Robot Joint Brake Assembly With Adjustable Hydraulic Damping
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Solution Overview
Problem
Existing robot joint brake mechanisms are complex, heavy, and rigid, making them unsuitable for the output side where they need to bear large torques, and they lack adjustable damping, which complicates maintenance and safety during power outages or external impacts.
Innovation Solution
A damping-adjustable brake assembly using a stator ring with hydraulic oil channels and switch parts that adjust the communication channel's opening degree, allowing brake parts to interact with a curved tooth profile on a rotor disc, enabling torque bearing on the output side and adjustable damping through hydraulic resistance control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the joint brake mechanism is arranged on the joint output side to bear large torque and isolate external impacts, then the safety and protection of torque sensor and transmission mechanisms is improved, but the brake mechanism becomes complex and heavy which adversely influences robot performance
Solution Approach 1:
The brake mechanism is segmented into multiple independent brake parts (first brake parts and second brake parts) distributed around the rotor disc. Each brake part independently contacts the curved tooth profile, allowing the system to bear large torque through distributed contact while maintaining a compact and simple overall structure.
Solution Approach 2:
Hydraulic oil is introduced into the stator ring to actuate the brake parts. The hydraulic pressure enables all brake parts to simultaneously contact the curved tooth profile of the rotor disc, providing a simple yet effective means to achieve coordinated braking action across multiple segments without complex mechanical linkages.
2Device complexity
If a rigid brake mechanism is used to simplify the structure, then the device complexity is reduced, but the maintenance difficulty increases and damping adjustment is not possible
Solution Approach 1:
The brake mechanism transitions from a rigid structure to a dynamic, adjustable system. The brake parts can move between retraction and stretching positions, and the hydraulic oil flow resistance can be adjusted to change damping characteristics. This dynamic capability allows for maintenance and adjustment without requiring complete disassembly or replacement of the brake mechanism.
Solution Approach 2:
The damping parameter of the brake mechanism is made adjustable by changing the flow resistance of hydraulic oil through the communication channel. By adjusting the opening degree of the communication channel, the damping can be varied to suit different operational requirements, providing flexibility while maintaining a relatively simple mechanical structure.
3Adaptability or versatility
If the communication channel opening degree is adjusted to control hydraulic oil flow resistance, then the damping is adjustable, but the control system complexity increases
Solution Approach 1:
The system uses the rotor disc's own rotation to automatically control the opening degree of the communication channel. As the rotor disc rotates, its curved tooth profile periodically opens and closes the communication channel, creating a self-regulating damping effect without requiring external sensors, actuators, or control electronics. This self-service mechanism achieves adaptability while minimizing control system complexity.
4Force
If multiple brake parts are used to bear large torque, then the torque bearing capacity is improved, but the device complexity increases
Solution Approach 1:
Multiple brake parts are merged into a unified braking system that acts on a single curved tooth profile of the rotor disc. The brake parts work together through the common hydraulic pressure and shared curved tooth profile, achieving high torque bearing capacity while maintaining a compact structure that avoids the complexity of multiple independent braking systems.
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 brake assembly effectively isolates external impacts, reduces spurious vibrations, and improves robot joint performance by allowing adjustable damping and torque bearing on the output side, enhancing safety and maintenance simplicity.
Implementation Method 1
a channel containing hydraulic oil, the pressure of the hydraulic oil is configured to that each first brake part and each second brake part simultaneously contact the curved tooth profile of the rotor disc
Implementation Method 2
the flow resistance of hydraulic oil between two channel sections can be adjusted by adjusting the opening degree of the communication channel, the joint for a robot can provide a damping-adjustable flexible brake
Implementation Method 3
the first brake parts and the second brake parts brake the rotor disc when the switch parts close the communication channel
Data Source
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AI summary
Disclosed are a brake assembly (100) for a robot joint, and a robot joint with same, the brake assembly comprising a stator ring (110) and a rotor disc (120) that is concentrically rotatable relative to the stator ring, wherein the outer circumference of the rotor disc is provided with a curvilinear tooth profile (121), a channel for containing hydraulic oil and a plurality of brake parts (1121, 1131) driven by the hydraulic oil are arranged in the stator ring, the plurality of brake parts are arranged in two channel sections (211, 311), the two channel sections are in communication with each other by means of a communication channel (411), and the curvilinear tooth profile and the plurality of brake parts are arranged to realize flexible damping braking of the rotor disc relative to the stator ring by means of adjusting the opening degree of the communication channel.