Locking structure for robot joint

Abstract

The utility model relates to a locking structure for a robot joint. Comprising a planetary reducer; a band-type brake firing pin is fixed on a rotating shaft of the motor; the fixed shell is used for accommodating the planetary reducer and the motor; the electric bolt is arranged in the fixed shell, and a spring and a coil are arranged in the electric bolt; the rear-end control unit is electrically connected with the electric bolt; the electric plug pin achieves path interference with the band-type brake firing pin through the synergistic effect of a magnetic field and the spring. The problems that in an existing technical scheme, a friction type band-type brake usually locks a motor through friction, the size of the band-type brake is large, the occupied space is large, the band-type brake can generate a large amount of heat in the working process, and heat dissipation needs to be additionally considered are solved, so that performance reduction or damage caused by overheating is avoided, and the service life of the band-type brake is prolonged. And the brake is seriously worn due to long-term use of the band-type brake, and regular maintenance and replacement are needed.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a locking structure used in robot joints. Background Technology

[0002] Traditional friction brakes typically rely on friction to lock the motor, thus requiring extremely high precision in assembly and component machining. While the friction of the friction material can achieve a smooth braking effect and reduce mechanical shock and vibration, the brake itself is relatively large, taking up considerable space. It also generates significant heat during operation, necessitating additional consideration of heat dissipation to prevent overheating that could lead to performance degradation or damage. Furthermore, prolonged use of the brake can cause severe wear on the brake mechanism, requiring regular maintenance and replacement. Utility Model Content

[0003] This application provides a locking structure for robot joints, which solves the problems of existing friction brakes that typically rely on friction to lock the motor, have a large size and occupy a lot of space, generate a lot of heat during operation, require additional heat dissipation to avoid overheating leading to performance degradation or damage, and cause severe wear of the brake after long-term use, requiring regular maintenance and replacement.

[0004] The technical solution adopted in the embodiments of this application is as follows:

[0005] A locking structure for use in robot joints, including

[0006] Planetary gear reducer;

[0007] The motor has a brake pin fixed on its shaft;

[0008] A fixed housing is provided to house the planetary reducer and the motor.

[0009] An electric latch is disposed within the fixed housing, and the electric latch contains a spring and a coil.

[0010] The rear control unit is electrically connected to the electrical plug;

[0011] The electric latch interferes with the path of the brake pin through the combined action of the magnetic field and the spring. When the electric latch is energized, the magnetic field generated by the coil overcomes the spring force and drives the electric latch to move downward to disengage from the path of the brake pin, allowing the motor to rotate. When the electric latch is de-energized, the spring resets and drives the electric latch to move upward to block the path of the brake pin and lock the motor.

[0012] A further technical solution is that the brake striker is made of a rigid material and is fixed coaxially with the motor shaft.

[0013] A further technical solution is that the coil of the electric plug is connected to the back-end control unit via an electrical signal to receive power-on / off commands.

[0014] A further technical solution is that the mounting position of the fixed housing is aligned with the axis of the electric plug to ensure precise matching of the paths of the electric plug and the brake striker.

[0015] A further technical solution is that the output end of the planetary reducer is connected to the drive component of the robot joint.

[0016] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0017] 1. By employing a planetary reducer, motor, brake pin, fixed housing, electric latch, and rear control unit, the assembly process is significantly simplified through the cooperation of the electric latch and brake pin, eliminating the need for high-precision measurements of dimensions such as flatness and height required by traditional friction brakes. It eliminates reliance on friction materials, reducing stringent requirements for component machining accuracy and lowering manufacturing costs. The overall locking structure occupies a small space, making it particularly suitable for small robot joints with limited internal space. The electric latch achieves locking through a combination of electromagnetic and mechanical action, avoiding wear on friction materials, extending service life, and reducing maintenance frequency. There is no friction-induced heat generation, eliminating the need for additional heat dissipation design and improving system reliability. The rear control unit controls the on / off state of the electric latch via electrical signals, enabling rapid switching between locking and releasing actions and enhancing the dynamic performance of the robot joint. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a locking structure used in a robot joint according to an embodiment of the present invention.

[0019] Figure 2 This is an exploded view of the overall structure of a locking structure used in a robot joint according to an embodiment of this utility model.

[0020] Figure 3 This is a diagram illustrating the movement state of the brake striker and the electrical plug in this embodiment of the present invention.

