Cycloid motor and braking method thereof

Abstract

The present invention discloses a cycloid motor and a braking method thereof. The cycloid motor comprises: a motor assembly, a brake housing, one end of the brake housing being connected to the motor assembly; an output shaft, the output shaft being connected to the other end of the brake housing and one end of the output shaft being located within the brake housing; a linkage shaft, the linkage shaft being located within the output shaft, one end of the linkage shaft being connected to the motor assembly and the other end of the linkage shaft being connected to the output shaft; a brake assembly, the brake assembly being located within the brake housing and sleeved on the output shaft; an elastic member, the elastic member being installed within the brake housing and being located on one side of the brake assembly; and a piston, the piston being installed within the brake housing and being located on the other side of the brake assembly. The present invention arranges the elastic member and the piston on both sides of the brake assembly, respectively. While achieving a braking function, it can also significantly reduce wear on the piston and increase the service life of the cycloid motor.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic motors, and in particular to a cycloid motor and a braking method thereof. Background Art

[0002] A cycloid motor is a hydraulic motor with internally meshing cycloid gears. It has the advantages of a simple structure, good low-speed performance, and strong short-term overload capacity. Cycloid motors require a brake when in use. Existing cycloid motors mainly come in two types: those without brakes and those with built-in brakes. Cycloid motors without brakes require an additional brake when in use, which not only increases the overall size but also the cost. Existing cycloid motors with built-in brakes, while smaller in overall size, have the piston and spring located on the same side of the friction pair. The spring directly presses the piston, thereby braking the friction pair. With this structure, the piston is always subject to the force of the spring, resulting in severe wear and a short service life for the cycloid motor. The pistons in cycloid motors must be customized, with complex shapes and high manufacturing costs. Replacing a piston significantly increases costs. Therefore, existing cycloid motors with built-in brakes still have shortcomings and need improvement. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, the present invention provides a cycloidal motor and a braking method thereof, in which the elastic member and the piston are respectively arranged on both sides of the brake assembly. On the one hand, the braking effect can still be achieved; on the other hand, the wear on the piston can be significantly reduced, thereby increasing the service life of the cycloidal motor.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a cycloid motor, comprising:

[0006] motor assembly, and

[0007] a brake housing, one end of which is connected to the motor assembly;

[0008] an output shaft connected to the other end of the brake housing, and one end of the output shaft is located in the brake housing;

[0009] a linkage shaft, the linkage shaft being located inside the output shaft, one end of the linkage shaft being connected to the motor assembly, and the other end of the linkage shaft being connected to the output shaft;

[0010] a brake assembly, the brake assembly being located in the brake housing and sleeved on the output shaft;

[0011] an elastic member, wherein the elastic member is installed in the brake housing and is located on one side of the brake assembly;

[0012] A piston is mounted in the brake housing and is located on the other side of the brake assembly.

[0013] Furthermore, the brake assembly includes: a friction pair, a retaining ring and a sleeve. The friction pair is sleeved on the output shaft, the outer ring of the friction pair is connected to the sleeve, and the retaining ring is located between the sleeve and the elastic member.

[0014] Furthermore, a first annular groove is formed on a side of the piston close to the motor assembly. A high-pressure chamber is provided in the motor assembly, and the first annular groove is communicated with the high-pressure chamber.

[0015] Furthermore, the motor assembly includes: a motor housing and a motor body, the motor housing is connected to the motor body, the motor housing is connected to the brake housing, a first side wall is provided on the side of the motor housing close to the brake housing, and the piston is located between the brake housing and the first side wall.

[0016] Furthermore, the inner wall of the brake housing has a first step surface, the piston is located between the first step surface and the motor housing, the distance between the first step surface and the motor housing is L, the thickness of the piston is H, and the maximum movement distance of the piston is ΔL=LH.

[0017] Furthermore, a second side wall is provided in the brake housing, and the second side wall is arranged opposite to the first side wall. A accommodating space is formed between the second side wall and the inner wall of the brake housing. The elastic member is installed in the accommodating space, and the friction pair and the retaining ring are both located between the first side wall and the second side wall.

