Transmission device with reverse braking function, joint module and robot

Abstract

The embodiment of the invention discloses a transmission device with a reverse braking function, a joint module and a robot. The transmission device comprises a shell seat, a driven shaft, a brake block, an elastic piece and a driving piece, the brake block can move between a braking position and a releasing position relative to the driven shaft, in the braking position, the brake block abuts against the shell seat, in the releasing position, the brake block is separated from the shell seat, and in the releasing position, the elastic piece is separated from the shell seat. The elastic piece is used for pressing the brake block towards the brake position. The transmission device can automatically achieve reverse braking, when the driving piece rotates, the brake block overcomes the elastic force of the elastic piece to move to the release position relative to the driven shaft, the brake block is separated from the shell base, and then the driving piece drives the driven shaft and the brake block to rotate together. After the driving piece stops rotating, the elastic piece pushes the brake block from the release position to the brake position relative to the driven shaft, the brake block abuts against the shell base, and therefore the driven shaft and the brake block are prevented from rotating.

Description

Technical Field

[0001] Embodiments of the present invention belong to the technical field of transmission. Specifically, embodiments of the present invention relate to a transmission device with a reverse braking function. Background Art

[0002] For electromechanical devices such as the driving joints of cranes and robots, and winches, after the motor is powered off, its output end will rotate under the action of loads such as gravity. In related technologies, an electromagnetic brake is usually installed on the motor shaft of the motor to provide braking force to prevent the electromechanical device from rotating after power-off. In addition, mechanisms such as worm and worm gear pairs are also used in existing electromechanical devices to achieve braking. However, the braking methods in related technologies have problems such as complex structures, a large number of components, large volumes, small braking torques, large braking friction consumption, high costs, and low braking reliability. Summary of the Invention

[0003] Embodiments of the present invention aim to solve at least one of the technical problems in related technologies to some extent.

[0004] To this end, embodiments of the present invention propose a transmission device with a reverse braking function that has small braking friction consumption and low cost.

[0005] Embodiments of the present invention also propose a joint module having the transmission device.

[0006] Embodiments of the present invention also propose a robotic arm having the joint module.

[0007] Embodiments of the present invention also propose a robot having the joint module.

[0008] Embodiments of the present invention also propose a production system having the robot.

[0009] Embodiments of the present invention also propose an electric device having the joint module.

[0010] The transmission device with reverse braking function according to an embodiment of the present invention includes: a housing base having a seat hole; a driven shaft rotatably supported at least partially within the seat hole; a brake block provided on the driven shaft and capable of rotating with the driven shaft, the brake block being movable relative to the driven shaft between a braking position and a release position, wherein in the braking position, the brake block abuts against the housing base, and in the release position, the brake block is separated from the housing base; an elastic member connected to the driven shaft and the brake block for pressing the brake block towards the braking position; a driving member connected to the driven shaft, when the driving member rotates, the brake block moves relative to the driven shaft to the release position so that the driving member drives the driven shaft and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the driven shaft and the stop block from rotating together.

[0011] The transmission device according to an embodiment of the present invention can automatically achieve reverse braking. When the driving member rotates, first, the brake block moves relative to the driven shaft to the release position against the elastic force of the elastic member, and the brake block is separated from the housing base. Then, the driving member drives the driven shaft and the brake block to rotate together. When the driving member stops rotating, the elastic member pushes the brake block relative to the driven shaft from the release position to the braking position, and the brake block abuts against the housing base, thereby preventing the driven shaft and the brake block from rotating, that is, preventing the reverse transmission of driving force or torque. For example, the driven shaft cannot rotate under the load of the drum of a winch.

[0012] The transmission device according to an embodiment of the present invention can achieve an automatic reverse braking function, with a simple overall structure, few components, small volume, and having the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0013] In some embodiments, the driven shaft is provided with a dial groove, and the driving member is provided with a dial block. The dial block is fitted in the dial groove and is movable circumferentially along the driven shaft. When the driving member rotates, the dial block pushes the brake block to the release position against the elastic force of the elastic member to drive the driven shaft and the brake block to rotate together.

[0014] In some embodiments, the driven shaft is provided with a dial groove, and the driving member is provided with a dial block. The dial block is fitted in the dial groove and is movable circumferentially along the driven shaft. When the driving member rotates, the dial block drives the driven shaft to rotate so that the brake block moves to the release position against the elastic force of the elastic member, so that the dial block drives the driven shaft and the brake block to rotate together.

[0015] In some embodiments, the dial groove is provided at the junction of the end face of the first end of the driven shaft and the outer peripheral surface of the driven shaft. The dial groove recesses from the end face of the first end of the driven shaft towards the second end of the driven shaft and extends along the circumferential direction of the driven shaft.

[0016] In some embodiments, the transmission device with reverse braking function further includes a first cover plate and a second cover plate. The first cover plate has a first cover plate hole, and the second cover plate has a second cover plate hole. The first cover plate is installed at the first end of the housing seat, and the second cover plate is installed at the second end of the housing seat; the driving member is a driving disc and includes a disc body and a disc hub located at the center of the disc body. The dial block is provided on the disc body. The first end of the driven shaft is rotatably supported in the seat hole, the second end of the driven shaft extends out through the second cover plate hole, and the disc hub is rotatably supported in the first cover plate hole through a first bearing.

[0017] In some embodiments, the seat hole includes a first seat hole section adjacent to the first end of the housing seat, a second seat hole section adjacent to the second end of the housing seat, and an intermediate seat hole section located between the first seat hole section and the second seat hole section. The first seat hole section is sealed by the first cover plate, and the second seat hole section is sealed by the second cover plate. In the braking position, the brake block abuts against the inner surface of the intermediate seat hole section. A second bearing for supporting the driven shaft is provided in the second seat hole section, and the driven shaft is in clearance fit with the intermediate seat hole section.

[0018] In some embodiments, a first jack is provided on the end face of the first end of the driven shaft, a second jack is provided on the brake block, the elastic member is an arc-shaped spring, the first end of the elastic member is fitted in the first jack, and the second end of the elastic member is fitted in the second jack.

[0019] In some embodiments, one of a guide rail and a guide groove is provided at the first end of the driven shaft, and the other of the guide rail and the guide groove is provided on the brake block. The guide rail and the guide groove are slidably engaged.

[0020] In some embodiments, the guide rail is provided on the driven shaft. Both the guide rail and the guide groove are arc-shaped. The radius of curvature of the outer peripheral surface of the guide rail gradually increases in the direction from the release position to the braking position, or the outer peripheral surface of the guide rail is a spiral surface or a cam surface that gradually expands radially outwards along the circumferential direction of the driven shaft.

[0021] In some embodiments, the driven shaft is provided with a first shifting groove and a second shifting groove, the driving member is provided with a first shifting block and a second shifting block, the first shifting block is fitted in the first shifting groove and is movable along the circumferential direction of the driven shaft, the second shifting block is fitted in the second shifting groove and is movable along the circumferential direction of the driven shaft, the brake block corresponds to the first shifting groove, and when the driving member rotates in a first direction, the first shifting block pushes the brake block to the release position against the elastic force of the elastic member.

[0022] In some embodiments, when the brake block moves to the release position, the second shifting block is spaced apart from or in contact with the end wall surface of the second shifting groove.

