Heavy duty robotic arm assembly and heavy duty robot

Abstract

This invention discloses a heavy-duty robotic arm assembly and a heavy-duty robot. The robotic arm includes a base, a drive system, and a large robotic arm driven by the drive system to swing. It also includes an auxiliary support shaft, which is coaxial with the swing axis of the large robotic arm to support it. Simultaneously, the auxiliary support shaft and the large robotic arm are synchronously driven, with the shaft segment furthest from the drive system rotating and supporting the base. This invention uses a synchronously rotating auxiliary support shaft to support the large robotic arm, which assists the reducer in bearing the load from the large arm during operation. This avoids the problems of increased overturning torque, reducer deformation, and poor safety caused by cantilevered drive support structures in the prior art, as well as the problems of increased size and cost due to increased overturning torque, while ensuring safety during use. Under the same load capacity conditions, the weight and size of the reducer can be reduced, providing a more stable output torque.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more specifically to heavy-duty robotic arms and heavy-duty robots. Background Technology

[0002] Heavy-duty robotic arms are generally used in heavy-duty robots, referring to robotic arms capable of supporting significant weight. They are widely used in industrial production and manufacturing for lifting and transporting heavy products and components. Typically, heavy-duty robots do not differ significantly from ordinary robots in their structural principles; the main difference lies in the higher requirements for support structures and safety. In existing technology, heavy-duty robots used for lifting and grasping typically include a base, a drive motor mounted on the base, and a reducer. The reducer's power output drives and connects to the robotic arm (articular arm), forming the load-bearing foundation of the heavy-duty robot. The rear end of the robotic arm is designed with subsequent multi-axis robotic arms to accomplish different purposes.

[0003] From the perspective of the basic drive structure, the robotic arm is directly mounted on the power output end of the reducer, forming a cantilever drive structure. In terms of stress characteristics, the cantilever structure needs to withstand a large overturning torque. The instability of the load is amplified by the cantilever structure, especially when grasping heavy objects. The reducer bears a large overturning torque, requiring the robotic arm to increase its cross-sectional area to ensure load-bearing capacity, the drive motor to increase its drive power, and the reducer to increase its size to avoid deformation. The base also needs to be enlarged. This increases the robot's size and manufacturing cost. Furthermore, it carries significant operational risks, such as tipping over or sudden stalling and falling.

[0004] Therefore, existing heavy-duty robotic arms need to be improved to avoid the problems of increased tilting torque and poor safety caused by cantilever drive support structures, as well as the problems of increased size and cost caused by increased tilting torque, while also ensuring safety during use. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a heavy-duty robotic arm and a heavy-duty robot that avoids the problems of increased flipping torque and poor safety caused by the cantilever drive support structure, as well as the problems of increased size and cost caused by increased flipping torque, while also ensuring safety during use.

[0006] The present invention provides a heavy-duty robotic arm, comprising a base, a drive system, and a large robotic arm driven by the drive system to swing, and further comprising an auxiliary support shaft, wherein the auxiliary support shaft is coaxial with the swing axis of the large robotic arm to support the large robotic arm, and the auxiliary support shaft is synchronously driven and engaged with the large robotic arm, and the shaft segment away from the drive system is rotated and engaged to support the base.

[0007] Furthermore, the first end of the auxiliary support shaft is synchronously driven and engaged with the power output end of the drive system and the mechanical arm, and the shaft segment extending out of the mechanical arm in a direction away from the drive system is rotatably supported on the base.

[0008] Furthermore, it also includes an active braking system, including a first braking assembly disposed on the base, for controllably braking or releasing the auxiliary support shaft.

[0009] Furthermore, the active braking system also includes a second braking assembly for controllably locking or releasing the auxiliary support shaft with a delay relative to the first braking assembly.

[0010] Furthermore, the second braking assembly includes a fixed brake disc fixed to the base and a movable brake disc that is driven by an auxiliary support shaft, the movable brake disc being drivable as follows:

[0011] The axial movement of the fixed brake disc is delayed relative to the first brake assembly, and it engages with the fixed brake disc to lock the auxiliary support shaft.

[0012] Alternatively, move away from the fixed brake disc.

