Joint module with brake device

Abstract

A joint module with a brake device comprises a motor assembly, a brake device and a brake device, the motor assembly comprises a motor shaft, and the motor shaft is rotationally installed in a shell; the brake assembly comprises a brake shaft, a fixed part and a movable part, the brake shaft and the motor shaft are fixedly installed in an axis collinear mode, the fixed part and the movable part are sequentially arranged on the outer ring face of the brake shaft in a sleeving mode, and the movable part can be attached to the fixed part so as to lock the brake shaft; the whole joint module is smaller in size, more compact in structure, shorter in distance in the axial direction, better in braking effect, high in braking precision and small in impact on a brake, and in the working process of rotation and braking of a motor, space inside and outside a pressing ring can be isolated all the time, the sealing effect is guaranteed, and the service life of the motor is prolonged. External dust, scrap iron and the like are prevented from influencing the braking effect, and the influence on the precision of a motor encoder and a controller is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to joint module technical field, especially a joint module with brake device. BACKGROUND

[0002] Robots are mechanical devices or systems that can simulate human behavior to perform tasks, thereby replacing human labor. Robots are usually composed of mechanical structures, sensors, and controllers, and are widely used in manufacturing, medical treatment, home service, scientific research, and military fields.

[0003] Robot joints are key components for robot movement, used to connect various parts of the robot to enable flexible movement. Joints play a role in rotating and swinging in the robot structure, allowing the robot to perform various complex actions such as grasping, moving, and adjusting posture. By precisely controlling joint movement, robots can achieve high-precision tasks and operations, improving their performance in automated production, medical surgery, and other fields.

[0004] Robot joints are usually composed of motors, reducers, sensors, and brake devices. Motors provide the required power, reducers adjust movement speed and torque, sensors feedback joint angle and position, and brake devices lock joint position when necessary to prevent accidental movement without instructions. Therefore, brake devices play a crucial role in maintaining and fixing robot poses.

[0005] Existing brake devices are usually installed externally on the motor, which significantly increases the overall volume of the robot joint module, especially in the axial direction of the motor, increasing the length of the joint module. Therefore, the installation of the brake device increases the overall volume of the joint module, especially the overall length in the axial direction of the motor, which makes it difficult for the joint module to adapt to limited installation space, and is not conducive to the miniaturization and lightweight design of the robot as a whole.

[0006] Currently, existing brake devices, such as loss of power brakes, such as the brake disclosed in Chinese patent CN118293164A, robot joint module and robot, but the above technical solutions at least still have the following defects, rely on spring to reset the friction disc of the brake, if the spring fails after a long time, the brake effect cannot be achieved.

[0007] For example, the latch type brake, such as the Chinese patent with the announcement number CN118288327A discloses a drive assembly, a robot joint module and a robot, but the above technical scheme at least still has the following defects, the overall structure is relatively complex, the space occupied in the axial direction is large, the braking impact is large, the braking precision is not accurate, and the safety in the emergency stop state is poor. Utility model content

[0008] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a joint module with a brake device, which comprises:

[0009] The motor assembly comprises a motor shaft, and the motor shaft is rotatably installed in the shell;

[0010] The brake assembly comprises a brake shaft, a fixed part and a movable part, the brake shaft is fixedly installed in the axial line of the motor shaft, the fixed part and the movable part are sequentially sleeved on the outer ring surface of the brake shaft, and the movable part can be attached to the fixed part to lock the brake shaft;

[0011] The output assembly comprises an output shaft and a reducer body, the reducer body is fixedly installed in the axial line of the brake shaft, and the output shaft sequentially penetrates the motor shaft, the brake shaft and the reducer body and is fixedly installed at the output end of the reducer body.

[0012] Further preferably, the outer ring surface of the brake shaft is formed with a first limiting groove, the fixed part and the movable part are oppositely sleeved on the first limiting groove, and the movable part can be close to or away from the fixed part;

[0013] The fixed part is fixedly installed on the first ring surface of the shell and is gap-fitted with the first limiting groove;

[0014] The movable part is movably installed on the first limiting groove and synchronously rotates or is stationary with the brake shaft.

