Braking system and joint module

Abstract

A braking system and a joint module are provided. An embodiment comprises a motor device and a braking device. The motor device comprises a stator (9) and a rotor (5). The braking device comprises a brake pad assembly, a brake caliper (11), and a brake driving assembly; the brake pad assembly is connected to the rotor; a bearing (12) is arranged within a space formed by the 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 caliper to press the brake pad assembly to perform braking, or the brake driving assembly drives the brake caliper to free the brake pad assembly and resume motion. By means of installing the bearing in the gap between the stator and the rotor, the internal space of the joint module can be improved, and the size of the joint can be reduced; also, the bearing is arranged at the input end of the joint module, is installed in cooperation with the braking device, and is concealed within the motor so as to not take up extra joint length, thereby improving the axial size of the joint.

Description

Braking system and joint module Technical Field

[0001] The present invention relates to the technical field of joint module structures, and in particular to a brake system and a joint module. Background Art

[0002] With the rapid development of industrial automation technology, robots, as an important industrial automation equipment, are gaining more and more attention and are being used more and more widely. The joint module is a key component in the robot and plays an important role in the robot's movement.

[0003] The brake system in the joint module is an indispensable component of the joint module. Its reliability directly determines the safety performance of the collaborative robot arm, ensuring that the robot arm maintains a constant posture without collapsing in the event of a power outage or emergency stop.

[0004] A Chinese patent application with publication number 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 seat 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 being connected to the motor output shaft and the bearing seat, respectively, and the inner and outer rings of the third bearing being connected to the motor output shaft and the housing, respectively. The reduction assembly may include a hollow shaft extending through the motor output shaft, the hollow shaft being able to sequentially extend 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, the inner and outer rings of the second bearing being able to be connected to the hollow shaft and the motor output shaft, respectively.

[0005] The brake system of the joint module in the prior art has the following main defects and needs to be improved:

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

[0007] Summary of the Invention

[0008] In view of the defects in the prior art, the purpose of the present invention is to provide a braking system and a joint module.

[0009] According to the present invention, a brake system is provided, including a motor device and a brake device, the motor device including a stator and a rotor, the brake device including a brake pad assembly, a brake clamp and a brake drive assembly, the brake pad assembly is connected to the rotor; a bearing is provided in a space formed by the brake pad assembly, the stator and the rotor, the outer ring of the bearing is interference fit with the stator, and the inner ring of the bearing is interference fit 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.

[0010] Preferably, the brake pad assembly includes a locking sleeve and a brake pad, one end of the locking sleeve extends into the rotor and has an interference fit 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.

[0011] Preferably, the cross-sectional profile of the locking sleeve extending from the end of the rotor comprises a polygon, a cavity having a similar cross-sectional profile to that of the locking sleeve is formed inside the brake pad, and the locking sleeve is sleeved in the cavity of the brake pad.

[0012] Preferably, the brake drive assembly includes a drive coil, a fixed base and an elastic member, the drive coil is fixedly arranged on the fixed base, and the stator, brake pad assembly, brake pad and fixed base are arranged in sequence along the axial direction of the stator; the fixed base is fixedly connected to the stator, the elastic member is arranged between the fixed base and the brake pad, and the elastic member is in a compressed state; when the drive coil is energized, the elastic member is in a compressed state, the attraction exerted by the drive coil on the brake pad overcomes the elastic force of the elastic member, and the brake pad does not generate an axial force on the brake pad assembly; when the drive coil is de-energized, the elastic member stretches, and the brake pad presses the brake pad assembly under the action of the force of the elastic member to brake.

[0013] Preferably, the driving coil is arranged inside the fixed base, the driving coil and the fixed base are both ring-shaped, and the material of the fixed base includes magnetic material.

[0014] Preferably, a connecting block is provided at a 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.

[0015] Preferably, the brake pad assembly, brake pad and fixed base are all coaxially arranged, the maximum outline diameter of the brake pad assembly is smaller than the maximum outline diameter of the brake pad; and an avoidance groove for avoiding the connecting block is formed on the brake pad.

[0016] Preferably, a harmonic cam is provided on a side of the rotor away from the brake pad assembly, and one end of the harmonic cam extends into the rotor and is interference fit with the rotor.

[0017] Preferably, the harmonic cam, the brake pad assembly and the 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.

