Mechanical braking robot joint module

Abstract

The invention discloses a mechanical braking robot joint module, which belongs to the technical field of robots, and comprises a shell, a control system, a motor system and a braking system which are arranged in the shell, and a speed reduction system connected with the shell, the motor system is connected with the control system and the brake system, and the deceleration system is connected with the brake system. The braking system of a pure mechanical structure is embedded in the motor system and the speed reduction system, reverse braking of the robot joint module is achieved, the situation that a mechanical arm is out of control during accidental power failure is effectively avoided, and compared with an existing electromagnetic structure, the structure is simpler, the size is smaller, reliability is higher, adaptability is higher, and extra energy consumption is not needed.

Description

Technical Field

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

[0002] With the development of emerging industries such as artificial intelligence and the Internet of Things, the robotics industry has also made significant progress. Robot joint modules are key components for achieving precise movement and flexible operation in robots. The brake, a crucial component of these modules, primarily functions to prevent the robotic arm from going out of control and ensure operational safety in the event of system failure or unexpected power outages.

[0003] Currently, the most commonly used electromagnetic brakes in robot joint modules are bulky, energy-intensive, and have poor environmental adaptability, requiring periodic replacement of friction pads or brake discs. To reduce energy consumption and achieve lightweight joint modules, a bistable electromagnetic brake structure has emerged, with the structure disclosed in Chinese patent application (CN118532410B) being the most representative. This structure includes an electromagnetic coil, a ring-shaped permanent magnet, a brake shaft, a brake disc, a steel ball, a support shaft, a splined shaft, an electrical cover, a cycloidal reducer motor with convex rollers, and a first elastic element. When the brake is de-energized, the electromagnetic coil is energized in the reverse direction, braking the brake and allowing the steel ball to abut against the second positioning groove. When the brake is energized, the electromagnetic coil is energized in the forward direction, releasing the brake shaft and allowing the steel ball to abut against the first positioning groove. This structure solves the problems of high energy consumption and weight of electromagnetic brakes in humanoid robot joint modules. However, it still relies on electromagnetic induction for braking and release, resulting in energy consumption, and the friction pads or brake discs still need periodic replacement, failing to fundamentally solve the problem. Summary of the Invention

[0004] The purpose of this invention is to provide a mechanically braked robot joint module that has a reverse self-locking function when the robot shuts down in the event of a system failure or unexpected power outage, in order to solve the problems of existing electromagnetic brakes, such as large size, high energy consumption, poor environmental adaptability, and the need for periodic replacement of friction pads or brake discs.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0006] A mechanically braked robot joint module includes: a housing, a control system, a motor system, and a braking system disposed within the housing, and a deceleration system connected to the housing; the motor system is connected to both the control system and the braking system, and the deceleration system is connected to the braking system.

[0007] The motor system includes a rotor shaft, one end of which is connected to the control system, and the other end of which has a number of drive blocks arranged in a ring around the central axis of the rotor shaft.

[0008] The braking system includes an input shaft, one end of which is connected to the reduction system, and the other end of which is provided with a connecting block. Brake blocks, in the same number as the drive blocks and arranged in a circular array around the central axis of the input shaft, are provided on the outside of the connecting block. All drive blocks and all brake blocks are arranged alternately.

[0009] Along at least one rotor shaft rotation direction, a mounting cavity is formed between the drive block, the next brake block, the connecting block, and the housing. A wheel axle is provided in the mounting cavity. The cross-section of the mounting cavity gradually decreases along the direction close to the corresponding drive block. When the wheel axle contacts the housing and the connecting block, there is a gap between the wheel axle and the corresponding brake block.

[0010] Furthermore, in both clockwise and counterclockwise directions, mounting cavities are formed between the drive block and the adjacent brake block.

[0011] Furthermore, the sidewall of the mounting cavity corresponding to the aforementioned connecting block is an inclined surface or a curved surface.

[0012] Furthermore, the number of both the drive block and the brake block is 3.

[0013] Furthermore, the aforementioned control system includes a drive board and an encoder; the drive board is connected to the housing, the encoder's read head is connected to the housing, and the encoder's code disk is connected to the rotor shaft.