[0015] Further preferably, the movable part is composed of a friction disc and an elastic ring, the friction disc and the elastic ring are fixedly connected, corresponding surfaces of the friction disc and the elastic ring are both provided with a connecting hole for penetrating a guide fastener, the friction disc is slidably installed on the guide fastener through the connecting hole, and the guide fastener is used to fixedly install the elastic ring on the first limiting groove.

[0016] Further preferably, the outer ring surface of the fixed part is formed with a first accommodation groove, the first accommodation groove is recessed from the outer peripheral wall of the fixed part and extends to the center along the diameter direction of the fixed part.

[0017] Further preferably, the brake assembly further comprises a sealing ring and a pressing ring, the outer ring surface of the brake shaft, the fixed part and the movable part are all sleeved with the pressing ring, the brake shaft is rotatable relative to the pressing ring, and the sealing ring is used to connect the pressing ring and the brake shaft.

[0018] Further preferably, the outer surface of the brake shaft is formed with a second limiting groove for sleeving the pressing ring, the pressing ring is fixedly installed on the second ring surface of the shell and is in clearance fit with the brake shaft.

[0019] The inner side wall of the pressing ring corresponding to the second limiting groove is formed with a groove, the sealing ring is installed in the groove, and the inner side wall of the sealing ring is fitted to the second limiting groove.

[0020] Further preferably, the edge of the pressing ring is formed with a second accommodation groove, the second accommodation groove is recessed from the outer peripheral wall of the pressing ring and extends to the center along the diameter direction of the pressing ring.

[0021] Further preferably, the motor assembly further comprises a rear shell plate, a stator and a rotor installed inside the stator, the stator is fixedly installed on the inner side wall of the shell, the rotor is fixedly installed on the outer ring surface of the motor shaft, and the rear shell plate is fixedly installed on the shell.

[0022] The outer ring surface of both ends of the motor shaft is fixedly installed with a first bearing part, the outer ring surfaces of the two first bearing parts are respectively fixedly connected with the shell and the rear shell plate, and a bearing retainer is installed between the first bearing part close to the fixed part and the fixed part.

[0023] Further preferably, the output assembly further comprises:

[0024] A connecting disc is fixedly installed on the reducer body, and the connecting disc is fixedly connected with the output shaft in a surface coplanar manner.

[0025] A second bearing part is sleeved on the outer ring surface of the output shaft, and the outer ring surface of the second bearing part is nested in the inner side wall of the brake shaft.

[0026] Further preferably, the output assembly further comprises:

[0027] A motor encoder disc is fixedly installed on the end surface of the motor shaft close to the rear shell plate (10).

[0028] An output encoder disc is fixedly installed on one end of the output shaft and is nested on the motor encoder disc.

[0029] The third bearing piece is fixedly installed on the outer ring surface of the output shaft, and is nested between the motor shaft and the output encoder disc.

[0030] Compared with the prior art, the utility model discloses clever structure, in the work process of rotation and brake of motor, the spring grommet for shaft is always isolated the space of pressure ring under the action of elastic potential, plays the role of sealing, prevents the dust and iron filings of outside from entering brake assembly, influences brake effect and prevents the abrasion and damage of friction disc and elastic ring, simultaneously prevents the grease in speed reducer from entering the inside of device and influences motor brake effect.

[0031] Make full use of the space between motor assembly and speed reducer, make the volume of whole joint module smaller, the structure is more compact, the distance in axial direction is shorter, leave the installation space of motor controller behind motor assembly, make the structure of joint module more compact, realize better brake effect, brake precision is high, and the impact to brake is smaller.

[0032] Brake assembly is far away from motor encoder disc and output encoder disc, reduces the influence to motor encoder and controller precision, avoids the heat generated by brake to influence motor encoder and controller. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is the cut structure schematic diagram of the utility model.

[0034] Figure 2 It is the explosion structure schematic diagram of the utility model.

