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公开(公告)号：US11945105B2
公开(公告)日：2024-04-02
申请号：US17765143
申请日：2019-09-30
Applicant: RETHINK ROBOTICS GMBH
Inventor： Yong Yang , Sheng Zhang , Chao Jiang
IPC: B25J19/00 , B25J17/02 , F16D63/00 , F16D65/16 , F16D121/20
CPC classification number: B25J19/0004 , B25J17/02 , F16D63/006 , F16D65/16 , F16D2121/20
Abstract: 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).
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公开(公告)号：US11938627B2
公开(公告)日：2024-03-26
申请号：US17630812
申请日：2019-08-01
Applicant: RETHINK ROBOTICS GMBH
Inventor： Yong Yang , Sheng Zhang , Chao Jiang
CPC classification number: B25J9/108 , B25J9/1025 , B25J9/12 , B25J9/126 , B25J17/00 , F16H49/001
Abstract: A robot joint, including: a housing; an output shaft, at least partially housed inside the housing and provided with a shaft portion and a flange portion at a first end of the shaft portion; a first bearing portion, housed in the housing and supporting a first position of the flange portion of the output shaft; a second bearing portion, housed in the housing and supporting a second position of the output shaft in an axial direction; and a motor, housed in the housing, where the second bearing portion is arranged between the motor and the first bearing portion along the axial direction of the output shaft. Further provided is a robot. By effectively supporting the output shaft at multiple points, the output shaft is enabled to more effectively and stably bear the moment or bending moment of a load, and the robot joint structure is enabled to be compact and lighter.
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公开(公告)号：US20220275820A1
公开(公告)日：2022-09-01
申请号：US17638087
申请日：2019-08-29
Applicant: RETHINK ROBOTICS GMBH
Inventor： Yong Yang , Sheng Zhang , Chao Jiang
Abstract: A connection assembly for robot joints, including: a first joint provided with a first connection end, where a connection base is provided on the first connection end, and the connection base is provided with a first connection protrusion extending radially outward; a second joint provided with a second connection end, where a connector is provided on the second connection end, and an external thread is provided on an outer circumference of the connector; and a connection nut adapted to be rotatably sleeved on the connector, where an internal thread is provided on an inner circumference of the connection nut, a second connection protrusion extending radially inward is formed at an end of the connection nut facing the first connection end, and the second connection protrusion is sleeved on a radial outer side of the connection base, such that the first connection protrusion is accommodated in a space, facing the second joint, formed by the second connection protrusion. The problem of complicated assembly and disassembly of joints of a collaborative robot is solved.
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公开(公告)号：US20220274249A1
公开(公告)日：2022-09-01
申请号：US17630812
申请日：2019-08-01
Applicant: RETHINK ROBOTICS GMBH
Inventor： Yong Yang , Sheng Zhang , Chao Jiang
Abstract: A robot joint, including: a housing; an output shaft, at least partially housed inside the housing and provided with a shaft portion and a flange portion at a first end of the shaft portion; a first bearing portion, housed in the housing and supporting a first position of the flange portion of the output shaft; a second bearing portion, housed in the housing and supporting a second position of the output shaft in an axial direction; and a motor, housed in the housing, where the second bearing portion is arranged between the motor and the first bearing portion along the axial direction of the output shaft. Further provided is a robot. By effectively supporting the output shaft at multiple points, the output shaft is enabled to more effectively and stably bear the moment or bending moment of a load, and the robot joint structure is enabled to be compact and lighter.
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