[0014] Furthermore, the aforementioned motor system also includes bearings, a stator, and a rotor; the rotor shaft is rotatably coupled to the housing via bearings, the stator is connected to the housing, and the rotor is connected to the rotor shaft and matched with the stator.

[0015] Furthermore, the aforementioned deceleration system employs a harmonic reducer, a planetary reducer, or an RV reducer.

[0016] Furthermore, the aforementioned reduction system employs a harmonic reducer; the reduction system includes a cam keyed to the input shaft, a flexible bearing disposed on the outside of the cam, a flexure wheel disposed on the outside of the flexible bearing, a steel wheel disposed on the outside of the flexure wheel, and a crossed roller bearing; the visor of the flexure wheel is located between the housing and the outer ring of the crossed roller bearing and is connected to the housing and the crossed roller bearing, and the inner ring of the crossed roller bearing is connected to the steel wheel.

[0017] Furthermore, the aforementioned deceleration system also includes a rear end cover, which is connected to the steel wheel and the inner ring of the crossed roller bearing.

[0018] Furthermore, the aforementioned housing includes a front cover, a front outer shell, and a rear outer shell connected in sequence; the control system is located inside the front cover, the motor system is located inside the front and rear outer shells, and the braking system is located inside the rear outer shell.

[0019] The present invention has the following beneficial effects:

[0020] (1) The present invention embeds a purely mechanical braking system into the motor system and the deceleration system to realize reverse braking of the robot joint module, effectively avoiding the loss of control of the robot arm when the power is cut off unexpectedly. Compared with the existing electromagnetic structure, the structure is simpler, smaller, more reliable, more adaptable, and does not require additional energy consumption.

[0021] (2) The braking system of the present invention realizes the function of reverse braking of the robot joint when the system fails or the power is cut off by a purely mechanical structure of rotor shaft, needle roller and input shaft. No additional electromagnetic brake is needed in the robot joint module, realizing the lightweight of the joint module, completely eliminating the energy consumption of electromagnetic brake, and the mechanical structure is more reliable and more adaptable than the electromagnetic structure.

[0022] (3) Regardless of whether the rotor shaft of the present invention is working in the forward or reverse direction, it can achieve reverse braking in the event of system failure or unexpected power failure, thereby improving the reliability of reverse braking performance. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the external structure of the mechanical braking robot joint module according to an embodiment of the present invention;

[0024] Figure 2 This is a cross-sectional structural diagram of a robot joint module with mechanical braking according to an embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the connection structure between the rotor shaft and the input shaft according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the rotor shaft structure according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the input shaft structure according to an embodiment of the present invention;

[0028] Figure 6 This is a cross-sectional view of the connection between the rotor shaft and the input shaft in an embodiment of the present invention.

[0029] In the diagram: 11-Front end cover; 12-Front outer shell; 13-Rear outer shell; 21-Drive plate; 22-Encoder; 31-Rotor shaft; 32-Bearing; 33-Stator; 34-Rotor; 41-Input shaft; 51-Cam; 52-Flexible bearing; 53-Flex wheel; 54-Steel wheel; 55-Cross roller bearing; 56-Rear end cover; 60-Mounting cavity; 61-Wheel axle; 311-Drive block; 411-Connecting block; 412-Brake block. Detailed Implementation

[0030] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0031] like Figure 1 and Figure 2 As shown, this embodiment provides a mechanically braked robot joint module, including: a housing, a control system, a motor system, and a braking system disposed within the housing, and a deceleration system connected to the housing; the motor system is connected to both the control system and the braking system, and the deceleration system is connected to the braking system. This invention embeds a purely mechanical braking system into the motor system and the deceleration system, achieving reverse braking of the robot joint module, effectively preventing the robotic arm from losing control in the event of an unexpected power outage. Compared to existing electromagnetic structures, this design is simpler, smaller, more reliable, more adaptable, and requires no additional energy consumption.

[0032] The housing includes a front cover 11, a front outer shell 12, and a rear outer shell 13 connected in sequence, with the outer walls of the front cover 11, the front outer shell 12, and the rear outer shell 13 flush. In this embodiment, the control system is located inside the front cover 11, the motor system is located inside the front outer shell 12 and the rear outer shell 13, and the braking system is located inside the rear outer shell 13.