[0035] Figure 3 It is the cut structure schematic diagram of the motor assembly of the utility model.

[0036] Figure 4 It is the cut structure schematic diagram of the brake assembly of the utility model.

[0037] Figure 5 It is the speed reducer body structure schematic diagram of the utility model.

[0038] Figure 6 It is the cut structure schematic diagram of the output assembly of the utility model.

[0039] Figure 7 It is the explosion structure schematic diagram of the brake assembly of the utility model.

[0040] Figure 8 It is the three-dimensional structure schematic diagram of the utility model.

[0041] The label explanation in schematic diagram:

[0042] 1, motor shaft; 2, shell; 201, first circle surface; 202, second circle surface; 3, brake shaft; 301, first limiting groove; 302, second limiting groove; 4, fixing piece; 401, first let go groove; 5, movable piece; 501, friction disc; 502, elastic ring; 503, fastener; 504, connecting hole; 6, output shaft; 7, speed reducer body; 8, sealing ring; 9, compression ring; 901, groove; 902, second let go groove; 10, rear shell plate; 11, stator; 12, rotor; 13, first bearing piece; 14, bearing retainer; 15, connecting disc; 16, second bearing piece; 17, motor encoder disc; 18, output encoder disc; 19, third bearing piece. DETAILED DESCRIPTION

[0043] The specific embodiments of the utility model are further described in detail below in combination with the drawings.

[0044] By Figures 1 to 8 Given, some embodiments of the utility model relate to a joint module with brake device, comprising:

[0045] Motor assembly, the motor assembly includes motor shaft 1, the motor shaft 1 is rotatably installed in shell 2;

[0046] Brake assembly, brake assembly includes brake shaft 3, fixing piece 4 and movable piece 5, brake shaft 3 is fixedly installed with the motor shaft 1 for the axis collinear, fixing piece 4 and movable piece 5 are sequentially set in the outer ring surface of brake shaft 3, movable piece 5 can be attached to fixing piece 4, to lock brake shaft 3;

[0047] Output assembly, the output assembly includes output shaft 6 and speed reducer body 7, speed reducer body 7 is fixedly installed with brake shaft 3 for the axis collinear, output shaft 6 sequentially passes through motor shaft 1, brake shaft 3, speed reducer body 7, and is fixedly installed in the output end of speed reducer body 7.

[0048] In these embodiments, the shell 2 is internally provided with a cavity capable of accommodating a motor assembly, etc., and the end surface of the shell 2 away from the cavity is fixedly connected with the reducer body 7. The fixed connection mode can adopt a connection mode with high connection strength such as bolt or screw connection, and the axis of the shell 2 is collinear with the axis of the motor shaft 1. Power is provided through the motor shaft 1 installed in the shell 2, and then the stability of power supply transmission is ensured through the installation of the brake shaft 3 which is collinear with the axis of the motor shaft 1. Through the cooperation of the fixing member 4 and the brake shaft 3, the axis of the fixing member 4 and the brake shaft 3 is collinear, and the inner hole of the fixing member 4 and the outer ring of the brake shaft 3 maintain a certain gap in the radial direction, so that they do not collide and rub when the brake shaft 3 rotates. The motor shaft 1 and the output shaft 6 maintain a certain gap in the radial direction, so that they do not collide and interfere when rotating relative to each other. The axis of the motor shaft 1 is collinear with the axis of the output shaft 6, the end surface of the motor shaft 1 close to the brake shaft 3 is fixedly connected with the brake shaft 3, and the fixed connection mode adopted is screw connection or bolt connection, preferably screw connection. Through the cooperation of the output shaft 6 and the reducer body 7, power is transmitted to the output shaft 6 through the reducer body 7, thereby realizing the driving of the joint module, fully utilizing the space between the motor assembly and the output assembly, making the volume of the entire joint module smaller and the structure more compact, and the distance in the axial direction shorter. More preferably, a space for installing a motor controller is left behind the motor assembly.