[0018] Furthermore, a first flow channel and a second flow channel are provided inside the piston, one end of the first flow channel is connected to the first annular groove, and the other end of the first flow channel is connected to one end of the second flow channel; a third flow channel is provided on the first side wall, and when the output shaft is braked, the other end of the second flow channel is connected to the third flow channel.

[0019] Furthermore, a throttling member is embedded in the first flow channel, and the diameter of the throttling hole of the throttling member is d, and the value range of d is 0.15mm-0.4mm.

[0020] Furthermore, a positioning pin is provided between the sleeve and the brake housing.

[0021] Furthermore, the friction pair includes: multiple steel plates and multiple friction plates, the outer ring of the steel plate is connected to the sleeve, the inner ring of the friction plate is connected to the output shaft, and the steel plates and friction plates are arranged at intervals.

[0022] Furthermore, the friction plate includes: a friction plate with an oil drain groove and a friction plate without an oil drain groove, wherein the ratio between the friction plate with an oil drain groove and the friction plate without an oil drain groove is 1:1.

[0023] The present invention also provides a braking method for the cycloid motor, comprising the following steps:

[0024] S1. The motor assembly starts, and the high-pressure oil of the motor assembly enters the brake housing, thereby pushing the piston to the left;

[0025] S2. When the piston moves to the left, the elastic member is compressed. At this time, the pressing force on the brake assembly is reduced, the braking force is released, and the motor assembly can drive the output shaft to rotate through the linkage shaft;

[0026] S3. When the high-pressure oil stops flowing into the brake housing, the piston starts to move to the right. At this time, the extrusion force on the elastic member decreases, the clamping force on the brake assembly increases, and the braking force increases, making the output shaft unable to rotate, thereby achieving braking.

[0027] Furthermore, when the piston moves to the left, it pushes the sleeve to move to the left, and the sleeve pushes the retaining ring to move to the left. The elastic member is pressed by the retaining ring. At this time, the distance between the retaining ring and the first side wall increases, the friction force of the friction pair decreases, and the brake is released.

[0028] Furthermore, when the high-pressure oil stops flowing into the brake housing, the piston gradually moves to the right, so that the second flow channel is connected to the third flow channel, and the high-pressure oil in the first annular groove can be discharged through the first flow channel, the second flow channel, and the third flow channel. At this time, the friction force of the friction pair increases, and braking is achieved.

[0029] The beneficial effect of the present invention is that by arranging the elastic member and the piston on either side of the brake assembly, the elastic member does not directly act on the piston, which helps protect the piston and thus prolongs the service life of the gerotor motor. By connecting the high-pressure chamber of the motor body to the first ring groove of the piston, high-pressure oil is used to act on the piston to achieve driving and braking of the output shaft. This eliminates the need for additional brake oil ports and further simplifies the internal structure of the gerotor motor. By designing the internal structure of the piston, delayed braking can be achieved, which helps protect the motor. By setting the type and number of friction plates, the braking torque can be increased smoothly, and the braking speed can also be controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and examples.

[0031] Figure 1 It is a perspective view of the gerotor motor of the present invention.

[0032] Figure 2 It is a cross-sectional view of the gerotor motor of the present invention (the piston is located at the far right end).

[0033] Figure 3 It is a cross-sectional view of the gerotor motor of the present invention (the piston is located at the far left end).

[0034] Figure 4 It is a cross-sectional view of the brake housing and the motor housing of the present invention.

[0035] Figure 5 is a schematic diagram of a brake assembly of the present invention.

[0036] Figure 6 It is a schematic diagram of the installation of the positioning pin of the present invention.

[0037] Figure 7 It is a structural schematic diagram of the piston of the present invention.

[0038] Figure 8 It is a structural schematic diagram of the throttling device of the present invention.

[0039] Figure 9 It is a structural schematic diagram of the friction pair of the present invention.

[0040] Figure 10 Schematic diagram of a friction plate with an oil drain groove according to the present invention.

[0041] Figure 11 Schematic diagram of a friction plate without an oil drain groove according to the present invention.

