Transmission apparatus having reverse braking function, joint module, and robot

Abstract

A transmission apparatus (100) having a reverse braking function, comprising a shell base (1), a driven shaft (2), a brake block (3), an elastic member (4), and a drive member (5). The brake block is movable between a braking position and a release position relative to the driven shaft, wherein at the braking position, the brake block abuts against the shell base, and at the release position, the brake block is separated from the shell base, and the elastic member is used for pressing the brake block towards the braking position. The transmission apparatus can automatically achieve reverse braking. When the drive member rotates, the brake block overcomes the elastic force of the elastic member and moves to the release position relative to the driven shaft, the brake block is separated from the shell base, and then the drive member drives the driven shaft and the brake block to rotate together. When the drive member stops rotating, the elastic member pushes the brake block from the release position to the braking position relative to the driven shaft, and the brake block abuts against the shell base, so as to prevent the driven shaft and the brake block from rotating. The present disclosure also relates to a joint module (200) and a robot (400).

Description

Transmission device, joint module and robot with reverse braking function Technical Field

[0001] The embodiments of the present disclosure belong to the field of transmission technology. Specifically, the embodiments of the present disclosure relate to a transmission device with a reverse braking function. Background Art

[0002] Electromechanical equipment such as cranes, robot drive joints, and winches, when the motor loses power, its output terminal will rotate under loads such as gravity. In related technologies, electromagnetic brakes are typically installed on the motor shaft to provide braking force to prevent the electromechanical equipment from rotating after power failure. In addition, existing electromechanical equipment also uses mechanisms such as worm gear pairs to achieve braking. However, the braking methods used in related technologies have problems such as complex structure, large number of parts, large size, low braking torque, high braking friction loss, high cost, and low braking reliability.

[0003] Summary of the Invention

[0004] The embodiments of the present disclosure are intended to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present disclosure provides a transmission device with a reverse braking function that has low braking friction consumption and low cost.

[0006] An embodiment of the present disclosure also provides a joint module having the transmission device.

[0007] An embodiment of the present disclosure also provides a robotic arm having the joint module.

[0008] An embodiment of the present disclosure also provides a robot having the joint module.

[0009] An embodiment of the present disclosure also provides a production system having the robot.

[0010] An embodiment of the present disclosure also provides an electric device having the joint module.

[0011] The transmission device with a reverse braking function of the disclosed embodiment includes: a housing seat, which has a housing hole; a driven shaft, which is rotatably supported at least partially in the housing hole; a brake block, which is provided on the driven shaft and can rotate together with the driven shaft, and the brake block is movable relative to the driven shaft between a braking position and a release position, wherein in the braking position, the brake block abuts against the housing seat, and in the release position, the brake block is separated from the housing seat; an elastic member, which is connected to the driven shaft and the brake block, and is used to press the brake block toward the braking position; a driving member, which is connected to the driven shaft, and when the driving member rotates, the brake block moves relative to the driven shaft to the release position so that the driving member drives the driven shaft and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the driven shaft and the stop block from rotating together.

[0012] The transmission device of the disclosed embodiment can automatically achieve reverse braking. When the driving member rotates, the brake block first overcomes the elastic force of the elastic member and moves to a released position relative to the driven shaft, separating the brake block from the housing. The driving member then drives the driven shaft and the brake block to rotate together. When the driving member stops rotating, the elastic member pushes the brake block from the released position to the brake position relative to the driven shaft, where the brake block abuts against the housing, thereby preventing the driven shaft and the brake block from rotating. In other words, reverse transmission of driving force or torque is prevented. For example, the driven shaft cannot rotate under the load of a winch drum.

[0013] The transmission device of the disclosed embodiment can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size, and has the advantages of large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0014] In some embodiments, the driven shaft is provided with a shift groove, and the driving member is provided with a shift block. The shift block is engaged in the shift groove and is movable along the circumference of the driven shaft. When the driving member rotates, the shift block overcomes the elastic force of the elastic member and pushes the brake block to the release position to drive the driven shaft and the brake block to rotate together.

[0015] In some embodiments, the driven shaft is provided with a shift groove, and the driving member is provided with a shift block. The shift block is engaged in the shift groove and is movable along the circumference of the driven shaft. When the driving member rotates, the shift block drives the driven shaft to rotate so that the brake block overcomes the elastic force of the elastic member and moves to the release position, so that the shift block drives the driven shaft and the brake block to rotate together.

[0016] In some embodiments, the shifting groove is provided at the junction of the end surface of the first end of the driven shaft and the outer peripheral surface of the driven shaft, and the shifting groove is recessed from the end surface of the first end of the driven shaft toward the second end of the driven shaft and extends along the circumference of the driven shaft.

[0017] In some embodiments, the transmission device with reverse braking function also includes a first cover plate and a second cover plate, the first cover plate has a first cover plate hole, the second cover plate has a second cover plate hole, the first cover plate is installed at the first end of the shell seat, and the second cover plate is installed at the second end of the shell seat; the driving member is a driving disk and includes a disk body and a disk hub located at the center of the disk body, the shift block is provided on the disk body, the first end of the driven shaft is rotatably supported in the seat hole, the second end of the driven shaft extends through the second cover plate hole, and the disk hub is rotatably supported in the first cover plate hole through a first bearing.

[0018] In some embodiments, the seat hole includes a first seat hole section adjacent to the first end of the shell seat, a second seat hole section adjacent to the second end of the shell seat, and an intermediate seat hole section located between the first seat hole section and the second seat hole section. The first seat hole section is covered by the first cover plate, and the second seat hole section is covered by the second cover plate. In the braking position, the brake block abuts against the inner surface of the intermediate seat hole section. A second bearing for supporting the driven shaft is provided in the second seat hole section, and the driven shaft is clearance-fitted with the intermediate seat hole section.

[0019] In some embodiments, a first socket is provided on the end face of the first end of the driven shaft, a second socket is provided on the brake block, the elastic member is an arc spring, the first end of the elastic member is engaged in the first socket, and the second end of the elastic member is engaged in the second socket.

[0020] In some embodiments, the first end of the driven shaft is provided with one of a guide rail and a guide groove, the brake block is provided with the other of the guide rail and the guide groove, and the guide rail and the guide groove are slidably matched.

[0021] In some embodiments, the guide rail is provided on the driven shaft, the guide rail and the guide groove are both arc-shaped, the curvature radius of the outer peripheral surface of the guide rail gradually increases in the direction from the release position to the braking position, or the outer peripheral surface of the guide rail is a spiral surface or cam surface that gradually expands radially outward along the circumference of the driven shaft.

[0022] In some embodiments, the driven shaft is provided with a first shift groove and a second shift groove, and the driving member is provided with a first shift block and a second shift block, the first shift block is fitted in the first shift groove and is movable along the circumference of the driven shaft, the second shift block is fitted in the second shift groove and is movable along the circumference of the driven shaft, the brake block corresponds to the first shift groove, and when the driving member rotates along the first direction, the first shift block overcomes the elastic force of the elastic member and pushes the brake block to the release position.

[0023] In some embodiments, when the brake block moves to the release position, the second shift block is spaced apart from or in contact with an end wall surface of the second shift groove.

[0024] In some embodiments, when the driving member rotates in a second direction opposite to the first direction, the second shift block drives the driven shaft to rotate in the second direction and the brake block overcomes the elastic force of the elastic member and moves to the release position.