[0018] According to the present invention, a joint module further includes a housing, wherein both the stator and the rotor are disposed in the housing, and the stator is fixedly connected to the housing, and the rotor is rotatably connected to the housing.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention can optimize the internal space of the joint module and reduce the volume of the joint by installing bearings in the gap between the stator and the rotor. The bearings are set at the input end of the joint module and installed in conjunction with the brake device. The bearings are hidden in the motor without occupying additional joint length, thereby optimizing the axial size of the joint.

[0021] 2. The present invention achieves radial locking of the locking sleeve and the brake pad by setting the cross-sectional profile of the locking sleeve to a polygon and utilizing the locking effect of two similar polygons in cooperation. However, it does not limit the axial movement of the locking sleeve and the brake pad. While achieving braking of the rotor, the movement of the brake pad during braking will not damage the rotor.

[0022] 3. The present invention arranges the output end measuring code disk and the encoder circuit board in the annular space of the encoder fixed base, and arranges the input end measuring code disk in the concave mounting groove of the locking sleeve, which helps to improve the axial space utilization of the encoder structure.

[0023] 4. The present invention integrates the output-end measuring encoder head and the input-end encoder head on an encoder circuit board, and arranges the output-end measuring code disk, the encoder circuit board and the input-end measuring code disk in sequence along the axial direction of the hollow shaft, which helps to improve the overall integration of the encoder structure, helps to save the installation space of the encoder structure, and thus helps to improve space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0025] FIG1 is a cross-sectional view showing the overall structure of a brake system according to the present invention;

[0026] FIG2 is an exploded view of the overall structure of the brake pad assembly according to the present invention;

[0027] FIG3 is an external schematic diagram of the overall structure of the joint module according to the present invention;

[0028] FIG4 is a schematic diagram showing the overall structure of the fixed base according to the present invention;

[0029] FIG5 is a schematic diagram of the installation structure of the input end measurement code disk and the locking sleeve according to the present invention.

[0030] As shown in the figure:

[0031] Housing 1 threaded connection section 81

[0032] Output measuring code disc 2 Stator 9

[0033] Threaded connection sleeve 21 Brake pad 10

[0034] Input measuring disc 3 Brake pad 11

[0035] Encoder circuit board 4 Bearing 12

[0036] Rotor 5 Harmonic cam 13

[0037] Fixed base 6 Driving coil 14

[0038] Mounting portion 61 Elastic member 15

[0039] Locking sleeve 7 Connecting block 16

[0040] Recessed mounting groove 71 Rubber pad 17

[0041] Hollow shaft 8 Sealing ring 18 DETAILED DESCRIPTION

[0042] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0043] It should be noted that the axial direction in the present 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 .

[0044] As shown in Figure 1, a brake system provided according to the present invention includes a motor device and a brake device, wherein the brake device is disposed at one axial end of the motor device. The motor device includes a stator 9 and a rotor 5, and the brake device includes a brake pad assembly, a brake cleat 11, and a brake drive assembly, wherein 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 has an interference fit with the stator 9, and the inner ring of the bearing 12 has an interference fit with the rotor 5. The brake drive assembly drives the brake cleat 11 to press the brake pad assembly for braking, or the brake drive assembly drives the brake cleat 11 to release the brake pad assembly to resume motion.

[0045] Since there is a certain gap between the stator 9 and the rotor 5 of the motor, the technical solution of the present 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 volume of the joint. The bearing 12 is set at the input end of the joint module and installed in conjunction with the brake device. The bearing 12 is hidden in the motor without taking up additional joint length, thereby optimizing the axial size of the joint. Preferably, two bearings 12 are provided in the space formed by the cooperation of the brake pad assembly, the stator 9 and the rotor 5.

[0046] As shown in Figures 1, 2, and 3, the brake pad assembly specifically includes a locking sleeve 7 and a brake pad 10. One end of the locking sleeve 7 extends into the rotor 5 and forms an interference fit therewith, while the other end of the locking sleeve 7 extends beyond the end of the rotor 5. The brake pad 10 is connected to the locking sleeve 7 extending beyond the end of the rotor 5. Furthermore, the locking sleeve 7, brake pad 10, and rotor 5 are all annular and coaxially arranged. The end of the locking sleeve 7 extending into the rotor 5 forms an interference fit therewith, while the end of the locking sleeve 7 extending beyond the rotor 5 has a diameter greater than the outer diameter of the rotor 5. This prevents direct contact between the rotor 5 and the brake pad 10, thereby helping to prolong the service life of the rotor 5.

