CN217833660U - Robot - Google Patents

Abstract

The utility model relates to a robot, include: a mechanical arm; the actuating mechanism is arranged at the tail end of the mechanical arm and comprises a rotating shaft, a shaft transmission assembly and a shaft driving assembly, the shaft transmission assembly comprises a first transmission assembly and a second transmission assembly which are respectively in transmission connection with the rotating shaft, the first transmission assembly comprises a first transmission wheel, the second transmission assembly comprises a second transmission wheel, and the shaft driving assembly is in transmission connection with the first transmission wheel and the second transmission wheel and is used for driving the first transmission wheel and/or the second transmission wheel to rotate so that the rotating shaft rotates around the axis of the rotating shaft and/or moves along the axis direction of the rotating shaft; the brake device comprises a movable brake part and a brake driving part connected with the movable brake part, wherein the brake driving part is used for driving the movable brake part to move close to or away from the first driving wheel and the second driving wheel so as to enable the movable brake part to be directly or indirectly contacted with the first driving wheel and the second driving wheel or to be separated from the first driving wheel and the second driving wheel.

Description

Robot

Technical Field

The utility model relates to an industrial robot technical field especially relates to a robot.

Background

Existing industrial robots are generally provided with a brake system, for example in SCARA (horizontal articulated) industrial robots, the third joint and/or the fourth joint are usually provided with a brake structure.

In some related technologies, a scheme of a brake built in a third motor and a fourth motor is adopted. However, once the brake is in trouble, the entire motor needs to be replaced, increasing maintenance costs.

In other related technologies, an external brake mode is adopted. The external brake makes the robot structure complicated, and the cost also increases to a certain extent.

SUMMERY OF THE UTILITY MODEL

For the utility model discloses the technical problem who solves lies in overcoming prior art's not enough, provides a robot.

The utility model provides a pair of robot, include: a mechanical arm; the actuating mechanism is arranged at the tail end of the mechanical arm and comprises a rotating shaft, a shaft transmission assembly and a shaft driving assembly, the shaft transmission assembly comprises a first transmission assembly and a second transmission assembly which are respectively in transmission connection with the rotating shaft, the first transmission assembly comprises a first transmission wheel, the second transmission assembly comprises a second transmission wheel, and the shaft driving assembly is in transmission connection with the first transmission wheel and the second transmission wheel and is used for driving the first transmission wheel and/or the second transmission wheel to rotate so as to enable the rotating shaft to rotate around the axis of the rotating shaft and/or move along the axis direction of the rotating shaft; the brake device comprises a movable brake part and a brake driving part connected with the movable brake part, and the brake driving part is used for driving the movable brake part to move close to or far away from the first driving wheel and the second driving wheel; in a braking state, the brake driving part drives the movable brake part to move close to the first driving wheel and the second driving wheel so that the movable brake part is directly or indirectly contacted with the first driving wheel and the second driving wheel to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction of the rotating shaft; in a non-braking state, the brake driving part drives the movable brake part to move away from the first driving wheel and the second driving wheel, so that the movable brake part is separated from the first driving wheel and the second driving wheel, and the rotating shaft is released from rotating around the axis of the rotating shaft and moving along the axis direction of the rotating shaft.

In some embodiments, the first drive wheel is provided with a first brake and the second drive wheel is provided with a second brake; the movable brake component comprises an upper brake part and a lower brake part, the upper brake part faces the first brake part, and the lower brake part faces the second brake part; in a braking state, the brake driving part drives the movable brake part to move close to the first transmission wheel and the second transmission wheel so that the upper brake part is contacted with the first brake part, and the lower brake part is contacted with the second brake part so as to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction of the rotating shaft; under non-braking state, the drive of brake drive part the activity brake part is kept away from first brake portion reaches second brake portion removes, so that go up the brake portion and break away from first brake portion and brake portion breaks away from down second brake portion removes the pivot is rotated around its axis and is removed along its axis direction.

In some embodiments, the movable brake element is supported on and movable relative to the first drive wheel or the second drive wheel; the brake device also comprises a driving brake block supported on the brake driving part, and the brake driving part can drive the driving brake block to move towards or away from the movable brake part; in a braking state, the brake driving part drives the driving brake block to move in a direction close to the movable brake part until the driving brake block is contacted with the movable brake part, and drives the movable brake part to move in a direction close to the first brake part and the second brake part so as to enable the upper brake part to be contacted with the first brake part and enable the lower brake part to be contacted with the second brake part, so that the rotating shaft is limited to rotate around the axis of the rotating shaft and move along the axis direction of the rotating shaft; under non-braking state, the drive of brake drive part drive brake block is kept away from activity brake block removes, so that drive brake block breaks away from activity brake block, and makes go up the brake part and break away from first brake portion, lower brake portion breaks away from second brake portion, in order to remove the pivot rotates around its axis and removes along its axis direction.

