Active and passive power-off self-locking device of robot joint and driving method of active and passive power-off self-locking device

Abstract

The invention relates to the technical field of robots, in particular to an active and passive power-off self-locking device of a robot joint and a driving method. Comprising a shell, a rotating electromagnet, a transmission wheel disc assembly, a ratchet wheel assembly coaxially installed with an output shaft of a joint motor and a straightening self-locking assembly matched with the ratchet wheel assembly for self-locking. The unbending self-locking assembly comprises an elastic telescopic assembly installed in the shell through a fixing rod set in the y-axis direction, a positioning block installed at the telescopic end of the elastic telescopic assembly and a reset rod arranged at the fixed end of a telescopic rod in the x-axis direction, and a positioning groove is formed in the ratchet wheel assembly. The transmission wheel disc assembly is provided with a reset clamping block matched with the reset rod. According to the structure, workers can conveniently check, debug or maintain the robot on site, extra support is not needed, the toppling risk caused by power failure does not need to be worried about, meanwhile, the robot can continue to work after being powered on, the problem that the posture of the robot is difficult to maintain under the power failure condition is solved, and practicability and reliability are enhanced.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an active and passive power-off self-locking device and driving method for robot joints. Background Technology

[0002] With the widespread application of robotics technology in industrial automation, emergency rescue, and space exploration, the requirements for environmental adaptability and operational reliability are increasing. In actual operations, robots often need to operate in complex environments, thus requiring intermittent, phased operations to facilitate inspection and repair by technicians. Most existing robots are multi-joint robots, whose joint postures are typically maintained actively by the servo drive torque of motors. When the robot is powered off for inspection or stops operating, the joint drive force is immediately lost, causing the joints to rotate uncontrollably under the influence of gravity due to lack of support, resulting in instability of the entire robot, leading to tipping over or collapsing to the ground.

[0003] For medium to large-sized robots, their considerable weight makes them difficult to right manually once they tip over. External equipment such as cranes and robotic arms are essential for restoration, a time-consuming and labor-intensive process that severely impacts the continuity and efficiency of operations. Furthermore, technicians require a stable, upright robot platform for operation during routine maintenance, on-site debugging, or fault diagnosis. A robot that cannot stand upright after a power outage not only hinders maintenance work but also poses safety risks due to accidental movement. Summary of the Invention

[0004] Given that existing technologies have the problem that the joints cannot lock themselves after a power outage, causing the robot to become unstable and tip over or collapse to the ground, and that due to the robot's large weight, external equipment such as cranes and robotic arms are needed to help it stand up, which is not only time-consuming and labor-intensive, but also seriously affects the continuity and efficiency of the operation, this invention provides a robot joint active and passive power outage self-locking device and driving method.

[0005] The present invention provides an active and passive power-off self-locking device for robot joints, comprising a housing installed outside each joint of the robot, a rotating electromagnet installed on the housing, a transmission wheel assembly installed inside the housing and coaxially mounted with the rotating electromagnet, a ratchet assembly coaxially mounted with the joint motor output shaft, and a straightening self-locking assembly suspended inside the housing and cooperating with the ratchet assembly for self-locking.

[0006] The straightening self-locking assembly includes: an elastic telescopic assembly installed in the housing along the y-axis direction via a fixed rod assembly, a positioning block installed at the telescopic end of the elastic telescopic assembly, and a reset rod disposed at the fixed end of the telescopic rod along the x-axis direction. The ratchet assembly has a positioning groove that engages with the positioning block, and the transmission wheel assembly has a reset block that engages with the reset rod.

[0007] Furthermore, a rolling wheel is installed at the bottom of the positioning block for rolling engagement with the ratchet assembly.

[0008] Furthermore, the transmission wheel assembly includes: a first transmission disc coaxially mounted with the rotating electromagnet, and a second transmission disc mounted with the first transmission disc via a transmission component.

[0009] Furthermore, the second transmission disc is provided with a plurality of pawls that engage with the ratchet assembly.

[0010] Furthermore, the ratchet includes a locking portion and a connecting portion, the connecting portion being rotatably mounted to the second transmission disk, and the locking portion being fixedly mounted to the transmission component.