[0013] Furthermore, the moving brake disc has axial protrusions and / or recesses distributed on it, and the fixed brake disc has recesses and / or protrusions corresponding to the protrusions and / or recesses on the moving brake disc. When the moving brake disc and the fixed brake disc are in contact, the rotation of the moving brake pads is restricted by the interlocking of the corresponding protrusions and recesses or the mutual blocking between the protrusions.

[0014] Furthermore, the second braking assembly also includes a braking drive assembly, which includes an auxiliary braking assembly, a drive bushing, and a sliding bushing. The drive bushing is rotatably fitted onto the auxiliary support shaft, the movable brake pad is fixed to the sliding bushing, and the auxiliary braking assembly applies braking or release to the drive bushing.

[0015] The sliding bushing and the drive bushing are traversably and axially slidingly engaged. The sliding bushing is fitted onto the auxiliary support shaft through a helical pair. The direction of rotation of the helical pair causes the auxiliary support shaft to rotate in the positive direction relative to the sliding bushing, thereby driving the sliding bushing to move in the direction that causes the moving brake disc to fit against the fixed brake disc.

[0016] Alternatively, the sliding bushing and the drive bushing are engaged by an axial cam pair, and the sliding bushing is driven and axially slidably sleeved on the auxiliary support shaft; the rotation direction of the axial cam pair causes the sliding bushing to rotate in the positive direction relative to the drive bushing, thereby driving the sliding bushing to move in the direction that causes the moving brake disc to fit against the fixed brake disc;

[0017] Alternatively, the sliding bushing and the drive bushing are engaged by an axial cam pair. The rotation direction of the axial cam pair causes the sliding bushing to rotate in the positive direction relative to the drive bushing, thereby driving the sliding bushing to move in the direction that causes the movable brake disc to fit against the fixed brake disc. The sliding bushing is fitted onto the auxiliary support shaft by a helical pair. The rotation direction of the helical pair causes the auxiliary support shaft to rotate in the positive direction relative to the sliding bushing, thereby driving the sliding bushing to move in the direction that causes the movable brake disc to fit against the fixed brake disc.

[0018] Furthermore, the moving brake disc has axial protrusions distributed on it, and the fixed brake disc has recesses corresponding to the protrusions on the moving brake disc. When the moving brake disc and the fixed brake disc are in contact, the corresponding protrusions and recesses interlock to restrict the rotation of the moving brake pads.

[0019] Furthermore, a preload is provided between the moving brake disc and the fixed brake disc to separate them;

[0020] The first end of the auxiliary support shaft is integrally formed with a transmission disc, which is pressed between the mechanical arm and the power output end of the drive system to form a synchronous transmission engagement.

[0021] The fixed brake disc is detachably fixed to the base.

[0022] The present invention also discloses a heavy-duty robot, wherein the heavy-duty robot is equipped with the aforementioned heavy-duty robotic arm assembly.

[0023] The beneficial effects of this invention are as follows: The heavy-duty robot disclosed in this invention uses a synchronously rotating auxiliary support shaft to support the mechanical arm. During operation, it can assist the reducer in bearing the load brought by the arm, thereby avoiding the problems of increased overturning torque, reducer deformation, and poor safety caused by the cantilever drive support structure in the prior art. It also avoids the problems of increased volume and cost caused by increased overturning torque, and can also ensure safety during use. Under the same load capacity conditions, the weight and volume of the reducer can be reduced, and a more stable output torque can be provided. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 for Figure 1 Enlarged view of point A;

[0027] Figure 3 This is a schematic diagram of a sliding bushing structure;

[0028] Figure 4 This is a schematic diagram of the drive shaft sleeve structure;

[0029] Figure 5 for Figure 3 View B. Detailed Implementation

[0030] like Figures 1 to 5 As shown, a heavy-duty robotic arm assembly in this embodiment includes a base 5, a drive system 2, and a robotic arm 1 driven by the drive system 2 to swing. It also includes an auxiliary support shaft 4, which supports the robotic arm 1 in a manner coaxial with the swing axis of the robotic arm 1. At the same time, the auxiliary support shaft 4 and the robotic arm 1 are synchronously driven and cooperate, and the shaft segment of the auxiliary support shaft 4 away from the drive system is rotated and supported on the base 5.