In some embodiments, the movable brake component further comprises a connecting part connecting the upper brake part and the lower brake part, wherein the connecting part penetrates through the second transmission wheel; the first brake part is positioned on the lower surface of the first driving wheel, and the second brake part is positioned on the lower surface of the second driving wheel; the driving brake block is positioned below the movable brake part and faces the lower brake part; in a braking state, the brake driving part drives the driving brake block to move close to the movable brake part until the driving brake block is contacted with the lower surface of the lower brake part, and drives the movable brake part to move close to the first brake part and the second brake part so as to enable the upper brake part to be contacted with the first brake part and enable the upper surface of the lower brake part to be contacted with the second brake part, so that the rotating shaft is limited to rotate around the axis of the rotating shaft and move along the axis direction; under non-braking state, the drive of brake drive part drive brake block is kept away from the direction of activity brake part removes so that the drive brake block breaks away from the lower surface of lower brake portion, just go up brake portion and break away from first brake portion, the upper surface of lower brake portion breaks away from second brake portion, in order to remove the pivot rotates around its axis and removes along its axis direction.

In some embodiments, the movable brake component further comprises a connecting portion connecting the upper brake portion and the lower brake portion, wherein the connecting portion extends through the first drive wheel; the first brake part is positioned on the upper surface of the first driving wheel, and the second brake part is positioned on the upper surface of the second driving wheel; the driving brake pad is positioned above the movable brake part and faces the upper brake part; in a braking state, the brake driving part drives the driving brake block to move towards the direction close to the movable brake part to the upper surface of the driving brake block to be in contact with the upper surface of the upper brake part, and drives the movable brake part to move towards the direction close to the first brake part and the second brake part, so that the lower surface of the upper brake part is in contact with the first brake part, and the lower brake part is in contact with the second brake part, so that the rotating shaft is limited to rotate around the axis of the rotating shaft and move along the axis direction; under non-braking state, the drive of brake drive part drive brake block is kept away from the direction of activity brake part removes so that the drive brake block breaks away from the upper surface of last brake portion, just the lower surface of going up brake portion breaks away from first brake portion, lower brake portion breaks away from second brake portion, in order to remove the pivot rotates around its axis and removes along its axis direction.

In some embodiments, the movable brake element is supported on the brake actuating element.

In some embodiments, the first braking portion is located on the lower surface of the first driving wheel, and the second braking portion is located on the lower surface of the second driving wheel; the movable brake part is sleeved outside the second driving wheel, and the brake driving part is positioned below the movable brake part.

In some embodiments, the first brake part is located on the upper surface of the first transmission wheel, and the second brake part is located on the upper surface of the second transmission wheel; the movable brake component is sleeved outside the first transmission wheel; the brake actuating member is located above the movable brake member.

In some embodiments, the first brake part is a rough surface formed on an upper surface or a lower surface of the first driving wheel, or the first brake part is a first brake pad provided on the upper surface or the lower surface of the first driving wheel; and/or the second brake part is a rough surface formed on the upper surface or the lower surface of the second transmission wheel, or the second brake part is a second brake pad arranged on the upper surface or the lower surface of the second transmission wheel.

In some embodiments, the brake actuating member is disposed on the first transmission wheel or the second transmission wheel, the brake actuating member comprises a first brake actuating member and a second brake actuating member, the movable brake member comprises a first movable brake member and a second movable brake member, the first brake actuating member supports the first movable brake member, and the second brake actuating member supports the second movable brake member; in a braking state, the first brake driving part drives the first movable brake part to be directly or indirectly contacted with the first transmission wheel or a first fixed part fixed on the mechanical arm, and the second brake driving part drives the second movable brake part to be directly or indirectly contacted with the second transmission wheel or a second fixed part fixed on the mechanical arm so as to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction; under the non-braking state, the first brake driving component drives the first movable brake component to be separated from the first transmission wheel or the first fixed component, and the second brake driving component drives the second movable brake component to be separated from the second transmission wheel or the second fixed component, so that the rotating shaft is released from rotating around the axis of the rotating shaft and moving along the axis direction of the rotating shaft.

In some embodiments, the brake actuating member comprises any one of: elastic driving component, magnetic driving component, hydraulic driving component and pneumatic driving component.

In some embodiments, the rotating shaft is a ball spline shaft, the first transmission assembly includes a lead screw nut cooperatively connected with the ball spline shaft, the lead screw nut is rotatably disposed at the end of the mechanical arm through a lead screw nut seat, and the first transmission wheel is connected with the lead screw nut; the second transmission assembly comprises a spline nut which is in fit connection with the ball spline shaft, the spline nut is rotatably arranged on the mechanical arm through a spline nut seat, and the second transmission wheel is connected with the spline nut;

the shaft driving assembly comprises a third motor and a fourth motor, a driving shaft of the third motor is connected with the first driving wheel through a first driving belt, and a driving shaft of the fourth motor is connected with the second driving wheel through a second driving belt.

In some embodiments, the robot is a multi-joint machine, and includes at least a first robot arm and a second robot arm, one end of the first robot arm is rotatably disposed on the base and can rotate around a first axis, the other end of the first robot arm is connected to the second robot arm, the second robot arm can rotate around a second axis, the actuator is rotatably disposed at the end of the second robot arm and can rotate around a third axis and move along the third axis, wherein the first axis, the second axis and the third axis are parallel.