[0049] It should be understood that the reducer body 7 can be a harmonic reducer, a planetary reducer, an RV reducer, etc. In this application, the reducer body 7 is preferably a harmonic reducer. The mechanical structure and working principle of harmonic reducers, planetary reducers, RV reducers, etc. are all prior art, so their detailed mechanical structure and working principle will not be described here.

[0050] In some embodiments of the joint module with a brake device, the outer ring surface of the brake shaft 3 is formed with a first limiting groove 301, and the fixing member 4 and the movable member 5 are relatively sleeved on the first limiting groove 301, and the movable member 5 can approach or move away from the fixing member 4.

[0051] The fixing member 4 is fixedly installed on the first ring surface 201 of the shell 2 and is in clearance fit with the first limiting groove 301.

[0052] The movable member 5 is movably installed on the first limiting groove 301 and rotates synchronously or is stationary with the brake shaft 3.

[0053] In these embodiments, the first limiting groove 301 on the brake shaft 3 can be used to install the fixing member 4 and the movable member 5 in the effective space, thereby improving the space utilization efficiency and reducing the volume of the module.

[0054] Further, through the cooperation of the fixed part 4 and the movable part 5, when the motor shaft 1 is normally running (in the case of power-on), the motor shaft 1 drives the brake shaft 3 to rotate at the same speed and in the same direction, and the friction disc 501 in the movable part 5 has magnetism. At this time, the fixed part 4 is in the power-on state, and the fixed part 4 is internally provided with an electromagnetic coil. In the power-on state, the electromagnetic coil in the fixed part 4 generates the same magnetism as the friction disc 501. The friction disc 502 is subjected to repulsive magnetic force, and the movable part 5 and the fixed part 4 maintain a small gap therebetween. The movable part 5 rotates at the same speed and in the same direction under the drive of the brake shaft 3.

[0055] When the joint module needs to realize braking, the joint module is in a power-off state, that is, the fixed part 4 is in a power-off state. Through the magnetic force of the permanent magnet in the friction disc 501, the friction disc 501 drives the movable part 5 to be attracted to the fixed part 4. Until the movable part 5 (the friction disc 501 therein) is attracted to the fixed part 4, the movable part 5 (the elastic ring 502 therein) is elastically deformed. At this time, the movable part 5 (the friction disc 501 therein) and the fixed part 4 are relatively stationary, and the motor assembly fixedly connected with the fixed part 4 is relatively stationary, thereby realizing the braking effect of the motor assembly and further realizing the braking of the joint module.

[0056] After the braking is ended, the fixed part 4 is powered on. The friction disc 501 is subjected to repulsive magnetic force, and the friction disc 501 moves axially away from the fixed part 4 under the action of the elastic potential energy of the elastic ring 502, thereby ending the braking state of the motor. The control is more convenient and stable, has a more compact structure and a smaller size, and provides better braking effect and higher braking precision, and has smaller impact on the brake.

[0057] In some embodiments of the joint module with a brake device, the movable part 5 is composed of the friction disc 501 and the elastic ring 502. The friction disc 501 and the elastic ring 502 are fixedly connected. The corresponding surfaces of the friction disc 501 and the elastic ring 502 are each provided with a connecting hole 504 for penetrating a guide fastener 503. The friction disc 501 is slidingly installed on the guide fastener 503 through the connecting hole 504. The guide fastener 503 is used to fixedly install the elastic ring 502 on the first limiting groove 301.

[0058] In these embodiments, the working principle of the friction disc 501 and the elastic ring 502 is as described above. Further, the friction disc 501 is provided with a plurality of holes. The friction disc 501 and the elastic ring 502 are fixedly connected only at the positions of the holes, so that the friction disc 501 can move in the axial direction under the elastic potential energy of the elastic ring 502 to realize a small gap. The fixed connection mode can be screw connection, riveting or welding, etc. The axis of the friction disc 501 is collinear with the axis of the elastic ring 502.

[0059] It should be understood that the "multiple" described in the present application is generally two, three or more, the number is within the range of the number of components in the structure.

