Robot Joint Brake Ring Locking for Precise Bi-Directional Stopping
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Solution Overview
Problem
Conventional braking devices for driving shafts in robot articulations suffer from slip during braking operations, leading to inaccurate regulation of stopping force, which is not suitable for precise applications like robot articulations.
Innovation Solution
A braking device featuring a brake ring with cross-shaped locking pieces, rotatable brake wings with locking protrusions, and position regulators (including solenoids) that apply elastic forces to control the interference between the brake wings and locking pieces, allowing for bi-directional braking with precise control over the stopping force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a frictional type brake pad is used for braking operation, then the braking device can be结构简单 (simple in structure), but slip occurs during braking and stopping force cannot be regulated accurately
Solution Approach 1:
The patent replaces the frictional mechanical contact system with a mechanical interlocking system. Instead of using friction between brake pads and a drum, the invention employs locking pieces with cross-shaped ends that engage with locking protrusions on brake wings, creating a positive mechanical lock that eliminates slip and enables precise stopping force control through geometric interference rather than friction.
2Device complexity
If frictional braking is used, then the device can be simple, but it cannot achieve accurate stopping force regulation needed for robot articulation
Solution Approach 1:
The braking mechanism is segmented into distinct functional components: locking pieces attached to the brake ring, brake wings with locking protrusions, and position regulators. This segmentation allows each component to perform its specific function independently - the locking pieces provide the braking surface, the brake wings provide the locking action, and the position regulators control the engagement precision, collectively achieving high reliability without excessive overall complexity.
3Ease of operation
If locking protrusions are positioned inside the rotation radius of locking pieces, then braking can be achieved, but the gaps must be large which reduces positioning precision
Solution Approach 1:
The locking pieces are designed with asymmetric cross-shaped ends that have specific geometric profiles. This asymmetry allows the locking protrusions to engage with the cross-shaped ends at optimized positions, enabling effective braking while accommodating smaller gaps between components. The asymmetric geometry ensures proper force distribution and engagement reliability even with reduced clearance.
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
Enables accurate and bi-directional braking with small gaps, ensuring the driving shaft can be stopped and maintained at precise positions, enhancing the braking performance for robot articulations.
Implementation Method 1
elastic members adapted to apply elastic forces to the brake wings rotating
Implementation Method 2
the position regulators have solenoids adapted to rotate the brake wings according to existence or non-existence of input current or direction of the input current
Data Source
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AI summary
The present invention relates to a braking device for a driving shaft, and the braking device includes: a brake ring coupled to the driving shaft in such a manner as to rotate according to rotation of the driving shaft and having one or more locking pieces with cross-shaped ends; a support frame fixed to an interior of a robot articulation; brake wings rotatable around brake shafts formed on the support frame and having locking protrusions adapted to stop the rotation of the driving shaft through physical interference with the cross-shaped ends of the locking pieces of the brake ring; position regulators adapted to rotate the brake wings to allow positions of the locking protrusions to be moved; and elastic members adapted to apply elastic forces to the brake wings rotating.