[0011] Furthermore, the first transmission disk has a plurality of first elongated holes along the circumferential direction, and the second transmission disk has a plurality of second elongated holes along the radial direction. The transmission component passes through the first elongated holes and the second elongated holes and is installed with the snap-fit ​​part.

[0012] Furthermore, the ratchet assembly includes: a ratchet that cooperates with the pawl, and a positioning wheel that is coaxially mounted with the ratchet, wherein the positioning groove is formed on the positioning wheel.

[0013] Furthermore, the elastic telescopic assembly includes: a telescopic rod suspended and installed inside the housing via a fixed rod assembly, and an elastic element sleeved outside the telescopic rod, wherein the telescopic rod is provided with an end protrusion for pressing against the elastic element.

[0014] Furthermore, the fixing rod assembly includes: a fixing rod fixedly installed with the outer shell, and a fixing sleeve sleeved on the outside of the elastic member. The fixing rod is fixedly installed with the fixing sleeve, and the fixing sleeve abuts against the telescopic rod through the end protrusion. When the telescopic rod moves along the y-axis, the fixing sleeve is in a stationary state.

[0015] The present invention also provides a driving method for an active / passive power-off self-locking device for a robot joint, comprising:

[0016] When the robot is in operation: the ratchet assembly rotates following the drive of the joint motor, and the elastic telescopic assembly is in a pre-compressed state.

[0017] In the active power-off self-locking state: After the robot finishes its work, the drive joint motor adjusts the robot's joints to the extended state, the ratchet assembly rotates until the positioning slot is aligned with the positioning block, the elastic telescopic assembly changes from the pre-compressed state to the extended state, the positioning block engages with the positioning slot, and the robot joint self-locks.

[0018] In passive power-off self-locking state: The embedded self-locking control system controls the drive joint motor to adjust the robot's joint to the extended state. The ratchet assembly rotates until the positioning slot is aligned with the positioning block. The elastic telescopic assembly changes from the pre-compression state to the extended state. The positioning block and the positioning slot engage, and the robot joint self-locks.

[0019] When the robot resumes operation: the rotating electromagnet is electrically connected, driving the transmission wheel assembly to rotate until the reset block engages with the reset rod, causing the positioning block to separate from the positioning groove, and the robot resumes operation.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] This invention patent, through the design of a straightening self-locking component, enables the robot to automatically enter and maintain a straightening self-locking state during power outages, significantly improving the robot's stability and maintainability. Specifically, before power is cut off, the drive joint motors adjust each joint to a straightened state. At this time, the positioning block engages with the positioning slot under the action of the elastic telescopic component, ensuring that even when the robot is completely powered off, its joints remain firmly locked, thus maintaining a stable vertical standing position. When it is necessary to restart the robot for operation, the electrically connected rotating electromagnet drives the transmission wheel assembly to rotate, causing the reset block to move and engage with the reset rod, driving the positioning block upwards along the y-axis until it disengages from the positioning slot, thereby releasing the self-locking state. This patented structure facilitates on-site inspection, debugging, or maintenance of the robot by personnel, requiring no additional support and eliminating concerns about tipping risks due to power outages. It also facilitates continued operation after power is restored and further solves the problem of the robot's inability to maintain its posture during power outages, providing strong support for its practicality and reliability in real-world operational scenarios.

[0022] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 This is a structural diagram of the active and passive power-off self-locking device for robot joints.

[0025] Figure 2 This is a diagram of the internal structure of the power-off self-locking device.

[0026] Figure 3 The structure diagram is shown when the self-locking is released.

[0027] Figure 4 This is a structural diagram of the device when it is self-locking.

[0028] Figure 5 This is a structural diagram of the transmission wheel assembly.

[0029] Figure 6 This is a structural diagram of some parts of the power-off self-locking device.

[0030] Figure 7 This is a first-person exploded view of the transmission wheel assembly and ratchet assembly.

[0031] Figure 8 This is a second-view exploded view of the transmission wheel assembly and ratchet assembly.