[0060] Further, the friction plate 501 and the elastic ring 502 are provided with through holes at multiple same positions in the circumferential direction of the end surface, the through holes of the friction plate 501 and the through holes of the elastic ring 502 are used to fix and connect the elastic ring 502 and the brake shaft 3, and the bolt or screw can freely move in the axial direction through the through holes of the friction plate 501, wherein the axis of the elastic ring 502 is collinear with the axis of the brake shaft 3.

[0061] In some embodiments of the joint module with the brake device, the outer ring surface of the fixed part 4 is provided with a first accommodation groove 401, the first accommodation groove 401 is recessed from the outer peripheral wall of the fixed part 4 and extends to the center along the diameter direction of the fixed part 4.

[0062] In these embodiments, the fixed part 4 is a flange, the edge of the flange is provided with the first accommodation groove 401, the first accommodation groove 401 is recessed from the outer peripheral wall of the flange and extends to the center of the flange along the diameter direction of the flange, which is used to provide space for the electrically conductive pin to pass through and is beneficial to improve the space utilization efficiency.

[0063] In some embodiments of the joint module with the brake device, the brake assembly further comprises a sealing ring 8 and a pressing ring 9, the outer ring surface of the brake shaft 3, the fixed part 4 and the movable part 5 are all sleeved with the pressing ring 9, the brake shaft 3 can rotate relative to the pressing ring 9, and the sealing ring 8 is used to connect the pressing ring 9 and the brake shaft 3.

[0064] In some embodiments of the joint module with the brake device, the outer surface of the brake shaft 3 is provided with a second limiting groove 302 for sleeving the pressing ring 9, the pressing ring 9 is fixedly installed on the second ring surface 202 of the housing 2 and is in clearance fit with the brake shaft 3.

[0065] The inner side wall of the pressing ring 9 corresponding to the second limiting groove 302 is provided with a groove 901, the sealing ring 8 is installed in the groove 901, and the inner side wall of the sealing ring 8 is in contact with the second limiting groove 302.

[0066] In the embodiments, the outer wall surface of the compression ring 9 is matched with the shell 2, the end surface of the compression ring 9 is in contact with the shell 2, the compression ring 9 is fixedly connected with the shell 2, the axis of the compression ring 9 is collinear with the axis of the brake shaft 3, the groove 901 is arranged on the compression ring 9, the sealing ring 8 is installed in the groove 901, preferably, the sealing ring 8 is a shaft spring gasket, the axis of the shaft spring gasket is collinear with the axis of the brake shaft 3, the shaft spring gasket can isolate the space inside and outside the compression ring 9 under the action of the elastic potential energy, thereby playing a sealing role, in addition, a certain gap is kept in the radial direction between the inner hole of the compression ring 9 and the brake shaft 3, so that the compression ring 9 will not collide and rub during the rotation of the brake shaft 3. It should be noted that the sealing ring 8 includes but is not limited to the shaft spring gasket.

[0067] Further, during the rotation and braking of the motor, the brake shaft 3 rotates relative to the shaft spring gasket, and the shaft spring gasket can always isolate the space inside and outside the compression ring 9 under the action of the elastic potential energy, thereby playing a sealing role, preventing external dust and iron filings from entering the brake assembly, affecting the braking effect and preventing the friction plate 501 and the elastic ring 502 from being worn and damaged, and preventing the oil in the reducer body 7 from entering the inside of the brake assembly to affect the braking effect of the motor.

[0068] In some joint module embodiments with a brake device, the edge of the compression ring 9 is formed with a second accommodation groove 902, the second accommodation groove 902 is recessed from the outer peripheral wall of the compression ring 9 and extends to the center along the diameter direction of the compression ring 9.

[0069] In the embodiments, the compression ring 9 is a flange, the flange edge is provided with the second accommodation groove 902 recessed from the outer peripheral wall of the compression ring 9 and extending to the center of the compression ring 9 along the diameter direction of the compression ring 9, the second accommodation groove 902 is used to provide a space for the power pin to pass through, better utilize the space, and be matched with the first accommodation groove 401, which is conducive to reducing the volume.

