The invention relates to a low-
noise modular joint of a cooperative
robot. The low-
noise modular joint of the cooperative
robot comprises an inner ring shell, a drive mechanism, a
brake mechanism, a
harmonic speed
reducer, an outer ring shell and a joint
servo driver, wherein the drive mechanism comprises a
motor shaft, a motor rotor, a motor end cover, a motor shell and a motor
stator; the brakemechanism comprises a friction plate, a mounting seat, a
brake piece, an
electromagnet and an elastic piece, the elastic piece drives the
brake piece to move towards the friction plate, and the
electromagnet attracts the brake piece to be far away from the friction plate; a drive end of the
harmonic speed
reducer is fixedly connected with the
motor shaft, and a fixed end of the
harmonic speed
reducer is fixedly connected with the inner ring shell; and the outer ring shell is coaxially connected with the
motor shaft, and is connected with a flexible end of the harmonic speed reducer. When a joint normally works, the
electromagnet attracts the brake piece, therefore, the relative axial position of the brake piece and the friction plate cannot be changed, the brake piece and the friction plate cannot be scratched easily, and
noise cannot be generated easily when the joint works.