Brake system and joint module

Abstract

The application provides a brake system and a joint module, which comprises a motor device and a brake device, the motor device comprises a stator and a rotor, the brake device comprises a brake pad assembly, a brake clamp plate and a brake driving assembly, the brake pad assembly is connected with the rotor; a bearing is arranged in a space formed by cooperation of the brake pad assembly, the stator and the rotor, the outer ring of the bearing is in interference fit with the stator, and the inner ring of the bearing is in interference fit with the rotor; the brake driving assembly drives the brake clamp plate to press the brake pad assembly to brake, or the brake driving assembly drives the brake clamp plate to release the brake pad assembly to restore movement. By installing the bearing in the gap between the stator and the rotor, the internal space of the joint module can be optimized, the joint volume is reduced, the bearing is arranged at the input end of the joint module, is installed in cooperation with the brake device, and is hidden in the motor without occupying additional joint length, and the axial dimension of the joint is optimized.

Description

Technical Field

[0001] This invention relates to the field of joint module structure technology, specifically to a braking system and a joint module. Background Technology

[0002] With the rapid development of industrial automation technology, robots, as an important type of industrial automation equipment, are receiving increasing attention and are being used more and more widely. Joint modules are crucial components of robots, playing a vital role in their movement.

[0003] The braking system in the joint module is an essential component. Its reliability directly determines the safety performance of the collaborative robotic arm, ensuring that the robotic arm maintains a constant posture and does not collapse in the event of a power outage or emergency stop.

[0004] Chinese patent application CN218659058U discloses a joint module for a robotic arm. The drive assembly includes a housing, a motor output shaft, a motor rotor connected to the motor output shaft, a motor stator embedded in the housing, and a bearing housing connected to one end of the housing. The drive assembly may include a first bearing and a third bearing. The inner and outer rings of the first bearing are connected to the motor output shaft and the bearing housing, respectively. The inner and outer rings of the third bearing are connected to the motor output shaft and the housing, respectively. A reduction assembly may include a hollow shaft passing through the motor output shaft. The hollow shaft can sequentially pass through the reduction assembly, the drive assembly, and the electromagnetic brake in the axial direction of the motor output shaft. The reduction assembly may include a second bearing, whose inner and outer rings can be connected to the hollow shaft and the motor output shaft, respectively.

[0005] The braking system of the existing joint module has the following main defects and needs to be improved:

[0006] There is an installation gap between the rotor and stator of the motor, and there is also an installation gap between the brake element and the motor element. The motor is supported by bearings at both ends. This results in a large waste of space, large size, low compactness, and low energy density. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the purpose of this invention is to provide a braking system and a joint module.

[0008] A braking system according to the present invention includes a motor assembly and a braking device. The motor assembly includes a stator and a rotor. The braking device includes a brake pad assembly, a brake clamp, and a brake drive assembly. The brake pad assembly is connected to the rotor. A bearing is disposed within the space formed by the brake pad assembly, the stator, and the rotor. The outer ring of the bearing is interference-fitted with the stator, and the inner ring of the bearing is interference-fitted with the rotor. The brake drive assembly drives the brake clamp to press the brake pad assembly for braking, or the brake drive assembly drives the brake clamp to release the brake pad assembly to resume movement.

[0009] Preferably, the brake pad assembly includes a locking sleeve and a brake pad, one end of the locking sleeve extends into the rotor and is interference-fitted therewith, the other end of the locking sleeve extends out of the end of the rotor, and the brake pad is connected to the locking sleeve extending out of the end of the rotor.

[0010] Preferably, the cross-sectional profile of the locking sleeve extending from the rotor end includes a polygon, and the interior of the brake pad forms a cavity similar to the cross-sectional profile of the locking sleeve, with the locking sleeve fitted into the cavity of the brake pad.

[0011] Preferably, the brake drive assembly includes a drive coil, a fixed base, and an elastic element. The drive coil is fixedly mounted on the fixed base, and the stator, brake pad assembly, brake clamp, and fixed base are arranged sequentially along the axial direction of the stator. The fixed base is fixedly connected to the stator, and the elastic element is disposed between the fixed base and the brake clamp, and the elastic element is in a compressed state. When the drive coil is energized, the elastic element is in a compressed state, and the attraction force exerted by the drive coil on the brake clamp overcomes the elastic force of the elastic element. The brake clamp does not exert an axial force on the brake pad assembly. When the drive coil is de-energized, the elastic element extends, and the brake clamp presses down on the brake pad assembly under the force of the elastic element to perform braking.