[0070] In some joint module embodiments with a brake device, the motor assembly further includes a rear shell plate 10, a stator 11 and a rotor 12 installed inside the stator 11, the stator 11 is fixedly installed on the inner side wall of the shell 2, the rotor 12 is fixedly installed on the outer ring surface of the motor shaft 1, and the rear shell plate 10 is fixedly installed on the shell 2.

[0071] The outer ring surface of the motor shaft 1 at both ends is fixedly installed with a first bearing 13, the outer ring surfaces of the two first bearings 13 are fixedly connected with the shell 2 and the rear shell plate 10 respectively, and the first bearing 13 close to the fixing piece 4 is installed with a bearing retainer 14 between the fixing piece 4.

[0072] In the embodiments, the stator 11 is contained in the interior of the housing 2, the outer wall surface of the stator 11 is fixedly connected to the inner wall surface of the housing 2, the stator 11 remains relatively stationary with the housing 2, the axis of the stator 11 is collinear with the axis of the housing 2. The rotor 12 is fixedly connected to the outer wall surface of the motor shaft 1 and remains relatively stationary with the motor shaft 1, the axis of the rotor 12 is collinear with the axis of the motor shaft 1, the rotor 12 remains relatively stationary with the motor shaft 1 in the circumferential direction. The axis of the stator 11 is collinear with the axis of the rotor 12, and a gap is maintained between the stator 11 and the rotor 12 in the circumferential direction, and the rotor 12 rotates relatively in the interior of the stator 11.

[0073] The first bearing member 13 can be an angular contact ball bearing, the number of angular contact ball bearings is 2, and the angular contact ball bearings are oppositely installed near the two end faces of the motor shaft 1. The inner surface of the inner ring of the angular contact ball bearing is fixedly connected to the shaft surface of the motor shaft 1 near the front and rear end faces, the opposite end faces of the inner rings of the two angular contact ball bearings are in contact with the shaft shoulder end faces of the corresponding positions of the motor shaft 1, and the outer surface of the outer ring of the angular contact ball bearing is fixedly connected to the inner wall surface of the corresponding position of the housing 2 and the rear housing plate 10. The positioning of the end face of the outer ring of the angular contact ball bearing can be achieved by a shaft shoulder or a retainer ring. Preferably, the end face of the outer ring of the angular contact ball bearing near the rear housing plate 10 is in contact with the end face of the corresponding position of the rear housing plate 10 to achieve axial positioning, and the end face of the outer ring of the angular contact ball bearing near the brake assembly is in contact with the end face of the bearing retainer ring 14 to achieve axial positioning. The axis of the angular contact ball bearing is collinear with the axis of the motor shaft 1, and a gap is maintained between the end face of the angular contact ball bearing and the rotor 12. The outer wall surface of the bearing retainer ring 14 cooperates with the housing 2.

[0074] The end face of the rear housing plate 10 is fixedly connected to the housing 2, and the fixed connection can be achieved by bolts, screws, studs, or structural adhesive. Preferably, the fixed connection is achieved by screws. The outer wall surface of the rear housing plate 10 cooperates with the inner wall surface of the housing 2, and the axis of the rear housing plate 10 is collinear with the axis of the housing 2.

[0075] In some embodiments of the joint module with a brake device, the output assembly further comprises:

[0076] The connecting disc 15 is fixedly installed on the reducer body 7, and the connecting disc 15 is fixedly connected to the output shaft 6 in a face-to-face manner.

[0077] The second bearing member 16 is sleeved on the outer ring surface of the output shaft 6, and the outer ring surface of the second bearing member 16 is nested in the inner side wall of the brake shaft 3.

