Robot joint braking device and robot joint

Abstract

The utility model discloses a robot joint braking device and a robot joint. The robot joint braking device comprises a rotating shaft, a braking assembly and a driving mechanism. During braking, the driving motor drives the first two-way screw to rotate, the first braking part and the second braking part move in the thread direction of the first two-way screw through the first extension part, and due to the fact that the first braking part and the second braking part are connected with the thread sections, in different directions, of the first two-way screw, the first braking part and the second braking part move oppositely; the inner ring surfaces of the first brake component and the second brake component are close to and attached to the rotating shaft to generate friction force with the rotating shaft, so that the rotating shaft is braked. According to the robot joint braking device, the technical problem that in a plug pin type braking mode, when the plug pin collides with the braking assembly, large force can be generated, and consequently the plug pin is prone to breakage is effectively solved, and the safety of a robot in the braking process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot joint braking device and a robot joint. Background Art

[0002] With the development of society, robots have become widely used in various fields, including household robots and industrial robots. Among them, collaborative robots, as lightweight industrial robots, can assist people in completing tasks efficiently and can perform tasks in hazardous environments with high precision and efficiency, thus gaining widespread popularity. Currently, a latch-type braking method is used within the joint modules of most collaborative robots. This existing latch-type braking method involves an interference fit between a brake element and a rotating shaft (or an intermediate component fixed to the shaft). The brake element is then stopped by moving a latch to a predetermined position. Friction between the brake element and the shaft or intermediate component fixed to the shaft causes the shaft to stop. Because the latch blocks the movement of the brake element in its direction of movement, quickly stopping its rotation, the collision between the latch and the brake element generates significant force, making the latch susceptible to breakage. This requires frequent latch replacement during use. Therefore, a robot joint braking device and robot joint are proposed. Utility Model Content

[0003] The purpose of the present utility model is to provide a robot joint braking device and a robot joint to solve the above problems.

[0004] To achieve this purpose, the present invention adopts the following technical solutions:

[0005] A robot joint braking device, comprising:

[0006] A rotating shaft is mounted on the joint body, and the rotating shaft can rotate relative to the joint body;

[0007] a brake assembly disposed on the outer side of the rotating shaft, the brake assembly comprising a first brake member and a second brake member, both of which are semi-circular, wherein the curvature of the inner annular surface of the first brake member and the second brake member is equal to the curvature of the circumferential surface of the rotating shaft, and one end of each of the first brake member and the second brake member has a first extension portion, wherein the first extension portion is provided with a first threaded hole;

[0008] The driving mechanism includes a driving motor arranged on the joint body and a first bidirectional screw arranged on the output shaft of the driving motor. The first bidirectional screw passes through the first threaded hole so that the inner annular surfaces of the first brake member and the second brake member are tightly attached to the circumferential surface of the rotating shaft.

[0009] Optionally, one end of each of the first brake member and the second brake member has a second extension portion, the second extension portion is provided with a second threaded hole, and the driving mechanism further includes a second bidirectional screw corresponding to the second threaded hole;

[0010] The output shaft of the driving motor is provided with a driving gear, the second bidirectional screw is provided with a driven gear, and the driving gear and the driven gear are connected by a toothed belt.

[0011] Optionally, a plurality of support plates are provided on the joint body, and limiting grooves are provided on the support plates, and one end of the first bidirectional screw away from the drive motor and both ends of the second bidirectional screw are sleeved in the limiting grooves.

[0012] Optionally, a mounting seat is provided on the joint body, and the drive motor is provided on the mounting seat.

[0013] Optionally, one end of each of the first brake member and the second brake member has a second extension portion, and the second extension portion is provided with a limiting hole;

[0014] The joint body is provided with a support column, the support column passes through the limiting hole, and the support column is provided with a limiting ring, and the limiting ring is located on both sides of the limiting hole.

[0015] Optionally, a friction ring is sleeved on the rotating shaft, the brake assembly is arranged on the outside of the friction ring, the width of the first brake member and the second brake member is greater than the width of the friction ring, and the middle cross-sections of the first brake member, the second brake member and the friction ring are on the same plane.

[0016] Optionally, the top surfaces of the first brake member and the second brake member are both provided with an inward first extension ring, and the bottom surfaces of the first brake member and the second brake member are both provided with an inward second extension ring, and the width of the second extension ring is greater than the width of the first extension ring;

[0017] The inner sides of the first epitaxial ring and the second epitaxial ring are both provided with sealing protrusions, the sealing protrusions are in contact with the friction ring, and the material of the sealing protrusions is sealing rubber;

[0018] The bottom surface of the friction ring is provided with a limiting protrusion corresponding to the sealing protrusion.