[0025] In some embodiments, when the brake block moves to the release position, the first shift block is spaced apart from or in contact with an end wall surface of the first shift groove.

[0026] In some embodiments, the first shifting groove, the second shifting groove, the first shifting block, the second shifting block, the brake block and the elastic member are all one.

[0027] In some embodiments, the first end of the driven shaft is provided with an arcuate guide rail, and the brake block is provided with an arcuate guide groove, and the arcuate guide rail and the arcuate guide groove are slidably matched; a recess is provided at the intersection of the end face of the first end of the driven shaft and the outer peripheral surface of the driven shaft, and the arcuate guide rail is arranged in the recess, and the recess is connected to the first shift groove and / or a part of the brake block extends to cover a part of the first shift groove so that the first shift block pushes the brake block, and the recess is recessed from the end face of the first end of the driven shaft toward the second end of the driven shaft and extends along the circumference of the driven shaft.

[0028] In some embodiments, the curvature radius of the outer circumference of the arcuate guide rail gradually increases in the direction from the release position to the braking position, or the outer circumference of the arcuate guide rail is a spiral surface or a cam surface that gradually expands radially outward along the circumference of the driven shaft.

[0029] In some embodiments, the brake block includes an arcuate plate body, an arcuate outer boss and an arcuate inner boss, the outer boss and the inner boss are provided on the plate body and extend along the circumference of the plate body, the outer boss and the inner boss are spaced apart from each other in the radial direction of the plate body, the arcuate guide groove is formed between the boss and the inner boss, the outer peripheral surface of the outer boss is flush with the outer peripheral surface of the plate body, and the inner peripheral surface of the inner boss is flush with the inner peripheral surface of the plate body. In the braking position, at least a portion of the outer peripheral surface of the outer boss and at least a portion of the outer peripheral surface of the plate body extend beyond the outer peripheral surface of the driven shaft in the radial direction of the driven shaft to stop with the shell seat, the first end of the outer boss and the first end of the inner boss are spaced apart from the first end of the plate body by a first distance, and the second end of the outer boss and the second end of the inner boss are spaced apart from the second end of the plate body by a second distance.

[0030] In some embodiments, the inner side of the arc guide rail has an inner groove, the outer side of the arc guide rail has an outer groove, the first end of the arc guide rail has a first step, the second end of the arc guide rail has a second step, and the upper surface of the arc guide rail, the upper surface of the first step and the upper surface of the second step are flush with the bottom surface of the first groove.

[0031] The transmission device of the embodiment of the present disclosure includes: a follower; a brake member, which is provided on the follower and can rotate together with the follower, and the brake member is movable relative to the follower between a braking position that prevents the follower and the brake member from rotating together and a release position that allows the follower and the brake member to rotate together; an elastic member, which presses the brake member toward the braking position; a driving member, which is used to drive the follower to rotate, and when the driving member rotates, the brake member overcomes the elastic force of the elastic member and moves relative to the follower from the braking position to the release position, so that the driving member drives the follower and the brake member to rotate together, and when the driving member stops rotating, the elastic member pushes the brake member from the release position to the braking position.

[0032] The transmission device of the embodiment of the present disclosure includes: a rotatable follower; a brake member, the brake member being provided on the follower, and the brake member being movable relative to the follower between a braking position for preventing the follower from rotating and a release position for allowing the follower to rotate, wherein in the radial direction of the follower, the brake member is farther from the rotation center of the follower when it is in the braking position than when it is in the release position, or the brake member moves along the circumferential direction of the follower and simultaneously moves outward in the radial direction of the follower when the brake member moves from the release position toward the braking position, or the brake member moves from the release position toward the braking position. When the brake member moves, the movement trajectory of the brake member is a spiral or cam profile that gradually expands radially outward along the circumference of the follower; a spring, the first end of the spring is connected to the brake member, and the second end of the spring is connected to the follower, and the spring presses the brake member toward the braking position; a rotatable driving member, when the driving member rotates, the brake member overcomes the elastic force of the spring and moves from the braking position to the release position to drive the follower and the brake member to rotate together, and when the driving member stops rotating, the spring pushes the brake member from the release position to the braking position to prevent the follower and the brake member from rotating together.

[0033] The joint module of the embodiment of the present disclosure includes: a transmission device, which can be the transmission device according to any of the above embodiments; and a motor, wherein the motor shaft of the motor is connected to the driving member of the transmission device to drive the driving member to rotate.

[0034] The robotic arm of the disclosed embodiment may include the joint module described in any one of the above embodiments.

[0035] The robot of the disclosed embodiment may include the joint module described in any one of the above embodiments.

[0036] The production system of the embodiments of the present disclosure may include the robotic arm described in any one of the above embodiments and / or the robot described in any one of the above embodiments.

[0037] The electric device of the embodiment of the present disclosure may include the joint module described in any one of the above embodiments.

[0038] In some embodiments, the electric device may be an electric wheelchair or an electric bed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1 is a perspective view of a transmission device with a reverse braking function according to an embodiment of the present disclosure.

[0040] FIG. 2 is another perspective view of the transmission device with reverse braking function according to the embodiment of the present disclosure.

[0041] FIG3 is a partial cross-sectional schematic diagram of a transmission device with a reverse braking function according to an embodiment of the present disclosure.

[0042] FIG4 is an axial cross-sectional view of a housing seat of a transmission device with a reverse braking function according to an embodiment of the present disclosure.

[0043] FIG5 is a cross-sectional view of the transmission device with a reverse braking function according to the embodiment of the present disclosure taken along line AA in FIG3 .

[0044] FIG6 is a cross-sectional view of the transmission device with a reverse braking function along line BB in FIG3 according to an embodiment of the present disclosure.

[0045] FIG7 is a schematic diagram showing a brake block of a transmission device with a reverse braking function in a braking position according to an embodiment of the present disclosure.

[0046] FIG8 is a schematic diagram showing a transmission device with a reverse braking function according to an embodiment of the present disclosure, in which the brake block is in a released position and the driving member rotates counterclockwise.

[0047] FIG9 is a schematic diagram showing a transmission device with a reverse braking function according to an embodiment of the present disclosure, in which the brake block is in a released position and the driving member rotates in a clockwise direction.

[0048] FIG10 is a perspective view of a brake pad and a driven shaft of a transmission device with a reverse braking function according to an embodiment of the present disclosure.

[0049] FIG. 11 is a perspective view of a driven shaft of a transmission device having a reverse braking function according to an embodiment of the present disclosure.

[0050] 12 is an end view of a driven shaft of a transmission device with a reverse braking function according to an embodiment of the present disclosure.

[0051] FIG. 13 is a perspective view of a brake shoe of a transmission device having a reverse braking function according to an embodiment of the present disclosure.

[0052] FIG14 is a plan view of a brake block of a transmission device with a reverse braking function according to an embodiment of the present disclosure.

[0053] FIG. 15 is a perspective view of a joint module according to an embodiment of the present disclosure.

[0054] FIG16 is a front view of the joint module according to an embodiment of the present disclosure.

[0055] FIG17 is a schematic diagram of a robotic arm according to an embodiment of the present disclosure.

[0056] FIG18 is a schematic diagram of a robot according to an embodiment of the present disclosure.