[0032] Labels in the diagram: 1. Outer shell; 2. Rotating electromagnet; 3. Transmission wheel assembly; 31. First transmission disc; 311. First elongated hole; 32. Second transmission disc; 321. Second elongated hole; 33. Transmission component; 34. Pawl; 341. Snap-fit ​​part; 342. Connecting part; 35. Reset block; 4. Ratchet assembly; 41. Ratchet; 42. Positioning wheel; 421. Positioning groove;

[0033] 5. Straightening self-locking assembly; 51. Fixing rod assembly; 511. Fixing rod; 512. Fixing sleeve; 52. Elastic telescopic assembly; 521. Telescopic rod; 522. Elastic element; 53. Positioning block; 531. Roller; 54. Reset rod; 55. End protrusion. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0035] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0036] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] Please refer to Figures 1-8 The present invention provides a robot joint active and passive power-off self-locking device, including a housing 1 installed outside each joint of the robot, a rotating electromagnet 2 installed on the housing 1, a transmission wheel assembly 3 installed inside the housing 1 and coaxially mounted with the rotating electromagnet 2, a ratchet assembly 4 coaxially mounted with the joint motor output shaft, and a straightening self-locking assembly 5 suspended inside the housing 1 and cooperating with the ratchet assembly 4 for self-locking.

[0038] The straightening self-locking assembly 5 includes: an elastic telescopic assembly 52 installed in the housing 1 along the y-axis direction via a fixed rod assembly 51, a positioning block 53 installed at the telescopic end of the elastic telescopic assembly 52, and a reset rod 54 set at the fixed end of the telescopic rod 521 along the x-axis direction. The ratchet assembly 4 is provided with a positioning groove 421 that engages with the positioning block 53, and the transmission wheel assembly 3 is provided with a reset block 35 that engages with the reset rod 54.

[0039] This embodiment, through the setting of the straightening self-locking component 5, enables the robot to automatically enter and maintain a straightening self-locking state when power is off, significantly improving the robot's stability and maintainability. Specifically, before power is off, the drive joint motor adjusts each joint to the straightened state. At this time, the positioning block 53 engages with the positioning groove 421 under the action of the elastic telescopic component 52, so that even if the robot is in a completely power-off state, its joints can still be firmly locked, thereby maintaining a stable vertical standing state. When it is necessary to restart the robot for operation, the electrically connected rotating electromagnet 2 drives the transmission wheel assembly 3 to rotate, and the reset block 35 moves accordingly and engages with the reset rod 54, driving the positioning block 53 to move upward along the y-axis until it disengages from the positioning groove 421, thereby releasing the self-locking state. The structure of this invention facilitates on-site inspection, debugging, or maintenance of the robot by operators, without the need for additional support or concerns about the risk of tipping over due to power failure. It also facilitates the robot's continued operation after power is restored and further solves the problem of the robot's inability to maintain its posture in the event of a power failure, providing strong support for the robot's practicality and reliability in real-world work scenarios.

[0040] In this embodiment, during robot operation, the ratchet assembly 4 rotates freely following the rotation of the joint motor output shaft. At this time, the elastic telescopic assembly 52 is in a pre-compressed state, and the positioning block 53 rolls with the ratchet assembly 4. When the robot needs to stop operating, the joint motor is controlled to adjust the robot's joint to a straightened state. At this time, the positioning groove 421 rotates to align with the positioning block 53, and the positioning block 53 is inserted into the positioning groove 421 under the rebound action of the elastic telescopic assembly 52. ​​The elastic telescopic assembly 52 rebounds from the pre-compressed state to the normal state. Through the engagement of the positioning block 53 and the positioning groove 421, the ratchet assembly 4 is mechanically self-locked. At this time, the power is cut off to stop the electric drive of the joint motor. The joint can maintain stability through the mechanical self-locking of the ratchet assembly 4 by the straightening self-locking assembly 5. The robot can maintain a straight standing state through the mechanical self-locking at the joint, which facilitates the technicians to make adaptive adjustments, inspections, or maintenance of the robot, and also facilitates the robot's continued operation.