[0047] More specifically, the cross-sectional profile of the locking sleeve 7 extending from the end of the rotor 5 comprises a polygon. A cavity similar in shape to the cross-sectional profile of the locking sleeve 7 is formed within the interior of the brake pad 10, and the locking sleeve 7 is enclosed within the cavity of the brake pad 10. The cavity is configured to be slightly larger than the cross-sectional profile of the locking sleeve 7 extending from the end of the rotor 5. By leveraging the locking action of the two similar polygons, radial locking is achieved between the locking sleeve 7 and the brake pad 10, while no axial movement of the locking sleeve 7 or the brake pad 10 is restricted. A regular octagon is preferably employed in this application. Thus, it can be achieved that, under normal conditions, the rotor 5 rotates around the central axis, driving the locking sleeve 7 to rotate around the central axis, and then driving the brake pad 10 to rotate around the central axis; when braking, the brake pad 10 is pressed by the brake clamp 11. In 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 produce axial relative displacement. Since the brake pad 10 and the locking sleeve 7 have a certain thickness, until the brake pad 10 is pressed and motionless, both the brake pad 10 and the locking sleeve 7 remain radially locked. 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.

[0048] More specifically, the brake actuation assembly includes a drive coil 14, a fixed base 6, and an elastic member 15. The elastic member 15 extends and contracts 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, the brake pad assembly, the brake pad 11, and the fixed base 6 are arranged in sequence along the axial direction of the stator 9. The fixed base 6 is fixedly connected to the stator 9. The elastic member 15 is positioned between the fixed base 6 and the brake pad 11. Preferably, multiple elastic members 15 are positioned on the fixed base 6 at equal intervals along the circumference of the fixed base 6. When the drive coil 14 is energized, the elastic member 15 is compressed. The attractive force exerted by the drive coil 14 on the brake pad 11 overcomes the elastic force of the elastic member 15, and 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 member 15 extends, and the brake pad 11, under the force of the elastic member 15, presses against the brake pad assembly, thereby braking the vehicle.

[0049] Furthermore, the drive coil 14 is disposed within the fixed base 6 . Both the drive coil 14 and the fixed base 6 are annular in shape, and the fixed base 6 is constructed from a magnetic material. Placing the drive coil 14 within the fixed base 6 protects the drive coil 14 , and the fixed base 6 made of a magnetic material, such as iron, cobalt, nickel, or an alloy comprising one or more of these, can enhance the magnetic effect of the drive coil 14 .

[0050] 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 toward the stator 9 and is fixedly connected to the stator 9 and / or the housing 1. Multiple connecting blocks 16 can be provided at equal intervals along the bearing 12 of the fixed base 6. Connecting the fixed base 6 to the stator 9 or the housing 1 with the help of the connecting blocks 16 can improve the overall stability of the system. Positioning the connecting block 16 at the edge facilitates the avoidance of the brake pad assembly between the fixed base 6 and the stator 9, preventing interference. The connecting block 16 engages with the groove of the brake pad 11, limiting the rotation of the brake pad 11 while allowing the brake pad 11 to move axially.

[0051] Furthermore, the brake pad assembly, brake pad 11, and fixed base 6 are all coaxially arranged, and the maximum outer diameter of the brake pad assembly is smaller than the maximum outer diameter of the brake pad 11. A clearance groove is formed on the brake pad 11 to avoid the connection block 16. The brake pad 11 is annular. By setting the maximum outer diameter of the brake pad 11 to be larger than the maximum outer diameter of the brake pad assembly, that is, the outer diameter of the brake pad 11 is larger than the outer diameter of the brake pad 10, and the inner diameter of the brake pad 11 of the present application is larger than the inner diameter of the brake pad 10 and smaller than the outer diameter of the brake pad 10, it is possible to ensure that the brake pad 11 can exert a stable force on the brake pad 10, thereby ensuring the braking stability of the brake device.

[0052] Preferably, a harmonic cam 13 is provided on the side of the rotor 5 away from the brake pad assembly, and one end of the harmonic cam 13 extends into the rotor 5 and has an interference fit with the rotor 5. The harmonic cam 13, the brake pad assembly and the 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. Furthermore, sealing rings 18 can be provided at both axial ends of the rubber pad 17 to achieve a sealed connection between the sealing pad and the inner wall of the rotor 5. With the help of the rubber pad 17 and the sealing ring 18, iron chips scraped off during the press-fitting process of the interference fit are isolated, thereby enclosing the metal chips 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. The metal chips generated by the interference fit of the locking sleeve 7 into the rotor 5 are also enclosed in the groove of the rubber pad 17, thereby ensuring that the harmonic grease is not contaminated by metal lint. This avoids the situation where metal lint will contaminate the gear grease and cause gear wear. At the same time, the sealing ring 17 is sealed with the hollow shaft 8, thereby preventing the dust ground off by the brake pad 10 during friction from entering the harmonic side and contaminating the gear grease.