[0057] FIG. 19 is a schematic diagram of an electric device according to an embodiment of the present disclosure.

[0058] FIGURE 100, transmission device; 1, housing seat; 101, first end of housing seat; 102, second end of housing seat; 11, housing hole; 111, first housing hole section; 112, second housing hole section; 113, intermediate housing hole section; 2, driven shaft; 21, shift groove; 21a, first shift groove; 21b, second shift groove; 22, first end of driven shaft; 23, first insertion hole; 24, arcuate guide rail; 241, outer circumferential surface of arcuate guide rail; 25, notch; 26, inner groove; 27, outer groove; 28, first step; 29, second step; 3, brake block; 31, second insertion hole; 32, arcuate guide groove; 33, plate; 34, outer boss; 341, inner circumferential surface of outer boss; 35, inner boss; 4, elastic member; 41, first end of elastic member; 42, second end of elastic member; 5. Driving member; 51. Shift block; 51a. First shift block; 51b. Second shift block; 52. Disc body; 53. Disc hub; 531. Disc hole; 61. First cover plate; 611. First cover plate hole; 62. Second cover plate; 621. Second cover plate hole; 71. First bearing; 72. Second bearing; 8. Active shaft; 9. Snap ring; 200. Joint module; 210. Motor; 211. Motor shaft; 300. Robotic arm; 400. Robot; 500. Electric wheelchair. DETAILED DESCRIPTION

[0059] The embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

[0060] As shown in FIG. 1 to FIG. 14 , the transmission device 100 with reverse braking function according to an embodiment of the present disclosure includes a housing 1 , a driven shaft 2 , a brake block 3 , an elastic member 4 and a driving member 5 .

[0061] The housing base 1 has a seat hole 11, which can pass through the housing base 1 along the axial direction of the housing base 1 (for example, the left and right direction in Figure 3). The driven shaft 2 is rotatably supported at least partially in the seat hole 11. The brake block 3 is provided on the driven shaft 2 and can rotate with the driven shaft 2. The brake block 3 is movable relative to the driven shaft 2 between a braking position (for example, the position shown in Figure 7) and a release position (for example, the position shown in Figures 8 and 9). In the braking position, the brake block 3 is abutted against the housing base 1. In the release position, the brake block 3 is separated from the housing base 1.

[0062] The elastic member 4 is connected to the driven shaft 2 and the brake pad 3 and is used to constantly press the brake pad 3 toward the braking position. In other words, the elastic member 4 applies an elastic force to the brake pad 3, and this elastic force of the elastic member 4 presses the brake pad 3 toward the braking position. For example, as the brake pad 3 moves from the braking position to the released position, the elastic member 4 is gradually compressed, thereby applying an elastic force to the brake pad 3, which presses the brake pad 3 toward the braking position. It will be understood that the embodiments of the present disclosure are not limited to this. For example, the elastic member 4 may also be gradually stretched.

[0063] The driving member 5 is connected to the driven shaft 2 and is used to drive the driven shaft 2. When the driving member 5 rotates, the brake block 3 can overcome the elastic force of the elastic member 4 and move to the released position relative to the driven shaft 2. The brake block 3 separates from the housing 1, allowing the driving member 5 to drive the driven shaft 2 and the brake block 3 to rotate together. When the driving member 5 stops rotating, the elastic member 4 pushes the brake block 3 to the braking position relative to the driven shaft 2, where the brake block 3 abuts the housing 1, thereby preventing the driven shaft 2 and the brake block 3 from rotating together. In other words, when the driving member 5 rotates, the brake block 3 moves to the released position, allowing the driving member 5 to drive the driven shaft 2 and the brake block 3 to rotate together. When the driving member 5 stops rotating, the brake block 3 moves to the braking position and abuts the housing 1. At this time, even if a load (torque) is applied to the driven shaft 2, the driven shaft 2 cannot rotate with the brake block 3. As a result, the driven shaft 2 cannot reversely transfer the load to the driving member 5, thereby achieving a reverse braking function.

[0064] For example, the driving member 5 can be connected to the driving shaft 8 to be driven by the driving shaft 8 to rotate in a first direction (for example, counterclockwise) or in a second direction (for example, clockwise). For example, the driving shaft 8 can be the shaft of the driver or the shaft connected to the driver shaft. The driver can be a motor, for example.

[0065] When the driving member 5 is driven by the motor, the brake block 3 overcomes the elastic force of the elastic member 4 and moves to a release position relative to the driven shaft 2, thereby separating from the housing 1. The driving member 5 then drives the brake block 3 to rotate together with the driven shaft 2. The driven shaft 2 can also be called the output shaft of the transmission device 100. The driven shaft 2 can be connected to other components to drive other moving parts to rotate. For example, the driven shaft 2 can be used to drive the drum of a winch, the joints of a robot, etc.

[0066] When the motor stops due to power failure, the driving member 5 stops rotating, and the brake block 3 moves to the braking position relative to the driven shaft 2 under the elastic force of the elastic member 4 and stops against the housing seat 1. The friction between the brake block 3 and the housing seat 1 prevents the driven shaft 2 and the brake block 3 from rotating together.

[0067] The transmission device of the disclosed embodiment can automatically achieve reverse braking. When the driving member rotates, the brake block first overcomes the elastic force of the elastic member and moves to the release position relative to the driven shaft, and the brake block is separated from the shell seat, and then the driving member drives the driven shaft and the brake block to rotate together. When the driving member stops rotating, the elastic member pushes the brake block from the release position to the braking position relative to the driven shaft, and the brake block abuts against the shell seat, thereby preventing the driven shaft and the brake block from rotating together, that is, the driven shaft cannot rotate under the action of the torque (load) applied thereto, so that the driven shaft cannot reversely transmit the torque to the driving member to rotate the driving member. For example, when the motor of the winch stops rotating, the load applied to the driven shaft by the winch drum cannot drive the driven shaft to rotate, and thus the driven shaft cannot rotate the driving member.

[0068] It can be understood that in the embodiments of the present disclosure, the "reverse" in "reverse braking" refers to the direction in which the torque (load, driving force) applied to the driven shaft is transmitted toward the driving member, and accordingly, "forward" refers to the direction in which the torque (driving force) of the driving member is transmitted toward the driven shaft.

[0069] The transmission device of the disclosed embodiment can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size, and has the advantages of large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0070] In some embodiments, as shown in Figures 1-2 and 5-12, the driven shaft 2 is provided with a shifting groove 21, and the driving member 5 is provided with a shifting block 51, which is fitted in the shifting groove 21 and movable in the shifting groove 21 along the circumference of the driven shaft 2.

[0071] In some examples, as shown in FIG8 , when the driving member 5 rotates counterclockwise, the shifting block 51 overcomes the elastic force of the elastic member 4 and pushes the brake shoe 3 to the released position, thereby driving the brake shoe 3 to rotate together with the driven shaft 2. In other words, the driving member 5 pushes the brake shoe 3 via the shifting block 51, causing the brake shoe 3 to overcome the elastic force of the elastic member 4 and move relative to the driven shaft 2 to the released position, thereby driving the driven shaft 2 and the brake shoe 3 to rotate together via the shifting block 51.