[0041] When the robot needs to resume operation, the electric connection is activated to rotate the electromagnet 2. The rotation of the electromagnet 2 controls the rotation of the transmission wheel assembly 3 until the reset block 35 engages with the reset rod 54. When the reset rod 54 engages with the reset block 35, the elastic telescopic assembly 52 immediately rises and moves upward along the y-axis, causing the positioning block 53 to move upward synchronously until it is completely disengaged from the positioning groove 421. At this time, the mechanical constraint of the ratchet assembly 4 is released, and it returns to a free rotation state, and the mechanical self-locking is unlocked.

[0042] When the joint re-enters the motion state, the ratchet assembly 4 begins to rotate synchronously. At this time, by driving the rotating electromagnet 2, the transmission wheel assembly 3 is controlled to rotate in the opposite direction, causing the reset block 35 to disengage from the reset rod 54. The elastic telescopic assembly 52 then moves downward along the y-axis until the positioning block 53 and the surface of the ratchet assembly 4 re-roll and engage. The elastic telescopic assembly 52 changes from the normal state to the pre-compression state, preparing for rapid mechanical self-locking in the next straightening action. Figure 3 As shown, a rolling wheel 531 for rolling engagement with the ratchet assembly 4 is installed at the bottom of the positioning block 53.

[0043] In this embodiment, the installation of the rolling wheel 531 enables rolling engagement between the end of the positioning block 53 and the ratchet assembly 4 when the reset block 35 disengages from the reset rod 54. When the ratchet assembly 4 is driven to rotate by the joint motor, the rolling wheel 531 rotates accordingly, ensuring that the positioning block 53 remains stable and stationary. This effectively eliminates the impact and wear caused by rigid contact, significantly improving the running stability and positioning accuracy of the ratchet assembly 4, while reducing operating noise and extending the service life of the straightening self-locking assembly 5, making the entire device more accurate and reliable in dynamic operation. As shown in the figure, the transmission wheel assembly 3 includes: a first transmission disc 31 coaxially mounted with the rotating electromagnet 2, and a second transmission disc 32 mounted with the first transmission disc 31 via a transmission component 33.

[0044] Furthermore, the second transmission disc 32 is provided with several pawls 34 that engage with the ratchet assembly 4.

[0045] To further explain, the pawl 34 includes a locking part 341 and a connecting part 342. The connecting part 342 is rotatably mounted to the second transmission disc 32, and the locking part 341 is fixedly mounted to the transmission component 33.

[0046] To further explain, the first transmission disc 31 has a plurality of first elongated holes 311 along the circumferential direction, and the second transmission disc 32 has a plurality of second elongated holes 321 along the radial direction. The transmission component 33 passes through the first elongated holes 311 and the second elongated holes 321 and is installed with the snap-fit ​​part 341.

[0047] To further explain, the ratchet assembly 4 includes: a ratchet 41 that cooperates with the pawl 34, and a positioning wheel 42 that is coaxially mounted with the ratchet 41, with a positioning groove 421 formed on the positioning wheel 42.

[0048] In this embodiment, the side facing the rotating electromagnet 2 is designated as the front, and the other side as the back. The pawl 34 is mounted on the back of the second transmission disk 32. The pawl 34 and the ratchet 41 are located on the same y-axis plane. By controlling the engagement of the pawl 34 and the ratchet 41, the reverse rotation of the ratchet assembly 4 is prevented. Specifically, the rotating electromagnet 2 is electrically connected, controlling the rotation of the first transmission disk 31, causing the rotating component to move within the first elongated hole 311. This movement is then driven by the transmission component 33 to rotate the second transmission disk 32. The limiting transmission component 33 in the second elongated hole 321 moves in a predetermined direction, causing the engaging end of the pawl 34 to rotate around the axis and engage with the ratchet 41, preventing the ratchet 41 from rotating in the opposite direction due to reverse inertia after power is cut off. The locking action of this structure should be completed before power is cut off and before straightening self-locking. By pre-constraining and limiting the joint rotation, not only is the anti-reverse rotation capability of the robot joint in the power-off state improved, but the determinism and reliability of straightening self-locking are also enhanced, ensuring the speed and stability of the joint locking process.

