Robot Joint Brake Mechanism for Controlled Friction and Wear
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Solution Overview
Problem
Existing brake mechanisms in robots face issues with friction force being either too large, causing damage, or too small, leading to increased brake distance and safety concerns.
Innovation Solution
A brake mechanism with a friction member fixed to a motor rotor, a brake member, a pushing member providing adjustable force, and a locking mechanism to maintain appropriate friction force through adjustable compression or magnetic forces, ensuring consistent friction within a desired range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If friction force of the brake mechanism is increased to shorten brake distance and improve safety, then braking performance is improved, but impact and damage to the brake mechanism and other components increases
Solution Approach 1:
The brake mechanism employs a movable pushing member that can dynamically adjust the friction force between the brake member and friction member. The pushing member translates along the pushing direction under control signals, enabling real-time adjustment of friction force to match actual braking needs, thereby achieving short braking distance without excessive impact
Solution Approach 2:
The system changes the friction force parameter dynamically by adjusting the position of the pushing member. The control unit receives brake commands and generates control signals to move the pushing member to appropriate positions, thereby adjusting the friction force within a reasonable range to balance braking performance and component protection
2Object-affected harmful factors
If friction force of the brake mechanism is decreased to reduce impact on components, then component damage is reduced, but brake distance increases and safety is compromised
Solution Approach 1:
The pushing member is designed to be movable rather than fixed, allowing the friction force to be dynamically adjusted based on braking requirements. This dynamic adjustment capability ensures that friction force is sufficient for safe braking while avoiding excessive values that would cause component damage
Solution Approach 2:
The control unit receives brake commands and generates corresponding control signals to adjust the pushing member's position. This feedback mechanism ensures that the friction force is appropriately adjusted according to actual braking needs, preventing both excessive friction (causing damage) and insufficient friction (causing long brake distance)
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution effectively maintains the friction force within an appropriate range, reducing impact on components and ensuring safe and precise control of robot movements by dynamically adjusting the friction force as components wear.
Implementation Method 1
a pushing member abutting against the other side of the friction member and configured to provide an adjustable pushing force to the brake member
Implementation Method 2
ensuring consistent friction within a desired range through adjustable compression or magnetic forces
Implementation Method 3
a friction member configured to be fixed to a rotor of the motor; a brake member abutting against one side of the friction member
Data Source
AI summary
The present disclosure relates to a brake mechanism, a joint actuator and a robot. The brake mechanism includes a friction member configured to be fixed to a rotor of the motor, a brake member abutting against one side of the friction member, a pushing member abutting against the other side of the friction member and configured to provide an adjustable pushing force to the brake member, a locking mechanism configured to prevent the brake member from rotating according to a brake command.