[0021] In the diagram: 1. Planetary reducer; 2. Motor; 3. Brake striker; 4. Housing; 5. Electrical plug; 6. Rear control unit. Detailed Implementation

[0022] This application provides a locking structure for robot joints, which solves the problems of existing friction brakes that typically rely on friction to lock the motor, have a large size and occupy a lot of space, generate a lot of heat during operation, require additional heat dissipation to avoid overheating leading to performance degradation or damage, and cause severe wear of the brake after long-term use, requiring regular maintenance and replacement.

[0023] The technical solution in this application is to solve the above problems, and the overall approach is as follows:

[0024] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0025] A locking structure used in robot joints, such as Figure 1 , Figure 2 and Figure 3 As shown, including

[0026] Planetary reducer 1;

[0027] Motor 2, with a brake pin 3 fixed on its shaft;

[0028] A fixed housing 4 is used to house the planetary reducer 1 and the motor 2;

[0029] The electric plug 5 is located inside the fixed housing 4, and the electric plug 5 contains a spring and a coil.

[0030] The rear control unit 6 is electrically connected to the electrical plug 5;

[0031] The electric latch 5 interferes with the path of the brake pin 3 through the combined action of the magnetic field and the spring. When the electric latch 5 is energized, the magnetic field generated by the coil overcomes the spring force and drives the electric latch 5 to move downward to disengage from the path of the brake pin 3, allowing the motor 2 to rotate. When the electric latch 5 is de-energized, the spring resets and drives the electric latch 5 to move upward to block the path of the brake pin 3 and lock the motor 2.

[0032] The brake striker 3 is made of rigid material and is fixed coaxially with the motor shaft 2.

[0033] The coil of the electric plug 5 is connected to the rear control unit 6 via an electrical signal to receive power on / off commands.

[0034] The mounting position of the fixed housing 4 is aligned with the axis of the electric plug 5 to ensure that the electric plug 5 and the brake strike pin 3 are precisely matched in path.

[0035] The output end of planetary reducer 1 is connected to the drive component of the robot joint.

[0036] By employing a planetary reducer 1, motor 2, brake pin 3, fixed housing 4, electrical pin 5, and rear control unit 6, the interaction between the electrical pin 5 and the brake pin 3 eliminates the need for high-precision measurements of flatness, height, and other dimensions required by traditional friction brakes, significantly simplifying the assembly process. It eliminates reliance on friction materials, reducing stringent requirements for component machining accuracy and lowering manufacturing costs. The overall locking structure occupies minimal space, making it particularly suitable for small robot joints with limited internal space. The electrical pin 5 achieves locking through a combination of electromagnetic and mechanical action, avoiding wear on friction materials, extending service life, and reducing maintenance frequency. The absence of friction-induced heat generation eliminates the need for additional cooling designs, improving system reliability. The rear control unit 6 controls the on / off state of the electrical pin 5 via electrical signals, enabling rapid switching between locking and releasing actions and enhancing the dynamic performance of the robot joint.

[0037] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0038] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A lock structure for use in a robot joint, characterized by, The utility model relates to a kind of electric brake mechanism of robot, including Planetary reducer (1); Motor (2), its rotating shaft is fixed with brake catch (3); Fixed shell (4) is used to accommodate the planetary reducer (1) and motor (2); Electric plug pin (5) is arranged in the fixed shell (4), and the electric plug pin (5) inside includes spring and coil; Rear-end control unit (6) is electrically connected with the electric plug pin (5); Wherein, the electric plug pin (5) realizes the path interference with brake catch (3) by the synergistic effect of magnetic field and spring;When the electric plug pin (5) is powered, the magnetic field generated by coil overcomes spring elasticity, drives electric plug pin (5) to descend to separate the path of brake catch (3), allows motor (2) to rotate;When the electric plug pin (5) is powered off, spring resets and drives electric plug pin (5) to ascend to block the path of brake catch (3), locks motor (2).

2. The lock structure for use in a robot joint according to claim 1, wherein The brake catch (3) is made of rigid material, and is coaxially fixed with the rotating shaft of motor (2).

3. The lock-up structure for use in a robot joint according to claim 1, wherein The coil of the electric plug pin (5) is connected with the rear-end control unit (6) by electric signal, for receiving on-off power instruction.

4. The lock structure for use in a robot joint according to claim 1, wherein The installation position of the fixed shell (4) is aligned with the axis of the electric plug pin (5), to ensure that the electric plug pin (5) and brake catch (3) are accurately matched in path.

5. The locking structure for use in a robot joint according to claim 1, wherein The output end of the planetary reducer (1) is connected with the driving component of robot joint.

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