[0049] Furthermore, the first elongated hole 311 and the second elongated hole 321 serve to restrict the direction of movement of the transmission component 33 and impose clear trajectory constraints on it. The first elongated hole 311 guides the transmission component 33 to move circumferentially, while the second elongated hole 321 limits its radial displacement. Under the synergistic effect of the first elongated hole 311 and the second elongated hole 321, the transmission component 33 moves stably along a preset path, causing the pawl 34 at the end of the transmission component 33 to perform a circumferential displacement around the connecting part 342, allowing the pawl 34 to quickly and reliably engage with the ratchet 41. This structure effectively mechanically locks the joint's reverse rotation, forming a robust one-way anti-return mechanism, improving the accuracy of motion control, and significantly enhancing the joint's resistance to reverse rotation and the robot's stability.

[0050] In a preferred embodiment, the transmission component 33 is a long bolt, the bolt head of which is engaged in the first long hole 311, and the long screw passes through the first long hole 311 and the second long hole 321 and is fixedly installed with the engagement part 341 of the pawl 34; the transmission component 33 may also be other components that can achieve the above functions, and the selection of the transmission component 33 is not limited here.

[0051] Furthermore, the connecting part 342 and the locking part 341 of the pawl 34 are integrally formed. The locking part 341 is tightly engaged with the ratchet 41 to achieve reliable engagement. The connecting part 342 is used to fix and support the pawl 34 body and serves as a rotation fulcrum during operation, assisting the locking part 341 in engaging and locking or disengaging with the ratchet 41, thus ensuring one-way locking of the joint.

[0052] To further explain, the reset block 35 can be set on the outer ring side of the first transmission disk 31 or on the outer ring side of the second transmission disk 32. The rotating electromagnet 2 can drive the first transmission disk 31 to rotate, and drive the second transmission disk 32 to rotate through the transmission component 33. Therefore, the reset block 35 can rotate accordingly to engage with the reset rod 54.

[0053] As shown in the figure, the elastic telescopic assembly 52 includes: a telescopic rod 521 suspended and installed inside the housing 1 by a fixing rod group 51, and an elastic element 522 sleeved on the telescopic rod 521. The telescopic rod 521 is provided with an end protrusion 55 for pressing against the elastic element 522.

[0054] In this embodiment, the end protrusion 55 can precisely press against the elastic element 522 to form a reliable force fulcrum. Through the pre-compression and rebound of the elastic element 522, a rapid rebound response is achieved when the positioning block 53 and the positioning groove 421 cooperate to self-lock, eliminating action delay and thus greatly ensuring the timeliness and certainty of mechanical self-locking, making the entire locking process responsive, stable and reliable.

[0055] In a preferred embodiment, the elastic element 522 is a spring-embedded rubber tube. This spring-embedded rubber tube is a composite element that tightly combines highly elastic rubber with a built-in helical spring wire. The rubber matrix provides excellent cushioning, shock absorption, and flexible deformation capabilities, effectively absorbing high-frequency minute vibrations. The built-in spring wire acts as a rigid skeleton, enhancing the structural strength and fatigue resistance of the tube, giving the spring-embedded rubber tube significantly greater support and rebound stability than ordinary elastic elements. Using a spring-embedded rubber tube as the elastic element 522 ensures that the elastic telescopic assembly 52 has a stronger, more stable, and more reliable rebound, significantly improving the working life and operational accuracy of the entire straightening self-locking assembly 5.

[0056] As shown in the figure, the fixed rod assembly 51 includes: a fixed rod 511 fixedly installed with the outer shell 1, and a fixed sleeve 512 sleeved on the outside of the elastic member 522. The fixed rod 511 and the fixed sleeve 512 are fixedly installed. The fixed sleeve 512 is engaged with the telescopic rod 521 through the end protrusion 55. When the telescopic rod 521 moves along the y-axis, the fixed sleeve 512 is in a stationary state.