[0023] In some embodiments, when the driving member rotates in a second direction opposite to the first direction, the second shifting block drives the driven shaft to rotate in the second direction and the brake block moves to the release position against the elastic force of the elastic member.

[0024] In some embodiments, when the brake block moves to the release position, the first shifting block is spaced apart from or in contact with the end wall surface of the first shifting groove.

[0025] In some embodiments, there is one each of the first shifting groove, the second shifting groove, the first shifting block, the second shifting block, the brake block and the elastic member.

[0026] In some embodiments, an arc-shaped guide rail is provided at the first end of the driven shaft, the brake block is provided with an arc-shaped guide groove, and the arc-shaped guide rail and the arc-shaped guide groove are slidably fitted; a notch is provided at the junction of the end surface of the first end of the driven shaft and the outer peripheral surface of the driven shaft, the arc-shaped guide rail is provided in the notch, the notch is communicated with the first shifting groove and / or a part of the brake block extends to cover a part of the first shifting groove to facilitate the first shifting block to push the brake block, and the notch recesses from the end surface of the first end of the driven shaft towards the second end of the driven shaft and extends along the circumferential direction of the driven shaft.

[0027] In some embodiments, the radius of curvature of the outer peripheral surface of the arc-shaped guide rail gradually increases in the direction from the release position to the braking position or the outer peripheral surface of the arc-shaped guide rail is a spiral surface or a cam surface that gradually expands radially outwards along the circumferential direction of the driven shaft.

[0028] In some embodiments, the brake block includes an arcuate plate body, an arcuate outer boss, and an arcuate inner boss. The outer boss and the inner boss are provided on the plate body and extend along the circumferential direction of the plate body. The outer boss and the inner boss are spaced apart from each other in the radial direction of the plate body. The arcuate guide groove is formed between the outer boss and the inner boss. The outer peripheral surface of the outer boss is flush with the outer peripheral surface of the plate body. The inner peripheral surface of the inner boss is flush with the inner peripheral surface of the plate body. In the braking position, at least a part of the outer peripheral surface of the outer boss and at least a part of the outer peripheral surface of the plate body extend beyond the outer peripheral surface of the driven shaft in the radial direction of the driven shaft to abut against the housing seat. The first ends of the outer boss and the inner boss are spaced a first distance from the first end of the plate body. The second ends of the outer boss and the inner boss are spaced a second distance from the second end of the plate body.

[0029] In some embodiments, the inner side of the arcuate guide rail has an inner groove, the outer side of the arcuate guide rail has an outer groove, the first end of the arcuate guide rail has a first step, the second end of the arcuate guide rail has a second step, and the upper surface of the arcuate guide rail, the upper surface of the first step, and the upper surface of the second step are flush with the bottom surface of the first dial groove.

[0030] The transmission device according to an embodiment of the present invention includes: a driven member; a braking member provided on the driven member and capable of rotating together with the driven member, the braking member being movable relative to the driven member between a braking position that prevents the driven member and the braking member from rotating together and a release position that allows the driven member and the braking member to rotate together; an elastic member that presses the braking member toward the braking position; and a driving member for driving the driven member to rotate. When the driving member rotates, the braking member moves relative to the driven member from the braking position to the release position against the elastic force of the elastic member, so that the driving member drives the driven member and the braking member to rotate together. When the driving member stops rotating, the elastic member pushes the braking member from the release position to the braking position.

[0031] The transmission device according to an embodiment of the present invention includes: a rotatable follower; a brake member disposed on the follower, the brake member being movable relative to the follower between a braking position that prevents the follower from rotating and a release position that allows the follower to rotate, wherein in the radial direction of the follower, the brake member is farther from the rotation center of the follower when in the braking position than when in the release position, or when the brake member moves from the release position toward the braking position, the brake member moves circumferentially along the follower while moving radially outward along the follower, or when the brake member moves from the release position toward the braking position, the movement trajectory of the brake member is a spiral or cam profile that gradually unfolds radially outward along the circumference of the follower; a spring, a first end of the spring is connected to the brake member, a second end of the spring is connected to the follower, and the spring presses the brake member toward the braking position; a rotatable driving member, when the driving member rotates, the brake member is caused to move from the braking position to the release position against the elastic force of the spring to drive the follower and the brake member to rotate together, and when the driving member stops rotating, the spring pushes the brake member from the release position to the braking position to prevent the follower and the brake member from rotating together.

[0032] The joint module according to an embodiment of the present invention includes: a transmission device, the transmission device may be the transmission device according to any one of the above embodiments; a motor, a motor shaft of the motor is connected to the driving member of the transmission device to drive the driving member to rotate.

[0033] The robotic arm according to an embodiment of the present invention may include the joint module according to any one of the above embodiments.

[0034] The robot according to an embodiment of the present invention may include the joint module according to any one of the above embodiments.

[0035] The production system according to an embodiment of the present invention may include the robotic arm according to any one of the above embodiments and / or the robot according to any one of the above embodiments.

[0036] The electric device according to an embodiment of the present invention may include the joint module according to any one of the above embodiments.

[0037] In some embodiments, the electric device may be an electric wheelchair or an electric bed. Description of the Drawings

[0038] Figure 1 is a perspective view of the transmission device with reverse braking function according to an embodiment of the present invention.

[0039] Figure 2 is another perspective view of the transmission device with reverse braking function according to an embodiment of the present invention.

[0040] Figure 3 It is a partial sectional view of the transmission device with reverse braking function according to an embodiment of the present invention.

[0041] Figure 4 It is an axial sectional view of the housing base of the transmission device with reverse braking function according to an embodiment of the present invention.

[0042] Figure 5 It is a sectional view of the transmission device with reverse braking function according to an embodiment of the present invention along Figure 3 the line A-A in

[0043] Figure 6 It is a sectional view of the transmission device with reverse braking function according to an embodiment of the present invention along Figure 3 the line B-B in

[0044] Figure 7 It is a schematic diagram of the brake block of the transmission device with reverse braking function according to an embodiment of the present invention in the braking position.

[0045] Figure 8 It is a schematic diagram of the brake block of the transmission device with reverse braking function according to an embodiment of the present invention in the released position and the driving member rotating counterclockwise.

[0046] Figure 9 It is a schematic diagram of the brake block of the transmission device with reverse braking function according to an embodiment of the present invention in the released position and the driving member rotating clockwise.

[0047] Figure 10 It is a perspective view of the brake block and the driven shaft of the transmission device with reverse braking function according to an embodiment of the present invention.

[0048] Figure 11 It is a perspective view of the driven shaft of the transmission device with reverse braking function according to an embodiment of the present invention.

[0049] Figure 12 It is an end view of the driven shaft of the transmission device with reverse braking function according to an embodiment of the present invention.

[0050] Figure 13 It is a perspective view of the brake block of the transmission device with reverse braking function according to an embodiment of the present invention.

[0051] Figure 14 It is a plan view of the brake block of the transmission device with reverse braking function according to an embodiment of the present invention.

[0052] Figure 15 It is a perspective view of the joint module according to an embodiment of the present invention.

[0053] Figure 16It is the front view of the joint module according to an embodiment of the present invention.

[0054] Figure 17 It is a schematic diagram of the robotic arm according to an embodiment of the present invention.