After the technical scheme is adopted, compared with the prior art, the utility model following beneficial effect has:

the utility model discloses a brake drive part drive activity brake part is close to or keeps away from first drive wheel and second drive wheel and removes to make activity brake part and first drive wheel and second drive wheel contact or break away from, thereby the braking of control pivot, compare in the prior art, compare in the scheme of the built-in brake of motor and increase the brake structural style in the robot outside, simple structure, arresting gear is relatively more independent, changes easy maintenance.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

fig. 1 is a schematic view of an overall structure of a robot according to an exemplary embodiment of the present invention;

fig. 2 is an enlarged schematic view of an enlarged portion of an actuator according to an exemplary embodiment of the present invention;

FIG. 3 is an enlarged schematic view of the brake apparatus of FIG. 2, according to an exemplary embodiment of the present invention;

FIG. 4 is an enlarged schematic view of a brake apparatus according to another exemplary embodiment of the present invention;

FIG. 5 is an enlarged schematic view of a brake apparatus according to yet another exemplary embodiment of the present invention;

fig. 6 is an enlarged schematic view of a braking device according to yet another exemplary embodiment of the present invention;

it should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept by those skilled in the art with reference to specific embodiments.

Detailed Description

In the description of the present invention, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, but 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 thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "contacting," and "communicating" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 6, the utility model relates to a robot, under the machine halt state of robot, can restrict the pivot simultaneously through arresting gear and rotate around its axis and restrict and remove along its axis direction, prevent in the pivot because of receiving the rotatory downstream of gravity, lead to J3 axle and J4 axle to exceed soft spacing pivot and receive the striking, simple structure, it is spacing reliable.

The utility model discloses a robot includes: a robot arm, an actuator 40, and a brake device. As shown in fig. 1, the robot may be a SCARA industrial robot, for example, and may include 4-axis motion mechanisms, J1, J2, J3, and J4 axes, respectively. Specifically, the robot may include at least two-axis robots, such as a first robot 20 and a second robot 30, one end of the first robot 20 may be rotatably disposed on the base and may rotate (rotate) around a first axis J1 to form a J1 axis, the other end of the first robot 20 may be connected to the second robot 30, the second robot 30 may rotate (rotate) around a second axis J2 to form a J2 axis, an actuator may be rotatably disposed at an end of the second robot 30, may rotate around a third axis J3 to form a J3 axis, and may move along the third axis to form a J4 axis, where the first axis, the second axis, and the third axis are parallel.

The first motor 21 can be fixed on the base 10, and the output shaft thereof is connected with the first speed reducer 22; the input end of the first speed reducer 22 is connected with the output shaft of the first motor 21, the output end of the first speed reducer is connected with one end of the first mechanical arm 20, and under the speed reducing action of the first speed reducer 22, the first motor 21 drives the first mechanical arm 2

0 and the parts mounted on the same do rotary motion around the J1 axis. The second motor 31 is installed on the second mechanical arm 30, the input end of the second speed reducer 32 is connected with the motor output shaft of the second motor 31, the output end of the second speed reducer is connected with the first mechanical arm 20, and under the speed reducing action of the second speed reducer 32, the second motor 31 drives the second mechanical arm 30 and parts installed on the second mechanical arm to rotate around the J2 axis.

The actuator 40 is disposed at the end of a robot arm, such as the end of the second robot arm 30 described above. The actuating mechanism includes a rotating shaft 41, a shaft transmission assembly and a shaft driving assembly.

The shaft driving assembly comprises a first driving assembly 42 and a second driving assembly 43 which are respectively in driving connection with the rotating shaft 41, the first driving assembly 42 comprises a first driving wheel 423, the second driving assembly 43 comprises a second driving wheel 433, and the shaft driving assembly is in driving connection with the first driving wheel 423 and the second driving wheel 433 and is used for driving the first driving wheel 423 and/or the second driving wheel 433 to rotate so as to enable the rotating shaft 41 to rotate around the axis thereof and/or move along the axis direction thereof, so that a shaft J3 and a shaft J4 are formed.

Specifically, the rotating shaft 41 may be a ball spline shaft, the outer surface of which has a screw groove and a spline groove, the first transmission assembly 42 includes a screw nut 421 that is fittingly connected to the ball spline shaft 41, the screw nut 421 is rotatably provided at the end of the robot arm (e.g., the second robot arm 30) as an inner ring of the screw nut through a screw nut holder 422 as an outer ring of the screw nut, and the first transmission wheel 423 is connected to the screw nut 421. The screw nut 421 is connected to the screw groove of the rotating shaft 41 in a matching manner, the screw nut holder 422 may be fixed to the housing 31 of the second robot arm 30 through the mounting plate 424, the screw nut holder 422 is a fixed member, and the screw nut 421 is a movable member, and is rotatable relative to the screw nut holder 422 and immovable in the axial direction. The first driving wheel 423 is sleeved outside the rotating shaft 41, and can be integrally formed or fixedly connected with the lead screw nut 421, and when the first driving wheel 423 is driven to rotate, the lead screw nut 421 rotates relative to the lead screw nut seat 422 along with the first driving wheel 423.