[0078] In these embodiments, the output shaft 6 is coaxially arranged in the motor shaft 1 and the brake shaft 3, and is kept a certain gap in the radial direction from the motor shaft 1 and the brake shaft 3. The connecting disc 15 is fixedly connected with the output shaft 6, and the fixed connection mode can be bolted connection, gluing or welding, etc. The end surface of the connecting disc 15 is coplanar with the end surface of the output shaft 6, and the axis of the connecting disc 15 is collinear with the axis of the output shaft 6. The output shaft 6 is fixedly connected with the reducer body 7, and the fixed mode can be bolted connection, gluing or welding, etc. The second bearing 16 can be a deep groove ball bearing, the inner wall surface of the inner ring of the deep groove ball bearing is matched with the output shaft 6, the outer wall surface of the outer ring is matched with the brake shaft 3, the end surface of the outer ring of the deep groove ball bearing is matched with the inner wall end surface of the brake shaft 3, and the axis of the deep groove ball bearing is collinear with the axis of the motor shaft 1.

[0079] Further, the axis of the brake shaft 3 is collinear with the axis of the motor shaft 1, the brake shaft 3 is kept a certain gap in the radial direction from the output shaft 6, the end surface of the brake shaft 3 close to the deep groove ball bearing is fixedly connected with the input shaft part of the reducer body 7, and the connection mode includes bolted connection, riveting or gluing, etc. The end surface of the brake shaft 3 away from the deep groove ball bearing is fixedly connected with the motor shaft 1.

[0080] In some joint module embodiments with a brake device, the output assembly further comprises:

[0081] The motor encoder disc 17 is fixedly installed on the end surface of the motor shaft 1 close to the rear shell plate 10;

[0082] The output encoder disc 18 is fixedly installed on one end of the output shaft 6 and is nested on the motor encoder disc 17;

[0083] The third bearing 19 is fixedly installed on the outer ring surface of the output shaft 6, and the third bearing 19 is nested between the motor shaft 1 and the output encoder disc 18.

[0084] In these embodiments, the third bearing 19 can be a deep groove ball bearing, the inner surface of the inner ring of the deep groove ball bearing is fixedly connected with the output shaft 6, the axis of the deep groove ball bearing is collinear with the axis of the output shaft 6, the end surface of the outer ring of the deep groove ball bearing is in contact with the motor shaft 1, the end surface of the inner ring of the deep groove ball bearing is in contact with the end surface of the output encoder disc 18, the output encoder disc 18 is fixedly connected with the output shaft 6, and the fixed connection mode can be bolted connection, gluing, welding or interference fit, etc.

[0085] Further, the motor encoder disc 17 is fixedly connected with the motor shaft 1 close to the end face of the rear shell plate 10, and the fixed connection mode can be screw connection, bolt connection or gluing, preferably, the screw connection mode is adopted. The motor encoder disc 17 rotates with the motor shaft 1 at the same speed and in the same direction, and the axis of the motor encoder disc 17 is collinear with the axis of the motor shaft 1. The end face of the motor encoder disc 17 keeps a certain gap with the end face of the first bearing piece 13 (the angular contact ball bearing), so that the motor encoder disc 17 does not collide and scratch during rotation, and at the same time, the brake assembly is away from the motor encoder disc 17 and the output encoder disc 18, thereby reducing the influence on the motor encoder and the controller, and avoiding the influence of the heat generated by the brake on the motor encoder and the controller.

[0086] The above specific embodiments further illustrate the purpose, technical scheme and beneficial effects of the utility model, and it should be understood that the above is only a specific embodiment of the utility model and is not used to limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. Articulation module with braking device, characterized in that, The utility model relates to a brake assembly and output assembly of motor, including: Motor assembly, the motor assembly includes motor shaft (1), the motor shaft (1) is rotatably mounted in the shell (2); Brake assembly, the brake assembly includes brake shaft (3), fixed part (4) and movable part (5), the brake shaft (3) is fixedly installed with the motor shaft (1) is axis collinear, the fixed part (4) and the movable part (5) are successively set in the outer ring surface of brake shaft (3), the movable part (5) can be attached the fixed part (4), to lock the brake shaft (3); Output assembly, the output assembly includes output shaft (6) and reducer body (7), the reducer body (7) is fixedly installed with the brake shaft (3) is axis collinear, the output shaft (6) successively passes through the motor shaft (1), the brake shaft (3), the reducer body (7), and is fixedly installed in the output end of the reducer body (7).