[0055] Figure 18 It is a schematic diagram of the robot according to an embodiment of the present invention.

[0056] Figure 19 It is a schematic diagram of the electric device according to an embodiment of the present invention.

[0057] Reference numerals

[0058] 100, transmission device;

[0059] 1, housing base; 101, the first end of the housing base; 102, the second end of the housing base; 11, seat hole; 111, the first seat hole section; 112, the second seat hole section; 113, intermediate seat hole section;

[0060] 2, driven shaft; 21, slot; 21a, the first slot; 21b, the second slot; 22, the first end of the driven shaft; 23, the first jack; 24, arc guide rail; 241, the outer peripheral surface of the arc guide rail; 25, notch; 26, inner groove; 27, outer groove; 28, the first step; 29, the second step;

[0061] 3, brake block; 31, the second jack; 32, arc guide groove; 33, plate body; 34, outer boss; 341, the inner peripheral surface of the outer boss; 35, inner boss;

[0062] 4, elastic member; 41, the first end of the elastic member; 42, the second end of the elastic member;

[0063] 5, driving member; 51, dial block; 51a, the first dial block; 51b, the second dial block; 52, disk body; 53, disk hub; 531, disk hole;

[0064] 61, the first cover plate; 611, the first cover plate hole;

[0065] 62, the second cover plate; 621, the second cover plate hole;

[0066] 71, the first bearing; 72, the second bearing;

[0067] 8, driving shaft; 9, snap ring;

[0068] 200, joint module;

[0069] 210, motor; 211, motor shaft;

[0070] 300, robotic arm;

[0071] 400, robot;

[0072] 500, Electric wheelchair. Specific embodiments

[0073] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0074] As Figures 1 - 14 shown, the transmission device 100 with reverse braking function according to the embodiment of the present invention includes a housing base 1, a driven shaft 2, a brake block 3, an elastic member 4 and a driving member 5.

[0075] The housing base 1 has a seat hole 11, and the seat hole 11 can penetrate the housing base 1 along the axial direction of the housing base 1 (for example, Figure 3 the left - right direction in Figure 7 ). The driven shaft 2 is rotatably supported at least partially within the seat hole 11. The brake block 3 is provided on the driven shaft 2 and can rotate with the driven shaft 2. The brake block 3 is movable relative to the driven shaft 2 between a braking position (for example, Figure 8 the position shown) and a release position (for example, Figure 9 and

[0076] the positions shown). In the braking position, the brake block 3 abuts against the housing base 1. In the release position, the brake block 3 is separated from the housing base 1.

[0077] The driving member 5 is connected to the driven shaft 2, and the driving member 5 is used to drive the driven shaft 2. When the driving member 5 rotates, the brake block 3 can move relative to the driven shaft 2 against the elastic force of the elastic member 4 to the release position, and the brake block 3 is separated from the housing seat 1, so that the driving member 5 can drive the driven shaft 2 and the brake block 3 to rotate together. When the driving member 5 stops rotating, the elastic member 4 pushes the brake block 3 relative to the driven shaft 2 to the braking position, and the brake block 3 abuts against the housing seat 1, thereby preventing the driven shaft 2 and the brake block 3 from rotating together. In other words, when the driving member 5 rotates, the brake block 3 moves to the release position, and the driving member 5 can drive the driven shaft 2 and the brake block 3 to rotate together. When the driving member 5 stops rotating, the brake block 3 moves to the braking position, and the brake block 3 abuts against the housing seat 1. At this time, even if a load (torque) is applied to the driven shaft 2, the driven shaft 2 cannot rotate together with the brake block 3. Therefore, the driven shaft 2 cannot reverse-transmit the load to the driving member 5, thus realizing the reverse braking function.

[0078] For example, the driving member 5 can be connected to the driving shaft 8 to be driven by the driving shaft 8 to rotate in the first direction (e.g., counterclockwise direction) or in the second direction (e.g., clockwise direction). For example, the driving shaft 8 can be the shaft of the driver or a shaft connected to the driver shaft, and the driver can be, for example, a motor.

[0079] When the driving member 5 is driven by the motor to rotate, the brake block 3 can move relative to the driven shaft 2 against the elastic force of the elastic member 4 to the release position and be separated from the housing seat 1. Furthermore, the driving member 5 can drive the brake block 3 and the driven shaft 2 to rotate together. The driven shaft 2 can also be referred to as the output shaft of the transmission device 100. The driven shaft 2 can be connected to other components to drive other moving components to rotate. For example, the driven shaft 2 can be used to drive the drum of a winch, the joints of a robot, etc.

[0080] When the motor is powered off and stops, the driving member 5 no longer rotates. The brake block 3 moves relative to the driven shaft 2 to the braking position under the elastic force of the elastic member 4 and abuts against the housing seat 1. The frictional force between the brake block 3 and the housing seat 1 prevents the driven shaft 2 and the brake block 3 from rotating together.

[0081] The transmission device of the embodiment of the present invention can automatically achieve reverse braking. When the driving member rotates, first, the brake block moves relative to the driven shaft against the elastic force of the elastic member to the release position, and the brake block is separated from the housing seat. Furthermore, the driving member drives the driven shaft and the brake block to rotate together. When the driving member stops rotating, the elastic member pushes the brake block relative to the driven shaft from the release position to the braking position, and the brake block abuts against the housing seat, thereby preventing the driven shaft and the brake block from rotating together, that is, the driven shaft cannot rotate under the action of the torque (load) applied to it. Therefore, the driven shaft cannot reverse-transmit the torque to the driving member to cause the driving member to rotate. For example, when the motor of the winch stops rotating, the load applied by the drum of the winch to the driven shaft cannot drive the driven shaft to rotate. Therefore, the driven shaft cannot cause the driving member to rotate either.

[0082] It is understandable that in the embodiments of the present invention, "reverse" in "reverse braking" refers to the direction in which the torque (load, driving force) applied to the driven shaft is transmitted towards the driving member. Correspondingly, "forward" refers to the direction in which the torque (driving force) of the driving member is transmitted towards the driven shaft.

[0083] The transmission device of the embodiments of the present invention can achieve an automatic reverse braking function, with a simple overall structure, a small number of components, a small volume, and having the advantages of a large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0084] In some embodiments, such as Figures 1 - 2 and Figures 5 - 12 shown, the driven shaft 2 is provided with a dial groove 21, and the driving member 5 is provided with a dial block 51. The dial block 51 is fitted in the dial groove 21 and is movable circumferentially along the driven shaft 2 in the dial groove 21.

[0085] In some examples, such as Figure 8 shown, when the driving member 5 rotates counterclockwise, the dial block 51 overcomes the elastic force of the elastic member 4 and pushes the brake block 3 to the release position to drive the brake block 3 and the driven shaft 2 to rotate together. In other words, the driving member 5 drives the brake block 3 through the dial block 51, so that the brake block 3 overcomes the elastic force of the elastic member 4 and moves relative to the driven shaft 2 to the release position, and then drives the driven shaft 2 and the brake block 3 to rotate together through the dial block 51.