[0012] Preferably, the drive coil is disposed inside the fixed base, both the drive coil and the fixed base are annular in shape, and the fixed base is made of magnetic material.

[0013] Preferably, a connecting block is provided at the peripheral edge of the fixed base, the connecting block extends along the axis of the rotor toward the stator, and the connecting block is fixedly connected to the stator and / or the housing.

[0014] Preferably, the brake pad assembly, brake clamp, and fixing base are all coaxially arranged, and the maximum outline diameter of the brake pad assembly is smaller than the maximum outline diameter of the brake clamp; the brake clamp has an avoidance groove for avoiding the connecting block.

[0015] Preferably, a harmonic cam is provided on the side of the rotor away from the brake pad assembly, and one end of the harmonic cam extends into the rotor and is interference-fitted with the rotor.

[0016] Preferably, the harmonic cam, brake pad assembly, and rotor are all coaxially arranged; a rubber pad is provided between the harmonic cam and the brake pad assembly, and the rubber pad is sealed to the inner wall of the rotor.

[0017] According to a joint module provided by the present invention, a housing is further included, wherein both the stator and the rotor are disposed within the housing, and the stator is fixedly connected to the housing, and the rotor is rotatably connected to the housing.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. This invention optimizes the internal space of the joint module and reduces the joint volume by installing a bearing in the gap between the stator and the rotor. The bearing is placed at the input end of the joint module and installed in conjunction with the braking device. Furthermore, the bearing is hidden inside the motor and does not occupy additional joint length, thus optimizing the axial dimension of the joint.

[0020] 2. By setting the cross-sectional contour shape of the locking sleeve to a polygon, the present invention achieves radial locking of the locking sleeve and the brake pad by means of the locking effect of two similar polygons. However, it does not limit the axial movement of the locking sleeve and the brake pad, thus achieving braking of the rotor without damaging the rotor during the braking process.

[0021] 3. By setting the output measuring code disk and encoder circuit board in the annular space of the encoder fixing base and setting the input measuring code disk in the concave mounting groove of the locking sleeve, the present invention helps to improve the axial space utilization of the encoder structure.

[0022] 4. This invention integrates the output measuring encoder read head and the input encoder read head onto a single encoder circuit board, and arranges the output measuring code disk, the encoder circuit board, and the input measuring code disk sequentially along the axial direction of the hollow shaft. This helps to improve the overall integration of the encoder structure, save installation space, and thus improve space utilization. Attached Figure Description

[0023] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0024] Figure 1 This is a cross-sectional view that mainly illustrates the overall structure of the braking system in this invention;

[0025] Figure 2This is an exploded view illustrating the overall structure of the brake pad assembly, which is the main feature of this invention.

[0026] Figure 3 This is an external schematic diagram illustrating the overall structure of the joint module, which is the main feature of this invention.

[0027] Figure 4 This is a schematic diagram illustrating the overall structure of the fixed base, which is the main feature of this invention.

[0028] Figure 5 This is a schematic diagram illustrating the installation structure of the input measuring code disk and the locking sleeve, which are the main features of this invention.

[0029] As shown in the figure:

[0030] Housing 1 Threaded connection section 81

[0031] Output measurement encoder 2, stator 9

[0032] Threaded connecting sleeve 21, brake pad 10

[0033] Input measuring encoder 3, brake clamp 11

[0034] Encoder circuit board 4, bearing 12

[0035] Rotor 5, Harmonic Cam 13

[0036] Fixed base 6, drive coil 14

[0037] Mounting part 61, elastic element 15

[0038] Locking sleeve 7 Connecting block 16

[0039] Recessed mounting groove 71 Rubber pad 17

[0040] Hollow shaft 8, sealing ring 18 Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0042] It should be noted that the axial direction in this application refers to the direction of the central axis of the hollow shaft 8 or the direction parallel to the central axis of the hollow shaft 8.

