801 are both rotatably mounted with a second swivel 11, the first swivel 10 is mounted with a first docking assembly 12, and the second swivel 11 is mounted with a second docking assembly 13. Figure 2 and Figure 3 As shown, the first docking assembly 12 and the second docking assembly 13 can stably install the first outer race 702 and the second outer race 802 and the first inner race 701 and the second inner race 801 on the two bearings.

[0048] In this embodiment, the first connecting block 14 is rotatably mounted on the second ball 803, the second connecting block 15 is rotatably mounted on the first ball 703, the first connecting block 14 and the second connecting block 15 are fixedly provided with a first connecting tube 16, a bidirectional screw 17 is threadedly mounted between the two adjacent first connecting tubes 16, an adjusting assembly 18 is provided in the middle of the bidirectional screw 17, a first supporting assembly 19 and a second supporting assembly 20 are provided on both sides of the adjusting assembly 18, the first supporting assembly 19 and the second supporting assembly 20 have the same structure, a connecting assembly 21 is provided on the outside of the adjusting assembly 18, and a groove 22 for docking with the first connecting block 14 and the second connecting block 15 is provided in the first ball 703 and the second ball 803. Figure 4 It can be seen that the first connecting block 14 and the second connecting block 15 of the spherical structure can prevent the rotation of the first ball 703 and the second ball 803 from affecting the first connecting tube 16, so that the device can work stably, and the first support assembly 19 and the second support assembly 20 enable the bidirectional screw 17 in the first connecting tube 16 to maintain a docking state with the first connecting tube 16 after the adjustment is completed.

[0049] In this embodiment, the first docking assembly 12 includes a first clamping block 1203 slidably mounted in the first outer race 702 and the second outer race 802. A first spring 1204 is fixedly arranged between the first clamping block 1203 and the first outer race 702, and between the first clamping block 1203 and the second outer race 802. A first traction steel rope 1201 is fixedly connected to the first clamping block 1203. The first traction steel rope 1201 is connected to the first swivel 10 through the first guide wheel 1202. The first guide wheel 1202 and the first outer race 702 are fixedly arranged between the first clamping block 1203 and the first outer race 802. The seat ring 702, the first guide wheel 1202 and the second outer seat ring 802 are all rotationally connected, and the outer wall of the first clamping block 1203 fits into the inner wall of the rotating shaft 2. The device rotates the first rotating ring 10 to make the first traction steel rope 1201 pull the first clamping block 1203 under the guidance 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 so that it can be subsequently docked with the rotating shaft 2.

[0050] In this embodiment, the second docking assembly 13 includes a second clamping block 1303 slidably mounted on the first inner race 701 and the second inner race 801. A second spring 1304 is fixedly connected between the second clamping block 1303 and the first inner race 701, and between the second clamping block 1303 and the second inner race 801. A second traction steel rope 1301 is fixedly connected to the second clamping block 1303. The second traction steel rope 1301 is connected to the second rotating ring 11 through the second guide wheel 1302. The second guide wheel 1302 is rotatably connected to the first inner race 701 and the second inner race 801. The outer wall of the second clamping block 1303 is in contact with the inner wall of the housing 1. Figure 3 As shown, by rotating the second swivel 11, the second traction steel rope 1301 on the second swivel 11 pulls the second clamping block 1303 under the guidance of the second guide wheel 1302, and the second spring 1304 is compressed, so that the second clamping block 1303 shrinks to the inside of the second inner seat ring 801, so that it can be stably docked with the outer shell 1 later.

[0051] In this embodiment, the adjustment 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, and a second connecting ring 1802 is rotatably connected to the outside of the convex ring 1803. An elastic rope 1804 is fixedly arranged between the second connecting ring 1802 and the first connecting ring 1801. When the device rotates the second connecting ring 1802, the first connecting ring 1801 will be pulled through the elastic rope 1804. When the first connecting ring 1801 is out of the engaged state, it will drive the first connecting ring 1801 to rotate under the action of the tension of the elastic rope 1804, so that it can automatically engage after adjusting the number of rotations of the first connecting ring 1801.