[0019] Optionally, when the inner annular surfaces of the first brake member and the second brake member are in close contact with the circumferential surface of the rotating shaft, a gap is formed between the first brake member and the second brake member near one end of the first extension portion, and a storage box is provided on the joint body, and the storage box is located at one end of the gap.

[0020] The utility model also provides a robot joint, comprising a joint body and the above-mentioned robot joint braking device.

[0021] Compared with the prior art, the present invention has the following beneficial effects: during braking, the first bidirectional screw is driven to rotate by the drive motor, and the first brake member and the second brake member move along the thread direction of the first bidirectional screw via the first extension. Since the first brake member and the second brake member are connected to the threaded segments of the first bidirectional screw in different directions, the first brake member and the second brake member move toward each other, that is, the inner annular surfaces of the first brake member and the second brake member approach and fit the rotating shaft, generating friction with the rotating shaft, thereby achieving braking of the rotating shaft. The robot joint braking device provided by the present invention effectively solves the technical problem that in the latch-type braking method, when the latch collides with the brake assembly, a large force is generated, which makes the latch easily break, thereby improving the safety of the robot during braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in this specification so as to facilitate understanding and reading by those familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed in the present invention.

[0024] Figure 1 Schematic diagram of the structure of the robot joint braking device of Example 1;

[0025] Figure 2 This is an exploded view of the robot joint braking device of Example 1;

[0026] Figure 3 This is a schematic structural diagram of a robot joint braking device according to Example 2;

[0027] Figure 4 This is an exploded view of the robot joint braking device of Example 2;

[0028] Figure 5 Schematic diagram of the connection structure between the friction ring and the brake assembly;

[0029] Figure 6 Exploded view of the friction ring and brake assembly.

[0030] Illustrations: 10. Rotating shaft; 11. Friction ring; 12. Limiting protrusion; 20. Braking assembly; 21. First braking member; 22. Second braking member; 23. First extension portion; 24. First threaded hole; 25. Second extension portion; 26. Second threaded hole; 27. Support column; 28. Limiting ring; 30. Driving mechanism; 31. Driving motor; 32. First bidirectional screw; 33. Second bidirectional screw; 34. Driving gear; 35. Driven gear; 36. Mounting seat; 41. Support plate; 42. Limiting groove; 51. First extension ring; 52. Second extension ring; 53. Sealing protrusion; 54. Storage box; 100. Joint body. DETAILED DESCRIPTION

[0031] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component.

[0033] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0034] Example 1:

[0035] Reference Figures 1 to 2The present invention provides a robot joint braking device comprising a rotating shaft 10, a brake assembly 20, and a drive mechanism 30. The rotating shaft 10 is mounted on the joint body 100 and is rotatable relative to the joint body 100. The brake assembly 20 is disposed outside the rotating shaft 10 and includes a first brake member 21 and a second brake member 22, both of which are semi-circular. The curvature of the inner annular surfaces of the first brake member 21 and the second brake member 22 is equal to the curvature of the circumferential surface of the rotating shaft 10. The first brake member 21 and the second brake member 22 can move toward or away from the rotating shaft 10. When the first brake member 21 and the second brake member 22 are away from the rotating shaft 10 (i.e., separated from the rotating shaft 10), the brakes are in the released state. When the first brake member 21 and the second brake member 22 are close to and in contact with the rotating shaft 10, the brakes are in the braked state. In the braked state, the first brake member 21 and the second brake member 22 generate friction with the rotating shaft 10, utilizing this friction to brake the rotating shaft 10, thereby stopping the rotating shaft 10. One end of each of the first brake member 21 and the second brake member 22 has a first extension portion 23 , and the first extension portion 23 is provided with a first threaded hole 24 .

[0036] The drive mechanism 30 is used to drive the first brake member 21 and the second brake member 22 toward or away from the rotating shaft 10. Specifically, the drive mechanism 30 includes a drive motor 31 disposed on the joint body 100 and a first bidirectional screw 32 disposed on the output shaft of the drive motor 31. The first bidirectional screw 32 passes through the first threaded hole 24. The first brake member 21 and the second brake member 22 are connected to the first bidirectional screw 32 with threaded sections in different directions. When the drive motor 31 drives the first bidirectional screw 32 to rotate, the first bidirectional screw 32 cooperates with the first threaded hole 24 to cause the first brake member 21 and the second brake member 22 to move toward or away from each other, thereby causing the first brake member 21 and the second brake member 22 to move toward or away from the rotating shaft 10.