[0043] like Figure 1As shown, a braking system according to the present invention includes a motor assembly and a braking device, the braking device being disposed at one axial end of the motor assembly. The motor assembly includes a stator 9 and a rotor 5, and the braking device includes a brake pad assembly, a brake clamp 11, and a brake drive assembly. The brake pad assembly is connected to the rotor 5. A bearing 12 is disposed within the space formed by the brake pad assembly, the stator 9, and the rotor 5. The outer ring of the bearing 12 is interference-fitted with the stator 9, and the inner ring of the bearing 12 is interference-fitted with the rotor 5. The brake drive assembly drives the brake clamp 11 to press against the brake pad assembly for braking, or the brake drive assembly drives the brake clamp 11 to release the brake pad assembly to resume movement.

[0044] Since there is a certain gap between the stator 9 and the rotor 5 of the motor, the technical solution of this application utilizes the gap between the stator 9 and the rotor 5 to install the bearing 12, which can optimize the internal space of the joint module and reduce the joint volume. Furthermore, placing the bearing 12 at the input end of the joint module, cooperating with the brake device for installation, and concealing the bearing 12 inside the motor does not occupy additional joint length, thus optimizing the axial dimension of the joint. Preferably, this application provides two bearings 12 within the space formed by the brake pad assembly, the stator 9, and the rotor 5.

[0045] like Figure 1 , Figure 2 as well as Figure 3 As shown, specifically, the brake pad assembly includes a locking sleeve 7 and a brake pad 10. One end of the locking sleeve 7 extends into the rotor 5 and is interference-fitted therewith, while the other end of the locking sleeve 7 extends out of the end of the rotor 5. The brake pad 10 is connected to the locking sleeve 7 extending out of the end of the rotor 5. Furthermore, the locking sleeve 7, the brake pad 10, and the rotor 5 are all annular in shape and are coaxially arranged. The end of the locking sleeve 7 that extends into the rotor 5 is interference-fitted with the rotor 5, and the diameter of the end of the locking sleeve 7 that extends out of the rotor 5 is larger than the outer diameter of the rotor 5, thereby preventing the rotor 5 from directly contacting the brake pad 10 and helping to protect the service life of the rotor 5.

[0046] More specifically, the locking sleeve 7 extending from the end of the rotor 5 has a polygonal cross-sectional profile. The brake pad 10 has a cavity inside that is similar in shape to the cross-sectional profile of the locking sleeve 7, and the locking sleeve 7 is fitted into the cavity of the brake pad 10. The size of the cavity is slightly larger than the cross-sectional profile of the locking sleeve 7 extending from the end of the rotor 5. Through the locking action of the two similar polygons, radial locking of the locking sleeve 7 and the brake pad 10 is achieved, but axial movement of the locking sleeve 7 and the brake pad 10 is not limited. Preferably, this application uses a regular octagon. This enables the rotor 5 to rotate around its central axis under normal conditions, causing the locking sleeve 7 to rotate around its central axis, which in turn causes the brake pad 10 to rotate around its central axis. When braking, the brake pad 10 is pressed down by the brake clamp 11. During the process of the brake clamp 11 pressing down on the brake pad 10, the brake pad 10 slides axially, and the brake pad 10 and the locking sleeve 7 generate axial relative displacement. Since both the brake pad 10 and the locking sleeve 7 have a certain thickness, until the brake pad 10 is pressed down and does not move, both the brake pad 10 and the locking sleeve 7 maintain radial locking. At this time, braking of the rotor 5 is achieved, and the movement of the brake pad 10 during braking will not damage the rotor 5.

[0047] More specifically, the brake drive assembly includes a drive coil 14, a fixed base 6, and an elastic element 15. The extension and retraction direction of the elastic element 15 is parallel to the axial direction of the hollow shaft 8. The drive coil 14 is fixedly mounted on the fixed base 6. The stator 9, brake pad assembly, brake clamp 11, and fixed base 6 are arranged sequentially along the axial direction of the stator 9. The fixed base 6 is fixedly connected to the stator 9, and the elastic element 15 is disposed between the fixed base 6 and the brake clamp 11. Preferably, multiple elastic elements 15 are evenly spaced along the circumference of the fixed base 6. When the drive coil 14 is energized, the elastic element 15 is in a compressed state. The attraction force exerted by the drive coil 14 on the brake clamp 11 overcomes the elastic force of the elastic element 15, and the brake clamp 11 does not exert an axial force on the brake pad assembly. When the drive coil 14 is de-energized, the elastic element 15 extends, and the brake clamp 11 presses against the brake pad assembly under the force of the elastic element 15 to perform braking.