[0042] In the figure: 1. Motor assembly; 2. Brake housing; 3. Output shaft; 4. Linkage shaft; 5. Brake assembly; 6. Elastic member; 7. Piston; 8. Locating pin; 11. High-pressure chamber; 12. Motor housing; 13. Motor body; 21. First step surface; 22. Second side wall; 51. Friction pair; 52. Retaining ring; 53. Sleeve; 71. First annular groove; 72. First flow channel; 73. Second flow channel; 74. Throttle member; 121. First side wall; 1211. Third flow channel; 511. Steel plate; 512. Friction plate; 731. Second annular groove; 741. Throttle hole. DETAILED DESCRIPTION

[0043] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and 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 therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0045] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0046] Example 1

[0047] like Figures 1 to 11 As shown, the cycloid motor of the present invention includes: a motor assembly 1, a brake housing 2, an output shaft 3, a linkage shaft 4, a brake assembly 5, an elastic member 6 and a piston 7. One end of the brake housing 2 is connected to the motor assembly 1, the output shaft 3 is connected to the other end of the brake housing 2, and one end of the output shaft 3 is located in the brake housing 2, the linkage shaft 4 is located in the output shaft 3, one end of the linkage shaft 4 is connected to the motor assembly 1, and the other end of the linkage shaft 4 is connected to the output shaft 3. The brake assembly 5 is located in the brake housing 2, and the brake assembly 5 is sleeved on the output shaft 3. The elastic member 6 is installed in the brake housing 2, and the elastic member 6 is located on one side of the brake assembly 5. The piston 7 is installed in the brake housing 2, and the piston 7 is located on the other side of the brake assembly 5.

[0048] It should be noted that the motor assembly 1 can drive the output shaft 3 to rotate through the linkage shaft 4, and the brake assembly 5, the elastic member 6 and the piston 7 cooperate with each other to achieve braking of the output shaft 3. When the right side of the piston 7 is subjected to the force of high-pressure oil, the piston 7 can move to the left, thereby squeezing the elastic member 6. At this time, the braking force of the brake assembly 5 is released and the output shaft 3 can rotate; when the high-pressure oil stops being input, the piston 7 moves to the right to be reset. At this time, the brake assembly 5 can brake the output shaft 3. The present invention improves the structure of the cycloid motor and arranges the elastic member 6 and the piston 7 on both sides of the brake assembly 5 respectively. The elastic member 6 does not directly act on the piston 7, which can reduce the wear on the piston 7, thereby increasing the service life of the cycloid motor and saving costs.

[0049] The brake assembly 5 comprises a friction pair 51, a retaining ring 52, and a sleeve 53. The friction pair 51 is sleeved onto the output shaft 3, with the outer ring of the friction pair 51 connected to the sleeve 53. The retaining ring 52 is positioned between the sleeve 53 and the elastic member 6. Specifically, the right side of the sleeve 53 contacts the piston 7, while the left side of the sleeve 53 contacts the retaining ring 52. The elastic force of the elastic member 6 forces the retaining ring 52 to abut against the left side of the sleeve 53. A first annular groove 71 is defined on the side of the piston 7 proximal to the motor assembly 1. The motor assembly 1 includes a high-pressure chamber 11, and the first annular groove 71 communicates with the high-pressure chamber 11. It should be noted that when high-pressure oil is introduced into the high-pressure chamber 11 of the motor assembly 1, the high-pressure oil can reach the first annular groove 71 through the flow channel. Under the action of the high-pressure oil, the piston 7 begins to move leftward. The sleeve 53 and the retaining ring 52 also move leftward under the push of the piston 7. At this time, the extrusion force on the elastic member 6 increases, the compression force on the friction pair 51 decreases, and the friction force decreases, allowing the output shaft 3 to rotate under the drive of the motor assembly 1. When the high-pressure oil is no longer introduced into the high-pressure chamber 11, the force acting on the piston 7 decreases, and the piston 7 begins to move rightward. Under the action of the elastic member 6, the friction pair 51 is compressed again, the friction force increases, and the output shaft 3 stops rotating, thus achieving braking. The present invention disposes the elastic member 6 and the piston 7 on the left and right sides of the friction pair 51, and the elastic member 6 acts on the retaining ring 52. Even if the retaining ring 52 wears after long-term use, the cost of replacing the retaining ring 52 is very low. Moreover, the retaining ring 52 is a standard part that is easy to process and obtain, making maintenance and replacement very convenient and quick. For example, a positioning pin 8 is provided between the sleeve 53 and the brake housing 2. The positioning pin 8 can prevent the sleeve 53 from rotating relative to the brake housing 2.

