Toothed Robotic Joint Brake With Conical Friction Engagement
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Solution Overview
Problem
Current robotic joint safety brakes, such as electromagnetic disc brakes and bolt-type brakes, face issues of large size, weight, excessive heat generation, and potential damage to gear transmission mechanisms during emergency stops.
Innovation Solution
A toothed safe braking apparatus featuring an electromagnetic telescoping apparatus and a friction engagement component with a disc-shaped brake lock ring gear, pretension ring, and brake hub, utilizing conical surfaces for friction engagement and adjustable pretension, designed to be compact, lightweight, and low in heat generation, protecting the shaft transmission mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If electromagnetic disc brakes are used for robotic joint safety, then reliable emergency stopping is achieved, but the device becomes large in volume and heavy in weight
Solution Approach 1:
The brake device is segmented into multiple functional components: a brake hub with conical surfaces, a brake ring with teeth, and an electromagnetic actuator. This segmentation allows each component to be optimized independently, reducing overall weight while maintaining reliability through distributed functional responsibilities.
Solution Approach 2:
The patent replaces the traditional electromagnetic disc brake mechanism with a toothed engagement mechanism combined with conical surface friction. The electromagnetic actuator controls engagement of teeth rather than relying solely on electromagnetic friction, reducing the size and weight of the electromagnetic component while maintaining stopping reliability.
2Reliability
If electromagnetic disc brakes are used for robotic joint safety, then reliable emergency stopping is achieved, but excessive heat is generated during operation
Solution Approach 1:
The patent extracts the heat generation function from the electromagnetic braking mechanism by introducing a separate friction engagement system with conical surfaces. The electromagnetic actuator only provides engagement control, while the mechanical toothed friction system handles the actual braking, significantly reducing heat generation from electromagnetic components.
Solution Approach 2:
The conical surfaces create a wedge effect similar to pneumatic/hydraulic principles, where the engagement force is amplified mechanically. This allows reliable braking with smaller electromagnetic forces, reducing heat generation from electromagnetic resistance while maintaining stopping reliability.
3Weight of stationary object
If bolt-type brakes are used for robotic joint safety, then compact size and light weight are achieved, but the gear transmission mechanism is damaged due to slipping and rigid engagement
Solution Approach 1:
The patent applies preliminary action by pre-tensioning the brake ring against the conical surfaces before emergency stopping occurs. This pre-positioning ensures that during emergency braking, the teeth engage smoothly without shock loading or slipping that would damage the transmission mechanism, while maintaining compact design.
Solution Approach 2:
The conical surfaces provide beforehand cushioning by allowing gradual engagement and absorption of shock during tooth engagement. The tapered geometry cushions the impact between teeth, preventing damage to the transmission mechanism while maintaining the compact, lightweight design of bolt-type brakes.
4Reliability
If traditional brake mechanisms are used, then emergency stopping is achieved, but the device complexity increases and manufacturing becomes difficult
Solution Approach 1:
The brake hub serves multiple functions: it provides the mounting structure, contains the conical friction surfaces, and supports the toothed engagement mechanism. This multi-functionality reduces the number of separate components, simplifying manufacturing while maintaining emergency stopping reliability.
Solution Approach 2:
The patent merges the friction braking surface and the toothed engagement structure into a single integrated brake ring component. This combination reduces part count and assembly complexity, making the device easier to manufacture while achieving reliable emergency stopping through the combined mechanisms.
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 apparatus enables reliable and safe emergency stops while minimizing size, weight, and heat generation, effectively protecting the robotic joint's shaft transmission mechanism.
Implementation Method 1
an electromagnetic telescoping apparatus, mounted on the main support, and provided with a working bit capable of moving between a locked position and an unlocked position
Implementation Method 2
a first conical surface inclined upward from the first end surface and a second conical surface inclined upward from the second end surface. Shape fitting and friction engagement with the first center fitting hole of the brake lock ring gear and the second center fitting hole of the pretension ring are achieved through the first conical surface and the second conical surface of the brake hub
Data Source
AI summary
A toothed safe braking apparatus for use in robotic joint, comprising an electromagnetic telescoping apparatus (6) and a friction engagement component (10). The friction engagement component (10) is mounted on a shaft (C) of the robotic joint and comprises a brake lock ring gear (1) provided with a first center fitting hole (12), the brake lock ring gear (1) being provided with teeth (11) arranged on the outer circumferential surface thereof, a pretension ring (2) provided with a second center fitting hole (13), and a brake hub (4) provided with a first end surface (14), a second end surface (15), and an outer circumferential surface (16). On a locked position, a working bit (17) of the electromagnetic telescoping apparatus (6) can be engaged with the teeth (11) on the brake lock ring gear (1) of the friction engagement component (10); and, on an unlocked position, the working bit (17) of the electromagnetic telescoping apparatus (6) can be disengaged from the teeth (11) on the brake lock ring gear (1) of the friction engagement component (10). The brake lock ring gear (1) and the pretension ring (2) are arranged in parallel via the first fitting hole (12) and the second fitting hole (13) to be friction engaged on the outer circumferential surface (16) of the brake hub (4).