[0037] Furthermore, each of the first and second brake members 21 and 22 has a second extension 25 at one end, and the second extension 25 is provided with a second threaded hole 26. The drive mechanism 30 also includes a second bidirectional screw 33 corresponding to the second threaded hole 26. A driving gear 34 is provided on the output shaft of the drive motor 31, and a driven gear 35 is provided on the second bidirectional screw 33. The driving gear 34 and the driven gear 35 are connected by a toothed belt. When the drive motor 31 rotates the first threaded rod, the driving gear 34, the toothed belt, and the driven gear 35 synchronously drive the second bidirectional screw 33 to rotate. Similarly, the rotation of the second bidirectional screw 33 drives the first and second brake members 21 and 22 toward or away from the rotating shaft 10. That is, when the drive motor 31 is operating, both ends of the first and second brake members 21 and 22 simultaneously move toward or away from the rotating shaft 10. Through this technical solution, the inner annular surfaces of the first and second brake members 21 and 22 simultaneously contact the circumferential surface of the rotating shaft 10, providing the friction required for braking.

[0038] Furthermore, a plurality of support plates 41 are provided on the joint body 100, and a limiting groove 42 is provided on the support plate 41. One end of the first bidirectional screw 32 away from the drive motor 31 and both ends of the second bidirectional screw 33 are both sleeved in the limiting groove 42. Through this technical solution, the first bidirectional screw 32, the second bidirectional screw 33 and the brake assembly 20 are located on the same plane, and at the same time, the first brake member 21 and the second brake member 22 are restricted to approaching or moving away from the rotating shaft 10 on this plane, and cannot move in other dimensions, such as rotating around the first bidirectional screw 32. A mounting seat 36 is provided on the joint body 100, and the drive motor 31 is provided on the mounting seat 36. Optionally, the mounting seat 36 is threadedly connected to the joint body 100.

[0039] Reference Figures 5 and 6 When the first brake member 21 and the second brake member 22 rub against the rotating shaft 10, dust is generated, and this dust may affect the robot's own encoder and other sensors. To this end, the robot joint braking device of this embodiment is provided with a storage box 54 for storing dust. Specifically, a friction ring 11 is sleeved on the rotating shaft 10, and the brake assembly 20 is arranged on the outside of the friction ring 11, and the friction ring 11 is fixedly connected to the rotating shaft 10. In the braking state, the inner annular surfaces of the first brake member 21 and the second brake member 22 fit with the friction ring 11, that is, the first brake member 21 and the second brake member 22 generate friction with the friction ring 11, thereby braking the rotating shaft 10. The width of the first brake member 21 and the second brake member 22 is greater than the width of the friction ring 11, and the mid-cross sections of the first brake member 21, the second brake member 22 and the friction ring 11 are on the same plane, that is, both sides of the first brake member 21 and the second brake member 22 protrude outside the two sides of the friction ring 11 (the inner annular surfaces of the first brake member 21 and the second brake member 22 cover the outer annular surface of the friction ring 11).

[0040] The top surfaces of the first and second brake members 21 and 22 are each provided with an inward-facing first extension ring 51. The bottom surfaces of the first and second brake members 21 and 22 are each provided with an inward-facing second extension ring 52. The width of the second extension ring 52 is greater than that of the first extension ring 51. Sealing protrusions 53 are provided on the inner sides of the first and second extension rings 51 and 52. These sealing protrusions 53 are bonded to the top and bottom surfaces of the friction ring 11. These sealing protrusions 53 are made of sealing rubber. Due to the elasticity of the sealing rubber, the sealing protrusions 53, when bonded to the top and bottom surfaces of the friction ring 11, prevent dust generated by friction from scattering.

[0041] Furthermore, the bottom surface of the friction ring 11 is provided with a limiting protrusion 12 corresponding to the sealing protrusion 53. As the first and second brake members 21 and 22 move away from the friction ring 11, the limiting protrusion 12 limits the distance the sealing protrusion 53 can move away from the friction ring 11, thereby limiting the distance the first and second brake members 21 and 22 can move away from the friction ring 11. During braking, dust can fly into the first space formed by the first extension ring 51, the sealing protrusion 53, the friction ring 11, and the first brake member 21 (or second brake member 22). As the first and second brake members 21 and 22 move away from the friction ring 11, the sealing protrusion 53 on the top surfaces of the first and second brake members 21 and 22 pushes dust from the first space into the second space formed by the second extension ring 52, the sealing protrusion 53, the friction ring 11, and the first and second brake members 21 (or second brake member 22).

[0042] Furthermore, when the inner annular surfaces of the first and second brake members 21, 22 are in close contact with the circumferential surface of the rotating shaft 10, a gap is formed between the first and second brake members 21, 22 near one end of the first extension 23. A storage box 54 is provided on the joint body 100 and is located at one end of the gap. This means that dust in the second space will eventually fall through the gap into the storage box 54.