[0048] Furthermore, the drive coil 14 is disposed inside the fixed base 6. Both the drive coil 14 and the fixed base 6 are annular in shape, and the fixed base 6 is made of a magnetic material. Disposing of the drive coil 14 inside the fixed base 6 can protect the drive coil 14, and the fixed base 6, made of a magnetic material, such as iron, cobalt, nickel, or an alloy containing one or more of iron, cobalt, and nickel, can enhance the magnetic effect of the drive coil 14.

[0049] Furthermore, a connecting block 16 is provided at the peripheral edge of the fixed base 6. The connecting block 16 extends along the axis of the rotor 5 towards the stator 9 and is fixedly connected to the stator 9 and / or the housing 1. Multiple connecting blocks 16 can be equally spaced on the bearings 12 of the fixed base 6. Connecting the fixed base 6 and the stator 9 or housing 1 with the connecting blocks 16 can improve the overall stability of the system. Placing the connecting blocks 16 at the edge facilitates avoidance of the brake pad assembly located between the fixed base 6 and the stator 9, preventing interference. The connecting block 16 engages with the groove of the brake plate 11, restricting the rotation of the brake plate 11 while allowing the brake plate 11 to move axially.

[0050] Furthermore, the brake pad assembly, brake clamp 11, and fixing base 6 are all coaxially arranged, and the maximum profile diameter of the brake pad assembly is smaller than the maximum profile diameter of the brake clamp 11. A clearance groove for the connecting block 16 is formed on the brake clamp 11. The brake clamp 11 is annular in shape. By setting the maximum profile diameter of the brake clamp 11 to be greater than the maximum profile diameter of the brake pad assembly (i.e., the outer diameter of the brake clamp 11 is greater than the outer diameter of the brake pad 10), and the inner diameter of the brake clamp 11 in this application is greater than the inner diameter of the brake pad 10 but smaller than the outer diameter of the brake pad 10, it is possible to ensure that the brake clamp 11 can apply a stable force to the brake pad 10, thereby ensuring the stability of the braking device.

[0051] Preferably, a harmonic cam 13 is provided on the side of the rotor 5 away from the brake pad assembly, with one end of the harmonic cam 13 extending into the rotor 5 and interfering with it. The harmonic cam 13, the brake pad assembly, and the rotor 5 are all coaxially arranged. A rubber gasket 17 is provided between the harmonic cam 13 and the brake pad assembly, and the rubber gasket 17 is sealed to the inner wall of the rotor 5. Further, sealing rings 18 can be provided at both ends of the rubber gasket 17 in the axial direction to achieve a sealed connection between the sealing gasket and the inner wall of the rotor 5. The rubber gasket 17 and the sealing rings 18 isolate the metal shavings scraped off during the interference fit, thereby sealing the metal shavings generated by the interference fit of the harmonic cam 13 into the rotor 5 within the installation space of the harmonic cam 13 and the rotor 5, and also sealing the metal shavings generated by the interference fit of the locking sleeve 7 into the groove of the rubber gasket 17, thus ensuring that the harmonic grease is not contaminated by metal lint. This avoids the situation where metal lint contaminates the gear grease and causes gear wear. At the same time, the sealing ring 17 seals with the hollow shaft 8, thereby preventing the dust worn off by the brake pads 10 from entering the harmonic side and contaminating the gear grease.

[0052] This invention also provides a joint module, such as Figure 1 and Figure 3As shown, it also includes a housing 1 and a hollow shaft 8. The hollow shaft 8 coaxially carries the motor device and the brake device, respectively. The stator 9 and the rotor 5 are both set inside the housing 1, and the stator 9 is fixedly connected to the housing 1, while the rotor 5 is rotatably connected to the housing 1.

