Integrated humanoid robot joint module brake

Abstract

The utility model discloses an integrated type humanoid robot joint module brake, including casing and setting in the brake mechanism, brake disc of casing, brake mechanism is adapted to can limit or release the circumferential rotation of brake disc, and the shaft sleeve is cooperated in brake disc through the key, and the rotating part of humanoid robot joint module is connected with the shaft sleeve, and the casing has the opposite first side, second side, and the connecting ring is structured on the first side, and the inner wall of connecting ring and the outer wall of shaft sleeve cooperate and limit the bearing installation space. The connecting ring is integrated on the casing of brake, and the bearing installation space for installing the bearing of humanoid robot joint module shaft is formed through the cooperation of connecting ring and shaft sleeve, thereby saving the bearing seat for installing the bearing on joint module. Compared with prior art, the utility model reserves the installation space for the bearing of humanoid robot joint module through the mode of integrated connecting ring, and the humanoid robot joint module is more compact.

Description

Technical Field

[0001] This utility model relates to the field of joint module technology, and in particular, to a brake for an integrated humanoid robot joint module. Background Technology

[0002] The brakes of a humanoid robot's joint module are core components ensuring the robot's safety and precise operation. They typically activate instantly when power is lost or when the robot needs to maintain a specific posture, using mechanical locking to prevent the arm from accidentally moving or falling due to gravity or inertia, thus avoiding equipment damage or safety accidents. For example, after completing tasks such as lifting or welding, the brakes ensure the arm remains stably in the predetermined position.

[0003] However, current brakes are not specifically designed for humanoid robot joint modules. For example, existing technologies simply install the brake onto the joint module's pivot, without any other assembly relationship between the brake and the joint module. But due to the structural limitations of humanoid robots, the joint modules must be as compact as possible, a requirement that current brakes cannot meet. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a brake for an integrated humanoid robot joint module.

[0005] The objective of this utility model is achieved through the following technical solution: An integrated humanoid robot joint module brake includes a housing and a braking mechanism and a brake disc disposed within the housing. The braking mechanism is adapted to restrict or release the circumferential rotation of the brake disc. A bushing is keyed into the brake disc and connected to a rotating component of the humanoid robot joint module. The housing has opposing first and second sides. A connecting ring is constructed on the first side, and the inner wall of the connecting ring cooperates with the outer wall of the bushing to define a bearing mounting space.

[0006] Preferably, a plurality of mounting posts are provided circumferentially along the upper edge of the second side, and the plurality of mounting posts are used to install the signal board of the humanoid robot joint module.

[0007] Preferably, a limiting disc is provided on the outer wall of the bushing, and the limiting disc is fitted into the opening of the bearing mounting space.

[0008] Preferably, a plurality of the mounting posts cooperate to form an accommodating space for accommodating the encoder of the humanoid robot joint module.

[0009] Preferably, the bushing includes a connecting portion, a supporting portion, and a mounting portion along the axial direction; the connecting portion is keyed to the brake disc; the outer wall of the supporting portion is fitted to the inner wall of the connecting ring to define the bearing mounting space; the mounting portion is adapted to be a rotor for mounting the humanoid robot joint module.

[0010] Preferably, the braking mechanism is an electromagnetic braking mechanism.

[0011] Preferably, an annular groove is formed on the outer wall of the support portion and / or the mounting portion.

[0012] Preferably, the first side is further provided with an annular flange, which cooperates with the cover of the humanoid robot joint module.

[0013] The beneficial effects of this invention are as follows: The brake housing has an integrated connecting ring, which, in conjunction with a bushing, forms a bearing mounting space for installing the bearings of the humanoid robot joint module. This saves on the bearing seats on the joint module, ultimately achieving a more compact overall design for the joint module. Compared to existing technologies, this invention, by integrating a connecting ring, reserves mounting space for the bearings of the humanoid robot joint module, making the humanoid robot joint module more compact. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an embodiment; Figure 2 This is a schematic cross-sectional view of the structure in the embodiment; Figure 3 This is a schematic diagram of the shell structure; Figure 4 This is a schematic diagram of the bushing structure.

[0015] Reference numerals: 1. Housing; 2. Braking mechanism; 3. Brake disc; 4. Bushing; 5. First side; 6. Second side; 7. Connecting ring; 8. Bearing mounting space; 9. Mounting column; 10. Signal plate; 11. Limiting disc; 12. Accommodation space; 13. Connecting part; 14. Support part; 15. Mounting part; 16. Rotor; 17. Annular groove; 18. Annular flange; 19. Machine cover. Detailed Implementation

[0016] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0017] like Figures 1 to 4As shown, an integrated humanoid robot joint module brake includes a housing 1, and a braking mechanism 2 and a brake disc 3 disposed within the housing 1. The brake disc 3 is rotatably fitted within the housing 1, and the braking mechanism 2 can restrict or appropriately control the circumferential rotational freedom of the brake disc 3. Typically, the brake disc 3 also incorporates a bushing 4 using a spline or other key structure, which is attached to the rotating component to be braked. Thus, the rotation or cessation of rotation of the rotating component to be braked, the bushing 4, and the brake disc 3 can be achieved by opening and closing the braking mechanism 2.

