Differential braking structure for small robot joint module

Abstract

The utility model discloses give a kind of differential brake structure for small robot joint module, including motor and speed reducer, brake is carried out to motor by speed reducer, the speed reducer includes low-speed wire protection shaft, the low-speed wire protection shaft is equipped with shell, the low-speed wire protection shaft and the shell form mounting cavity between;Brake main body, brake friction plate, brake cover and front brake hub are sequentially set on the low-speed wire protection shaft in the mounting cavity along the axial direction backward;Skeleton oil seal is provided between the shell and front brake hub;The axial rear end surface of the shell is provided with a rigid wheel;The rigid wheel gear is engaged with speed reducer flexible wheel;By setting brake in the front side of entire differential brake structure, it is convenient to disassemble, maintenance procedure is simplified, maintenance cost is reduced, the technical problem of difficult replacement of existing technology small robot joint module brake structure cooperation piece is solved.

Description

Technical Field

[0001] This utility model belongs to the field of joint modules and relates to differential braking structures, specifically a differential braking structure for small robot joint modules. Background Technology

[0002] The differential braking structure of a robot joint module is a device that uses a built-in brake to brake the motor by friction. Its basic structure consists of a high-speed motor shaft, a reducer, and a brake. It has the advantages of precise control, rapid response, and low noise, and is now widely used in the high-precision instrument and robot industries.

[0003] However, in traditional small joint modules, the brake is placed between the reducer and the motor or at the end of the motor. This places strict requirements on the hollow diameter of the motor, making it difficult to maintain and replace the brake simply and quickly. This results in a difficult design of the mating parts, a complicated maintenance process, and high maintenance costs. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a differential braking structure for small robot joint modules, so as to solve the technical problem of the difficulty in replacing the mating parts of the braking structure of small robot joint modules in the existing technology.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A differential braking structure for a small robot joint module includes a motor and a reducer. The reducer brakes the motor. The reducer includes a low-speed guide shaft, which is fitted with a housing. An installation cavity is formed between the low-speed guide shaft and the housing.

[0007] A brake body, brake friction pads, brake cover plate, and front brake hub are sequentially fitted along the axial direction on the low-speed guard shaft located in the mounting cavity; a skeleton oil seal is provided between the housing and the front brake hub; a rigid wheel is provided on the axial rear end face of the housing; the rigid wheel gear meshes with a reducer flexible wheel.

[0008] The low-speed guard shaft has an output flange at its axial front end, which mates with the axial front end of the brake body; the outer wall of the output flange is fixedly connected to the inner wall of the housing.

[0009] A wave generator is fixedly sleeved on the output shaft of the motor; the axial rear end of the brake hub is fixedly connected to the axial front end of the wave generator.

[0010] The brake hub passes through the brake cover plate and then engages with the brake friction pad with a clearance fit.

[0011] The low-speed guard shaft and the front brake hub are fitted with a clearance.

[0012] Compared with the prior art, the beneficial technical effects of this utility model are:

[0013] (I) In this utility model, by setting the brake on the front side of the entire differential braking structure, disassembly is convenient, maintenance procedures are simplified, maintenance costs are reduced, and the technical problem of difficult replacement of the brake structure mating parts of small robot joint modules in the prior art is solved.

[0014] (II) In this utility model, the differential braking structure replaces the traditional reducer output structure, thereby realizing the differential braking function. In the event of power failure, the robot can maintain its original posture and avoid falling, thus avoiding unnecessary damage. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] The meanings of the labels in the diagram are as follows: 1. Output flange, 2. Housing, 3. Low-speed guard shaft, 4. Brake body, 5. Front brake hub, 6. Frame oil seal, 7. Wave generator, 8. Rigid wheel, 9. Motor, 10. Reducer flexible wheel, 11. Brake friction pad, 12. Brake cover plate.

[0017] The specific content of this utility model will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, all components in this utility model are components known in the art.

[0019] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0020] This utility model provides a differential braking structure for a small robot joint module, including a motor 9 and a reducer. The reducer brakes the motor 9. The reducer includes a low-speed guard shaft 3, and the low-speed guard shaft 3 is sleeved on a housing 2. An installation cavity is formed between the low-speed guard shaft 3 and the housing 2.

[0021] The low-speed guard shaft 3 located in the mounting cavity is fitted with the brake body 4, brake friction pad 11, brake cover plate 12 and front brake hub 5 in sequence along the axial direction to the rear; a skeleton oil seal 6 is provided between the housing 2 and the front brake hub 5; a rigid wheel 8 is provided on the axial rear end face of the housing 2; the rigid wheel 8 is geared to a reducer flexible wheel 10.