[0053] The present invention also provides an encoder structure for a joint module, such as Figure 1 , Figure 4 as well as Figure 5 As shown, the device includes an output measurement code disk 2, an input measurement code disk 3, and an encoder circuit board 4. The output measurement code disk 2 is mounted on the hollow shaft 8 and rotates synchronously with the hollow shaft 8. The input measurement code disk 3 is mounted on the rotor 5 of the motor and rotates synchronously with the rotor 5 of the motor. The encoder circuit board 4 is positioned between the output measurement code disk 2 and the input measurement code disk 3. An output measurement encoder read head is located on the side of the encoder circuit board 4 closest to the output measurement code disk 2, and an input measurement encoder read head is located on the side of the encoder circuit board 4 closest to the input measurement code disk 3.

[0054] By integrating the output measurement encoder read head and the input measurement encoder read head onto the same encoder circuit board 4, the circuit structure is simplified. Furthermore, by arranging the output measurement code disk 2, the encoder circuit board 4, and the input measurement code disk 3 sequentially along the axial direction of the hollow shaft 8, the overall integration of the encoder structure is improved, and the installation space of the encoder structure is saved.

[0055] Specifically, the output measuring code disk 2, the input measuring code disk 3, and the encoder circuit board 4 are all disc-shaped. The hollow shaft 8 is a hollow cylinder. A threaded connecting sleeve 21 is fixedly connected or integrally formed in the middle of the output measuring code disk 2. A threaded connecting section 81 is provided at one end of the hollow shaft 8 where the output measuring code disk 2 is mounted. The threaded connecting section 81 is arranged along the axial direction of the hollow shaft 8 on its outer surface. The threaded connecting sleeve 21 is threadedly connected to the threaded connecting section 81. This application proposes a feasible implementation method: the hollow cylindrical threaded connecting sleeve 21 is coaxially connected to the middle of the output measuring code disk 2 by adhesive curing. Then, the threaded connecting sleeve 21 is threadedly connected to the threaded connecting section 81 on the outer surface of the hollow shaft 8, thereby realizing the installation of the output measuring code disk 2 on the hollow shaft 8 and its synchronous rotation with the hollow shaft 8. With the help of the threaded engagement, the position of the output measuring code disk 2 can be adjusted along the axial direction of the hollow shaft 8 within the length range of the threaded connecting section 81.

[0056] This application also proposes a feasible solution for mounting the output measuring code disk 2 on the hollow shaft 8 and rotating synchronously with the hollow shaft 8: a connecting sleeve is fixedly connected to or integrally formed in the middle of the output measuring code disk 2. This connecting sleeve may not have threads, and it can be pressed into the hollow shaft 8 using an interference fit. Alternatively, the pressing depth of the connecting sleeve on the hollow shaft 8 can be adjusted by interfering with the shaft, thereby adjusting its position along the axial direction of the hollow shaft 8.

[0057] like Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, more specifically, it also includes an encoder mounting base 6, which is circular in shape. The inner ring diameter of the encoder mounting base 6 is larger than the outer ring diameter of the output measuring code disk 2, and the inner ring diameter of the encoder mounting base 6 is larger than the outer ring diameter of the encoder circuit board 4.

[0058] The encoder circuit board 4 is fixedly connected to the encoder mounting base 6 by fasteners. A mounting portion 61 extends from the annular inner wall of the encoder mounting base 6 towards its annular center. The encoder circuit board 4 is fastened to the mounting portion 61 of the encoder mounting base 6 by fasteners. A gasket is provided between the encoder circuit board 4 and the encoder mounting base 6. The fasteners securely connect the encoder circuit board 4, the gasket, and the encoder mounting base 6 in sequence.

[0059] This application proposes a feasible method for installing the encoder circuit board 4 and the encoder mounting base 6: three mounting parts 61 are formed at equal intervals along the circumference of the inner annular wall of the encoder mounting base 6, and the three mounting parts 61 are located in the same plane. The encoder circuit board 4 is placed in the annular space of the encoder mounting base 6, and the encoder circuit board 4 is fixedly connected to the three mounting parts 61 respectively by fasteners commonly used in the prior art such as bolts, screws or nuts. The position of the encoder circuit board 4 can be adjusted by increasing or decreasing the number of shims between the encoder circuit board 4 and the mounting parts 61.