[0053] The present invention also provides a joint module, as shown in Figures 1 and 3, which also includes a shell 1 and a hollow shaft 8, and the hollow shaft 8 is coaxially penetrated by a motor device and a brake device, respectively. Both the stator 9 and the rotor 5 are arranged in the shell 1, and the stator 9 is fixedly connected to the shell 1, and the rotor 5 is rotatably connected to the shell 1.

[0054] The present invention also provides an encoder structure for a joint module, as shown in Figures 1, 4, and 5, comprising an output-end measuring code disc 2, an input-end measuring code disc 3, and an encoder circuit board 4. The output-end measuring code disc 2 is mounted on a hollow shaft 8 and rotates synchronously with the hollow shaft 8, the input-end measuring code disc 3 is mounted on a rotor 5 of a motor and rotates synchronously with the rotor 5 of the motor, the encoder circuit board 4 is disposed between the output-end measuring code disc 2 and the input-end measuring code disc 3, and an output-end measuring encoder reader is disposed on the side of the encoder circuit board 4 close to the output-end measuring code disc 2, and an input-end measuring encoder reader is disposed on the side of the encoder circuit board 4 close to the input-end measuring code disc 3.

[0055] By integrating the output-end measuring encoder reader and the input-end measuring encoder reader on the same encoder circuit board 4, the circuit structure is simplified, and the output-end measuring code disk 2, the encoder circuit board 4 and the input-end measuring code disk 3 are arranged in sequence along the axial direction of the hollow shaft 8, thereby improving the overall integration of the encoder structure and saving the installation space of the encoder structure.

[0056] Specifically, the output-end measuring code disk 2, the input-end measuring code disk 3, and the encoder circuit board 4 are all in the shape of a disc, the hollow shaft 8 is a hollow cylinder, the middle part of the output-end measuring code disk 2 is fixedly connected or integrally formed with a threaded connection sleeve 21, and one end of the hollow shaft 8 on which the output-end measuring code disk 2 is mounted is provided with a threaded connection section 81, the threaded connection section 81 is arranged on the outer surface of the hollow shaft 8 along the axial direction of the hollow shaft 8, and the threaded connection sleeve 21 is threadedly connected to the threaded connection section 81. The present application proposes a feasible implementation method as follows: the hollow cylindrical threaded connection sleeve 21 is coaxially connected to the middle part of the output-end measuring code disk 2 by curing glue, and then the threaded connection sleeve 21 is threadedly connected to the threaded connection section 81 on the outer surface of the hollow shaft 8, thereby achieving the output-end measuring code disk 2 being installed on the hollow shaft 8 and rotating synchronously with the hollow shaft 8. With the help of threaded matching, the output-end measuring code disk 2 can be adjusted in position along the axial direction of the hollow shaft 8 within the length range of the threaded connection section 81.

[0057] The present application also proposes a feasible solution for mounting the output-end measuring code disc 2 on the hollow shaft 8 and rotating synchronously with the hollow shaft 8: a connecting sleeve is fixedly connected or integrally formed in the middle of the output-end measuring code disc 2. The connecting sleeve may not be provided with threads, and the connecting sleeve may be pressed into the hollow shaft 8 by means of interference fit. The pressing depth of the connecting sleeve on the hollow shaft 8 can also be adjusted by means of interference fit, thereby adjusting the position along the axial direction of the hollow shaft 8.

[0058] As shown in Figures 1, 2, 3, 4 and 5, more specifically, it also includes an encoder fixing base 6, which is in a circular ring shape. The inner ring diameter of the encoder fixing base 6 is larger than the outer ring diameter of the output end measuring code disk 2, and the inner ring diameter of the encoder fixing base 6 is larger than the outer ring diameter of the encoder circuit board 4.

[0059] The encoder circuit board 4 is fixedly connected to the encoder fixed base 6 via fasteners. A mounting portion 61 extends from the annular inner wall of the encoder fixed base 6 toward the center of the annular portion. The encoder circuit board 4 is fastened to the mounting portion 61 of the encoder fixed base 6 via fasteners. A gasket is provided between the encoder circuit board 4 and the encoder fixed base 6. The fasteners securely connect the encoder circuit board 4, the gasket, and the encoder fixed base 6, which are arranged in that order.