[0072] In other examples, as shown in FIG9 , when the driving member 5 rotates in the clockwise direction, the shifter 51 drives the driven shaft 2 to rotate, causing the driven shaft 2 and the brake pad 3 to rotate relative to each other, thereby overcoming the elastic force of the elastic member 4 and moving to the released position. The shifter 51 then drives the driven shaft 2 and the brake pad 3 to rotate together. In other words, the driving member 5 drives the driven shaft 2 to rotate via the shifter 51, thereby causing the brake pad 3 to overcome the elastic force of the elastic member 4 and move to the released position. The shifter 51 then applies a force to the driven shaft 2, driving the driven shaft 2 and the brake pad 3 to rotate together.

[0073] In some embodiments, as shown in Figures 1-2 and 5-9, the shifting slot 21 includes a first shifting slot 21a and a second shifting slot 21b, and the shifter 51 includes a first shifting block 51a and a second shifting block 51b. The first shifting block 51a fits within the first shifting slot 21a and is movable along the circumference of the driven shaft 2. The second shifting block 51b fits within the second shifting slot 21b and is movable along the circumference of the driven shaft 2. The brake block 3 corresponds to the first shifting slot 21a. That is, when the driving member 5 rotates counterclockwise, the first shifting block 51a, which fits within the first shifting slot 21a, drives the brake block 3.

[0074] Specifically, as shown in Figures 7 and 8, in Figure 7, the brake block 3 is in the braking position, the brake block 3 is stopped against the shell seat 1, and the minimum gap G between the two is zero. The driving member 5 rotates in a first direction (for example, counterclockwise direction N), and the first shift block 51a moves in the counterclockwise direction N along the circumference of the driven shaft 2 in the first shift groove 21a until it contacts the end face of the brake block 3 (the upper end face in Figure 7). Then, the first shift block 51a applies a thrust F to the brake block 3 to overcome the elastic force T of the elastic member 4 to push the brake block 3 to the release position shown in Figure 8. As shown in Figure 8, the brake block 3 is separated from the shell seat 1, and the minimum gap G between the two is greater than zero. Subsequently, the first shift block 51a pushes the brake block 3 and the driven shaft 2 to rotate together in the counterclockwise direction N.

[0075] As shown in Figure 8, when the first shift block 51a pushes the brake block 3 from the braking position to the release position, the second shift block 51b rotates in the counterclockwise direction N in the second shift groove 21b. When the brake block 3 reaches the release position, the second shift block 51b is spaced apart from the end wall surface of the second shift groove 21b (the upper end wall surface in Figure 8). Optionally, the second shift block 51b can contact the end wall surface of the second shift groove 21b and the second shift block 51b can not apply force to the driven shaft 2. The driven shaft 2 and the brake block 3 rotate together in the counterclockwise direction N under the action of the first shift block 51a. Therefore, the processing accuracy and assembly accuracy requirements of the driving member 5 and the driven shaft 2 are low, and the cost is low.

[0076] In some embodiments, when the driving member 5 rotates in a second direction opposite to the first direction, the second shift block 51 b drives the driven shaft 2 to rotate in the second direction, and the brake block 3 overcomes the elastic force of the elastic member 4 and moves to the release position.

[0077] Specifically, as shown in Figures 7 and 9 , in Figure 7 , the brake block 3 is in the braking position, abutting against the housing 1 with the minimum gap G therebetween being zero. The driving member 5 rotates in the second direction (clockwise direction S), and the second shift block 51b rotates in the second shift groove 21b along the circumference of the driven shaft 2 in the clockwise direction S until it contacts the end surface of the second shift groove 21b (the lower end surface in Figure 9 ). The second shift block 51b applies a thrust F to the driven shaft 2, thereby driving the driven shaft 2 to rotate in the clockwise direction S. Relative rotation occurs between the driven shaft 2 and the brake block 3, and the brake block 3 overcomes the elastic force T of the elastic member 4 and moves to the released position. The second shift block 51b then drives the driven shaft 2 and the brake block 3 to rotate together in the clockwise direction S.

[0078] As shown in Figure 9 , when the brake shoe 3 moves from the braking position to the releasing position against the elastic force of the elastic member 4 , the first shifting block 51 a is spaced apart from one end wall surface of the first shifting groove 21 a (the upper end wall surface in Figure 9 ). Alternatively, the first shifting block 51 a may contact one end wall surface of the first shifting groove 21 a and the first shifting block 51 a may not apply any force to the driven shaft 2. The driven shaft 2 and the brake shoe 3 rotate together in the clockwise direction under the action of the second shifting block 51 b.

[0079] In some specific examples, as shown in Figures 1 to 14, the first shift groove 21a, the second shift groove 21b, the first shift block 51a, the second shift block 51b, the brake block 3 and the elastic member 4 are all one, wherein the first shift block 51a is fitted in the first shift groove 21a and corresponds to the brake block 3, and the second shift block 51b is fitted in the second shift groove 21b and does not correspond to the brake block 3, that is, the second shift block 51b will not directly contact the brake block 3.

[0080] In an optional embodiment, the first shifting groove 21a, the second shifting groove 21b, the first shifting block 51a, the second shifting block 51b, the brake block 3 and the elastic member 4 can all be plural.

[0081] In some embodiments, as shown in Figures 1-3, the driven shaft 2 has a first end 22 (the left end in Figure 1) and a second end (the right end in Figure 1) along its axial direction. The first end 22 of the driven shaft 2 is adjacent to the driving member 5, and the second end of the driven shaft 2 can be connected to a driven component, such as a drum of a winch. In the examples shown in Figures 1-3, the driven shaft 2 is a hollow shaft, that is, having a central through hole extending along its axial direction. The central through hole can be used for connection with other components, but the embodiments of the present disclosure are not limited to this.

[0082] The shift groove 21 is located at the intersection of the end surface of the first end 22 of the driven shaft 2 and the outer circumferential surface of the driven shaft 2. That is, the shift groove 21 is located at the edge of the end surface of the first end 22 of the driven shaft 2. The outer circumferential surface and upper surface (the surface corresponding to the end surface of the first end of the driven shaft) of the shift groove 21 are open. The shift groove 21 is recessed from the end surface of the first end 22 of the driven shaft 2 toward the second end of the driven shaft 2. The shift block 51 of the driving member 5 extends from the first end 22 of the driven shaft 2 along the axial direction of the driven shaft 2 and fits within the shift groove 21. The shift groove 21 extends along the circumference of the driven shaft 2 and is specifically arc-shaped.

[0083] As shown in FIG. 10 to FIG. 12 , there are two shifting grooves 21 including a first shifting groove 21 a and a second shifting groove 21 b . The first shifting groove 21 a and the second shifting groove 21 b are arranged at intervals along the circumference of the driven shaft 2 .

[0084] As shown in Figures 5 and 6 , the shift block 51 of the driving member 5 is configured in an arc shape that matches the shift slot 21. Both the outer and inner circumferences of the shift block 51 are arc-shaped. The inner circumference of the shift block 51 can slide with the inner circumferential wall of the shift slot 21. A gap exists between the outer circumference of the shift block 51 and the outer circumference of the shift slot 21 in the radial direction of the driven shaft 2. It will be understood that the embodiments of the present disclosure are not limited to this.

[0085] In some embodiments, as shown in FIG. 1-FIG . 3 , the transmission device 100 further includes a first cover plate 61 and a second cover plate 62 . The first cover plate 61 has a first cover plate hole 611 , and the second cover plate 62 has a second cover plate hole 621 .