[0086] In other examples, such as Figure 9 shown, when the driving member 5 rotates clockwise, the dial block 51 drives the driven shaft 2 to rotate, and the relative rotation between the driven shaft 2 and the brake block 3 causes the brake block 3 to move to the release position against the elastic force of the elastic member 4, and then the dial block 51 drives the driven shaft 2 and the brake block 3 to rotate together. In other words, the driving member 5 drives the driven shaft 2 to rotate through the dial block 51, causing the brake block 3 to move to the release position against the elastic force of the elastic member 4, and then applying a force to the driven shaft 2 through the dial block 51 to drive the driven shaft 2 and the brake block 3 to rotate together.

[0087] In some embodiments, such as Figures 1 - 2 and 5- Figure 9 shown, the dial groove 21 includes a first dial groove 21a and a second dial groove 21b, and the dial block 51 includes a first dial block 51a and a second dial block 51b. The first dial block 51a is fitted in the first dial groove 21a and is movable circumferentially along the driven shaft 2, and the second dial block 51b is fitted in the second dial groove 21b and is movable circumferentially along the driven shaft 2, wherein the brake block 3 corresponds to the first dial groove 21a, that is, when the driving member 5 rotates counterclockwise, the first dial block 51a fitted in the first dial groove 21a drives the brake block 3.

[0088] Specifically, such asFigure 7 and Figure 8 as shown in Figure 7 the brake block 3 is in the braking position, the brake block 3 abuts against the housing seat 1, the minimum clearance G between the two is zero, the driving member 5 rotates in the first direction (for example, the counterclockwise direction N), the first dial block 51a moves counterclockwise along the circumferential direction of the driven shaft 2 in the first dial groove 21a until it contacts the end face of the brake block 3 ( Figure 7 the upper end face in Figure 8 as shown in Figure 8 ), the first dial block 51a applies a thrust force F to the brake block 3 to overcome the elastic force T of the elastic member 4 and push the brake block 3 to

[0089] as shown in Figure 8 when the first dial block 51a pushes the brake block 3 from the braking position to the release position, the second dial block 51b rotates counterclockwise in the second dial groove 21b. When the brake block 3 reaches the release position, the second dial block 51b is spaced apart from the end wall surface of the second dial groove 21b ( Figure 8 the upper end wall surface in

[0090] Optionally, the second dial block 51b may contact the end wall surface of the second dial groove 21b and the second dial block 51b may not apply a force to the driven shaft 2. The driven shaft 2 and the brake block 3 rotate counterclockwise together under the action of the first dial block 51a. Therefore, the machining accuracy and assembly accuracy requirements for the driving member 5 and the driven shaft 2 are low, and the cost is low.

[0091] In some embodiments, when the driving member 5 rotates in the second direction opposite to the first direction, the second dial block 51b drives the driven shaft 2 to rotate in the second direction, and the brake block 3 moves to the release position against the elastic force of the elastic member 4. Figure 7 and Figure 9 as shown in Figure 7 the brake block 3 is in the braking position, the brake block 3 abuts against the housing seat 1, the minimum clearance G between the two is zero, the driving member 5 rotates in the second direction (clockwise direction S), the second dial block 51b rotates clockwise along the circumferential direction of the driven shaft 2 in the second dial groove 21b until it contacts the end face of the second dial groove 21b ( Figure 9 the lower end face in

[0092] as shown inFigure 9 As shown, when the brake block 3 moves from the braking position to the release position against the elastic force of the elastic member 4, the first shifting block 51a is spaced apart from an end wall surface ( Figure 9 the upper end wall surface in it) of the first shifting groove 21a. Optionally, the first shifting block 51a contacts an end wall surface of the first shifting groove 21a and the first shifting block 51a may not apply a force to the driven shaft 2, and the driven shaft 2 and the brake block 3 rotate together in the clockwise direction under the action of the second shifting block 51b.

[0093] In some specific examples, as Figures 1 - 14 shown, there is one first shifting groove 21a, one second shifting groove 21b, one first shifting block 51a, one second shifting block 51b, one brake block 3 and one elastic member 4. The first shifting block 51a is fitted in the first shifting groove 21a and corresponds to the brake block 3. The second shifting block 51b is fitted in the second shifting groove 21b and does not correspond to the brake block 3, that is, the second shifting block 51b does not directly contact the brake block 3.

[0094] In an alternative embodiment, there may be multiple first shifting grooves 21a, multiple second shifting grooves 21b, multiple first shifting blocks 51a, multiple second shifting blocks 51b, multiple brake blocks 3 and multiple elastic members 4.

[0095] In some embodiments, as Figures 1 - 3 shown, the driven shaft 2 has a first end 22 ( Figure 1 the left end in it) and a second end ( Figure 1 the right end in it) along its axial direction. The first end 22 of the driven shaft 2 is adjacent to the driving member 5, and the second end of the driven shaft 2 may be connected to a driven component such as a drum of a winch. In Figures 1 - 3 the example shown, the driven shaft 2 is a hollow shaft, that is, it has a central through hole extending along its axial direction, and the central through hole can be used for connection with other components, but the embodiments of the present invention are not limited thereto.

[0096] The shifting groove 21 is provided at the junction of the end face of the first end 22 of the driven shaft 2 and the outer peripheral surface of the driven shaft 2, that is, the shifting groove 21 is provided at the edge of the end face of the first end 22 of the driven shaft 2, and the outer peripheral surface and the upper surface (the surface corresponding to the end face of the first end of the driven shaft) of the shifting groove 21 are open. The shifting groove 21 recesses from the end face of the first end 22 of the driven shaft 2 towards the second end of the driven shaft 2, and the shifting block 51 of the driving member 5 extends into and is fitted in the shifting groove 21 along the axial direction of the driven shaft 2 from the first end 22 of the driven shaft 2. The shifting groove 21 extends along the circumferential direction of the driven shaft 2. Specifically, the shifting groove 21 is arc-shaped.

[0097] As Figures 10 - 12 shown, there are two shifting grooves 21 including a first shifting groove 21a and a second shifting groove 21b, and the first shifting groove 21a and the second shifting groove 21b are arranged at intervals along the circumferential direction of the driven shaft 2.

[0098] AsFigure 5 and Figure 6 As shown in Figure 6 , the dial block 51 of the driving member 5 is configured as an arc adapted to the dial groove 21. Both the outer peripheral surface and the inner peripheral surface of the dial block 51 are arcs. The inner peripheral surface of the dial block 51 can be slidably engaged with the inner peripheral wall surface of the dial groove 21, and there is a gap between the outer peripheral surface of the dial block 51 and the outer peripheral edge of the dial groove 21 in the radial direction of the driven shaft 2. It can be understood that the embodiments of the present invention are not limited to this.

[0099] In some embodiments, as Figures 1 - 3 shown, the transmission device 100 further includes a first cover plate 61 and a second cover plate 62. The first cover plate 61 has a first cover plate hole 611, and the second cover plate 62 has a second cover plate hole 621.

[0100] The housing base 1 has opposite first ends 101 ( Figure 3 and Figure 4 the right end in Figure 3 ) and second ends 102 ( Figure 3 and Figure 4 the left end in Figure 3 ) in its axial direction. The first cover plate 61 is installed at the first end 101 of the housing base 1, and the second cover plate 62 is installed at the second end 102 of the housing base 1.

[0101] The first end 22 of the driven shaft 2 is rotatably supported in the seat hole 11 of the housing base 1. The second end of the driven shaft 2 extends through the second cover plate hole 621 to be connected to other components, so as to output power to other components, such as the drum of a winch.