[0033] The control system includes a drive board 21 and an encoder 22. The drive board 21 is horizontally disposed inside the front cover 11 and is fixedly connected to the front housing 12 by screws. The read head of the encoder 22 is fixedly connected to the front housing 12 by screws. The code disk of the encoder 22 is fixedly connected to the end of the rotor shaft 31 of the motor system and rotates with the rotation of the rotor shaft 31.

[0034] like Figures 1 to 5 As shown, the motor system includes a rotor shaft 31, a bearing 32, a stator 33, and a rotor 34. The bearing 32 is installed inside the front housing 12, the stator 33 is installed inside the rear housing 13, and the rotor 34 is interference-fitted with the rotor shaft 31 and matched with the stator 33. One end of the rotor shaft 31, to which the code disk of the encoder 22 is connected, is connected to the bearing 32 and supported by the bearing 32. The other end of the rotor shaft 31 has several drive blocks 311 arranged in a ring around the central axis of the rotor shaft 31.

[0035] The braking system includes an input shaft 41, one end of which is connected to a reduction system, and the other end of the input shaft 41 is provided with a connecting block 411. Brake blocks 412 are arranged in a ring around the central axis of the input shaft 41, with the same number of drive blocks 311. All drive blocks 311 and all brake blocks 412 are arranged alternately.

[0036] like Figure 6As shown, at least along the rotation direction of one rotor shaft 31 (clockwise rotation, counterclockwise rotation, or clockwise and counterclockwise rotation), a mounting cavity 60 is formed between the drive block 311, the next brake block 412 (along the rotation direction), the connecting block 411, and the rear housing 13. A wheel axle 61 is provided in the mounting cavity 60. The cross section of the mounting cavity 60 gradually decreases along the direction close to the corresponding drive block 311. When the wheel axle 61 contacts the rear housing 13 and the connecting block 411, there is a gap between the wheel axle 61 and the corresponding brake block 412.

[0037] In this embodiment, the rotor shaft 31 has mounting cavities 60 in both the clockwise and counterclockwise rotation directions, that is, mounting cavities 60 are formed on both sides of the drive block 311, and a wheel axle 61 is provided in each mounting cavity 60. With this configuration, the rotor shaft 31 can achieve reverse braking in the event of system failure or unexpected power failure, regardless of whether it is working in the forward or reverse direction, thus improving the reliability of the reverse braking performance.

[0038] Preferably, the number of drive blocks 311 is 3; obviously, the number of drive blocks 311 can also be any value greater than 3.

[0039] In this embodiment, the sidewall of the connecting block 411 corresponding to the mounting cavity 60 is an inclined surface or a curved surface, so that the cross-section of the mounting cavity 60 gradually decreases along the direction close to the corresponding driving block 311.

[0040] When the rotor shaft 31 is operating normally, it drives the drive block 311 to rotate clockwise or counterclockwise. The drive block 311 pushes the wheel axle 61 to contact the corresponding brake block 412, thereby driving the input shaft 41 to rotate, which in turn drives the reduction system to work and complete torque transmission (i.e., power transmission). When the system malfunctions or there is an unexpected power outage, the rotor shaft 31 stops rotating, while the input shaft 41 and the reduction system continue to rotate clockwise or counterclockwise under the action of inertia. At this time, the wheel axle 61 separates from the brake block 412 and gradually moves closer to the corresponding drive block 311 in the mounting cavity 60 until the wheel axle 61 contacts the rear housing 13 and the connecting block 411, thus achieving self-locking of the input shaft 41.

[0041] The deceleration system can employ a harmonic reducer, a planetary reducer, or an RV reducer, etc. In this embodiment, the deceleration system employs a harmonic reducer, such as... Figure 2 As shown, the reduction system includes a cam 51 keyed to the input shaft 41, a flexible bearing 52 disposed outside the cam 51, a flexure wheel 53 disposed outside the flexible bearing 52, a steel wheel 54 disposed outside the flexure wheel 53, and a crossed roller bearing 55. The visor of the flexure wheel 53 is located between the rear housing 13 and the outer ring of the crossed roller bearing 55, and the visor of the flexure wheel 53, the rear housing 13, and the crossed roller bearing 55 are connected together. The inner ring of the crossed roller bearing 55, on the side away from the rear housing 13, is connected to the steel wheel 54.