[0031] The base 5 generally has different designs depending on the working scenario. It can be a movable structure formed by a wheeled mechanism or a fixed structure anchored to the ground. These are existing structural designs and will not be described in detail here. In this embodiment, the base 5 includes a base platform anchored to the ground and a first support 502, a second support 503, and a third support 504 fixed on the base platform 501. The first support 502 is used to install the reducer 202 and the drive motor 201. The support installation method can use any existing mechanical connection structure that can form a stable installation, and will not be described in detail here. The second support 503 rotatably supports the auxiliary support shaft 4. The rotatable support is generally achieved by bearings. For heavy-duty robots with large loads, the bearings are generally sliding bearings, such as polytetrafluoroethylene or Babbitt metal sliding bearings filled with carbon powder. For heavy-duty robots with low loads, rolling bearings can be used to form rotatable support, and will not be described in detail here.

[0032] In this embodiment, the auxiliary support shaft 4 and the swing axis of the mechanical arm 1 are coaxial, and the auxiliary support shaft 4 can support the mechanical arm 1 by passing through the mechanical arm 1 or by being fixedly connected to the mechanical arm 1. The auxiliary support shaft 4 and the mechanical arm 1 can be synchronously connected by a fixed connection or by spline synchronization, which will not be elaborated here. The synchronous rotation support method avoids friction between the arm and the auxiliary support shaft and keeps the rotating joint away from the arm, which helps to extend the service life.

[0033] In this embodiment, the first end of the auxiliary support shaft 4 is synchronously driven and cooperates with the power output end of the drive system and the mechanical arm 1. The shaft segment of the auxiliary support shaft 4 passing through the mechanical arm 1 in the direction away from the drive system is rotated and supported on the base 5. In this structure, the structure formed by the auxiliary support shaft 4 passing through the arm has a comprehensive support structure, which greatly reduces the support load of the reducer. The auxiliary support shaft 4 and the arm can also be connected by a spline pair to form a better synchronization effect.

[0034] This embodiment also includes an active braking system 3, comprising a first braking component 301 disposed on the base 5, used to controllably brake or release the auxiliary support shaft 4. For heavy-duty robots, a common safety issue is sudden stalling and falling when grasping heavy objects, causing the entire arm to rapidly rotate and swing downwards, creating a serious safety hazard. By setting up the active braking system, the auxiliary support shaft 4 is braked at the moment the rapid downward swing begins. In this embodiment, the first braking component 301 is sufficient for braking. In actual use, it is necessary to adjust the power output end of the reducer (generally disc-shaped, which will not be described further here), the corresponding position of the arm, or the auxiliary support shaft 4. In addition to a speed sensor, a controller (such as a microcontroller) is also required. When the speed sensor detects a sudden increase in speed to a set value, it transmits a signal to the controller, which then sends a command to the first brake assembly 301 to initiate a braking action. Since the auxiliary support shaft 4 rotates synchronously with the mechanical arm 1, the mechanical arm 1 is braked synchronously. The first brake assembly 301 generally adopts a common drum brake structure, brake caliper mechanism, etc., which will not be described in detail here. As shown in the figure, the first brake assembly 301 is installed on the second support 503 and forms a brake release on the auxiliary support shaft 4, but it needs to have an electronic braking function to receive control commands from the controller. This is a control mode of existing technology and will not be described in detail here.

[0035] In this embodiment, the active braking system 3 further includes a second braking component, used to controllably lock or release the auxiliary support shaft 4 with a delay relative to the first braking component 301; here, locking refers to stopping the rotation of the auxiliary support shaft 4, and releasing refers to releasing the auxiliary support shaft 4 to rotate freely during normal use, thereby not restricting the normal operation of the mechanical arm 1; while the braking implemented by the first braking component 301 generally has a buffer during the braking process, which will not be elaborated here;

[0036] In this embodiment, a first braking assembly 301 and a second braking assembly are used. When stall occurs, the first braking assembly 301 first applies the brakes to slow down the descent of the heavy object. To avoid the heavy braking load on the first braking assembly, the second braking assembly intervenes to lock the object. This continuous series of braking actions, first deceleration and then locking, can greatly reduce the load on the braking system and also reduce the impact on the robot itself, avoiding damage to robot components such as the mechanical arm caused by stall. The second braking assembly also uses an electronically controlled mechanism to lock, such as an electric latch or electric engagement, all controlled by a controller, which will not be described in detail here. The delay time of the second braking assembly relative to the first braking assembly 301 can be set, such as 0.5 seconds or 1 second, which will not be described in detail here.