[0102] The driving member 5 is configured as a driving disk. The driving disk includes a disk body 52 and a disk hub 53 located at the center of the disk body 52. The dial block 51 is provided on the disk body 52 and extends from the disk body 52 toward the driven shaft 2. The disk hub 53 is rotatably supported in the first cover plate hole 611 of the first cover plate 61 through a first bearing 71. The first cover plate 61 and the second cover plate 62 seal both ends of the seat hole 11. The first end 22 of the driven shaft 2, the brake block 3, the elastic member 4, and the disk body 52 are located in the seat hole 11, thereby better protecting these components and making the structure of the transmission device 100 more compact.

[0103] As Figures 1 - 3 shown, the disk hub 53 is provided with a disk hole 531 adapted to cooperate with the driving shaft 8, such as the motor shaft of a motor. The disk hole 531 can penetrate the disk hub 53 along the axial direction of the driving member. Optionally, the disk hole 531 can be a blind hole. The motor shaft is fitted in the disk hole 531 to drive the driving member 5 to rotate. In Figure 3 the example shown in Figure 3 , the disk hole 531 penetrates the disk hub 53 along the axial direction of the disk hub 53, and one end of the driving shaft 8 is fitted in the disk hole 531 to be connected to the driving member 5. In Figure 1 and Figure 2In the illustrated example, the disk hole 531 of the driving member 5 is splined to the driving shaft 8, and a snap ring 9 is sleeved on the disk hub 53. The snap ring 9 abuts against the outer end face of the first cover plate 61 to limit the bearing 71 and the driving member 5.

[0104] In some embodiments, as Figure 3 and 4 shown, the seat hole 11 includes a first seat hole section 111 adjacent to the first end 101 of the housing seat 1, a first seat hole section 112 adjacent to the second end 102 of the housing seat 1, and an intermediate seat hole section 113 located between the first seat hole section 111 and the first seat hole section 112. The first seat hole section 111 is sealed by the first cover plate 61, and the first seat hole section 112 is sealed by the second cover plate 62.

[0105] The brake block 3 is located in the intermediate seat hole section 113. In the braking position, the brake block 3 abuts against the inner surface of the intermediate seat hole section 113. A second bearing 72 for supporting the driven shaft 2 is provided in the first seat hole section 112, and the driven shaft 2 is in clearance fit with the intermediate seat hole section 113.

[0106] As Figure 3 shown, the second bearing 72 is fitted in the first seat hole section 112, and the second bearing 72 is sleeved on the driven shaft 2. Through the support of the second bearing 72, the clearance fit between the driven shaft 2 and the intermediate seat hole section 113 is more stable and reliable, avoiding friction between the driven shaft 2 and the housing seat 1.

[0107] In Figure 3 and Figure 4 the illustrated example, the inner diameter of the first seat hole section 111 and the inner diameter of the first seat hole section 112 are both larger than the inner diameter of the intermediate seat hole section 113. The first end 22 of the driven shaft 2 is located in the intermediate seat hole section 113 and is in clearance fit with the intermediate seat hole section 113, so that the driven shaft 2 can rotate relative to the intermediate seat hole section 113. The driven shaft 2 is also in clearance fit with the second cover plate hole 621 of the second cover plate 62, so that the driven shaft 2 can rotate relative to the second cover plate hole 621. The main body section of the elastic member 4 is located in the first seat hole section 111 and is disposed adjacent to the first end 22 of the driven shaft 2 for facilitating connection with the driven shaft 2 and the brake block 3. The first end 41 and the second end 42 of the elastic member 4 respectively extend a predetermined length in a direction orthogonal to the plane where the main body section is located. A cavity for accommodating the elastic member 4 may be formed between the end face of the disk body 52 of the driving member 5 and the first end 22 of the driven shaft 2.

[0108] In other embodiments, the inner diameter of the first seat hole section 111 may be equal to the inner diameter of the intermediate seat hole section 113, or the inner diameter of the first seat hole section 112 is equal to the inner diameter of the intermediate seat hole section 113, and at the same time, the driven shaft 2 is in clearance fit with the first seat hole section 112 without providing the second bearing 72.

[0109] In some embodiments, as Figure 10As shown, a first jack 23 is provided on the end face of the first end 22 of the driven shaft 2, and a second jack 31 is provided on the plate body 33 of the brake block 3. As Figures 1 - 2 shown, the elastic member 4 is an arc-shaped spring. In other words, the main body section of the spring is a generally open arc, and the first end 41 and the second end 42 of the spring extend in a direction generally orthogonal to the plane where the main body section is located, thereby facilitating the connection of the first end 41 and the second end 42 of the spring to the brake block 3 and the driven shaft 2 respectively. As Figures 5 - 9 shown, the first end 41 of the elastic member 4 is fitted in the first jack 23, the second end 42 of the elastic member 4 is fitted in the second jack 31, and an elastic force T is applied to the brake block 3 to normally press the braking position against the brake block 3. As Figures 7 - 9 shown, during the process of the brake block 3 moving from the braking position towards the release position, the first end 41 and the second end 42 of the elastic member 4 approach each other, and the spring is gradually compressed.

[0110] It can be understood that the elastic member 4 is not limited to a rod-shaped spring. For example, it can be an elastic sheet or other forms. The connection manner of the elastic member 4 with the brake block 3 and the driven shaft 2 is not limited to the above embodiments either, as long as the elastic member 4 can move the brake block 3 from the release position to the braking position when the driving member 5 stops rotating.

[0111] In some embodiments, one of a guide rail and a guide groove is provided at the first end 22 of the driven shaft 2, and the other of the guide rail and the guide groove is provided on the brake block 3, and the guide rail and the guide groove are slidably engaged. When the brake block 3 moves between the braking position and the release position, the guide rail and the guide groove slide relative to each other, thereby guiding the relative movement between the driven shaft 2 and the brake block 3, that is, the movement of the brake block 3 relative to the driven shaft 2 is more stable and reliable.

[0112] In some embodiments, as Figures 10 - 14 shown, the guide rail is provided on the driven shaft 2, the guide groove is provided on the brake block 3, and both the guide rail and the guide groove are arc-shaped, that is, the guide rail is configured as an arc-shaped guide rail 24, the guide groove is configured as an arc-shaped guide groove 32 adapted to the arc-shaped guide rail 24, and the arc-shaped guide rail 24 and the arc-shaped guide groove 32 are slidably engaged.

[0113] Specifically, as Figures 10 - 12 shown, a notch 25 is provided at the junction of the end face of the first end 22 of the driven shaft 2 and the outer peripheral surface of the driven shaft 2, that is, the notch 25 is provided at the edge of the end face of the first end 22 of the driven shaft 2, and the outer peripheral surface and the upper surface (the surface corresponding to the end face of the first end of the driven shaft) of the notch 2 are open. The notch 25 recesses from the end face of the first end 22 of the driven shaft 2 towards the second end of the driven shaft 2 and extends along the circumferential direction of the driven shaft 2.

[0114] The arc-shaped guide rail 24 is disposed in the notch 25 and extends along the circumference of the driven shaft 2. In the braking position, a portion of the brake block 3 can extend above the first shifting groove 21a to overlap with a portion of the first shifting groove 21a, so as to facilitate the first shifting block 51a in the first shifting groove 21a to push the brake block 3. Specifically, the notch 25 is adjacent to the first shifting groove 21a in the circumference of the driven shaft 2, and the notch 25 is connected to the end of the first shifting groove 21a, so that the first shifting block 51a can contact the brake block 3 and push the brake block 3.