The second transmission assembly 43 includes a spline nut 431 cooperatively connected with the ball spline shaft, the spline nut 431 is rotatably disposed on a swing arm (e.g., the second robot arm 30) as an inner spline nut ring through a spline nut seat 432 as an outer spline nut ring, and a second transmission wheel 433 is connected with the spline nut 431. The spline nut 431 is connected with the spline groove of the rotating shaft 41 in a matching manner, the spline nut base 432 can be fixed on the housing 31 of the second mechanical arm 30 through a connecting piece, the spline nut base 432 is a fixed piece, and the spline nut 431 is a movable piece and can rotate relative to the spline nut base 432 and cannot move along the axial direction. The second transmission wheel 433 is axially spaced from the second transmission wheel 423, for example, the second transmission wheel 433 is located below the first transmission wheel 423. The second driving wheel 433 is sleeved outside the rotating shaft 41 and can be integrally formed with or fixedly connected with the spline nut 431, and when the second driving wheel 433 is driven to rotate, the spline nut 431 rotates relative to the spline nut base 432 along with the second driving wheel 433.

The shaft driving assembly comprises a third motor 44 and a fourth motor 45 which are arranged on the mechanical arm, wherein a driving shaft of the third motor 44 is connected with the first driving wheel 423 through a first driving belt (not shown), and a driving shaft of the fourth motor 45 is connected with the second driving wheel 433 through a second driving belt (not shown). The third motor 44 controls the rotation of the first driving wheel 423 to drive the screw nut 421 to rotate relative to the screw nut seat 422, so that the rotating shaft 41 moves along the axial direction to form a J3 axis. The fourth motor 45 controls the rotation of the second driving wheel 433, and drives the spline nut 431 to rotate relative to the spline nut seat 432, so that the rotating shaft 41 and the lead screw nut 421 rotate synchronously.

Specifically, the SCARA robot J3 axis and J4 axis can drive the feed screw nut 421 and the spline nut 431 by the third motor 44 and the fourth motor 45, respectively, to move the rotating shaft 41 up and down and/or rotationally. As shown in fig. 1, only one revolute pair exists between the inner ring of the lead screw nut (lead screw nut 421) and the outer ring of the lead screw nut (lead screw nut seat 422). The outer ring of the screw nut is fixed to the screw nut mounting plate 424, and the screw nut mounting plate 424 is fixed to the second mechanical arm 30. The matching of the rotating shaft 41 and the inner ring of the feed screw nut is a screw pair. The inner ring of the screw nut is fixed to a first driving wheel 423 (for example, a screw nut pulley), and the third motor 44 drives the screw nut pulley to control the movement of the screw nut 421.

There is only one revolute pair between the spline nut inner race (spline nut 431) and the spline nut outer race (spline nut seat 432). The spline nut outer race is fixed with the second mechanical arm 30. The rotating shaft 41 and the inner ring of the spline nut are in spline fit, and the rotating shaft and the inner ring of the spline nut can axially move and cannot rotationally move. The spline nut inner ring is fixed with a second transmission wheel 433 (such as a spline nut belt wheel), and the fourth motor 45 drives the second transmission wheel 433 to control the movement of the spline nut 431.

J3 axis movement: the rotation shaft 41 is restricted from rotating (since the rotation shaft 41 and the spline nut 431 are in spline fit, the rotation of the rotation shaft 41 is restricted, that is, the rotation of the spline nut 431 and the second transmission wheel 433 is restricted). When the first transmission wheel 423 is rotated, the screw nut 421 will move axially while the rotating shaft 41 rotates (because the rotating shaft 41 and the screw nut 421 are engaged by a screw pair), and because the axial movement of the screw nut 421 is limited (because the screw nut seat 422 is fixed to the second mechanical arm 30 and there is only a rotation pair with the screw nut 421), the axial movement of the screw nut 421 on the rotating shaft 41 is converted into the axial movement of the rotating shaft 41 on the screw nut 421.

J4 axis movement: when the rotating shaft 41 and the lead screw nut 421 rotate synchronously (i.e., the spline nut 431 and the second transmission wheel 433 (e.g., spline nut pulley) drive the rotating shaft 41 to rotate synchronously with the spline nut 431 and the first transmission wheel 423 (e.g., lead screw nut pulley)), the relative position between the rotating shaft 41 and the lead screw nut 421 will not change, and there is only a rotational movement of the rotating shaft 41 and the lead screw nut 421 relative to the lead screw nut seat 422. Therefore, the rotation shaft 41 has only a rotational movement, i.e., the J4 axis, with respect to the second robot arm 30.

By reasonably controlling the movement time of the J3 shaft and the J4 shaft, the rotating shaft 41 can rotate and move up and down axially at the same time.

The braking device comprises a movable braking part 51 and a braking driving part 52 connected with the movable braking part 51, wherein the braking driving part 52 is used for driving the movable braking part 51 to move close to or far away from the first driving wheel 423 and the second driving wheel 433; in order to prevent the rotating shaft 41 from moving downward due to gravity rotation in a braking state, i.e., when the robot stops, the brake driving member 52 drives the movable brake member 51 to move close to the first transmission wheel 423 and the second transmission wheel 433, so that the movable brake member 51 directly or indirectly contacts the first transmission wheel 423 and the second transmission wheel 433 to limit the rotating shaft 41 from rotating around the axis thereof and moving along the axis thereof. In the non-braking state, the brake driving member 52 drives the movable brake member 51 to move away from the first driving wheel 423 and the second driving wheel 433, so that the movable brake member 51 is disengaged from the first driving wheel 423 and the second driving wheel 433, to release the rotation of the rotating shaft 41 about its axis and the movement thereof in its axial direction.