[0060] More specifically, a locking sleeve 7 is connected between the input measuring code disk 3 and the motor rotor 5. The motor rotor 5 is cylindrical, and the locking sleeve 7 is also cylindrical. The diameter of one axial end of the locking sleeve 7 is larger than the diameter of the other axial end of the locking sleeve 7. The smaller diameter end of the locking sleeve 7 is fixedly connected to the motor rotor 5, and the larger diameter end of the locking sleeve 7 is fixedly connected to the input measuring code disk 3.

[0061] Furthermore, the output measuring code disk 2, the input measuring code disk 3, the encoder circuit board 4, the hollow shaft 8, the locking sleeve 7, and the motor rotor 5 are all coaxial. The hollow shaft 8 passes through the encoder circuit board 4, the input measuring code disk 3, the locking sleeve 7, and the motor rotor 5, and is coaxial with each of them. The output measuring code disk 2, the encoder circuit board 4, and the input measuring code disk 3 are installed sequentially along the axial direction of the hollow shaft 8. The smaller diameter end of the locking sleeve 7 extends into the rotational gap between the motor rotor 5 and the hollow shaft 8. The outer wall of the smaller diameter end of the locking sleeve 7 is close to the motor rotor 5 and is interference-fitted with it. The inner wall of the smaller diameter end of the locking sleeve 7 is close to the hollow shaft 8, without connection or interference.

[0062] Furthermore, the larger diameter end of the locking sleeve 7 extends out of the motor rotor 5 and is close to the encoder circuit board 4. This end of the locking sleeve 7 extending out of the motor rotor 5 serves as the mounting base for the input measurement code disk 3. A recessed mounting groove 71 is provided at this end of the locking sleeve 7, and the input measurement code disk 3 is embedded within the recessed mounting groove 71. The input measurement code disk 3 can be securely connected to the locking sleeve 7 using glue or fasteners. Embedding the input measurement code disk 3 within the recessed mounting groove 71 of the locking sleeve 7 reduces the axial dimension of the mounting structure and improves space utilization.

[0063] It needs further explanation that the input measuring code disk 3 is mounted on the motor rotor 5 via the locking sleeve 7 and can move synchronously with the motor rotor 5. The input measuring code disk 3 cannot be adjusted in position along the axial direction of the hollow shaft 8. Since the shims between the encoder circuit board 4 and the encoder mounting base 6 are located between the encoder circuit board 4 and the input measuring code disk 3, the gap between the input measuring code disk 3 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 can be adjusted by increasing or decreasing the number of shims. Furthermore, thanks to the threaded connection, the output measuring code disk 2 can be adjusted in position along the axial direction of the hollow shaft 8 within the length of the threaded connection section 81, thereby allowing adjustment of the gap between the output measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 within the design range.

[0064] It should be further explained that after the encoder structure is installed in place, both the output measuring code disk 2 and the encoder circuit board 4 are located in the annular space of the encoder fixing base 6, and the input measuring code disk 3 is located in the concave mounting groove 71 of the locking sleeve 7. This improves the integration of the overall structure, thereby reducing the structural size and increasing the axial space utilization.

[0065] Working principle

[0066] By sequentially installing two bearings 12 within the gap between the stator 9 and the rotor 5, the internal space of the joint module can be optimized, the joint volume reduced, and the two bearings 12 positioned at the input end of the joint module for installation in conjunction with the braking device. Furthermore, concealing the two bearings 12 within the motor does not occupy additional joint length, thus optimizing the axial dimensions of the joint. Under normal conditions, the drive coil 14 is energized, and the attraction exerted by the drive coil 14 on the brake clamp 11 overcomes the elastic force of the elastic element 15. The brake clamp 11 does not exert an axial force on the brake pads 10. The rotor 5 rotates around its central axis, causing the locking sleeve 7 to rotate around its central axis, which in turn causes the brake pads 10 to rotate around their central axis. When braking, the drive coil 14 is de-energized, and the brake clamp 11 presses the brake pad 10 under the force of the elastic element 15 to brake. During the process of the brake clamp 11 pressing the brake pad 10, the brake pad 10 slides axially, and the brake pad 10 and the locking sleeve 7 generate axial relative displacement. Since both the brake pad 10 and the locking sleeve 7 have a certain thickness, until the brake pad 10 is pressed and not moved, both the brake pad 10 and the locking sleeve 7 maintain radial locking, thus realizing the braking of the rotor 5.