[0115] like Figures 10 - 12 As shown, the notch 25 can be communicated with the first shifting groove 21 a so that the first shifting block 51 a fitted in the first shifting groove 21 a can contact and push the brake block 3 .

[0116] Optionally, the notch 25 may be in communication with the first detent groove 21 a , and in the braking position, a portion of the braking block 3 overlaps a portion of the first detent groove 21 a .

[0117] like Figure 13 and Figure 14 As shown, the brake block 3 includes a plate body 33, an outer boss 34 and an inner boss 35. The plate body 33 may be arc-shaped and have an arc-shaped outer peripheral surface and an arc-shaped inner peripheral surface. The plate body 33 has two plate surfaces parallel to each other in the thickness direction thereof. For example, when the brake block 3 is mounted on the driven shaft 2, the plate body 33 has a first plate surface facing the driven shaft 2 and a second plate surface away from the driven shaft 2. The outer boss 34 and the inner boss 35 are both arranged on the first plate surface and both extend along the circumference of the plate body 33. The outer boss 34 and the inner boss 35 are spaced apart from each other in the radial direction of the plate body 33. An arc-shaped guide groove 32 is formed between the boss and the inner boss 35. The outer peripheral surface of the outer boss 34 is flush with the outer peripheral surface of the plate body 33, and the inner peripheral surface of the inner boss 35 is flush with the inner peripheral surface of the plate body 33.

[0118] like Figure 3 and Figure 5 As shown, the plate body 33 of the brake block 3 fits in the notch 25, and the second plate surface of the plate body 33 is flush with the end surface of the first end 22 of the driven shaft 2. In the radial direction of the driven shaft 2, the arcuate guide rail 24 is located between the outer boss 34 and the inner boss 35, and is slidable relative to the outer boss 34 and the inner boss 35 in the circumferential direction of the driven shaft 2. In other words, the arcuate guide rail 24 extends into the arcuate groove and slidably fits with the arcuate groove.

[0119] like Figure 7 As shown, in the braking position, at least a portion of the outer circumferential surface of the outer boss 34 and at least a portion of the outer circumferential surface of the plate body 33 extend beyond the outer circumferential surface of the driven shaft 2 in the radial direction of the driven shaft 2 to abut against the shell seat 1, specifically, can abut against the hole wall surface of the middle seat hole section 113 of the shell seat 1.

[0120] likeFigure 14 As shown, the outer convex platform 34 has opposite first and second ends in the circumferential direction of the plate body 33, the inner convex platform 35 has opposite first and second ends in the circumferential direction of the plate body 33, and the plate body 33 has opposite first and second ends in its circumferential direction. Each of the first end of the outer convex platform 34 and the first end of the inner convex platform 35 is adjacent to and spaced a first distance from the first end of the plate body 33, and each of the second end of the outer convex platform 34 and the second end of the inner convex platform 35 is adjacent to and spaced a second distance from the second end of the plate body 33.

[0121] As Figure 11 and Figure 12 As shown, the inner side of the arc-shaped guide rail 24 has an inner groove 26, and the outer side of the arc-shaped guide rail 24 has an outer groove 27. The inner convex platform 35 of the brake block 3 is fitted in the inner groove 26 and is slidable along the inner groove 26, and the outer convex platform 34 of the brake block 3 is fitted in the outer groove 27 and is slidable along the outer groove 27. It can be understood that both the inner groove 26 and the outer groove 27 are arc-shaped grooves, and the outer side and the upper surface of the outer groove 27 are open, so that a part of the outer convex platform 34 can extend outwards through the outer groove 27 to abut against the housing base 1.

[0122] Further, the first end of the arc-shaped guide rail 24 has a first step 28, the second end of the arc-shaped guide rail 24 has a second step 29, the arc-shaped guide rail 24 is located between the first step 28 and the second step 29 in the circumferential direction of the driven shaft 2 and is connected to the first step 28 and the second step 29. The upper surface of the arc-shaped guide rail 24, the upper surface of the first step 28, and the upper surface of the second step 29 can be flush with the bottom surface (which can also be called the lower surface, that is, the surface of the end face away from the first end of the driven shaft) of the first dial groove 21a. The bottom of the plate body 33 is in sliding fit with the upper surface of the arc-shaped guide rail 24, the upper surface of the first step 28, and the upper surface of the second step 29. As Figure 8 shown, when the driven shaft 2 rotates in the first direction, the first dial block 51a in the first dial groove 21a contacts the end face of the plate body 33 to push the brake block 3.

[0123] The brake block 3 moves between the release position and the braking position along the arc-shaped guide rail 24 to separate from or abut against the housing base 1. In order to more precisely limit the movement path of the brake block 3, make the braking of the brake block 3 more reliable in the braking position, and the release more reliable in the release position, in some preferred embodiments, the radius of curvature of the outer peripheral surface 241 of the arc-shaped guide rail 24 can gradually increase in the direction from the release position to the braking position. Optionally, the outer peripheral surface 241 of the arc-shaped guide rail 24 can be a spiral surface or a cam surface that gradually expands radially outwards along the circumferential direction of the driven shaft 2.

[0124] As an example, as Figure 12As shown, the radius of curvature of the outer peripheral surface 241 of the arc-shaped guide rail 24 gradually increases in the direction from the release position to the braking position. R1 and R2 respectively represent the radii of curvature of the outer peripheral surface 241 of the arc-shaped guide rail 24 at different positions. The position marked R1 in the figure is closer to the release position than the position represented by R2, where R1 is less than R2.

[0125] As Figure 14 shown, the structure of the convex boss 34 of the brake block 3 is adapted to the structure of the outer groove 27. As Figure 14 shown, r1 and r2 respectively represent the radii of curvature of the inner peripheral surface 341 of the convex boss 34 at different positions. The position represented by r1 is closer to the release position than the position represented by r2, where r1 is less than r2.

[0126] In some alternative embodiments, the transmission device 100 with reverse braking function includes a driven member, a braking member, an elastic member 4, and a driving member. As described above, the driven member can be configured as a driven shaft, the braking member can be configured as a brake block, the elastic member can be configured as a spring, and the driving member can be configured as a driving disc. It can be understood that the embodiments of the present invention are not limited thereto.

[0127] The braking member is provided on the driven member to rotate together with the driven member. The braking member is movable relative to the driven member between a braking position that prevents the driven member and the braking member from rotating together and a release position that allows the driven member and the braking member to rotate together. In other words, in the braking position, the braking member prevents the driven member and the braking member from rotating together, and in the release position, the driven member and the braking member rotate together. The elastic member 4 presses the braking member towards the braking position. The driving member is used to drive the driven member to rotate. When the driving member rotates, the braking member overcomes the elastic force of the elastic member 4 and moves relative to the driven member from the braking position to the release position. When the driving member stops rotating, the elastic member 4 pushes the braking member from the release position to the braking position.