[0037] In this embodiment, the second braking assembly includes a fixed brake disc 302 fixed to the base 5 and a movable brake disc 303 that is driven by the auxiliary support shaft 4. As shown in the figure, the fixed brake disc 302 is fixed to the second support 503 of the base 5, and the movable brake disc 303 can be driven.

[0038] The moving brake disc 303 moves axially toward the fixed brake disc 302 with a delay relative to the first brake assembly 301 and fits against the fixed brake disc 302 to lock the auxiliary support shaft 4; the moving brake disc 303 can be driven by existing linear drive mechanisms, such as hydraulic mechanisms, linear motors, etc., and controlled by a controller, which will not be elaborated here.

[0039] Alternatively, when the robot is working normally, the moving brake disc 303 moves away from the fixed brake disc 302, which releases the mechanical arm 1 and puts it into normal working condition.

[0040] The way in which the moving brake disc 303 is attached to the fixed brake disc 302 to form a lock can be achieved by various structures, such as the moving brake disc 303 having a pin, a fitting protrusion, etc., which will not be elaborated here.

[0041] In this embodiment, the moving brake disc 303 has axial protrusions and / or recesses distributed on it, and the fixed brake disc 302 has recesses and / or protrusions corresponding to the protrusions and / or recesses on the moving brake disc 303. When the moving brake disc 303 and the fixed brake disc 302 are in contact, the rotation of the moving brake disc 303 is restricted by the interlocking of the corresponding protrusions and recesses or the mutual blocking between the protrusions. In this structure, the moving brake disc 303 may have protrusions and the fixed brake disc 302 may have recesses, or the moving brake disc 303 may have recesses and the fixed brake disc 302 may have protrusions. The moving brake disc 303 moves to form a fit and then interlocks, thereby forming a lock. Of course, both the moving brake disc 303 and the fixed brake disc 302 may have protrusions. After they are in contact, the protrusions block each other, which also forms a lock. This will not be elaborated further here.

[0042] In this embodiment, the second braking assembly further includes a braking drive assembly, comprising an auxiliary braking assembly 304, a drive bushing 305, and a sliding bushing 3032. The drive bushing 305 is rotatably fitted onto the auxiliary support shaft 4, and the movable brake pad 303 is fixed to the sliding bushing 3032. In this embodiment, the components are integrally formed. The auxiliary braking assembly 304 brakes or releases the drive bushing 305. The auxiliary braking assembly 304 generally adopts a common drum brake structure, brake caliper mechanism, etc., which will not be described in detail here. As shown in the figure, the auxiliary braking assembly 304 is mounted on the third support 504 and brakes or releases the drive bushing 305, but it needs to have an electronically controlled braking function, which will not be described in detail here.

[0043] As shown in the figure, the sliding bushing 3032 and the drive bushing 305 are engaged by an axial cam pair a. The rotation direction of the axial cam pair a causes the sliding bushing 3032 to rotate in the positive direction relative to the drive bushing 305, thereby driving the sliding bushing 3032 to move in the direction that causes the movable brake disc 303 to fit against the fixed brake disc 302. The sliding bushing 3032 is fitted onto the auxiliary support shaft 4 by a helical pair b. The rotation direction of the helical pair b causes the auxiliary support shaft 4 to rotate in the positive direction relative to the sliding bushing 3032, thereby driving the sliding bushing 3032 to move in the direction that causes the movable brake disc 303 to fit against the fixed brake disc 302.