[0067] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0068] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A braking system, characterized in that, It includes a motor device and a braking device. The motor device includes a stator (9) and a rotor (5). The braking device includes a brake pad assembly, a brake clamp (11) and a brake drive assembly. The brake pad assembly is connected to the rotor (5). A bearing (12) is provided in the space formed by the brake pad assembly, the stator (9) and the rotor (5). The outer ring of the bearing (12) is fixed to the stator (9) and the inner ring of the bearing (12) is fixed to the rotor (5). The brake drive assembly drives the brake clamp (11) to press the brake pad assembly to brake, or the brake drive assembly drives the brake clamp (11) to release the brake pad assembly to resume movement. The brake pad assembly includes a locking sleeve (7) and a brake pad (10). One end of the locking sleeve (7) extends into the rotor (5) and is press-fitted thereto. The other end of the locking sleeve (7) extends out of the end of the rotor (5). The brake pad (10) is connected to the locking sleeve (7) extending out of the end of the rotor (5). A harmonic cam (13) is provided on the side of the rotor (5) away from the brake pad assembly. One end of the harmonic cam (13) extends into the rotor (5) and is interference-fitted with the rotor (5). A rubber pad (17) is provided between the harmonic cam (13) and the brake pad assembly. Sealing rings (18) are provided at both ends of the rubber pad (17) in the axial direction. The rubber pad (17) and the sealing ring (18) enclose the metal shavings generated by the interference fit of the harmonic cam (13) into the rotor (5) within the mounting space of the harmonic cam (13) and the rotor (5), and also enclose the metal shavings generated by the interference fit of the locking sleeve (7) into the groove of the rubber pad (17).

2. The braking system according to claim 1, characterized in that, The cross-sectional profile of the locking sleeve (7) extending from the end of the rotor (5) includes a polygon, and a cavity similar to the cross-sectional profile of the locking sleeve (7) is formed inside the brake pad (10), and the locking sleeve (7) is fitted into the cavity of the brake pad (10).

3. The braking system according to claim 1, characterized in that, The brake drive assembly includes a drive coil (14), a fixed base (6), and an elastic element (15). The drive coil (14) is fixedly mounted on the fixed base (6). The stator (9), brake pad assembly, brake clamp (11), and fixed base (6) are arranged sequentially along the axial direction of the stator (9). The fixed base (6) is fixedly connected to the stator (9), and the elastic element (15) is disposed between the fixed base (6) and the brake clamp (11); When the drive coil (14) is energized, the elastic element (15) is in a compressed state, and the attraction force exerted by the drive coil (14) on the brake pad (11) overcomes the elastic force of the elastic element (15). The brake pad (11) does not exert an axial force on the brake pad assembly. When the drive coil (14) is de-energized, the elastic element (15) extends, and the brake clamp (11) presses against the brake pad assembly under the force of the elastic element (15) to brake.

4. The braking system according to claim 3, characterized in that, The drive coil (14) is disposed inside the fixed base (6). Both the drive coil (14) and the fixed base (6) are annular in shape, and the fixed base (6) is made of magnetic material.

5. The braking system according to claim 3, characterized in that, A connecting block (16) is provided at the peripheral edge of the fixed base (6). The connecting block (16) extends along the axis of the rotor (5) toward the stator (9) and is fixedly connected to the stator (9) and / or the housing (1).

6. The braking system according to claim 5, characterized in that, The brake pad assembly, brake clamp (11) and fixed base (6) are all coaxially arranged, and the maximum outline diameter of the brake pad assembly is smaller than the maximum outline diameter of the brake clamp (11). The brake caliper (11) has a clearance groove for the clearance connecting block (16).

7. The braking system according to claim 1, characterized in that, The harmonic cam (13), brake pad assembly and rotor (5) are all coaxially arranged; A rubber pad (17) is provided between the harmonic cam (13) and the brake pad assembly, and the rubber pad (17) is sealed to the inner wall of the rotor (5).

8. A joint module, characterized in that, The braking system according to any one of claims 1-7 further includes a housing (1), wherein both the stator (9) and the rotor (5) are disposed within the housing (1), and the stator (9) is fixedly connected to the housing (1), and the rotor (5) is rotatably connected to the housing (1).

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