[0128] The transmission device of the embodiment of the present invention can achieve an automatic reverse braking function, has a simple overall structure, a small number of components, a small volume, and has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0129] In some alternative embodiments, the transmission device 100 with reverse braking function includes: a rotatable driven member, a braking member, a spring, and a rotatable driving member. As described above, the driven member can be configured as a driven shaft, the braking member can be configured as a brake block, and the driving member can be configured as a driving disc. It can be understood that the embodiments of the present invention are not limited thereto.

[0130] The braking member is provided on the driven member, and the braking member is movable relative to the driven member between a braking position that prevents the driven member from rotating and a release position that allows the driven member to rotate. In order to achieve that the braking member prevents the driven member from rotating at the braking position and allows the driven member to rotate at the release position, at least one of the following means can be adopted: in the radial direction of the driven member, when the braking member is at the braking position, it is farther from the rotation center of the driven member than when it is at the release position; when the braking member moves from the release position towards the braking position, the braking member moves circumferentially along the driven member while moving radially outward along the driven member; and when the braking member moves from the release position towards the braking position, the movement locus of the braking member is a spiral shape or a cam profile shape that gradually expands radially outward along the circumference of the driven member.

[0131] Wherein the first end of the spring is connected to the braking member, the second end of the spring is connected to the driven member, and the spring presses the braking member towards the braking position. When the driving member rotates, the braking member is moved from the braking position to the release position against the elastic force of the spring to drive the driven member and the braking member to rotate together. When the driving member stops rotating, the spring pushes the braking member from the release position to the braking position to prevent the driven member and the braking member from rotating together.

[0132] The transmission device of the embodiment of the present invention can achieve an automatic reverse braking function, has a simple overall structure, a small number of components, a small volume, and has the advantages of a large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0133] The joint module of the embodiment of the present invention will be described below.

[0134] As Figure 15 and Figure 16 shown, the joint module 200 of the embodiment of the present invention includes a transmission device and a motor 210, wherein the transmission device can be the transmission device 100 of any one of the above embodiments. The motor shaft 211 of the motor 210 serves as the driving shaft and is connected to the driving member 5 of the transmission device 100 to drive the driving member 5 to rotate.

[0135] The joint module of the embodiment of the present invention can automatically achieve reverse braking. When the motor shaft of the motor rotates, the driven shaft and the brake block are driven to rotate together through the driving member. After the motor shaft of the motor stops rotating, the elastic member pushes the brake block relative to the driven shaft from the release position to the braking position, and the brake block abuts against the housing seat, thereby preventing the driven shaft and the brake block from rotating together, that is, the driven shaft cannot rotate under the action of the torque (load) applied thereto, so that the driven shaft cannot reverse-transmit the torque to the driving member to cause the driving member to rotate.

[0136] In some embodiments, as Figure 15 and Figure 16As shown, the motor 210 is provided outside the housing base 1 of the transmission device 100. The motor shaft 211 of the motor 210 extends into the disk hole 531 of the disk hub 53 of the driving member 5 to be connected to the disk hub 53, thereby driving the driving member 5 to rotate.

[0137] In Figure 15 and Figure 16 In the illustrated example, the motor shaft 211 and the disk hole 531 are connected by a spline. It can be understood that the embodiments of the present invention are not limited to this.

[0138] Figure 17 The robotic arm 300 of the embodiment of the present invention is shown. The robotic arm 300 includes a plurality of joint modules 200. Through the drive of the joint modules 200, the robotic arm 300 can perform various actions and operations.

[0139] Figure 18 The robot 400 of the embodiment of the present invention is shown. The robot 400 includes joint modules 200. Through the drive of the joint modules 200, the robot can achieve various actions.

[0140] It can be understood that the robotic arm 300 and the robot 400 of the embodiments of the present invention are not limited to the forms shown in the figures.

[0141] The production system of the embodiment of the present invention may include the robotic arm 300 and / or the robot 400 of the embodiment of the present invention. For example, the production system of the embodiment of the present invention may be an automobile production line or other product production lines, where the robotic arm 300 and / or the robot 400 may be used to pick up automobile parts and / or assemble automobiles and their components.

[0142] The electric device of the embodiment of the present invention may include the joint module 200 of the embodiment of the present invention.

[0143] In some embodiments, the electric device may be an electric wheelchair or an electric bed. For example, as Figure 19 shown, the electric device of the embodiment of the present invention is an electric wheelchair 500. Through the drive of the joint module 200, the electric wheelchair 500 can move and change its form.

[0144] It can be understood that the electric device of the embodiments of the present invention is not limited to an electric bed and an electric wheelchair.

[0145] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0146] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0147] In the present invention, unless otherwise clearly specified and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection, an electrical connection, or communication with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0148] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0149] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0150] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A transmission device with reverse braking function, characterized in that, Comprising: A housing base having a housing hole; A driven shaft rotatably supported at least partially within the housing hole; A brake block provided on the driven shaft and capable of rotating with the driven shaft, the brake block being movable relative to the driven shaft between a braking position and a release position, wherein in the braking position, the brake block abuts against the housing base, and in the release position, the brake block is separated from the housing base; An elastic member connected to the driven shaft and the brake block for pressing the brake block towards the braking position; A driving member connected to the driven shaft, when the driving member rotates, the brake block moves relative to the driven shaft to the release position so that the driving member drives the driven shaft and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the driven shaft and the stop block from rotating together.

2. The transmission device with reverse braking function according to claim 1, characterized in that The driven shaft is provided with a dial groove, the driving member is provided with a dial block, the dial block is fitted in the dial groove and is movable circumferentially along the driven shaft, and when the driving member rotates, the dial block overcomes the elastic force of the elastic member to push the brake block to the release position to drive the driven shaft and the brake block to rotate together.

3. The transmission device with reverse braking function according to claim 1, characterized in that, The driven shaft is provided with a dial groove, the driving member is provided with a dial block, the dial block is fitted in the dial groove and is movable circumferentially along the driven shaft, and when the driving member rotates, the dial block drives the driven shaft to rotate so that the brake block moves to the release position against the elastic force of the elastic member, so that the dial block drives the driven shaft and the brake block to rotate together.

4. The transmission device with reverse braking function according to claim 2 or 3, characterized in that, The dial groove is provided at the junction of the end face of the first end of the driven shaft and the outer peripheral surface of the driven shaft, the dial groove recesses from the end face of the first end of the driven shaft towards the second end of the driven shaft and extends circumferentially along the driven shaft.

5. The transmission device with reverse braking function according to claim 2 or 3, characterized in that, The transmission device with reverse braking function further includes a first cover plate and a second cover plate, the first cover plate has a first cover plate hole, the second cover plate has a second cover plate hole, the first cover plate is installed at the first end of the housing base, and the second cover plate is installed at the second end of the housing base; The driving member is a driving disc and includes a disc body and a disc hub located at the center of the disc body, and the dial block is provided on the disc body, The first end of the driven shaft is rotatably supported within the housing hole, the second end of the driven shaft extends out through the second cover plate hole, and the disc hub is rotatably supported within the first cover plate hole by a first bearing.

6. The transmission device with reverse braking function according to claim 5, characterized in that, The housing hole includes a first housing hole section adjacent to the first end of the housing base, a second housing hole section adjacent to the second end of the housing base, and an intermediate housing hole section located between the first housing hole section and the second housing hole section. The first housing hole section is sealed by the first cover plate, the second housing hole section is sealed by the second cover plate. In the braking position, the brake block abuts against the inner surface of the intermediate housing hole section. A second bearing for supporting the driven shaft is provided within the second housing hole section, and the driven shaft is in clearance fit with the intermediate housing hole section.