[0052] In this embodiment, the second support assembly 20 includes a sleeve 2001 fixedly connected to the first connecting ring 1801, and 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 rope 2003 is fixedly connected to the clamping rod 2004, and the connecting rope 2003 is connected to the second connecting ring 1802 through the third guide wheel 2006. The two ends of the first connecting tube 16 are evenly distributed with clamping grooves 2005 along the circumference. When the second connecting ring 1802 rotates, it will first pull the connecting rope 2003 on the third guide wheel 2006, and the connecting rope 2003 will first pull the clamping rod 2004, causing the third spring 2002 to be compressed. When the clamping rod 2004 is disengaged from the clamping groove 2005, the first connecting tube 16 can be disengaged from the engaged state, so as to subsequently adjust the tension of the balls between the two adjacent bearings, thereby changing the overall rotational resistance of the device.

[0053] In this embodiment, the connecting component 21 includes a connecting belt 2101 that is fitted onto the outside of the second connecting ring 1802. Rubber blocks 2102 and through holes 2103 are respectively provided at both ends of the connecting belt 2101. By inserting the rubber blocks 2102 into the through holes 2103, the end-to-end connection of the connecting belt 2101 is achieved. 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.

[0054] It should be noted that the present invention is a brake device for a joint module. First, Figure 1 and Figure 2 As shown, first fix the first friction plate 5 on the rotating shaft 2 with the first screw 4, then press the first bearing 7 into the rotating shaft 2, and then install the second friction plate 6 on the housing 1. Install the rotating shaft 2 into the housing 1, press the second bearing 8 at the other end, and then install the shaft end cover 3, tighten it with the second screw 9, and connect the brake module to the joint module through the three screw holes on the housing 1.

[0055] like Figure 2-13 As shown, the device changes the rotational resistance of the first inner race 701 and the second inner race 801 within the first outer race 702 and the second outer race 802 by adjusting the tension of the first ball 703 and the second ball 803 on the first bearing 7 and the second bearing 8. First, the rubber clamping block 2102 is clamped into the interior of the through hole 2103 to achieve the end-to-end connection of the connecting belt 2101, and the second connecting rings 1802 at multiple positions are driven to rotate through the connecting belt 2101. When the second connecting ring 1802 rotates, the connecting rope 2003 on the third guide wheel 2006 pulls the clamping rod 2004, causing the clamping rod 2004 to shrink into the interior of the pipe sleeve 2001. At this time, the third spring 2002 is compressed, the elastic rope 1804 is gradually stretched, and the first connecting ring 1801 has a tendency to rotate (combined with Figure 6As shown, when the clamping rod 2004 is not completely removed from the clamping slot 2005, the first connecting ring 1801, the sleeve 2001, the bidirectional screw 17 and the first connecting tube 16 all remain in the clamping state). As the clamping rod 2004 gradually disengages from the clamping slot 2005, the bidirectional screw 17 disengages from the clamping state. Under the pulling force of the elastic rope 1804, the first connecting ring 1801 drives the bidirectional screw 17 to rotate, so that the two adjacent first connecting tubes 16 move toward each other or move away from each other, until the clamping rod 2004 moves to the next clamping slot 2005, completing the fixing of the bidirectional screw 17 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 connected first connecting tubes 16 themselves will not rotate, thereby ensuring the overall stability of the device. Figure 3 As shown, when the first swivel 10 and the second swivel 11 are rotated, the first and second traction steel ropes 1201 and 1301 on the outer and inner races of the two bearings, under the action of the first guide wheels 1202 and 1302, pull the first and second clamping blocks 1203 and 1303, respectively, causing the first and second springs 1204 and 1304 to be compressed. The first clamping block 1203 contracts into the outer races of the two bearings, and the second clamping block 1303 contracts into the inner races of the two bearings. At this time, the bearings are installed so that the outer and inner races of the two bearings can remain clamped, thereby preventing axial movement of the first bearing 7, the second bearing 8, and the shaft. The first connecting block 14 and the second connecting block 15 in the groove 22 can prevent the bearings from affecting the first connecting pipe 16 during operation.