The utility model discloses a brake actuating unit 52 drive activity brake part 51 is close to or keeps away from first drive wheel 423 and second drive wheel 433 and removes to make activity brake part 51 and first drive wheel 423 and second drive wheel 433 contact or break away from, thereby the braking of control pivot 41, compare in the prior art, compare in the scheme of the built-in brake of motor and increase the brake structural style in the robot outside, simple structure, arresting gear is relatively more independent, change easy maintenance.

In some embodiments, as shown in fig. 2-5, a first brake 4231 is disposed on the first transmission wheel 423 and a second brake 4331 is disposed on the second transmission wheel 433. In some examples, the first brake portion 4231 is a rough surface formed on an upper surface or a lower surface of the first driving wheel 423, or the first brake portion 4231 is a first brake pad disposed on an upper surface or a lower surface of the first driving wheel 423. And/or, the second braking portion 4331 is a rough surface formed on the upper surface or the lower surface of the second transmission wheel 433, or the second braking portion 4331 is a second brake pad disposed on the upper surface or the lower surface of the second transmission wheel 433.

The movable brake part 51 includes an upper brake part 511 and a lower brake part 512, the upper brake part 511 faces the first brake part 4231, and the lower brake part 512 faces the second brake part 4331; in a braking state, the brake driving member 52 drives the movable brake member 51 to move close to the first transmission wheel 423 and the second transmission wheel 433, so that the upper brake part 511 contacts with the first brake part 4231, and the lower brake part 512 contacts with the second brake part 4331, so as to limit the rotation of the rotating shaft 41 around the axis thereof and the movement thereof along the axis direction thereof; in the non-braking state, the brake driving member 52 drives the movable brake member 51 to move away from the first brake portion 4231 and the second brake portion 4331, so that the upper brake portion 511 disengages from the first brake portion 4231 and the lower brake portion 512 disengages from the second brake portion 4331, thereby releasing the rotating shaft 41 from rotating around the axis thereof and moving along the axis direction thereof.

The utility model discloses an upper brake portion 511 and lower brake portion 512 of a movable brake part 51 can contact with first brake portion 4231 on first drive wheel 423 and second brake portion 4331 on second drive wheel 433 respectively simultaneously, when guaranteeing the braking reliability, the maintenance is changed in the installation of being convenient for.

In some examples, as shown in fig. 2, 3, and 4, the movable brake member 51 is supported on the first transmission wheel 423 or the second transmission wheel 433 and is movable relative to the first transmission wheel 423 or the second transmission wheel 423. The brake device further comprises an actuating brake pad 53 supported on the brake actuating member 52, the brake actuating member 52 being capable of actuating the actuating brake pad 53 to move toward or away from the movable brake member 51; in a braking state, the brake driving part 52 drives the driving brake block 53 to move in a direction close to the movable brake part 51 until the driving brake block 53 is contacted with the movable brake part 51, drives the movable brake part 53 to move in a direction close to the first brake part 4231 and the second brake part 4331 so as to make the upper brake part 511 contacted with the first brake part 4231, and contacts the lower brake part 512 with the second brake part 4331 so as to limit the rotating shaft 41 to rotate around the axis thereof and move along the axis direction thereof; in a non-braking state, the brake driving member 52 drives the driving brake pad 53 to move away from the movable brake member 51, so that the driving brake pad 53 is separated from the movable brake member 51, the upper brake portion 511 is separated from the first brake portion 4231, and the lower brake portion 512 is separated from the second brake portion 4331, so as to release the rotation of the rotating shaft 41 around the axis thereof and the movement along the axis direction thereof.

The utility model discloses a first drive wheel 423 or second drive wheel 433 support activity brake parts 51, and the indirect drive activity brake parts 51 braking of cooperation drive brake block 53 or relieve braking first drive wheel 423 and second drive wheel 423, under relieving the brake state, break away from between drive brake block 53 and the activity brake parts 51, and activity brake parts 51 follows first drive wheel 423 or second drive wheel 433 and rotates.

In one example, as shown in fig. 2 and 3, the movable brake member 51 further includes a connecting portion 513 connecting the upper brake portion 511 and the lower brake portion 512, wherein the connecting portion 513 passes through the second transmission wheel 433; the first braking portion 4231 is located on the lower surface of the first transmission wheel 423, and the second braking portion 4331 is located on the lower surface of the second transmission wheel 433; a driving brake pad 53 positioned below the movable brake part 51 and facing the lower brake part 4331; in a braking state, the brake driving part 52 drives the driving brake pad 53 to move close to the movable brake part 51 until the driving brake pad 53 contacts with the lower surface of the lower brake part 512, and drives the movable brake part 51 to move close to the first brake part 4231 and the second brake part 4331, so that the upper brake part 511 contacts with the first brake part 4231, and the upper surface of the lower brake part 512 contacts with the second brake part 4331, so as to limit the rotation of the rotating shaft 41 around the axis thereof and the movement along the axis direction; under the non-braking state, brake drive part 52 drive brake block 53 is kept away from the direction of activity brake part 51 removes so that drive brake block 53 breaks away from the lower surface of lower brake portion 512, just go up brake portion 511 and break away from first brake portion 4231, the upper surface of lower brake portion 512 breaks away from second brake portion 4331, in order to relieve pivot 41 rotates around its axis and moves along its axis direction.