[0057] In this embodiment, the fixing rod 511 is fixedly suspended inside the outer casing 1, and the fixing sleeve 512 is fixedly installed on the fixing rod. The two work together as a support structure for the straightening self-locking assembly 5, ensuring the stability of the suspension of the straightening self-locking assembly 5. When the reset rod 54 engages with the reset block 35, the elastic telescopic assembly 52 moves to the point where the lower end face of the fixing sleeve 512 abuts against the top of the positioning block 53. In this state, the telescopic rod 521 is in an extended state, and the elastic element 522 is in a normal state. When the reset rod 54 disengages from the reset block 35, the positioning block 53 rolls against the surface of the ratchet 41 under the pre-pressure of the elastic element 522, and the elastic telescopic assembly 52 moves to the point where the upper end face of the fixing sleeve 512 abuts against the end protrusion 55. At this time, both the telescopic rod 521 and the elastic element 522 are in a pre-compressed state. When the positioning block 53 engages with the positioning groove 421, the contact between the fixing sleeve 512 and the end protrusion 55 not only precisely defines the engagement position, but also disperses and absorbs the impact load, thereby ensuring the stability and anti-interference capability of the mechanical self-locking and achieving a reliable locking mechanism that combines rigidity and flexibility.

[0058] Furthermore, to prevent extension self-locking during joint movement, this patent also includes an embedded self-locking control system. This system includes a joint control module for controlling the rotation angle and direction of the joint motors, an electromagnetic control module for controlling the rotation of the rotating electromagnet 2, and a drive battery. The drive battery powers the joint drive module and the electromagnetic control module, allowing the embedded self-locking control system to operate independently of the robot. This further ensures that even after the robot stops due to power failure, the embedded self-locking control system can still perform real-time detection and control. The joint control module controls the operation of the joint motors, further controlling the rotation of the ratchet assembly 4, which is coaxially mounted with the joint motor output shaft. This ensures that the joints do not extend during robot movement, preventing mechanical self-locking during extension.

[0059] Furthermore, by setting up the electromagnetic control module, the on / off state and direction of the rotating electromagnet 2 can be precisely controlled, thereby driving the adaptive operation of the transmission wheel assembly 3, realizing the engagement of the pawl 34 and the ratchet 41, and the straightening self-locking assembly 5 can be unlocked by the reverse rotation of the transmission wheel assembly 3, which improves the flexibility and stability of the device control and ensures the stability and efficiency of the device.

[0060] Furthermore, when the robot experiences an unexpected power outage due to a sudden malfunction, the embedded self-locking control system will be instantly activated. By independently driving the joint motors and rotating electromagnets 2 via the drive battery, the robot achieves joint self-locking in a very short time, quickly stabilizes its standing posture, and maintains the current standing state. This effectively improves the robot's safety and reliability under unstable working conditions and prevents imbalance or falls caused by power failure.

[0061] Furthermore, the embedded self-locking control system enables self-locking of the robot during both active and passive power outages. Specifically, when the robot needs to stop working and maintain a standing posture, the joint motors are first controlled to rotate to the extended state. At this time, the positioning block 53 engages with the positioning slot 421, locking the joint and achieving self-locking during active power outages. When the robot experiences a power outage due to a sudden malfunction, the control system is instantaneously activated, driving the battery to be instantly activated and driving the joint motors and rotating electromagnet 2 to continue working under the sudden power outage. The joint motors are controlled to rotate to the extended state, engaging the positioning block 53 with the positioning slot 421 and achieving instantaneous self-locking of the joint, maintaining the standing posture and achieving self-locking during passive power outages.

[0062] The present invention also provides a driving method for an active / passive power-off self-locking device for a robot joint, comprising:

[0063] When the robot is in operation: the ratchet assembly 4 rotates following the drive of the joint motor, and the elastic telescopic assembly 52 is in a pre-compressed state;

[0064] When the robot is in active power-off self-locking state: After the robot finishes its work, the drive joint motor adjusts the robot's joints to the extended state. The ratchet assembly 4 rotates to the positioning groove 421 and aligns with the positioning block 53. The elastic telescopic assembly 52 changes from the pre-pressed state to the extended state. The positioning block 53 engages with the positioning groove 421, and the robot joint self-locks.