[0086] The housing base 1 has a first end 101 (the right end in Figures 3 and 4) and a second end 102 (the left end in Figures 3 and 4) opposite to each other in the axial direction. The first cover plate 61 is mounted on the first end 101 of the housing base 1, and the second cover plate 62 is mounted on the second end 102 of the housing base 1.

[0087] The first end 22 of the driven shaft 2 is rotatably supported in the seat hole 11 of the housing 1, and the second end of the driven shaft 2 extends through the second cover plate hole 621 to connect with other components to output power to other components, such as the drum of the winch.

[0088] The driving member 5 is configured as a drive disc, comprising a disc body 52 and a disc hub 53 located at the center of the disc body 52. ​​The shifter 51 is disposed on the disc body 52 and extends from the disc body 52 toward the driven shaft 2. The disc hub 53 is rotatably supported within a first cover plate hole 611 of the first cover plate 61 via a first bearing 71. The first and second cover plates 61 and 62 seal both ends of the seat hole 11. The first end 22 of the driven shaft 2, the brake pad 3, the elastic member 4, and the disc body 52 are located within the seat hole 11, thereby better protecting these components and making the transmission device 100 more compact.

[0089] As shown in Figures 1-3, the disc hub 53 is provided with a disc hole 531 suitable for cooperating with the driving shaft 8, such as the motor shaft of a motor. The disc hole 531 can pass through the disc hub 53 along the axial direction of the driving member. Optionally, the disc hole 531 can be a blind hole. The motor shaft fits in the disc hole 531 to drive the driving member 5 to rotate. In the example shown in Figure 3, the disc hole 531 passes through the disc hub 53 along the axial direction of the disc hub 53, and one end of the driving shaft 8 fits in the disc hole 531 to connect with the driving member 5. In the examples shown in Figures 1 and 2, the disc hole 531 of the driving member 5 is connected to the driving shaft 8 through a spline, and a retaining ring 9 is provided on the disc hub 53. The retaining ring 9 is abutted against the outer end face of the first cover plate 61 and is used to limit the bearing 71 and the driving member 5.

[0090] In some embodiments, as shown in Figures 3 and 4, the seat hole 11 includes a first seat hole section 111 adjacent to the first end 101 of the shell seat 1, a first seat hole section 112 adjacent to the second end 102 of the shell seat 1, and an intermediate seat hole section 113 located between the first seat hole section 111 and the first seat hole section 112. The first seat hole section 111 is covered by the first cover plate 61, and the first seat hole section 112 is covered by the second cover plate 62.

[0091] The brake block 3 is located in the middle seat hole section 113. In the braking position, the brake block 3 abuts against the inner surface of the middle seat hole section 113. A second bearing 72 for supporting the driven shaft 2 is provided in the first seat hole section 112. The driven shaft 2 and the middle seat hole section 113 are clearance-fitted.

[0092] As shown in Figure 3, the second bearing 72 fits within the first seat hole section 112, and the second bearing 72 is sleeved on the driven shaft 2. Through the support of the second bearing 72, the clearance fit between the driven shaft 2 and the intermediate seat hole section 113 is more stable and reliable, avoiding friction between the driven shaft 2 and the housing seat 1.

[0093] In the example shown in Figures 3 and 4, the inner diameters of both the first seat hole section 111 and the first seat hole section 112 are greater than the inner diameter of the middle seat hole section 113. The first end 22 of the driven shaft 2 is positioned within the middle seat hole section 113 and has a clearance fit with the middle seat hole section 113, allowing the driven shaft 2 to rotate relative to the middle seat hole section 113. The driven shaft 2 also has a clearance fit with the second cover plate hole 621 of the second cover plate 62, allowing the driven shaft 2 to rotate relative to the second cover plate hole 621. The main body section of the elastic member 4 is positioned within the first seat hole section 111 and adjacent to the first end 22 of the driven shaft 2, facilitating connection with the driven shaft 2 and the brake pad 3. The first end 41 and second end 42 of the elastic member 4 each extend a predetermined length in a direction perpendicular to the plane of the main body section. A cavity for accommodating the elastic member 4 can be formed between the disk 52 of the driving member 5 and the end surface of the first end 22 of the driven shaft 2.

[0094] In other embodiments, the inner diameter of the first seat hole section 111 can be equal to the inner diameter of the middle seat hole section 113, or the inner diameter of the first seat hole section 112 can be equal to the inner diameter of the middle seat hole section 113, and the driven shaft 2 is clearance-fitted with the first seat hole section 112 without the need to provide a second bearing 72.

[0095] In some embodiments, as shown in FIG10 , a first receptacle 23 is provided on the end surface of the first end 22 of the driven shaft 2, and a second receptacle 31 is provided on the plate 33 of the brake shoe 3. As shown in FIG1-2 , the elastic member 4 is an arc-shaped spring. In other words, the main body of the spring is a generally open arc. The first end 41 and the second end 42 of the spring extend in a direction generally perpendicular to the plane of the main body, thereby facilitating connection between the first end 41 and the second end 42 of the spring, respectively, and the brake shoe 3 and the driven shaft 2. As shown in FIG5-9 , the first end 41 of the elastic member 4 fits within the first receptacle 23, and the second end 42 of the elastic member 4 fits within the second receptacle 31, applying an elastic force T to the brake shoe 3, thereby constantly pressing the brake position toward the brake shoe 3. As shown in FIG7-9 , as the brake shoe 3 moves from the braking position toward the release position, the first end 41 and the second end 42 of the elastic member 4 approach each other, gradually compressing the spring.

[0096] It is understood that the elastic member 4 is not limited to a rod-shaped spring and may be, for example, an elastic sheet or other forms. The connection method of the elastic member 4 to the brake shoe 3 and the driven shaft 2 is also not limited to the above embodiment. As long as the elastic member 4 can move the brake shoe 3 from the release position to the braking position when the driving member 5 stops rotating, it can be used.

[0097] In some embodiments, the first end 22 of the driven shaft 2 is provided with one of a guide rail and a guide groove, and the brake shoe 3 is provided with the other of the guide rail and the guide groove, wherein the guide rail and the guide groove slidably engage with each other. When the brake shoe 3 moves between the braking position and the release position, the guide rail and the guide groove slide relative to each other, thereby guiding the relative movement between the driven shaft 2 and the brake shoe 3. Specifically, the movement of the brake shoe 3 relative to the driven shaft 2 is smoother and more reliable.

[0098] In some embodiments, as shown in Figures 10-14, the guide rail is provided on the driven shaft 2, and the guide groove is provided on the brake block 3. Both the guide rail and the guide groove are arc-shaped, that is, the guide rail is constructed as an arc-shaped guide rail 24, and the guide groove is constructed as an arc-shaped guide groove 32 adapted to the arc-shaped guide rail 24. The arc-shaped guide rail 24 and the arc-shaped guide groove 32 can be slidably matched.

[0099] Specifically, as shown in Figures 10-12, a notch 25 is provided at the intersection of the end surface of the first end 22 of the driven shaft 2 and the outer circumferential surface of the driven shaft 2. Specifically, the notch 25 is provided at the edge of the end surface of the first end 22 of the driven shaft 2, and the outer circumferential surface and upper surface (the surface corresponding to the end surface of the first end of the driven shaft) of the notch 25 are open. The notch 25 is recessed from the end surface of the first end 22 of the driven shaft 2 toward the second end of the driven shaft 2 and extends along the circumference of the driven shaft 2.