[0050] The motor assembly 1 includes a motor housing 12 and a motor body 13. The motor housing 12 is connected to the motor body 13, which is in turn connected to the brake housing 2. A first sidewall 121 is provided on the side of the motor housing 12 close to the brake housing 2, and the piston 7 is located between the brake housing 2 and the first sidewall 121. One end of the linkage shaft 4 passes through the motor housing 12 and is connected to the motor body 13. As a result, the motor body 13 can drive the linkage shaft 4 to rotate, thereby driving the output shaft 3 to rotate. The motor housing 12 and the brake housing 2 are connected by screws. A storage space can be formed between the first sidewall 121 and the inner wall of the brake housing 2, and the piston 7 is located in this storage space.

[0051] The inner wall of the brake housing 2 has a first stepped surface 21. The piston 7 is located between the first stepped surface 21 and the motor housing 12. The distance between the first stepped surface 21 and the motor housing 12 is L. The thickness of the piston 7 is H. The maximum travel distance of the piston 7 is ΔL = LH. A second sidewall 22 is provided within the brake housing 2. The second sidewall 22 is disposed opposite the first sidewall 121. A receiving space is formed between the second sidewall 22 and the inner wall of the brake housing 2. The elastic member 6 is installed in the receiving space. The friction pair 51 and the retaining ring 52 are both located between the first sidewall 121 and the second sidewall 22. In other words, the first stepped surface 21 can limit the travel of the piston 7. The distance ΔL that the piston 7 moves to the left is equal to the amount of compression of the elastic member 6 by the retaining ring 52. Assuming the distance between the second sidewall 22 and the first sidewall 121 is Y, the thickness of the friction pair 51 is H1, and the thickness of the retaining ring 52 is H2, when the piston 7 is at its rightmost position, the retaining ring 52 precisely compresses the friction pair 51 against the first sidewall 121, generating a braking force on the friction pair 51. When the piston 7 is at its leftmost position, the distance between the retaining ring 52 and the first sidewall 121 increases, reducing the compressive force on the friction pair 51 and releasing the braking force. In other words, the distance Y should be designed to satisfy Y > H1 + H2 + ΔL. However, considering the overall size of the gerotor motor, the distance Y should not be too large. For example, ΔL = 2 mm, Y = 46 mm, H1 = 37.5 mm, and H2 = 6 mm. In other words, in addition to facilitating the installation of the piston 7, the first sidewall 121 also compresses the friction pair 51. This not only simplifies the internal structure of the gerotor motor, but also reduces costs and improves its compactness.

[0052] It should be noted that when the motor body 13 is started, the high-pressure oil in the high-pressure chamber 11 can flow to the first annular groove 71. However, when the motor body 13 stops working, the high-pressure oil in the first annular groove 71 cannot return to the high-pressure chamber 11. However, if the high-pressure oil in the first annular groove 71 cannot be discharged, the piston 7 cannot return to the initial position (i.e., the rightmost end). In addition, it should be noted that when the cycloid motor is braked, both the motor body 13 and the output shaft 3 need to stop. In the absence of friction side effects, the time required for the high-pressure oil to stop flowing into the motor body 13 and the output shaft 3 to stop rotating is t2. If the brake assembly 5 has braked the linkage shaft 4 within the time t2, the motor body 13 will be damaged (i.e., the brake assembly 5 forces the linkage shaft 4 to brake when the motor body 13 has not completely stopped). Therefore, during design, it should be ensured that the braking time t1≥t2 of the brake assembly 5 on the output shaft 3. In order to meet the braking time t1≥t2, the present invention improves the structure of the piston 7.