[0065] In the passive power-off self-locking state: the embedded self-locking control system controls the drive joint motor to adjust the robot's joint to the extended state. The ratchet assembly 4 rotates to the positioning groove 421 aligned with the positioning block 53. The elastic telescopic assembly 52 changes from the pre-compression state to the extended state. The positioning block 53 engages with the positioning groove 421, and the robot joint self-locks.

[0066] When the robot resumes operation: the rotating electromagnet 2 is electrically connected, which drives the transmission wheel assembly 3 to rotate until the reset block 35 engages with the reset rod 54, causing the positioning block 53 to separate from the positioning groove 421, and the robot resumes operation.

[0067] In this embodiment, when the robot is working, the joint motor is energized to control the relative rotation of the joint. At this time, the ratchet assembly 4 rotates synchronously with the joint rotation driven by the joint motor. The positioning block 53 rolls with the surface of the positioning wheel 42 through the rolling wheel 531. The elastic telescopic assembly 52 is in a pre-pressed state.

[0068] When the robot needs to stop working and maintain a standing posture, the rotating electromagnet 2 is electrically connected. The rotation of the rotating electromagnet 2 controls the forward rotation of the first transmission disk 31, and the second transmission disk 32 rotates accordingly through the setting of the transmission component 33. This causes the transmission component 33 to move within the first elongated hole 311 and the second elongated hole 321, driving the locking part 341 of the pawl 34 to engage with the ratchet 41, restricting the reverse rotation of the ratchet 41, and thus restricting the reverse rotation of the joint.

[0069] By driving the joint motor to control the joint movement to the extended state, the ratchet assembly 4 rotates synchronously with the joint until the positioning block 53 engages with the positioning groove 421 on the positioning wheel 42. When the positioning block 53 engages with the positioning groove 421, the positioning block 53 extends into the positioning groove 421 through the rebound of the elastic telescopic assembly 52, mechanically locking the ratchet assembly 4. Since the positioning wheel 42 and the joint are coaxially set, the joint can be mechanically locked, allowing the robot to maintain a standing posture through the mechanical self-locking of the joint.

[0070] When the robot needs to resume operation, the rotating electromagnet 2 is controlled to rotate in the opposite direction, causing the first transmission disk 31 and the second transmission disk 32 to rotate in the opposite direction, which drives the locking part 341 of the pawl 34 to disengage from the ratchet 41. At this time, the ratchet 41 and the pawl 34 are in a disengaged state.

[0071] The control of the rotating electromagnet 2 drives the transmission wheel assembly 3 to rotate, so that the reset block 35 set on the transmission wheel assembly 3 engages with the reset rod 54. At this time, the elastic telescopic assembly 52 moves upward along the y-axis according to the upward pulling force transmitted by the reset rod 54 until the positioning block 53 is completely disengaged from the positioning groove 421. At this time, the mechanical self-locking state ends, and the ratchet assembly 4 and the joint can rotate normally through the drive of the joint motor.

[0072] When the robot resumes normal operation, the control rotating electromagnet 2 drives the first transmission disk 31 and the second transmission disk 32 to rotate, so that the reset block 35 disengages from the reset rod 54. At this time, the elastic telescopic component 52 returns to the pre-pressed state. When the ratchet component 4 is driven by the joint motor to rotate synchronously, the positioning block 53 rolls with the surface of the positioning wheel 42 through the rolling wheel 531, waiting for the next straightening mechanical self-locking.

[0073] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A passive and active power-off self-locking device for a robot joint, characterized in that, The robot includes a housing (1) installed outside each joint of the robot, a rotating electromagnet (2) installed on the housing (1), a transmission wheel assembly (3) installed inside the housing (1) and coaxially mounted with the rotating electromagnet (2), a ratchet assembly (4) coaxially mounted with the joint motor output shaft, and a straightening self-locking assembly (5) suspended inside the housing (1) and self-locking in cooperation with the ratchet assembly (4). The straightening self-locking assembly (5) includes: an elastic telescopic assembly (52) installed in the housing (1) along the y-axis direction via a fixed rod assembly (51), a positioning block (53) installed at the telescopic end of the elastic telescopic assembly (52), and a reset rod (54) set at the fixed end of the telescopic rod (521) along the x-axis direction. The ratchet assembly (4) is provided with a positioning groove (421) that engages with the positioning block (53). The transmission wheel assembly (3) is provided with a reset block (35) that engages with the reset rod (54).