In another example, as shown in fig. 4, the movable brake member 51 further includes a connection part 513 connecting the upper brake part 511 and the lower brake part 512, wherein the connection part 513 penetrates through the first driving wheel 423; the first brake part 4231 is positioned on the upper surface of the first transmission wheel 423, and the second brake part 4331 is positioned on the upper surface of the second transmission wheel 433; the actuating brake pad 53 is positioned above the movable brake member 51 and faces the upper brake part 511; in a braking state, the brake driving part 52 drives the driving brake pad 53 to move toward a direction close to the movable brake part 51 until the driving brake pad 53 contacts with the upper surface of the upper brake part 511, and drives the movable brake part 51 to move toward a direction close to the first brake part 4231 and the second brake part 4331, so that the lower surface of the upper brake part 511 contacts with the first brake part 4231, and the lower brake part 512 contacts with the second brake part 4331, so as to limit the rotation of the rotating shaft 41 around the axis thereof and the movement along the axis direction; in a non-braking state, the brake driving member 52 drives the driving brake block 53 to be away from the movable brake member 51, so that the driving brake block 53 is separated from the upper surface of the upper brake part 511, the lower surface of the upper brake part 511 is separated from the first brake part 5231, and the lower brake part 512 is separated from the second brake part 5331, so as to release the rotation of the rotating shaft 41 around the axis thereof and the movement along the axis direction thereof.

The above-mentioned embodiments of fig. 2 and 4 are different in the supporting position of the movable brake part 51 and the arrangement positions of the first and second brake parts 4231 and 4331.

In some embodiments, as shown in FIG. 5, the movable brake element 51 is supported by the brake actuating member 52. In a braking state, the brake driving part 52 drives the movable brake part 51 to move close to the first transmission wheel 423 and the second transmission wheel 433, so that the upper brake part 511 contacts with the first brake part 4231, and the lower brake part 512 contacts with the second brake part 4331, so as to limit the rotation of the rotating shaft 41 around its axis and the movement along its axis direction; in the non-braking state, the brake driving member 52 drives the movable brake member 51 to move away from the first brake portion 4231 and the second brake portion 4331, so that the upper brake portion 511 disengages from the first brake portion 4231 and the lower brake portion 512 disengages from the second brake portion 4331, thereby releasing the rotating shaft 41 from rotating around the axis thereof and moving along the axis direction thereof.

The difference between the embodiment of fig. 5 and fig. 2-4 is that the movable brake element 51 is supported on the brake actuating member 52 and is directly actuated by the brake actuating member 52 without the need for an additional actuating brake pad 53.

In one example, the first brake 4231 is located on the lower surface of the first transmission wheel 423, and the second brake 4331 is located on the lower surface of the second transmission wheel 433; the movable brake part 51 is sleeved outside the second driving wheel 433, and the brake driving part 52 is located below the movable brake part. The movable brake element 51 may be a frame structure.

In another example, the first brake 4231 is located on the upper surface of the first transmission wheel 423, and the second brake 4331 is located on the upper surface of the second transmission wheel 433; the movable brake part 51 is sleeved outside the first transmission wheel 423; the brake actuating member 52 is positioned above the movable brake member 51.

In some embodiments, as shown in fig. 6, the brake actuating member 52 is disposed on the first transmission wheel 423 or the second transmission wheel 433.

In one example, the brake actuating member 52 is provided with a second drive wheel 433. Specifically, the brake actuating unit 52 includes a first brake actuating unit 521 and a second brake actuating unit 522, the movable brake unit 51 includes a first movable brake unit 514 and a second movable brake unit 515, the first brake actuating unit 521 supports the first movable brake 514, the second brake actuating unit 522 supports the second movable brake unit 515, and the first movable brake unit 514 and the second movable brake unit 515 are respectively located at the upper and lower sides of the second transmission wheel 433. In a braking state, the first brake driving member 521 drives the first movable brake member 514 to directly or indirectly contact the first driving wheel 423, the direct contact may be that the first movable brake member 514 directly contacts the lower surface of the first driving wheel 423, and the indirect contact may be that the first movable brake member 514 contacts the first brake portion 4231 disposed on the lower surface of the first driving wheel 423. And the second brake actuating member 522 drives the second movable brake element 515 to directly or indirectly contact with the second fixed element 4 fixed on the mechanical arm to limit the rotation and axial movement of the rotating shaft 41 around its axis; the second fixed component may be a splined nut seat 432 or a splined nut seat support plate 4332. In a non-braking state, the first brake driving member 521 drives the first movable brake member 514 to disengage from the first driving wheel 423, and the second brake driving member 522 drives the second movable brake member 515 to disengage from the second fixed member 4332, so as to release the rotation of the rotating shaft 41 around the axis thereof and the movement thereof along the axial direction thereof.