7. The transmission device with reverse braking function according to claim 1, characterized in that, A first jack is provided on the end face of the first end of the driven shaft, a second jack is provided on the brake block, the elastic member is an arc-shaped spring, a first end of the elastic member is fitted in the first jack, and a second end of the elastic member is fitted in the second jack.

8. The transmission device with reverse braking function according to claim 1, characterized in that, One of a guide rail and a guide groove is provided at the first end of the driven shaft, the other of the guide rail and the guide groove is provided on the brake block, and the guide rail and the guide groove are slidably fitted.

9. The transmission device with reverse braking function according to claim 8, characterized in that, The guide rail is provided on the driven shaft, both the guide rail and the guide groove are arc-shaped, a radius of curvature of an outer peripheral surface of the guide rail gradually increases in a direction from the release position to the brake position or the outer peripheral surface of the guide rail is a spiral surface or a cam surface that gradually expands radially outward along a circumferential direction of the driven shaft.

10. The transmission device with reverse braking function according to claim 1, characterized in that, The driven shaft is provided with a first dial groove and a second dial groove, the driving member is provided with a first dial block and a second dial block, the first dial block is fitted in the first dial groove and is movable along the circumferential direction of the driven shaft, and the second dial block is fitted in the second dial groove and is movable along the circumferential direction of the driven shaft. The brake block corresponds to the first dial groove, and when the driving member rotates in a first direction, the first dial block pushes the brake block to the release position against the elastic force of the elastic member.

11. The transmission device with reverse braking function according to claim 10, characterized in that, When the brake block moves to the release position, the second dial block is spaced apart from or in contact with an end wall surface of the second dial groove.

12. The transmission device with reverse braking function according to claim 10, characterized in that, When the driving member rotates in a second direction opposite to the first direction, the second dial block drives the driven shaft to rotate in the second direction and the brake block moves to the release position against the elastic force of the elastic member.

13. The transmission device with reverse braking function according to claim 12, characterized in that, When the brake block moves to the release position, the first dial block is spaced apart from or in contact with an end wall surface of the first dial groove.

14. The transmission device with reverse braking function according to claim 10, characterized in that, There is one each of the first dial groove, the second dial groove, the first dial block, the second dial block, the brake block, and the elastic member.

15. The transmission device with reverse braking function according to any one of claims 10-14, characterized in that, An arc-shaped guide rail is provided at the first end of the driven shaft, the brake block is provided with an arc-shaped guide groove, and the arc-shaped guide rail and the arc-shaped guide groove are slidably fitted. A notch is provided at a junction of an end face of the first end of the driven shaft and an outer peripheral surface of the driven shaft, the arc-shaped guide rail is provided in the notch, the notch communicates with the first dial groove and / or a part of the brake block extends to cover a part of the first dial groove so as to facilitate the first dial block to push the brake block, and the notch is recessed from the end face of the first end of the driven shaft toward the second end of the driven shaft and extends along the circumferential direction of the driven shaft.

16. The transmission device with reverse braking function according to claim 15, characterized in that, A radius of curvature of an outer peripheral surface of the arc-shaped guide rail gradually increases in a direction from the release position to the brake position or the outer peripheral surface of the arc-shaped guide rail is a spiral surface or a cam surface that gradually expands radially outward along a circumferential direction of the driven shaft.

17. The transmission device with reverse braking function according to claim 15, characterized in that, The brake block includes an arc-shaped plate body, an arc-shaped outer convex platform, and an arc-shaped inner convex platform. The outer convex platform and the inner convex platform are provided on the plate body and extend along the circumferential direction of the plate body. The outer convex platform and the inner convex platform are spaced apart from each other in the radial direction of the plate body. The arc-shaped guide groove is formed between the convex platform and the inner convex platform. The outer peripheral surface of the outer convex platform is flush with the outer peripheral surface of the plate body, and the inner peripheral surface of the inner convex platform is flush with the inner peripheral surface of the plate body. In the braking position, at least a part of the outer peripheral surface of the outer convex platform and at least a part of the outer peripheral surface of the plate body extend beyond the outer peripheral surface of the driven shaft in the radial direction of the driven shaft to abut against the housing seat. The first ends of the outer convex platform and the inner convex platform are spaced a first distance from the first end of the plate body, and the second ends of the outer convex platform and the inner convex platform are spaced a second distance from the second end of the plate body.

18. The transmission device with reverse braking function according to claim 15, characterized in that, The inner side of the arc-shaped guide rail has an inner side groove, the outer side of the arc-shaped guide rail has an outer side groove, the first end of the arc-shaped guide rail has a first step, the second end of the arc-shaped guide rail has a second step, and the upper surface of the arc-shaped guide rail, the upper surface of the first step, and the upper surface of the second step are flush with the bottom surface of the first dial groove.

19. A transmission device, characterized in that, Comprising: A driven member; A brake member provided on the driven member and capable of rotating together with the driven member. The brake member is movable relative to the driven member between a braking position that prevents the driven member and the brake member from rotating together and a release position that allows the driven member and the brake member to rotate together. An elastic member that presses the brake member toward the braking position. A driving member for driving the driven member to rotate. When the driving member rotates, the brake member overcomes the elastic force of the elastic member and moves relative to the driven member from the braking position to the release position, so that the driving member drives the driven member and the brake member to rotate together. When the driving member stops rotating, the elastic member pushes the brake member from the release position to the braking position.

20. A transmission device, characterized in that, Comprising: A rotatable driven member; A brake member provided on the driven member. The brake member is movable relative to the driven member between a braking position that prevents the driven member from rotating and a release position that allows the driven member to rotate. In the radial direction of the driven member, when the brake member is in the braking position, it is farther from the rotation center of the driven member than when it is in the release position, or when the brake member moves from the release position toward the braking position, the brake member moves along the circumferential direction of the driven member and moves radially outward along the driven member, or when the brake member moves from the release position toward the braking position, the movement trajectory of the brake member is a spiral or cam contour line that gradually expands radially outward along the circumferential direction of the driven member. A spring, the first end of which is connected to the brake member and the second end of which is connected to the driven member. The spring presses the brake member toward the braking position. A rotatable driving member, when the driving member rotates, the braking member is caused to move from the braking position to the release position against the elastic force of the spring to drive the driven member and the braking member to rotate together, and when the driving member stops rotating, the spring pushes the braking member from the release position to the braking position to prevent the driven member and the braking member from rotating together.

21. A joint module, characterized in that, Comprising: A transmission device, the transmission device being the transmission device according to any one of claims 1-20; A motor, the motor shaft of the motor being connected to the driving member of the transmission device to drive the driving member to rotate.

22. A robotic arm, characterized in that, Comprising the joint module according to claim 21.

23. A robot, characterized in that, Comprising the joint module according to claim 21.

24. A production system, characterized in that, Comprising the robotic arm according to claim 22 and / or the robot according to claim 23.

25. An electric device, characterized in that, Comprising the joint module according to claim 21.

26. The electric device according to claim 25, characterized in that, The electric device is an electric wheelchair or an electric bed.

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