2. The active and passive power-off self-locking device for robot joints according to claim 1, characterized in that, The bottom of the positioning block (53) is equipped with a rolling wheel (531) for rolling engagement with the ratchet assembly (4).

3. The active and passive power-off self-locking device for robot joints according to claim 1, characterized in that, The transmission wheel assembly (3) includes: a first transmission disc (31) coaxially mounted with the rotating electromagnet (2), and a second transmission disc (32) mounted with the first transmission disc (31) via a transmission member (33).

4. The active and passive power-off self-locking device for robot joints according to claim 3, characterized in that, The second transmission disc (32) is provided with a plurality of pawls (34) that engage with the ratchet assembly (4).

5. The active and passive power-off self-locking device for robot joints according to claim 4, characterized in that, The pawl (34) includes a snap-fit ​​part (341) and a connecting part (342). The connecting part (342) is rotatably mounted to the second transmission disk (32), and the snap-fit ​​part (341) is fixedly mounted to the transmission component (33).

6. The active and passive power-off self-locking device for robot joints according to claim 5, characterized in that, The first transmission disc (31) has a plurality of first elongated holes (311) along the circumferential direction, and the second transmission disc (32) has a plurality of second elongated holes (321) along the radial direction. The transmission component (33) passes through the first elongated holes (311) and the second elongated holes (321) and is installed with the snap-fit ​​part (341).

7. The active and passive power-off self-locking device for robot joints according to claim 4, characterized in that, The ratchet assembly (4) includes a ratchet (41) that cooperates with the pawl (34) and a positioning wheel (42) that is coaxially mounted with the ratchet (41), wherein the positioning groove (421) is formed on the positioning wheel (42).

8. The active and passive power-off self-locking device for robot joints according to claim 1, characterized in that, The elastic telescopic assembly (52) includes: a telescopic rod (521) suspended and installed inside the housing (1) by a fixed rod assembly (51), and an elastic element (522) sleeved on the telescopic rod (521). The telescopic rod (521) is provided with an end protrusion (55) for pressing against the elastic element (522).

9. The active and passive power-off self-locking device for robot joints according to claim 8, characterized in that, The fixed rod assembly (51) includes: a fixed rod (511) fixedly installed with the outer shell (1) and a fixed sleeve (512) sleeved on the outside of the elastic member (522). The fixed rod (511) and the fixed sleeve (512) are fixedly installed. The fixed sleeve (512) is engaged with the telescopic rod (521) through the end protrusion (55). When the telescopic rod (521) moves along the y-axis, the fixed sleeve (512) is stationary.

10. The driving method of the active / passive power-off self-locking device for robot joints according to claim 1, characterized in that, Includes the following: When the robot is running: the ratchet assembly (4) rotates following the drive of the joint motor, and the elastic telescopic assembly (52) is in a pre-pressed state; When the robot is in the active power-off self-locking state: the robot finishes its work and drives the joint motor to adjust the robot's joint to the extended state. The ratchet assembly (4) rotates to the positioning groove (421) and aligns with the positioning block (53). The elastic telescopic assembly (52) changes from the pre-pressed state to the extended state. The positioning block (53) engages with the positioning groove (421), and the robot joint self-locks. In the passive power-off self-locking state: the robot joint is adjusted to the extended state by controlling the drive joint motor through the embedded self-locking control system. The ratchet assembly (4) rotates to the positioning groove (421) and aligns with the positioning block (53). The elastic telescopic assembly (52) changes from the pre-pressed state to the extended state. The positioning block (53) engages with the positioning groove (421), and the robot joint self-locks. When the robot resumes operation: the rotating electromagnet (2) is electrically connected, driving the transmission wheel assembly (3) to rotate until the reset block (35) engages with the reset rod (54), causing the positioning block (53) to separate from the positioning groove (421), and the robot resumes operation.

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