[0053] Specifically, the piston 7 further defines a first flow channel 72 and a second flow channel 73. One end of the first flow channel 72 communicates with the first annular groove 71, and the other end of the first flow channel 72 communicates with one end of the second flow channel 73. A third flow channel 1211 is defined on the first sidewall 121. When the output shaft 3 is braked, the other end of the second flow channel 73 communicates with the third flow channel 1211. A throttle member 74 is embedded within the first flow channel 72. The throttle hole 741 of the throttle member 74 has a diameter d, which ranges from 0.15 mm to 0.4 mm. In other words, when the high-pressure oil stops flowing into the first annular groove 71, the piston 7 is able to move a short distance to the right under the action of the elastic member 6. At this point, the other end of the second flow channel 73 connects with the third flow channel 1211, and the high-pressure oil in the first annular groove 71 can flow through the first and second flow channels 72, 73, and then drain into the third flow channel 1211. When the piston 7 is at its leftmost position, the volume of the cavity formed between the first annular groove 71 and the motor housing 12 is V1. When the piston 7 is at its rightmost position, the volume of the cavity formed between the first annular groove 71 and the motor housing 12 is V2. That is, during the braking process, the change in the volume of the cavity of the piston 7 is ΔV = V1 - V2. Therefore, it can be seen that the magnitude of ΔV is related to the distance ΔL: the larger ΔL, the larger ΔV. It is understandable that the time it takes for ΔV to change is related to the release time of the high-pressure oil. The present invention adjusts the release time of the high-pressure oil by embedding a throttle element 74 within the first flow channel 72, thereby ensuring that the braking time satisfies t1 ≥ t2. The throttle element 74 has a throttle hole 741 in the center. The smaller the diameter of the throttle hole 741, the longer the liquid release time, while the larger the diameter of the throttle hole 741, the shorter the liquid release time. Therefore, the diameter of the throttle hole 741 requires special design to ensure that the braking time t1 ≥ t2.

[0054] For example, the other end of the second flow channel 73 further has a second annular groove 731, and the width w of the second annular groove 731 is greater than the diameter of the second flow channel 73, and the width w of the second annular groove 731 is greater than the diameter of the third flow channel 1211. The distance between the left side wall of the second annular groove 731 and the left end face of the piston 7 is a, and the vertical distance between the left end face of the third flow channel 1211 and the first step surface 21 is b. For example, a = ΔL, the width w = 2*ΔL, and b> a + w. Therefore, when the piston 7 is at the leftmost end, the second flow channel 73 will not be connected to the third flow channel 1211. When the piston 7 moves a certain distance to the right (for example, 5 mm), the second annular groove 731 is connected to the third flow channel 1211, and the high-pressure oil can be discharged. The present invention can achieve braking and delayed braking of the output shaft 3 by designing the internal structure of the piston 7. The present invention allows the high-pressure oil of the motor body 13 to act on the piston 7, which can eliminate the need for an additional brake oil port. The braking function does not require an additional control switch. The braking function is turned off or on according to the on / off of the high-pressure oil in the motor body 13.

[0055] For example, the friction pair 51 comprises multiple steel plates 511 and multiple friction plates 512. The outer rings of the steel plates 511 are connected to the sleeve 53, while the inner rings of the friction plates 512 are connected to the output shaft 3. The steel plates 511 and 512 are spaced apart. The friction plates 512 include those with oil drain grooves and those without. When the gerotor motor brakes, hydraulic oil drains quickly through the friction plates with oil drain grooves, increasing the friction between the friction plates 512 and the steel plates 511. Friction plates without oil drain grooves drain more slowly, increasing friction more slowly. When the hydraulic oil is completely drained, the friction between the two types of friction plates and the steel plates 511 is the same. The present invention achieves a smooth increase in braking torque by combining the two types of friction plates. Furthermore, by adjusting the ratio of the two types of friction plates, the braking speed can be controlled. For example, the ratio of friction plates with oil drain grooves to those without oil drain grooves is 1:1.

[0056] Example 2

[0057] The present invention also provides a braking method for a cycloid motor, comprising the following steps: S1. The motor assembly 1 is started, and the high-pressure oil of the motor assembly 1 enters the brake housing 2, thereby pushing the piston 7 to the left. S2. When the piston 7 moves to the left, the elastic member 6 is compressed. At this time, the pressing force on the brake assembly 5 is reduced, the braking force is released, and the motor assembly 1 can drive the output shaft 3 to rotate via the linkage shaft 4. S3. When the high-pressure oil stops flowing into the brake housing 2, the piston 7 begins to move to the right. At this time, the squeezing force on the elastic member 6 is reduced, the pressing force on the brake assembly 5 is increased, and the braking force is increased, so that the output shaft 3 cannot rotate, thereby achieving braking.