[0042] The reduction system also includes a rear end cover 56, which, together with the steel wheel 54 and the inner ring of the crossed roller bearing 55, forms a power output component.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mechanically braked robot joint module, characterized in that, Includes: a housing, a control system, a motor system, and a braking system disposed within the housing, and a deceleration system connected to the housing; The motor system is connected to the control system and the braking system respectively, and the deceleration system is connected to the braking system; The motor system includes a rotor shaft (31), one end of which is connected to the control system, and the other end of which has a plurality of drive blocks (311) arranged in a ring around the central axis of the rotor shaft (31). The braking system includes an input shaft (41), one end of which is connected to the deceleration system, and the other end of which is provided with a connecting block (411). The outer side of the connecting block (411) is provided with brake blocks (412) in the same number as the drive blocks (311) and arranged in a ring around the central axis of the input shaft (41). All the drive blocks (311) and all the brake blocks (412) are staggered. Along at least one of the rotation directions of the rotor shaft (31), a mounting cavity (60) is formed between the drive block (311), the next brake block (412), the connecting block (411), and the housing. A wheel axle (61) is provided in the mounting cavity (60). The cross section of the mounting cavity (60) gradually decreases in the direction close to the corresponding drive block (311). When the wheel axle (61) contacts the housing and the connecting block (411), there is a gap between the wheel axle (61) and the corresponding brake block (412).

2. The mechanically braked robot joint module according to claim 1, characterized in that, The mounting cavity (60) is formed between the drive block (311) and the adjacent brake block (412) in both clockwise and counterclockwise directions.

3. The mechanically braked robot joint module according to claim 1, characterized in that, The sidewall of the connecting block (411) corresponding to the mounting cavity (60) is an inclined surface or a curved surface.

4. The mechanically braked robot joint module according to claim 1, characterized in that, The number of the drive block (311) and the brake block (412) is 3 each.

5. The mechanically braked robot joint module according to claim 1, characterized in that, The control system includes a drive board (21) and an encoder (22); the drive board (21) is connected to the housing, the read head of the encoder (22) is connected to the housing, and the code disk of the encoder (22) is connected to the rotor shaft (31).

6. The mechanically braked robot joint module according to claim 1, characterized in that, The motor system also includes a bearing (32), a stator (33) and a rotor (34); the rotor shaft (31) is rotatably engaged with the housing through the bearing (32), the stator (33) is connected to the housing, and the rotor (34) is connected to the rotor shaft (31) and matched with the stator (33).

7. The mechanically braked robot joint module according to claim 1, characterized in that, The deceleration system uses a harmonic reducer, a planetary reducer, or an RV reducer.

8. The mechanically braked robot joint module according to claim 7, characterized in that, The deceleration system uses a harmonic reducer; The deceleration system includes a cam (51) keyed to the input shaft (41), a flexible bearing (52) disposed outside the cam (51), a flexure wheel (53) disposed outside the flexible bearing (52), a steel wheel (54) disposed outside the flexure wheel (53), and a cross roller bearing (55); the visor of the flexure wheel (53) is located between the housing and the outer ring of the cross roller bearing (55) and is connected to the housing and the cross roller bearing (55), and the inner ring of the cross roller bearing (55) is connected to the steel wheel (54).

9. The mechanically braked robot joint module according to claim 8, characterized in that, The deceleration system also includes a rear end cover (56) which is connected to the inner ring of the steel wheel (54) and the crossed roller bearing (55).

10. The robot joint module with mechanical braking according to any one of claims 1 to 9, characterized in that, The housing includes a front cover (11), a front outer shell (12), and a rear outer shell (13) connected in sequence; the control system is located inside the front cover (11), the motor system is located inside the front outer shell (12) and the rear outer shell (13), and the braking system is located inside the rear outer shell (13).

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