In another example, a brake actuating member 52 is provided on the first drive wheel 423. Specifically, the brake driving member 52 is disposed on the first driving wheel 423, the brake driving member 52 includes a first brake driving member 521 and a second brake driving member 522, the movable brake member 51 includes a first movable brake member 514 and a second movable brake member 515, the first brake driving member 521 supports the first movable brake member 514, the second brake driving member 522 supports the second movable brake member 515, and the first movable brake member 514 and the second movable brake member 515 are respectively located at upper and lower sides of the first driving wheel 423; in a braking state, the first brake actuating member 521 drives the first movable brake member 514 to directly or indirectly contact a first fixed member fixed to the robot arm, which may be the screw-nut block 422 or the screw-nut block mounting plate 422. And the second brake driving component 522 drives the second movable brake component 515 to directly or indirectly contact with the second transmission wheel 433 so as to limit the rotation of the rotating shaft 41 around the axis thereof and the movement thereof along the axial direction; in a non-braking state, the first brake driving member 521 drives the first movable brake member 514 to disengage from the first fixed member, and the second brake driving member 522 drives the second movable brake member 515 to disengage from the second transmission wheel 433, so as to release the rotation of the rotating shaft 41 about its axis and the movement thereof along its axis.

In the above embodiments, the brake actuating member 52 may comprise any one of the following: elastic driving component, magnetic driving component, hydraulic driving component and pneumatic driving component.

It is further understood that the use of "a plurality" in this disclosure means two or more, and other terms are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another, and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," etc. are used interchangeably throughout. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.

It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the scope of the appended claims.

Claims (13)

1. A robot, comprising:

a mechanical arm;

the actuating mechanism is arranged at the tail end of the mechanical arm and comprises a rotating shaft, a shaft transmission assembly and a shaft driving assembly, the shaft transmission assembly comprises a first transmission assembly and a second transmission assembly which are respectively in transmission connection with the rotating shaft, the first transmission assembly comprises a first transmission wheel, the second transmission assembly comprises a second transmission wheel, and the shaft driving assembly is in transmission connection with the first transmission wheel and the second transmission wheel and is used for driving the first transmission wheel and/or the second transmission wheel to rotate so as to enable the rotating shaft to rotate around the axis of the rotating shaft and/or move along the axis direction of the rotating shaft;

the brake device comprises a movable brake part and a brake driving part connected with the movable brake part, and the brake driving part is used for driving the movable brake part to move close to or far away from the first driving wheel and the second driving wheel;

in a braking state, the brake driving part drives the movable brake part to move close to the first transmission wheel and the second transmission wheel so that the movable brake part is directly or indirectly contacted with the first transmission wheel and the second transmission wheel to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction of the rotating shaft;

in a non-braking state, the brake driving part drives the movable brake part to move away from the first driving wheel and the second driving wheel, so that the movable brake part is separated from the first driving wheel and the second driving wheel, and the rotating shaft is released from rotating around the axis of the rotating shaft and moving along the axis direction of the rotating shaft.

2. Robot according to claim 1,

the first transmission wheel is provided with a first brake part, and the second transmission wheel is provided with a second brake part;

the movable brake component comprises an upper brake part and a lower brake part, the upper brake part faces the first brake part, and the lower brake part faces the second brake part;

in a braking state, the brake driving part drives the movable brake part to move close to the first transmission wheel and the second transmission wheel so that the upper brake part is contacted with the first brake part, and the lower brake part is contacted with the second brake part so as to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction of the rotating shaft;

under non-braking state, the drive of brake drive part the activity brake part is kept away from first brake portion reaches second brake portion removes, so that go up the brake portion and break away from first brake portion and brake portion breaks away from down second brake portion removes the pivot is rotated around its axis and is removed along its axis direction.

3. The robot of claim 2,

the movable brake part is supported on the first driving wheel or the second driving wheel and can move relative to the first driving wheel or the second driving wheel;

the brake device also comprises a driving brake block supported on the brake driving part, and the brake driving part can drive the driving brake block to move towards or away from the movable brake part;

in a braking state, the brake driving part drives the driving brake block to move in a direction close to the movable brake part until the driving brake block is contacted with the movable brake part, and drives the movable brake part to move in a direction close to the first brake part and the second brake part so as to enable the upper brake part to be contacted with the first brake part and enable the lower brake part to be contacted with the second brake part, so that the rotating shaft is limited to rotate around the axis of the rotating shaft and move along the axis direction of the rotating shaft;

under non-braking state, the drive of brake drive part drive brake block is kept away from activity brake block removes, so that drive brake block breaks away from activity brake block, and makes go up the brake part and break away from first brake portion, lower brake portion breaks away from second brake portion, in order to remove the pivot rotates around its axis and removes along its axis direction.

