Plug pin type brake assembly of hollow integrated servo joint module

Abstract

The utility model belongs to the technical field of joint modules, and particularly relates to a bolt type brake assembly of a hollow integrated servo joint module, which comprises a shell, a bolt type brake is inserted on the shell, a driver circuit board is arranged in the shell, the driver circuit board is connected with an encoder circuit board through an interface, and the encoder circuit board is connected with an encoder. The first code disc and the second code disc are installed on a rotating shaft of a motor in the shell, and a built-in brake assembly is arranged in the shell. According to the bolt type brake assembly of the hollow integrated servo joint module, the built-in brake assembly is arranged, when a bolt type brake is inserted into a brake tooth or a brake disc, a sliding block protruding out of a receding groove is extruded by the bolt type brake, and a slope provides a guide path for the sliding block; the plug pin type brake can more smoothly extrude the sliding block to enter the shell in the plugging and unplugging process, the guiding performance reduces jamming caused by inaccurate direction, and therefore the stability of a system is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of joint modules, and particularly to a plug - type braking component of a hollow integrated servo joint module. Background Technique

[0002] The degree of freedom of a robot refers to the number of motion variables that can be independently controlled. The higher the degree of freedom, the more complex and flexible the motions that the robot can achieve. The hollow integrated servo joint module, through its compact design and high - precision control, can provide more degrees of freedom, thus enhancing the flexibility of the robot. As a key part of such a module, the design of the plug - type braking component directly affects the stability and response speed of the joint, and thus affects the overall flexibility of the robot.

[0003] The plug - type braking component ensures the accuracy and stability of the robot when performing complex tasks by precisely controlling the start and stop of the joint. This design reduces mechanical friction and vibration, and improves the accuracy and repeatability of the joint. In application scenarios that require high - precision positioning or rapid response, such as precision assembly, medical surgery, etc., the plug - type braking component is particularly important. In view of this, we propose a plug - type braking component of a hollow integrated servo joint module. Content of the Utility Model

[0004] The main purpose of the utility model is to provide a plug - type braking component of a hollow integrated servo joint module, which can solve the problems raised in the above - mentioned background technique.

[0005] To achieve the above purpose, the utility model proposes the following technical solutions:

[0006] A plug - type braking component of a hollow integrated servo joint module includes a housing. A plug - type brake is inserted into the housing. A driver circuit board is arranged inside the housing. The driver circuit board is connected to an encoder circuit board through an interface. A first code disk and a second code disk are installed on the rotating shaft of the motor inside the housing. An in - built braking component is arranged inside the housing.

[0007] Preferably, the plug - type brake is used to lock or release the rotor, and locks or releases the rotor by inserting or pulling out a pin, thereby controlling the movement of the motor.

[0008] Preferably, the larger - sized first code disk among the first code disk and the second code disk is adapted to the output end of the motor, and the smaller - sized second code disk is adapted to the output end of the module. The diameter difference between the inner hole of the first code disk and the outer hole of the second code disk is 6 millimeters. With this diameter difference of 6 millimeters, magnetic field interference between the first code disk and the second code disk can be avoided, and the risk of mutual collision can be circumvented. The first code disk and the second code disk can be nested with each other so that they are on the same horizontal plane, further compressing the space.

[0009] Preferably, the built-in braking assembly includes a relief groove, and the relief groove is formed in the inner wall of the housing.

[0010] Preferably, a sliding block is slidably connected in the relief groove, and a plurality of groups of sliding blocks are provided. Placing grooves are formed in the outer walls of the plurality of groups of sliding blocks. The sliding blocks slide in the relief groove to support the plug-in brake.

[0011] Preferably, a return spring is sleeved in the placing groove, and an inclined surface is formed on the surface of the sliding block. The inclined surface can provide a clear guiding path for the sliding block, so that the plug-in brake can more smoothly squeeze the sliding block into the housing during the plugging and unplugging process. This kind of guiding property reduces the jamming or damage caused by inaccurate direction, thereby increasing the stability of the system.

[0012] The present utility model provides a plug-in braking assembly for a hollow integrated servo joint module, which has the following beneficial effects:

[0013] (1) Through the provided built-in braking assembly, when the plug-in brake is inserted into the braking teeth or the brake disc, the protruding sliding block in the relief groove is squeezed by the plug-in brake. The inclined surface can provide a clear guiding path for the sliding block, so that the plug-in brake can more smoothly squeeze the sliding block into the housing during the plugging and unplugging process. This kind of guiding property reduces the jamming or damage caused by inaccurate direction, thereby increasing the stability of the system.

[0014] (2) Through the provided code disk one and code disk two, the diameter difference between the inner hole of code disk one and the outer hole of code disk two is 6 mm. With a diameter difference of 6 mm, the magnetic field interference between code disk one and code disk two can be avoided and the risk of mutual collision can be avoided. Code disk one and code disk two can be nested with each other so that they are on the same horizontal plane, further compressing the space. With the nested dual-code disk design, code disk one and code disk two are almost on the same horizontal plane, further effectively saving space. Compared with a single-channel encoder, the dual-channel has higher precision and effectively reduces the transmission error. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0016] Figure 1 Exploded structure schematic diagram of the plug-in braking assembly of the present utility model Figure 1 ;

[0017] Figure 2Exploded structure schematic diagram of the bolt - type braking component of the present utility model Figure 2 ;

[0018] Figure 3 For the present utility Figure 2 Schematic diagram of structure A in it;

[0019] Figure 4 Schematic diagram of the return spring structure of the present utility model;

[0020] Figure 5 Schematic diagram of the slider structure of the present utility model.