[0058] When the piston 7 moves to the left, it pushes the sleeve 53 to move to the left, and the sleeve 53 pushes the retaining ring 52 to move to the left. The elastic member 6 is pressed by the retaining ring 52. At this time, the distance between the retaining ring 52 and the first side wall 121 increases, the friction force of the friction pair 51 decreases, and the brake is released.

[0059] When the high-pressure oil stops entering the brake housing 2, the piston 7 gradually moves to the right, so that the second flow channel 73 is connected to the third flow channel 1211, and the high-pressure oil in the first annular groove 71 can be discharged through the first flow channel 72, the second flow channel 73, and the third flow channel 1211. At this time, the friction force of the friction pair 51 increases, and braking is achieved.

[0060] Compared with the prior art, the cycloid motor and braking method of the present invention have at least the following advantages:

[0061] (1) By arranging the elastic member 6 and the piston 7 on both sides of the friction pair 51 respectively, the elastic member 6 does not directly act on the piston 7, which is beneficial to protecting the piston 7 and thus extending the service life of the cycloid motor.

[0062] (2) The high-pressure chamber 11 of the motor body 13 is connected to the first ring groove 71 of the piston 7, and the high-pressure oil is used to act on the piston 7 to realize the driving and braking of the output shaft 3. In this way, the additional brake oil port can be eliminated, and the internal structure of the cycloid motor can be further simplified.

[0063] (3) By designing the internal structure of the piston 7, on the one hand, delayed braking of the brake can be achieved (the braking effect time is later than the stopping time of the motor body 13), which is beneficial to protecting the motor; on the other hand, when the motor stops supplying high-pressure oil, the high-pressure oil in the first annular groove 71 can be discharged through the flow channel, preventing the high-pressure oil from being compressed in the first annular groove 71 and causing leakage.

[0064] (4) By setting the type and number of friction plates, the braking torque can be increased smoothly and the braking speed can be regulated.

[0065] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical spirit of this invention. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A cycloid motor, characterized in that: include: a motor assembly (1), and a brake housing (2), one end of the brake housing (2) being connected to the motor assembly (1); an output shaft (3), the output shaft (3) being connected to the other end of the brake housing (2), and one end of the output shaft (3) being located inside the brake housing (2); A linkage shaft (4), the linkage shaft (4) being located inside the output shaft (3), one end of the linkage shaft (4) being connected to the motor assembly (1), and the other end of the linkage shaft (4) being connected to the output shaft (3); A brake assembly (5), the brake assembly (5) being located in the brake housing (2), and the brake assembly (5) being sleeved on the output shaft (3); an elastic member (6), the elastic member (6) being installed in the brake housing (2), and the elastic member (6) being located on one side of the brake assembly (5); a piston (7), the piston (7) being mounted in the brake housing (2), and the piston (7) being located on the other side of the brake assembly (5); A first annular groove (71) is provided on a side of the piston (7) close to the motor assembly (1), a high-pressure chamber (11) is provided in the motor assembly (1), the first annular groove (71) is connected to the high-pressure chamber (11), a first flow channel (72) and a second flow channel (73) are further provided inside the piston (7), one end of the first flow channel (72) is connected to the first annular groove (71), and the other end of the first flow channel (72) is connected to one end of the second flow channel (73); the first A throttling member (74) is embedded in the flow channel (72), and a third flow channel (1211) is provided on the motor assembly (1). When the output shaft (3) is braked, the other end of the second flow channel (73) is connected to the third flow channel (1211); the other end of the second flow channel (73) also has a second annular groove (731), and the width w of the second annular groove (731) is greater than the diameter of the second flow channel (73), and the width w of the second annular groove (731) is greater than the diameter of the third flow channel (1211).

2. The cycloid motor according to claim 1, wherein The brake assembly (5) comprises: a friction pair (51), a retaining ring (52) and a sleeve (53); the friction pair (51) is sleeved on the output shaft (3); the outer ring of the friction pair (51) is connected to the sleeve (53); and the retaining ring (52) is located between the sleeve (53) and the elastic member (6).