[0100] The arcuate guide rail 24 is positioned within the recess 25 and extends circumferentially along the driven shaft 2. In the braking position, a portion of the brake shoe 3 extends above the first shifting groove 21a, overlapping with a portion of the first shifting groove 21a. This facilitates the engagement of the first shifting block 51a within the first shifting groove 21a with the brake shoe 3. Specifically, the recess 25 is adjacent to the first shifting groove 21a circumferentially of the driven shaft 2, and the recess 25 communicates with the end of the first shifting groove 21a, allowing the first shifting block 51a to contact and push the brake shoe 3.

[0101] As shown in FIG. 10-12 , the recess 25 may be in communication with the first shifting groove 21 a , so that the first shifting block 51 a fitted in the first shifting groove 21 a may contact and push the brake block 3 .

[0102] Optionally, the notch 25 may be in communication with the first detent groove 21 a , and in the braking position, a portion of the brake block 3 overlaps with a portion of the first detent groove 21 a .

[0103] As shown in Figures 13 and 14, the brake pad 3 includes a plate body 33, an outer boss 34, and an inner boss 35. The plate body 33 may be arc-shaped, having an arc-shaped outer circumferential surface and an arc-shaped inner circumferential surface. The plate body 33 has two parallel plate surfaces in the thickness direction. For example, when the brake pad 3 is mounted on the driven shaft 2, the plate body 33 has a first plate surface facing the driven shaft 2 and a second plate surface facing away from the driven shaft 2. The outer boss 34 and the inner boss 35 are both provided on the first plate surface and extend along the circumference of the plate body 33. The outer boss 34 and the inner boss 35 are spaced apart from each other in the radial direction of the plate body 33. An arc-shaped guide groove 32 is formed between the boss and the inner boss 35. The outer circumferential surface of the outer boss 34 is flush with the outer circumferential surface of the plate body 33, and the inner circumferential surface of the inner boss 35 is flush with the inner circumferential surface of the plate body 33.

[0104] As shown in Figures 3 and 5 , the plate body 33 of the brake shoe 3 fits within the recess 25, and the second surface of the plate body 33 is flush with the end surface of the first end 22 of the driven shaft 2. In the radial direction of the driven shaft 2, the arcuate guide rail 24 is located between the outer boss 34 and the inner boss 35 and is slidable relative to the outer boss 34 and the inner boss 35 in the circumferential direction of the driven shaft 2. In other words, the arcuate guide rail 24 extends into the arcuate groove and slidably engages with the arcuate groove.

[0105] As shown in Figure 7, in the braking position, at least a portion of the outer circumferential surface of the outer boss 34 and at least a portion of the outer circumferential surface of the plate body 33 extend beyond the outer circumferential surface of the driven shaft 2 in the radial direction of the driven shaft 2 to abut against the shell seat 1, specifically, they can abut against the wall surface of the middle seat hole section 113 of the shell seat 1.

[0106] As shown in FIG14 , the outer boss 34 has opposing first and second ends in the circumferential direction of the plate body 33, and the inner boss 35 has opposing first and second ends in the circumferential direction of the plate body 33. The plate body 33 has opposing first and second ends in its circumferential direction. The first end of the outer boss 34 and the first end of the inner boss 35 are each adjacent to the first end of the plate body 33 and spaced apart by a first distance, while the second end of the outer boss 34 and the second end of the inner boss 35 are each adjacent to the second end of the plate body 33 and spaced apart by a second distance.

[0107] As shown in Figures 11 and 12, the inner side of the arcuate guide rail 24 has an inner groove 26, and the outer side of the arcuate guide rail 24 has an outer groove 27. The inner boss 35 of the brake shoe 3 fits in the inner groove 26 and can slide along the inner groove 26, while the outer boss 34 of the brake shoe 3 fits in the outer groove 27 and can slide along the outer groove 27. It will be understood that both the inner groove 26 and the outer groove 27 are arcuate grooves, and the outer side and upper surface of the outer groove 27 are open, so that a portion of the outer boss 34 can extend outward through the outer groove 27 to abut against the housing base 1.

[0108] Furthermore, the first end of the arcuate guide rail 24 has a first step 28, and the second end of the arcuate guide rail 24 has a second step 29. The arcuate guide rail 24 is located between the first step 28 and the second step 29 in the circumferential direction of the driven shaft 2, and is connected to the first step 28 and the second step 29. The upper surface of the arcuate guide rail 24, the upper surface of the first step 28, and the upper surface of the second step 29 can be flush with the bottom surface of the first shifting groove 21a (also known as the lower surface, that is, the surface away from the end surface of the first end of the driven shaft). The bottom of the plate body 33 slides and fits with the upper surface of the arcuate guide rail 24, the upper surface of the first step 28, and the upper surface of the second step 29. As shown in Figure 8, when the driven shaft 2 rotates in the first direction, the first shifting block 51a in the first shifting groove 21a contacts the end surface of the plate body 33 to push the brake block 3.

[0109] The brake shoe 3 moves along the arcuate guide rail 24 between a release position and a braking position to separate from or abut against the housing 1. To more precisely define the movement path of the brake shoe 3, ensuring more reliable braking in the braking position and more reliable release in the release position, in some preferred embodiments, the radius of curvature of the outer circumferential surface 241 of the arcuate guide rail 24 can gradually increase from the release position to the braking position. Alternatively, the outer circumferential surface 241 of the arcuate guide rail 24 can be a helical surface or cam surface that gradually expands radially outward along the circumference of the driven shaft 2.

[0110] As an example, as shown in Figure 12, the curvature radius of the outer peripheral surface 241 of the arc guide rail 24 gradually increases in the direction from the release position to the braking position, and R1 and R2 respectively refer to the curvature radius of the outer peripheral surface 241 of the arc guide rail 24 at different positions. The position indicated by R1 in the figure is closer to the release position than the position indicated by R2, where R1 is smaller than R2.

[0111] As shown in Figure 14, the structure of the outer boss 34 of the brake pad 3 is adapted to the structure of the outer groove 27. As shown in Figure 14, r1 and r2 respectively represent the curvature radius of the inner circumferential surface 341 of the outer boss 34 at different positions, wherein the position indicated by r1 is closer to the release position than the position indicated by r2, and r1 is smaller than r2.

[0112] In some alternative embodiments, a transmission device 100 with a reverse braking function includes a driven member, a braking member, an elastic member 4, and a driving member. As described above, the driven member can be configured as a driven shaft, the braking member can be configured as a brake block, the elastic member can be configured as a spring, and the driving member can be configured as a drive disc. It is understood that the embodiments of the present disclosure are not limited to this.

[0113] The brake member is mounted on the follower so as to rotate therewith. The brake member is movable relative to the follower between a braking position, which prevents the follower and the brake member from rotating together, and a release position, which allows the follower and the brake member to rotate together. In other words, in the braking position, the brake member prevents the follower and the brake member from rotating together, and in the release position, the follower and the brake member rotate together. The elastic member 4 presses the brake member toward the braking position. The driving member is used to drive the follower to rotate. When the driving member rotates, the brake member overcomes the elastic force of the elastic member 4 and moves relative to the follower from the braking position to the release position. When the driving member stops rotating, the elastic member 4 pushes the brake member from the release position to the braking position.