[0018] For example, the pivot of the humanoid robot joint module is attached to the bushing 4, and the braking mechanism 2 may include, for example, an electromagnetic braking mechanism 2, a drum braking mechanism 2, or a hydraulic braking mechanism 2. These braking mechanisms 2 can achieve the above-mentioned braking action by pressing against or disengaging from the brake disc 3.

[0019] The housing 1 includes a first side 5 and a second side 6, wherein a connecting ring 7 is constructed on the first side 5, and the connecting ring 7 surrounds the outer side of the bushing 4, thereby forming a bearing mounting space 8 between the inner wall of the connecting ring 7 and the outer wall of the bushing 4. The bearings required for the humanoid robot joint module can be installed in this bearing mounting space 8, thereby achieving miniaturization and compactness of the joint module.

[0020] On the second side 6, several mounting posts 9 are arranged circumferentially. These mounting posts 9 are adapted to mount the photoelectric signal board 10 of the humanoid robot joint module, thereby saving corresponding installation space for the humanoid robot joint module. Furthermore, the mounting posts 9 are adapted to have a certain axial length, so that an accommodating space 12 for accommodating the encoder of the humanoid robot joint module is formed between the mounting posts 9, further achieving structural compactness.

[0021] An annular flange 18 may also be provided on the first side 5. After assembly, the cover 19 of the humanoid robot joint module and the annular flange 18 are coaxially engaged. On the one hand, the engagement of the two can achieve a certain sealing effect; on the other hand, the engagement of the two can provide the coaxiality of the overall structure, thereby providing the assembly accuracy of the structure.

[0022] In some embodiments, the bushing 4 preferably includes a connecting portion 13, a support portion 14, and a mounting portion 15 distributed sequentially along the axial direction. The connecting portion 13 is opposite to the brake disc 3 and the two are connected by a spline. The support portion 14 is opposite to the connecting ring 7, and the aforementioned bearing mounting space 8 is formed between the outer wall of the support portion 14 and the inner wall of the connecting ring 7. A limiting plate 11 is also adapted to be provided on the outer wall of the support portion 14. The limiting plate 11 can stop the opening of the bearing mounting space 8 and also provide a limit for the installation of the bearing in the bearing mounting space 8. The mounting portion 15 is adapted to be a rotor 16 for mounting the humanoid robot joint module, so that the axial dimensions of the joint module are further compacted and compressed.

[0023] For example, annular grooves 17 can be formed on both the support portion 14 and the mounting portion 15 to reduce friction with the bearing or rotor 16. Furthermore, lubricating oil can be stored in the annular grooves 17, thereby making the rotation of the components mounted thereon smoother and more stable.

[0024] The above description is merely a preferred embodiment of this utility model. It should be understood that this utility model is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this utility model should be protected within the scope of the appended claims.

Claims

1. A brake for an integrated humanoid robot joint module, comprising a housing (1) and a braking mechanism (2) and a brake disc (3) disposed within the housing (1), wherein the braking mechanism (2) is adapted to restrict or release the circumferential rotation of the brake disc (3), a bushing (4) is keyed into the brake disc (3), the bushing (4) is connected to the rotating component of the humanoid robot joint module, and the housing (1) has opposing first sides (5) and second sides (6), characterized in that: A connecting ring (7) is constructed on the first side (5), and the inner wall of the connecting ring (7) cooperates with the outer wall of the bushing (4) to define a bearing installation space (8).

2. The actuator for the integrated humanoid robot joint module according to claim 1, characterized in that: A plurality of mounting posts (9) are provided along the circumferential direction on the second side (6), and the plurality of mounting posts (9) are used to install the signal board (10) of the humanoid robot joint module.

3. The actuator for the integrated humanoid robot joint module according to claim 1, characterized in that: A limiting disk (11) is provided on the outer wall of the bushing (4), and the limiting disk (11) is fitted at the opening of the bearing mounting space (8).

4. The actuator for the integrated humanoid robot joint module according to claim 2, characterized in that: Several of the mounting posts (9) cooperate to form an accommodating space (12) for accommodating the encoder of the humanoid robot joint module.

5. The actuator for an integrated humanoid robot joint module according to any one of claims 1-4, characterized in that: The bushing (4) includes a connecting part (13), a supporting part (14), and a mounting part (15) along the axial direction; The connecting part (13) is connected to the brake disc (3) by a key; The outer wall of the support portion (14) cooperates with the inner wall of the connecting ring (7) to define the bearing mounting space (8); The mounting part (15) is adapted to be a rotor (16) for mounting the humanoid robot joint module.

6. The actuator for an integrated humanoid robot joint module according to any one of claims 1-4, characterized in that: The braking mechanism (2) is an electromagnetic braking mechanism (2).

7. The actuator for an integrated humanoid robot joint module according to claim 5, characterized in that: The outer wall of the support portion (14) and / or the mounting portion (15) is provided with an annular groove (17).

8. The actuator for an integrated humanoid robot joint module according to any one of claims 1-4, characterized in that: The first side (5) is also provided with an annular flange (18), which cooperates with the cover (19) of the humanoid robot joint module.

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