4. A robot as claimed in claim 3,

the movable brake part also comprises a connecting part for connecting the upper brake part and the lower brake part, wherein the connecting part penetrates through the second driving wheel; the first brake part is positioned on the lower surface of the first transmission wheel, and the second brake part is positioned on the lower surface of the second transmission wheel;

the driving brake pad is positioned below the movable brake part and faces the lower brake part;

in a braking state, the brake driving part drives the driving brake block to move close to the movable brake part until the driving brake block is contacted with the lower surface of the lower brake part, and drives the movable brake part to move close to the first brake part and the second brake part so as to enable the upper brake part to be contacted with the first brake part and enable the upper surface of the lower brake part to be contacted with the second brake part, so that the rotating shaft is limited to rotate around the axis of the rotating shaft and move along the axis direction;

under non-braking state, the drive of brake drive part drive brake block is kept away from the direction of activity brake part removes so that the drive brake block breaks away from the lower surface of lower brake portion, just go up brake portion and break away from first brake portion, the upper surface of lower brake portion breaks away from second brake portion, in order to remove the pivot rotates around its axis and removes along its axis direction.

5. A robot as claimed in claim 3,

the movable brake component further comprises a connecting part for connecting the upper brake part and the lower brake part, wherein the connecting part penetrates through the first transmission wheel; the first brake part is positioned on the upper surface of the first transmission wheel, and the second brake part is positioned on the upper surface of the second transmission wheel;

the driving brake pad is positioned above the movable brake part and faces the upper brake part;

in a braking state, the brake driving part drives the driving brake block to move towards the direction close to the movable brake part until the driving brake block contacts with the upper surface of the upper brake part, and drives the movable brake part to move towards the direction close to the first brake part and the second brake part, so that the lower surface of the upper brake part contacts with the first brake part, and the lower brake part contacts with the second brake part, so as to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction;

under non-braking state, the drive of brake drive part drive brake block is kept away from the direction of activity brake part removes so that the drive brake block breaks away from the upper surface of last brake portion, just the lower surface of going up brake portion breaks away from first brake portion, lower brake portion breaks away from second brake portion, in order to remove the pivot rotates around its axis and removes along its axis direction.

6. The robot of claim 2,

the movable brake member is supported on the brake actuating member.

7. Robot according to claim 6,

the first brake part is positioned on the lower surface of the first transmission wheel, and the second brake part is positioned on the lower surface of the second transmission wheel;

the movable brake part is sleeved outside the second driving wheel, and the brake driving part is positioned below the movable brake part.

8. Robot according to claim 6,

the first brake part is positioned on the upper surface of the first driving wheel, and the second brake part is positioned on the upper surface of the second driving wheel;

the movable brake component is sleeved outside the first transmission wheel; the brake actuating member is located above the movable brake member.

9. A robot as claimed in any of claims 2 to 8, wherein the first brake is a rough surface formed on an upper or lower surface of the first drive wheel, or the first brake is a first brake pad provided on the upper or lower surface of the first drive wheel; and/or the presence of a gas in the atmosphere,

the second brake part is a rough surface formed on the upper surface or the lower surface of the second transmission wheel, or the second brake part is a second brake pad arranged on the upper surface or the lower surface of the second transmission wheel.

10. Robot according to claim 1,

the brake driving part is arranged on the first driving wheel or the second driving wheel, the brake driving part comprises a first brake driving part and a second brake driving part, the movable brake part comprises a first movable brake part and a second movable brake part, the first brake driving part supports the first movable brake part, and the second brake driving part supports the second movable brake part;

in a braking state, the first brake driving part drives the first movable brake part to be in direct or indirect contact with the first transmission wheel or a first fixed part fixed on the mechanical arm, and the second brake driving part drives the second movable brake part to be in direct or indirect contact with the second transmission wheel or a second fixed part fixed on the mechanical arm so as to limit the rotating shaft to rotate around the axis of the rotating shaft and move along the axis direction;

under the non-braking state, the first brake driving component drives the first movable brake component to be separated from the first transmission wheel or the first fixed component, and the second brake driving component drives the second movable brake component to be separated from the second transmission wheel or the second fixed component, so that the rotating shaft is released from rotating around the axis of the rotating shaft and moving along the axis direction of the rotating shaft.

11. Robot according to any of claims 1, 2-8, 10,

the brake actuating member includes any one of: elastic driving component, magnetic driving component, hydraulic driving component and pneumatic driving component.

12. Robot according to any of claims 1, 2-8, 10,

the rotating shaft is a ball spline shaft, the first transmission assembly comprises a lead screw nut which is connected with the ball spline shaft in a matched mode, the lead screw nut is rotatably arranged at the tail end of the mechanical arm through a lead screw nut seat, and the first transmission wheel is connected with the lead screw nut; the second transmission assembly comprises a spline nut which is in fit connection with the ball spline shaft, the spline nut is rotatably arranged on the mechanical arm through a spline nut seat, and the second transmission wheel is connected with the spline nut;

the shaft driving assembly comprises a third motor and a fourth motor, a driving shaft of the third motor is connected with the first driving wheel through a first driving belt, and a driving shaft of the fourth motor is connected with the second driving wheel through a second driving belt.

13. The robot of claim 12,

the arm is many joints arm, includes first arm and second arm at least, the one end of first arm rotationally sets up on the frame and can rotates around first axis, the other end of first arm with the second arm is connected, the second arm can rotate around the second axis, actuating mechanism rotates and sets up the end of second arm can rotate around the third axis and along the third axis removes, wherein, first axis the second axis reaches the third axis is parallel.

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