[0114] The transmission device of the embodiment of the present disclosure can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size. It has the advantages of large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0115] In some alternative embodiments, a transmission device 100 with a reverse braking function includes: a rotatable driven member, a braking member, a spring, and a rotatable driving member. As described above, the driven member can be configured as a driven shaft, the braking member can be configured as a brake pad, and the driving member can be configured as a drive disc. It should be understood that the embodiments of the present disclosure are not limited to this.

[0116] A brake member is provided on the follower and is movable relative to the follower between a braking position that prevents rotation of the follower and a release position that allows rotation of the follower. To achieve the braking member preventing rotation of the follower in the braking position and allowing rotation of the follower in the release position, at least one of the following measures may be employed: in a radial direction of the follower, the brake member is farther from the rotation center of the follower when in the braking position than when in the release position; when the brake member moves from the release position toward the braking position, the brake member moves circumferentially of the follower and radially outwardly of the follower; and when the brake member moves from the release position toward the braking position, the motion trajectory of the brake member is a spiral or cam profile that gradually expands radially outwardly along the circumference of the follower.

[0117] The first end of the spring is connected to the brake member, and the second end of the spring is connected to the follower member. The spring presses the brake member toward the braking position. When the driving member rotates, the brake member overcomes the elastic force of the spring and moves from the braking position to the released position, driving the follower and the brake member to rotate together. When the driving member stops rotating, the spring pushes the brake member from the released position to the braking position, preventing the follower and the brake member from rotating together.

[0118] The transmission device of the embodiment of the present disclosure can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size. It has the advantages of large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0119] The joint module of the embodiment of the present disclosure is described below.

[0120] As shown in Figures 15 and 16, the joint module 200 of the present embodiment includes a transmission device and a motor 210, wherein the transmission device can be the transmission device 100 of any of the above embodiments. The motor shaft 211 of the motor 210 serves as a driving shaft and is connected to the driving member 5 of the transmission device 100 to drive the driving member 5 to rotate.

[0121] The joint module of the disclosed embodiment can automatically achieve reverse braking. When the motor shaft of the motor rotates, the driven shaft and the brake block are driven to rotate together through the driver. When the motor shaft stops rotating, the elastic member pushes the brake block from a released position to a brake position relative to the driven shaft. The brake block abuts against the housing seat, thereby preventing the driven shaft and the brake block from rotating together. In other words, the driven shaft cannot rotate under the torque (load) applied to it, and thus the driven shaft cannot reversely transmit the torque to the driver to rotate the driver.

[0122] In some embodiments, as shown in Figures 15 and 16, the motor 210 is arranged outside the housing 1 of the transmission device 100, and the motor shaft 211 of the motor 210 extends into the disk hole 531 of the disk hub 53 of the driving member 5 to be connected to the disk hub 53, thereby driving the driving member 5 to rotate.

[0123] In the examples shown in Figures 15 and 16 , the motor shaft 211 is connected to the disc hole 531 via a spline. It should be understood that the embodiments of the present disclosure are not limited thereto.

[0124] FIG17 shows a robotic arm 300 according to an embodiment of the present disclosure. The robotic arm 300 includes a plurality of joint modules 200 . Driven by the joint modules 200 , the robotic arm 300 can perform various actions and operations.

[0125] FIG18 shows a robot 400 according to an embodiment of the present disclosure. The robot 400 includes a joint module 200 . Driven by the joint module 200 , the robot can perform various actions.

[0126] It is understandable that the robotic arm 300 and the robot 400 of the embodiment of the present disclosure are not limited to the forms shown in the figures.

[0127] The production system of the embodiment of the present disclosure may include the robotic arm 300 and / or the robot 400 of the embodiment of the present disclosure. For example, the production system of the embodiment of the present disclosure may be an automobile production line or other product production line, wherein the robotic arm 300 and / or the robot 400 may be used to pick up automobile parts and / or assemble automobiles and their components.

[0128] The electric device according to the embodiment of the present disclosure may include the joint module 200 according to the embodiment of the present disclosure.

[0129] In some embodiments, the electric device may be an electric wheelchair or an electric bed. For example, as shown in FIG19 , the electric device of the embodiment of the present disclosure is an electric wheelchair 500 , which can move and change shape through the drive of the joint module 200 .

[0130] It will be understood that the electric devices according to the embodiments of the present disclosure are not limited to electric beds and electric wheelchairs.

[0131] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0132] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0133] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two elements or interaction between two elements, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0134] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0135] In the present disclosure, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0136] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A transmission device with reverse braking function, characterized in that, Comprising: A housing base having a housing hole; A driven shaft rotatably supported at least partially within the housing hole; A brake block provided on the driven shaft and capable of rotating with the driven shaft, the brake block being movable relative to the driven shaft between a braking position and a release position, wherein in the braking position, the brake block abuts against the housing base, and in the release position, the brake block is separated from the housing base; An elastic member connected to the driven shaft and the brake block for pressing the brake block towards the braking position; A driving member connected to the driven shaft, when the driving member rotates, the brake block moves relative to the driven shaft to the release position so that the driving member drives the driven shaft and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the driven shaft and the stop block from rotating together.

2. The transmission device with reverse braking function according to claim 1, characterized in that, The driven shaft is provided with a dial groove, the driving member is provided with a dial block, the dial block is fitted in the dial groove and is movable along the circumferential direction of the driven shaft, when the driving member rotates, the dial block overcomes the elastic force of the elastic member to push the brake block to the release position to drive the driven shaft and the brake block to rotate together.

3. The transmission device with reverse braking function according to claim 1, characterized in that, The driven shaft is provided with a dial groove, the driving member is provided with a dial block, the dial block is fitted in the dial groove and is movable along the circumferential direction of the driven shaft, when the driving member rotates, the dial block drives the driven shaft to rotate so that the brake block moves to the release position against the elastic force of the elastic member, so that the dial block drives the driven shaft and the brake block to rotate together.

4. The transmission device with reverse braking function according to claim 2 or 3, characterized in that The dial groove is provided at the junction of the end face of the first end of the driven shaft and the outer peripheral surface of the driven shaft, the dial groove recesses from the end face of the first end of the driven shaft towards the second end of the driven shaft and extends along the circumferential direction of the driven shaft.

5. The transmission device with reverse braking function according to claim 2 or 3, characterized in that, The transmission device with reverse braking function further includes a first cover plate and a second cover plate, the first cover plate has a first cover plate hole, the second cover plate has a second cover plate hole, the first cover plate is installed at the first end of the housing base, and the second cover plate is installed at the second end of the housing base; The driving member is a driving disc and includes a disc body and a disc hub located at the center of the disc body, the dial block is provided on the disc body, The first end of the driven shaft is rotatably supported within the housing hole, the second end of the driven shaft extends out through the second cover plate hole, and the disc hub is rotatably supported within the first cover plate hole by a first bearing.