[0022] The low-speed guard shaft 3 is provided with an output flange 1 at its axial front end, and the output flange 1 is engaged with the axial front end of the brake body 4; the outer wall of the output flange 1 is fixedly connected to the inner wall of the housing 2.

[0023] A wave generator 7 is fixedly sleeved on the output shaft of the motor 9; the axial rear end of the brake hub 5 is fixedly connected to the axial front end of the wave generator 7.

[0024] It should be noted that when the small robot joint module is powered on and starts to move, the output shaft of motor 9 starts to rotate. At this time, the brake body 4 in the differential braking structure separates from the brake friction plate 11, and the two rotate freely. There is differential motion between the two without friction.

[0025] When the small robot joint module stops moving due to power failure, the output shaft of motor 9 continues to rotate due to inertia. At this time, it is necessary to brake motor 9 through brake friction pad 11 and brake body 4, as follows:

[0026] The brake friction pad 11 presses against the brake body 4, and the two generate a braking torque. Since the brake body 4 is connected to the output flange 1 and the brake friction pad 11 is connected to the front brake hub 5, the output flange 1 drives the housing 2, the housing 2 drives the rigid wheel 8, and the rigid wheel 8 and the reducer flexible wheel 10 generate differential transmission. On the other hand, the front brake hub 5 drives the wave generator 7 to rotate. The wave generator 7 is connected to the output shaft of the motor 9, and finally a braking torque is generated between the reducer flexible wheel 10 and the motor 9, thereby producing a braking effect on the motor 9, and thus braking the small robot joint module.

[0027] In the above technical solution, after power is applied, when the output shaft of the motor 9 rotates, it drives the wave generator 7 to rotate. On the one hand, the wave generator 7 drives the front brake hub 5 to rotate. On the other hand, the wave generator 7 transmits the rotation to the reducer flexure 10. The reducer flexure 10 and the rigid wheel 8 generate differential transmission. The rigid wheel 8 drives the housing 2, and the housing 2 drives the output flange 1. The front brake hub 5 is connected to the brake friction pad 11, and the output flange 1 is connected to the standard brake body 4. Thus, differential braking is realized between the brake body 4 and the brake friction pad 11.

[0028] By placing the brake on the front side of the entire differential braking structure, disassembly is convenient, maintenance procedures are simplified, maintenance costs are reduced, and the technical problem of difficult replacement of brake structure mating parts for small robot joint modules in existing technologies is solved.

[0029] By replacing the traditional reducer output structure with a differential braking structure, the differential braking function is realized, which can keep the robot in its original posture in the event of a power outage, preventing it from falling and thus avoiding unnecessary damage.

[0030] The brake hub 5 passes through the brake cover plate 12 and then engages with the brake friction plate 11 with clearance.

[0031] In the above technical solution, the clearance fit allows the braking torque of the brake to act directly on the front brake hub 5, thereby achieving the braking effect.

[0032] The low-speed guard shaft 3 and the front brake hub 5 are clearance fit.

[0033] In the above technical solution, friction is prevented between the low-speed guard shaft 3 and the front brake hub 5.

Claims

1. A differential braking structure for a small robot joint module, comprising a motor (9) and a reducer, wherein the reducer brakes the motor (9), characterized in that, The reducer includes a low-speed wire guard shaft (3), the low-speed wire guard shaft (3) is fitted with a housing (2), and an installation cavity is formed between the low-speed wire guard shaft (3) and the housing (2); A brake body (4), a brake friction pad (11), a brake cover plate (12), and a front brake hub (5) are sequentially mounted on the low-speed guard shaft (3) located in the mounting cavity along the axial direction to the rear. A skeleton oil seal (6) is provided between the housing (2) and the front brake hub (5). A rigid wheel (8) is provided on the axial rear end face of the housing (2). The rigid wheel (8) is geared to a reducer flexible wheel (10). The low-speed guard shaft (3) is provided with an output flange (1) at its axial front end, and the output flange (1) is engaged with the axial front end of the brake body (4); the outer wall of the output flange (1) is fixedly connected to the inner wall of the housing (2); A wave generator (7) is fixedly sleeved on the output shaft of the motor (9); the axial rear end of the brake hub (5) is fixedly connected to the axial front end of the wave generator (7).

2. The differential braking structure for a small robot joint module as described in claim 1, characterized in that, The brake hub (5) passes through the brake cover plate (12) and then engages with the brake friction plate (11) with a clearance.

3. The differential braking structure for a small robot joint module as described in claim 1, characterized in that, The low-speed guard shaft (3) and the front brake hub (5) are in clearance fit.

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