3. The cycloid motor according to claim 2, wherein: The motor assembly (1) comprises: a motor housing (12) and a motor body (13); the motor housing (12) is connected to the motor body (13); the motor housing (12) is connected to the brake housing (2); a first side wall (121) is provided on a side of the motor housing (12) close to the brake housing (2); and the piston (7) is located between the brake housing (2) and the first side wall (121).

4. The cycloid motor according to claim 3, wherein: The inner wall of the brake housing (2) is provided with a first step surface (21), the piston (7) is located between the first step surface (21) and the motor housing (12), the distance between the first step surface (21) and the motor housing (12) is L, the thickness of the piston (7) is h, and the maximum moving distance of the piston (7) is ΔL=Lh.

5. The cycloid motor according to claim 3, wherein: A second side wall (22) is provided in the brake housing (2), and the second side wall (22) is arranged opposite to the first side wall (121). A receiving space is formed between the second side wall (22) and the inner wall of the brake housing (2). The elastic member (6) is installed in the receiving space, and the friction pair (51) and the retaining ring (52) are both located between the first side wall (121) and the second side wall (22).

6. The cycloid motor according to claim 1, wherein: The diameter of the throttling hole (741) of the throttling member (74) is d, and the value range of d is 0.15mm-0.4mm.

7. The cycloid motor according to claim 2, wherein: A positioning pin (8) is provided between the sleeve (53) and the brake housing (2).

8. The cycloid motor according to claim 2, wherein: The friction pair (51) comprises: a plurality of steel plates (511) and a plurality of friction plates (512); the outer ring of the steel plate (511) is connected to the sleeve (53); the inner ring of the friction plate (512) is connected to the output shaft (3); and the steel plates (511) and the friction plates (512) are spaced apart.

9. The cycloid motor according to claim 8, wherein: The friction plate (512) includes a friction plate with an oil drain groove and a friction plate without an oil drain groove, wherein the ratio between the friction plate with the oil drain groove and the friction plate without the oil drain groove is 1:

1.

10. A method for braking a cycloid motor according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the motor assembly (1) is started, and the high-pressure oil of the motor assembly (1) enters the brake housing (2), thereby pushing the piston (7) to move to the left; S2. When the piston (7) moves to the left, the elastic member (6) is compressed. At this time, the pressing force on the brake assembly (5) is reduced, the braking force is released, and the motor assembly (1) can drive the output shaft (3) to rotate through the linkage shaft (4); S3. When the high-pressure oil stops flowing into the brake housing (2), the piston (7) starts to move to the right. At this time, the squeezing force on the elastic member (6) decreases, and the pressing force on the brake assembly (5) increases, thereby increasing the braking force and preventing the output shaft (3) from rotating, thereby achieving braking.

11. The braking method according to claim 10, wherein: The brake assembly (5) comprises: a friction pair (51), a retaining ring (52) and a sleeve (53); the friction pair (51) is sleeved on the output shaft (3); the outer ring of the friction pair (51) is connected to the sleeve (53); and the retaining ring (52) is located between the sleeve (53) and the elastic member (6); The motor assembly (1) comprises: a motor housing (12) and a motor body (13), wherein the motor housing (12) is connected to the motor body (13), the motor housing (12) is connected to the brake housing (2), and a first side wall (121) is provided on a side of the motor housing (12) close to the brake housing (2); When the piston (7) moves to the left, it pushes the sleeve (53) to move to the left, and the sleeve (53) pushes the retaining ring (52) to move to the left. The elastic member (6) is pressed by the retaining ring (52). At this time, the distance between the retaining ring (52) and the first side wall (121) increases, the friction force of the friction pair (51) decreases, and the brake is released.

12. The braking method according to claim 11, wherein: When the brake housing (2) stops supplying high-pressure oil, the piston (7) gradually moves to the right, so that the second flow channel (73) is connected to the third flow channel (1211), and the high-pressure oil in the first annular groove (71) can be discharged through the first flow channel (72), the second flow channel (73), and the third flow channel (1211). At this time, the friction force of the friction pair (51) increases, and braking is achieved.

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