6. The transmission device with reverse braking function according to claim 5, characterized in that, The housing hole includes a first housing hole section adjacent to the first end of the housing base, a second housing hole section adjacent to the second end of the housing base, and an intermediate housing hole section located between the first housing hole section and the second housing hole section, the first housing hole section is sealed by the first cover plate, the second housing hole section is sealed by the second cover plate, in the braking position, the brake block abuts against the inner surface of the intermediate housing hole section, a second bearing for supporting the driven shaft is provided within the second housing hole section, and the driven shaft is in clearance fit with the intermediate housing hole section.

7. The transmission device with reverse braking function according to claim 1, characterized in that, A first jack is provided on the end face of the first end of the driven shaft, a second jack is provided on the brake block, the elastic member is an arc-shaped spring, the first end of the elastic member is fitted in the first jack, and the second end of the elastic member is fitted in the second jack.

8. The transmission device with reverse braking function according to claim 1, characterized in that, One of a guide rail and a guide groove is provided at the first end of the driven shaft, the other of the guide rail and the guide groove is provided on the brake block, and the guide rail and the guide groove are slidably fitted.

9. The transmission device with reverse braking function according to claim 8, characterized in that, The guide rail is provided on the driven shaft, both the guide rail and the guide groove are arc-shaped, the radius of curvature of the outer peripheral surface of the guide rail gradually increases in the direction from the release position to the braking position, or the outer peripheral surface of the guide rail is a spiral surface or a cam surface that gradually expands radially outward along the circumferential direction of the driven shaft.

10. The transmission device with reverse braking function according to claim 1, characterized in that, The driven shaft is provided with a first dial groove and a second dial groove, the driving member is provided with a first dial block and a second dial block, the first dial block is fitted in the first dial groove and is movable along the circumferential direction of the driven shaft, and the second dial block is fitted in the second dial groove and is movable along the circumferential direction of the driven shaft. The brake block corresponds to the first dial groove. When the driving member rotates in the first direction, the first dial block pushes the brake block to the release position against the elastic force of the elastic member.

11. The transmission device with reverse braking function according to claim 10, characterized in that, When the brake block moves to the release position, the second dial block is spaced apart from or in contact with the end wall surface of the second dial groove.

12. The transmission device with reverse braking function according to claim 10, characterized in that, When the driving member rotates in a second direction opposite to the first direction, the second dial block drives the driven shaft to rotate in the second direction and the brake block moves to the release position against the elastic force of the elastic member.

13. The transmission device with reverse braking function according to claim 12, characterized in that, When the brake block moves to the release position, the first dial block is spaced apart from or in contact with the end wall surface of the first dial groove.

14. The transmission device with reverse braking function according to claim 10, characterized in that, The first dial groove, the second dial groove, the first dial block, the second dial block, the brake block and the elastic member are all one.

15. The transmission device with reverse braking function according to any one of claims 10-14, characterized in that, An arc-shaped guide rail is provided at the first end of the driven shaft, an arc-shaped guide groove is provided on the brake block, and the arc-shaped guide rail and the arc-shaped guide groove are slidably fitted. A notch is provided at the junction of the end face of the first end of the driven shaft and the outer peripheral surface of the driven shaft. The arc-shaped guide rail is provided in the notch. The notch is communicated with the first dial groove and / or a part of the brake block extends to cover a part of the first dial groove so as to facilitate the first dial block to push the brake block. The notch recesses from the end face of the first end of the driven shaft towards the second end of the driven shaft and extends along the circumferential direction of the driven shaft.

16. The transmission device with reverse braking function according to claim 15, characterized in that, The radius of curvature of the outer peripheral surface of the arc-shaped guide rail gradually increases in the direction from the release position to the braking position, or the outer peripheral surface of the arc-shaped guide rail is a spiral surface or a cam surface that gradually expands radially outward along the circumferential direction of the driven shaft.

17. The transmission device with reverse braking function according to claim 15, characterized in that, The brake block includes an arcuate plate body, an arcuate outer convex platform, and an arcuate inner convex platform. The outer convex platform and the inner convex platform are provided on the plate body and extend along the circumferential direction of the plate body. The outer convex platform and the inner convex platform are spaced apart from each other in the radial direction of the plate body. The arcuate guide groove is formed between the convex platform and the inner convex platform. The outer peripheral surface of the outer convex platform is flush with the outer peripheral surface of the plate body, and the inner peripheral surface of the inner convex platform is flush with the inner peripheral surface of the plate body. In the braking position, at least a part of the outer peripheral surface of the outer convex platform and at least a part of the outer peripheral surface of the plate body radially exceed the outer peripheral surface of the driven shaft to abut against the housing seat. The first ends of the outer convex platform and the inner convex platform are spaced a first distance from the first end of the plate body, and the second ends of the outer convex platform and the inner convex platform are spaced a second distance from the second end of the plate body.

18. The transmission device with reverse braking function according to claim 15, characterized in that, The inner side of the arcuate guide rail has an inner side groove, the outer side of the arcuate guide rail has an outer side groove, the first end of the arcuate guide rail has a first step, the second end of the arcuate guide rail has a second step, and the upper surface of the arcuate guide rail, the upper surface of the first step, and the upper surface of the second step are flush with the bottom surface of the first dial groove.

19. A transmission device, characterized in that, Comprising: A driven member; A braking member provided on the driven member and capable of rotating together with the driven member. The braking member is movable relative to the driven member between a braking position that prevents the driven member and the braking member from rotating together and a release position that allows the driven member and the braking member to rotate together. An elastic member that presses the braking member toward the braking position. A driving member for driving the driven member to rotate. When the driving member rotates, the braking member overcomes the elastic force of the elastic member and moves relative to the driven member from the braking position to the release position, so that the driving member drives the driven member and the braking member to rotate together. When the driving member stops rotating, the elastic member pushes the braking member from the release position to the braking position.

20. A transmission device, characterized in that, Comprising: A rotatable driven member; A braking member provided on the driven member. The braking member is movable relative to the driven member between a braking position that prevents the driven member from rotating and a release position that allows the driven member to rotate. In the radial direction of the driven member, when the braking member is in the braking position, it is farther from the rotation center of the driven member than when it is in the release position, or when the braking member moves from the release position toward the braking position, the braking member moves circumferentially along the driven member and radially outward along the driven member, or when the braking member moves from the release position toward the braking position, the movement trajectory of the braking member is a spiral or cam contour line that gradually expands radially outward along the circumferential direction of the driven member. A spring, the first end of the spring is connected to the braking member, the second end of the spring is connected to the driven member, and the spring presses the braking member toward the braking position. ​ A rotatable driving member, when the driving member rotates, the braking member is caused to move from the braking position to the release position against the elastic force of the spring to drive the driven member and the braking member to rotate together, and when the driving member stops rotating, the spring pushes the braking member from the release position to the braking position to prevent the driven member and the braking member from rotating together.

21. A joint module, characterized in that, Comprising: A transmission device, the transmission device being the transmission device according to any one of claims 1-20; A motor, the motor shaft of the motor being connected to the driving member of the transmission device to drive the driving member to rotate.

22. A robotic arm, characterized in that, Comprising the joint module according to claim 21.

23. A robot, characterized in that, Comprising the joint module according to claim 21.

24. A production system, characterized in that, Comprising the robotic arm according to claim 22 and / or the robot according to claim 23.

25. An electric device, characterized in that, Comprising the joint module according to claim 21.

26. The electric device according to claim 25, wherein, The electric device is an electric wheelchair or an electric bed.

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