[0056] Although the present invention has been described above with reference to embodiments, various modifications may be made thereto and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as there are no structural conflicts, the various features of the embodiments disclosed herein may be combined with each other in any manner, and the omission of an exhaustive description of such combinations in this specification is solely for the sake of space and resource conservation. 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 brake device for a joint module, comprising a housing, characterized in that: A second friction plate is mounted on the housing, a first bearing and a second bearing are mounted in the middle of the housing, a rotating shaft is mounted in the first bearing and the second bearing, a shaft end cover and a first friction plate are mounted on the rotating shaft, a first screw is mounted between the rotating shaft and the first friction plate, and a second screw is mounted on the shaft end cover; The first bearing comprises a first inner race mounted on the outside of the rotating shaft, a first outer race is provided on the outside of the first inner race, and a first ball is mounted between the first inner race and the first outer race; The second bearing comprises a second inner race mounted on the rotating shaft, a second outer race is provided on the outer side of the second inner race, and a second ball is mounted between the second inner race and the second outer race; A first swivel is rotatably mounted on each of the first outer race and the second outer race, a second swivel is rotatably mounted on each of the first inner race and the second inner race, a first docking assembly is mounted on the first swivel, and a second docking assembly is mounted on the second swivel; The first docking assembly includes a first clamping block slidably mounted within the first outer race and the second outer race, a first spring being fixedly disposed between the first clamping block and the first outer race, and between the first clamping block and the second outer race, a first traction steel rope being fixedly connected to the first clamping block, and the first traction steel rope being connected to the first swivel via a first guide wheel; The second docking assembly includes a second clamping block slidably mounted on the first inner seat ring and the second inner seat ring, a second spring is 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, and the second traction steel rope is connected to the second swivel through the second guide wheel.

2. A brake device for a joint module according to claim 1, characterized in that: A first connecting block is rotatably mounted on the second ball, and a second connecting block is rotatably mounted on the first ball. A first connecting tube is fixedly mounted on the first connecting block and the second connecting block. A bidirectional screw is threadedly mounted between two adjacent first connecting tubes. An adjusting assembly is provided in the middle of the bidirectional screw, and a first supporting assembly and a second supporting assembly are respectively provided on both sides of the adjusting assembly. The first supporting assembly and the second supporting assembly have the same structure. A connecting assembly is provided on the outside of the adjusting assembly, and grooves for docking with the first connecting block and the second connecting block are provided in the first ball and the second ball.

3. The brake device for a joint module according to claim 2, characterized in that: The first guide wheel and the first outer race, as well as the first guide wheel and the second outer race, are all rotatably connected, and the outer wall of the first clamping block fits in with the inner wall of the rotating shaft.

4. The brake device for a joint module according to claim 3, characterized in that: The second guide wheel is rotatably connected to the first inner race and the second inner race, and the outer wall of the second clamping block is in contact with the inner wall of the outer shell.

5. The brake device for a joint module according to claim 4, characterized in that: The adjustment assembly includes a first connecting ring fixedly connected to the outside of the bidirectional screw, a convex ring fixedly connected to the outside of the first connecting ring, a second connecting ring rotatably connected to the outside of the convex ring, and an elastic rope fixedly arranged between the second connecting ring and the first connecting ring.

6. The brake device for a joint module according to claim 5, characterized in that: The second supporting assembly includes a pipe sleeve fixedly connected to the first connecting ring, a clamping rod is slidably installed in the pipe sleeve, a third spring is fixedly connected between the clamping rod and the pipe sleeve, a connecting rope is fixedly connected to the clamping rod, and the connecting rope is connected to the second connecting ring through the third guide wheel. Clamping grooves are evenly distributed along the circumference at both ends of the first connecting pipe.

7. The brake device for a joint module according to claim 6, characterized in that: The connecting assembly includes a connecting belt that is fitted on the outside of the second connecting ring, and two ends of the connecting belt are respectively provided with rubber blocks and through holes.

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