[0021] In the figure: 1. Housing; 2. Bolt - type brake; 3. Driver circuit board; 4. Encoder circuit board; 5. Disk one; 6. Disk two; 7. Built - in braking component; 71. Relief groove; 72. Slider; 73. Inclined plane; 74. Placing groove; 75. Return spring.

[0022] The realization, functional features and advantages of the purpose of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0024] Please refer to Figures 1-5, the present utility model proposes a plug - type braking component for a hollow integrated servo joint module, including a housing 1. A plug - type brake 2 is inserted into the housing 1. The plug - type brake 2 is used to lock or release the rotor. By inserting or pulling out a pin to lock or release the rotor, the movement of the motor is thus controlled. Inside the housing 1, a driver circuit board 3 is provided. The driver circuit board 3 receives signals from the controller and converts them into instructions that the motor can understand to drive the motor to rotate. The driver circuit board 3 is connected to an encoder circuit board 4 through an interface. The encoder circuit board 4 is used to measure the rotational position, speed, and acceleration of the motor. The encoder circuit board 4 receives signals from the encoder and converts them into digital or analog signals so that the controller can read and process this information. A first code disk 5 and a second code disk 6 are installed on the rotating shaft of the motor inside the housing 1. The larger - sized first code disk 5 among the first code disk 5 and the second code disk 6 is adapted to the motor output end, and the smaller - sized second code disk 6 is adapted to the module output end. The diameter difference between the inner hole of the first code disk 5 and the outer hole of the second code disk 6 is 6 millimeters. This 6 - millimeter diameter difference avoids magnetic field interference between the first code disk 5 and the second code disk 6 and circumvents the risk of mutual collision. The first code disk 5 and the second code disk 6 can be nested with each other so that they are on the same horizontal plane, further compressing the space. Adopting a nested dual - code - disk design enables the first code disk 5 and the second code disk 6 to be almost on the same horizontal plane, further effectively saving space. Compared with a single - channel encoder, the dual - channel has higher precision and effectively reduces the transmission error. An internal braking component 7 is provided inside the housing 1.

[0025] In an embodiment of the present utility model, in order to increase the stability of the system and reduce the wear rate, specifically, the internal braking component 7 includes a relief groove 71. A relief groove 71 is opened on the inner wall of the housing 1. A sliding block 72 is slidably connected in the relief groove 71. Multiple groups of sliding blocks 72 are provided. A placement groove 74 is opened on the outer wall of the multiple groups of sliding blocks 72. The sliding block 72 slides in the relief groove 71 to support the plug - type brake 2. A return spring 75 is sleeved in the placement groove 74, and an inclined surface 73 is opened on the surface of the sliding block 72. The inclined surface 73 can provide a clear guiding path for the sliding block 72, enabling the plug - type brake 2 to more smoothly squeeze the sliding block 72 into the housing 1 during the insertion and extraction process. This guiding property reduces jamming or damage caused by inaccurate direction, thereby increasing the stability of the system.

[0026] In the present utility model, during use, when braking is required, the driver circuit board 3 receives a braking instruction and controls the operation of actuators such as the electromagnet. The pin in the pin-type brake 2 moves upward under the action of electromagnetic force and inserts into the braking teeth or the brake disc to prevent further rotation of the joint. During the insertion process, the sliding block 72 protruding in the relief groove 71 is squeezed by the pin-type brake 2, and the inclined surface 73 can provide a clear guiding path for the sliding block 72, enabling the pin-type brake 2 to more smoothly squeeze the sliding block 72 into the housing 1 during the insertion and extraction process. This kind of guiding property reduces jamming or damage caused by inaccurate direction, thereby increasing the stability of the system. When unlocking is required, the driver circuit board 3 receives an unlocking instruction and controls the actuators such as the electromagnet to act in the reverse direction. The pin in the pin-type brake 2 moves downward under the action of electromagnetic force and withdraws from the braking teeth or the brake disc, allowing the joint to rotate freely. Similarly, the encoder circuit board 4 continuously monitors the position and speed of the joint to ensure the smooth progress of the unlocking process.

[0027] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present utility model under the inventive concept of the present utility model, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. A plug - type braking component of a hollow integrated servo joint module, comprising a housing (1), characterized in that: A pin - type brake (2) is plugged into the housing (1). A driver circuit board (3) is arranged inside the housing (1). The driver circuit board (3) is connected to an encoder circuit board (4) through an interface. A first code disk (5) and a second code disk (6) are installed on the rotating shaft of the motor inside the housing (1). An in - built braking assembly (7) is arranged inside the housing (1).

2. The pin-type braking component of the hollow integrated servo joint module according to claim 1, characterized in that: The pin - type brake (2) is used to lock or release the rotor.

3. The pin-type braking component of the hollow integrated servo joint module according to claim 1, wherein: Among the first code disk (5) and the second code disk (6), the larger - sized first code disk (5) is adapted to the motor output end, and the smaller - sized second code disk (6) is adapted to the module output end. The diameter difference between the inner hole of the first code disk (5) and the outer hole of the second code disk (6) is 6 mm.

4. The pin-type braking component of the hollow integrated servo joint module according to claim 1, wherein: The in - built braking assembly (7) includes a relief groove (71), and the relief groove (71) is formed in the inner wall of the housing (1).

5. The pin-type braking assembly of the hollow integrated servo joint module according to claim 4, wherein: A sliding block (72) is slidably connected in the relief groove (71). There are multiple groups of the sliding blocks (72), and placing grooves (74) are formed in the outer walls of the multiple groups of sliding blocks (72).

6. The pin - type braking component of the hollow integrated servo joint module according to claim 5, characterized in that: A return spring (75) is sleeved in the placing groove (74), and an inclined surface (73) is formed on the surface of the sliding block (72).

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