[0044] Here, forward rotation refers to the swing direction of the mechanical arm when the robot is working normally; axial cam pair a can be an end face cam or a helical pair, the purpose of which is to form relative movement when relative rotation occurs; as shown in the figure, the axial cam pair a of the present invention is an end face cam pair, which is formed by the mutual cooperation of the end face cam 3034 of the sliding bushing 3032 and the end face cam 3051 of the drive bushing 305; the helical pair b is formed by the cooperation of the internal thread 3035 provided on the inner circle of the sliding bushing 3032 and the external thread provided on the auxiliary support shaft 4;

[0045] When the heavy-duty robot grabs a heavy object and stalls, the first braking assembly 301 first performs a braking action under the command of the controller to reduce the swing speed of the mechanical arm in the stalled state; the auxiliary braking assembly 304 brakes the drive bushing 305 in a delayed state. Since the drive bushing 305 does not bear the load, it is easy to stop, while the sliding bushing 3032 continues to rotate. It is driven by the end face cam pair to move towards the fixed brake disc 302 and has the function of reducing the rotation speed of the sliding bushing 3032. At this time, the auxiliary support shaft 4 continues to rotate at high speed, and the helical pair b further drives the sliding bushing 3032 to move towards the fixed brake disc 302, thereby forming a lock.

[0046] Of course, the present invention can also adopt another structure, that is, the sliding bushing 3032 and the drive bushing 305 can be driven and axially slidably engaged. The axial sliding engagement can be an outer spline engagement or an end face long spline sliding engagement, which will not be described in detail here; the sliding bushing 3032 is engaged with the auxiliary support shaft 4 through a helical pair. The rotation direction of the helical pair causes the auxiliary support shaft to rotate in the positive direction relative to the sliding bushing, driving the sliding bushing to move in the direction that causes the moving brake disc to fit against the fixed brake disc; when the controller receives the lock command, the auxiliary brake assembly brakes the drive bushing 305 (it can rotate slowly without stopping, or it can stop), and the sliding bushing 3032 rotates slowly or stops at the same time. The high-speed rotation of the auxiliary support shaft 4 causes the helical pair to drive the sliding bushing to move towards the fixed brake disc 302, forming a lock;

[0047] The present invention can also adopt another structure, in which the sliding bushing and the drive bushing are engaged by an axial cam pair, the sliding bushing is driven and axially slidably sleeved on the auxiliary support shaft; the rotation direction of the axial cam pair causes the sliding bushing to rotate in the positive direction relative to the drive bushing, driving the sliding bushing to move in the direction that makes the moving brake disc fit against the fixed brake disc; the principle will not be repeated here, but it can also achieve the purpose of the invention.

[0048] In this embodiment, the moving brake disc 303 has axial protrusions 3031 distributed on it, and the fixed brake disc 302 has recesses 3021 corresponding to the protrusions on the moving brake disc. When the moving brake disc 303 and the fixed brake disc 302 are in contact, the corresponding protrusions and recesses interlock to form a restriction on the rotation of the moving brake pad.

[0049] In this embodiment, a preload is provided between the moving brake disc 303 and the fixed brake disc 302 to separate them; as shown in the figure, the moving brake disc 303 and the fixed brake disc 302 are respectively provided with annular grooves 3033 and 3022, and disc springs are provided in the annular grooves 3033 and 3022 to form a preload that separates them and prevents them from engaging during normal operation.

[0050] In this embodiment, the first end of the auxiliary support shaft 4 is integrally formed with a transmission disk 401. The transmission disk 401 is pressed between the mechanical arm 1 and the power output end of the drive system to form a synchronous transmission fit. The pressing method can be a long bolt connection, etc., which can be achieved by a common mechanical connection method, and will not be described in detail here.

[0051] The fixed brake disc 302 is detachably fixed to the base 5, such as Figure 5 As shown, the fixed brake disc 302 is fixed to the second support 503 by bolts 7, which will not be described in detail here;

[0052] like Figure 1 As shown, the auxiliary support shaft 4 and the drive shaft sleeve 305 are rotatably connected by the first sliding bearing, and the drive shaft sleeve and the third support 504 are rotatably connected by the second sliding bearing. In order to ensure that the drive shaft sleeve 305 does not move axially, a flat sliding bearing is also provided between its end and the end cover of the third support 504 to ensure that the drive shaft sleeve and the sliding shaft sleeve can bear axial force when the end face cam pair is adopted. This will not be described in detail here.

