公开(公告)号：US12011824B2

公开(公告)日：2024-06-18

申请号：US17054260

申请日：2019-05-17

Applicant: Universal Robots A/S

Inventor： Mikkel Johansen Vraa ,  Rasmus Borgbjerg Nielsen

IPC: B25J19/00 ,  F16D65/18 ,  F16D121/24 ,  F16D125/40 ,  F16D127/06

CPC classification number: B25J19/0004 ,  F16D65/18 ,  F16D2121/24 ,  F16D2125/40 ,  F16D2127/06

Abstract: A robot joint is connectable to at least another robot joint via an output flange. The robot joint includes a joint motor having a motor axle configured to rotate the output flange. The robot joint includes a brake assembly having an annular brake member that is rotatable and a resilient member arranged on the motor axle. The annular brake member and the resilient member are arranged between a first locking member and a positionable locking member, where the positionable locking member can be fixed at a plurality of positions along and at the motor axle. An engagement member is movable between an engaging position and a non-engaging position, where in the engaging position the engagement member engages with the annular brake member and prevents rotation of the annular brake member around the motor axis. The annular may include brake protrusion that includes two slats forming a triangular-like shape.