2. Articulation module with braking device according to claim 1, characterized in that, The outer ring surface of brake shaft (3) is formed with first limiting groove (301), the fixed part (4) and the movable part (5) are oppositely set on the first limiting groove (301), and the movable part (5) can be close to or away from the fixed part (4); The fixed part (4) is fixedly installed on the first ring surface (201) of the shell (2), and is gap matched with the first limiting groove (301); The movable part (5) is movably installed on the first limiting groove (301), and is synchronously rotated or stationary with the brake shaft (3).

3. A joint module with braking device according to claim 2, characterized in that The movable part (5) is composed of friction disc (501) and elastic ring (502), the friction disc (501) is fixedly connected with the elastic ring (502), the surface of the friction disc (501) and elastic ring (502) is provided with connecting hole (504) for penetrating guide fastener (503), the friction disc (501) is slidably installed on the guide fastener (503) through the connecting hole (504), and the guide fastener (503) is used to fixedly install the elastic ring (502) on the first limiting groove (301).

4. A joint module with braking device according to claim 2, characterized in that The outer ring surface of the fixed part (4) is formed with first let -alone slot (401), the first let -alone slot (401) is recessed from the outer peripheral wall of the fixed part (4), and extends to the center along the diameter direction of the fixed part (4).

5. The joint module with braking device according to claim 1, characterized in that, The brake assembly further includes sealing ring (8) and compression ring (9), the outer ring surface of brake shaft (3), fixed part (4), movable part (5) is all set with compression ring (9), brake shaft (3) can rotate relative to compression ring (9), and sealing ring (8) is used for connecting compression ring (9) and brake shaft (3).

6. A joint module with braking device according to claim 5, characterized in that The outer surface of brake shaft (3) is formed with second limiting groove (302) for setting compression ring (9), the compression ring (9) is fixedly installed on the second ring surface (202) of the shell (2), and is gap matched with the brake shaft (3); The pressing ring (9) is formed with a groove (901) corresponding to the inner side wall of the second limiting groove (302), the sealing ring (8) is installed in the groove (901), and the inner side wall of the sealing ring (8) is fitted to the second limiting groove (302).

7. A joint module with braking device according to claim 5, characterized in that The edge of the pressing ring (9) is formed with a second accommodating groove (902), the second accommodating groove (902) is recessed from the outer peripheral wall of the pressing ring (9) and extends to the center along the diameter direction of the pressing ring (9).

8. The joint module with braking device according to claim 1, characterized in that, The motor assembly further comprises a rear shell plate (10), a stator (11) and a rotor (12) installed inside the stator (11), the stator (11) is fixedly installed on the inner side wall of the shell (2), the rotor (12) is fixedly installed on the outer ring surface of the motor shaft (1), and the rear shell plate (10) is fixedly installed on the shell (2); The outer ring surface of the motor shaft (1) at both ends is fixedly installed with a first bearing member (13), the outer ring surfaces of the two first bearing members (13) are respectively fixedly connected with the shell (2) and the rear shell plate (10), and the first bearing member (13) close to the fixing piece (4) is installed with a bearing retainer (14) between the fixing piece (4).

9. A joint module with braking device according to claim 1, characterized in that The output assembly further comprises: A connecting disc (15) is fixedly installed on the reducer body (7), and the connecting disc (15) is fixedly connected with the output shaft (6) in a surface coplanar manner A second bearing member (16) is sleeved on the outer ring surface of the output shaft (6), and the outer ring surface of the second bearing member (16) is nested in the inner side wall of the brake shaft (3).

10. The joint module with braking device according to claim 1, characterized in that, The output assembly further comprises: A motor encoder disc (17) is fixedly installed on the end surface of the motor shaft (1) close to the rear shell plate (10); An output encoder disc (18) is fixedly installed on one end of the output shaft (6) and is nested on the motor encoder disc (17); A third bearing member (19) is fixedly installed on the outer ring surface of the output shaft (6), and the third bearing member (19) is nested between the motor shaft (1) and the output encoder disc (18).

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