[0043] Example 2:

[0044] Reference Figures 3 and 4 The robot joint braking device disclosed in this embodiment is different from the robot joint braking device disclosed in Example 1 in that the other ends of the first brake member 21 and the second brake member 22 each have a second extension portion 25, and the second extension portion 25 is provided with a limiting hole. The joint body 100 is provided with a support column 27, and the support column 27 passes through the limiting hole. That is, the end of the first brake member 21 and the second brake member 22 away from the first extension portion 23 is rotatably connected. When the end of the first brake member 21 and the second brake member 22 close to the first extension portion 23 approaches or moves away from the rotating shaft 10, the other end of the first brake member 21 and the second brake member 22 rotates, thereby realizing that the inner annular surface of the first brake member 21 and the second brake member 22 approaches or moves away from the rotating shaft 10. The support column 27 is provided with a limiting ring 28, and the limiting ring 28 is located on both sides of the limiting hole.

[0045] This utility model patent also discloses a robot joint, including a joint body 100 and the above-mentioned robot joint braking device.

[0046] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot joint braking device, characterized in that: include: A rotating shaft (10) is mounted on the joint body (100), and the rotating shaft (10) is rotatable relative to the joint body (100); A brake assembly (20) is arranged on the outside of the rotating shaft (10), and the brake assembly (20) includes a first brake member (21) and a second brake member (22), both of which are semi-circular, and the curvature of the inner annular surface of the first brake member (21) and the second brake member (22) is equal to the curvature of the circumferential surface of the rotating shaft (10), and one end of the first brake member (21) and the second brake member (22) has a first extension portion (23), and the first extension portion (23) is provided with a first threaded hole (24); The driving mechanism (30) comprises a driving motor (31) provided on the joint body (100) and a first bidirectional screw (32) provided on the output shaft of the driving motor (31), wherein the first bidirectional screw (32) passes through the first threaded hole (24) so ​​that the inner annular surfaces of the first brake member (21) and the second brake member (22) are in close contact with the circumferential surface of the rotating shaft (10).

2. The robot joint braking device according to claim 1, characterized in that: One end of each of the first brake member (21) and the second brake member (22) has a second extension portion (25), and the second extension portion (25) is provided with a second threaded hole (26). The driving mechanism (30) further includes a second bidirectional screw (33) corresponding to the second threaded hole (26). A driving gear (34) is provided on the output shaft of the driving motor (31), a driven gear (35) is provided on the second bidirectional screw (33), and the driving gear (34) and the driven gear (35) are connected via a toothed belt.

3. The robot joint braking device according to claim 2, characterized in that: A plurality of support plates (41) are provided on the joint body (100), and a limiting groove (42) is provided on the support plate (41), and one end of the first bidirectional screw (32) away from the drive motor (31) and both ends of the second bidirectional screw (33) are sleeved in the limiting groove (42).

4. The robot joint braking device according to claim 1, characterized in that: A mounting seat (36) is provided on the joint body (100), and the drive motor (31) is provided on the mounting seat (36).

5. The robot joint braking device according to claim 1, characterized in that: One end of each of the first braking member (21) and the second braking member (22) has a second extension portion (25), and the second extension portion (25) is provided with a limiting hole; The joint body (100) is provided with a support column (27), the support column (27) passes through the limiting hole, and the support column (27) is provided with a limiting ring (28), and the limiting ring (28) is located on both sides of the limiting hole.

6. The robot joint braking device according to claim 1, characterized in that: A friction ring (11) is sleeved on the rotating shaft (10), and the brake assembly (20) is arranged on the outside of the friction ring (11). The widths of the first brake member (21) and the second brake member (22) are greater than the width of the friction ring (11), and the middle cross sections of the first brake member (21), the second brake member (22) and the friction ring (11) are on the same plane.

7. The robot joint braking device according to claim 6, characterized in that: The top surfaces of the first brake member (21) and the second brake member (22) are both provided with an inward first extension ring (51), and the bottom surfaces of the first brake member (21) and the second brake member (22) are both provided with an inward second extension ring (52), and the width of the second extension ring (52) is greater than the width of the first extension ring (51); The inner sides of the first outer ring (51) and the second outer ring (52) are both provided with sealing protrusions (53), the sealing protrusions (53) are in contact with the friction ring (11), and the material of the sealing protrusions (53) is sealing rubber; The bottom surface of the friction ring (11) is provided with a limiting protrusion (12) corresponding to the sealing protrusion (53).

8. The robot joint braking device according to claim 7, characterized in that: When the inner annular surfaces of the first brake member (21) and the second brake member (22) are in close contact with the circumferential surface of the rotating shaft (10), a gap is formed between the first brake member (21) and the second brake member (22) near one end of the first extension portion (23), and a storage box (54) is provided on the joint body (100), and the storage box (54) is located at one end of the gap.

9. A robot joint, characterized in that: It comprises a joint body (100) and a robot joint braking device according to any one of claims 1 to 8.

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