[0053] This embodiment also discloses a heavy-duty robot, which is equipped with the aforementioned heavy-duty robotic arm assembly. The heavy-duty robotic arm is used as the load joint of the heavy-duty robot and has good stability and safety.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A heavy-duty robotic arm assembly, comprising a base, a drive system, and a large robotic arm driven by the drive system to swing, characterized in that: It also includes an auxiliary support shaft, which supports the mechanical arm in a manner that is coaxial with the swing axis of the mechanical arm. At the same time, the auxiliary support shaft and the mechanical arm are synchronously driven and cooperate, and the shaft segment away from the drive system rotates and cooperates with the base. It also includes an active braking system, including a first braking assembly disposed on the base, for controllably braking or releasing the auxiliary support shaft; The active braking system also includes a second braking assembly for controllably locking or releasing the auxiliary support shaft with a delay relative to the first braking assembly. The second braking assembly includes a fixed brake disc fixed to the base and a movable brake disc that is driven by an auxiliary support shaft. The movable brake disc can be driven as follows: The axial movement of the fixed brake disc is delayed relative to the first brake assembly, and it engages with the fixed brake disc to lock the auxiliary support shaft. Alternatively, move away from the fixed brake disc; The second braking assembly further includes a braking drive assembly, which includes an auxiliary braking assembly, a drive bushing, and a sliding bushing. The drive bushing is rotatably fitted onto the auxiliary support shaft, and the dynamic brake disc is fixed to the sliding bushing. The auxiliary braking assembly applies brakes or releases the drive bushing. The sliding bushing and the drive bushing are traversably and axially slidingly engaged. The sliding bushing is fitted onto the auxiliary support shaft through a helical pair. The direction of rotation of the helical pair causes the auxiliary support shaft to rotate in the positive direction relative to the sliding bushing, thereby driving the sliding bushing to move in the direction that causes the moving brake disc to fit against the fixed brake disc. Alternatively, the sliding bushing and the drive bushing are engaged by an axial cam pair, and the sliding bushing is driven and axially slidably sleeved on the auxiliary support shaft; the rotation direction of the axial cam pair causes the sliding bushing to rotate in the positive direction relative to the drive bushing, thereby driving the sliding bushing to move in the direction that causes the moving brake disc to fit against the fixed brake disc; Alternatively, the sliding bushing and the drive bushing are engaged by an axial cam pair. The rotation direction of the axial cam pair causes the sliding bushing to rotate in the positive direction relative to the drive bushing, thereby driving the sliding bushing to move in the direction that causes the movable brake disc to fit against the fixed brake disc. The sliding bushing is fitted onto the auxiliary support shaft by a helical pair. The rotation direction of the helical pair causes the auxiliary support shaft to rotate in the positive direction relative to the sliding bushing, thereby driving the sliding bushing to move in the direction that causes the movable brake disc to fit against the fixed brake disc.

2. The heavy-duty robotic arm assembly according to claim 1, characterized in that: The first end of the auxiliary support shaft is synchronously driven and engaged with the power output end of the drive system and the mechanical arm. The shaft segment that extends out of the mechanical arm in a direction away from the drive system is rotated and supported on the base.

3. The heavy-duty robotic arm assembly according to claim 1, characterized in that: The moving brake disc has axial protrusions and / or recesses, and the fixed brake disc has recesses and / or protrusions corresponding to the protrusions and / or recesses on the moving brake disc. When the moving brake disc and the fixed brake disc are in contact, the rotation of the moving brake pads is restricted by the interlocking of the corresponding protrusions and recesses or the mutual blocking between the protrusions.

4. The heavy-duty robotic arm assembly according to claim 1, characterized in that: The moving brake disc has axial protrusions, and the fixed brake disc has recesses corresponding to the protrusions on the moving brake disc. When the moving brake disc and the fixed brake disc are in contact, the corresponding protrusions and recesses interlock to restrict the rotation of the moving brake pads.

5. The heavy-duty robotic arm assembly according to claim 1, characterized in that: The moving brake disc and the fixed brake disc are provided with a preload force to separate them; the first end of the auxiliary support shaft is integrally formed with a transmission disc, which is pressed between the mechanical arm and the power output end of the drive system to form a synchronous transmission engagement. The fixed brake disc is detachably fixed to the base.

6. A heavy-duty robot, characterized in that: The heavy-duty robot is equipped with a heavy-duty robotic arm assembly according to any one of claims 1-5.

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