[0060] The present application proposes a feasible installation method of the encoder circuit board 4 and the encoder fixed base 6: three mounting parts 61 are formed on the annular inner wall of the encoder fixed base 6 at equal intervals along the circumference of the annular inner wall, 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 fixed 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, and the position of the encoder circuit board 4 can be adjusted by increasing or decreasing the number of gaskets between the encoder circuit board 4 and the mounting parts 61.

[0061] More specifically, a locking sleeve 7 is connected between the input-end measuring code disk 3 and the rotor 5 of the motor. The rotor 5 of the motor 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 end with a smaller diameter of the locking sleeve 7 is fixedly connected to the rotor 5 of the motor, and the end with a larger diameter of the locking sleeve 7 is fixedly connected to the input-end measuring code disk 3.

[0062] Furthermore, the output-end measuring code disc 2, the input-end measuring code disc 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-end measuring code disc 3, the locking sleeve 7, and the motor rotor 5, respectively, and is coaxial with all four. The output-end measuring code disc 2, the encoder circuit board 4, and the input-end measuring code disc 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 has an interference fit therewith. The inner wall of the smaller diameter end of the locking sleeve 7 is close to the hollow shaft 8 without any connection or interference.

[0063] Furthermore, the end of the locking sleeve 7 with a larger diameter extends out of the motor's rotor 5 and is adjacent to the encoder circuit board 4. The end of the locking sleeve 7 extending out of the motor's rotor 5 serves as a mounting base for the input-end measuring code disk 3. A recessed mounting groove 71 is provided at the end of the locking sleeve 7 extending out of the motor's rotor 5. The input-end measuring code disk 3 is embedded and mounted within the recessed mounting groove 71. The input-end measuring code disk 3 can be fastened to the locking sleeve 7 using glue or fasteners. Embedding the input-end measuring code disk 3 within the recessed mounting groove 71 of the locking sleeve 7 can reduce the axial dimension of the mounting structure and improve space utilization.

[0064] It should be further explained that the input-end measuring code disk 3 is mounted on the motor's rotor 5 via a locking sleeve 7 and can move synchronously with the motor's rotor 5. The input-end measuring code disk 3 cannot be adjusted in the axial direction of the hollow shaft 8. Since the gasket between the encoder circuit board 4 and the encoder fixed base 6 is located between the encoder circuit board 4 and the input-end measuring code disk 3, the gap between the input-end 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 gaskets. Furthermore, with the help of threaded engagement, the output-end measuring code disk 2 can be adjusted in the axial direction of the hollow shaft 8 within the length of the threaded connection section 81, thereby adjusting the gap between the output-end measuring code disk 2 and the encoder circuit board 4 along the axial direction of the hollow shaft 8 within the design range.

[0065] It should also be further explained that after the encoder structure is installed in place, the output end measuring code disk 2 and the encoder circuit board 4 are both located in the annular space of the encoder fixed base 6, and the input end measuring code disk 3 is located in the recessed mounting groove 71 of the locking sleeve 7, thereby improving the integration of the overall structure, thereby reducing the structural size and increasing the axial space utilization.

[0066] How it works

[0067] By sequentially installing two bearings 12 in the gap between the stator 9 and the rotor 5, the internal space of the joint module can be optimized and the joint volume can be reduced. The two bearings 12 are arranged at the input end of the joint module and installed in conjunction with the brake device. The two bearings 12 are hidden in the motor without occupying additional joint length, thereby optimizing the axial size of the joint. Under normal conditions, the drive coil 14 is energized, and the attraction exerted by the drive coil 14 on the brake pad 11 overcomes the elastic force of the elastic member 15. The brake pad 11 does not exert an axial force on the brake pad 10. The rotor 5 rotates around the central axis, driving the locking sleeve 7 to rotate around the central axis, thereby driving the brake pad 10 to rotate around the central axis. When braking, the driving coil 14 is de-energized, and the brake pad 11 is pressed against the brake shoe 10 by the force of the elastic member 15 to brake. In the process of the brake pad 11 pressing against the brake shoe 10, the brake shoe 10 slides axially, and the brake shoe 10 and the locking sleeve 7 produce axial relative displacement. Since the brake pad 10 and the locking sleeve 7 have a certain thickness, until the brake pad 10 is pressed and does not move, both the brake pad 10 and the locking sleeve 7 remain radially locked, thereby achieving braking of the rotor 5.

[0068] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0069] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A braking system, characterized in that: The invention comprises a motor device and a brake device, wherein the motor device comprises a stator (9) and a rotor (5), and the brake device comprises a brake pad assembly, a brake clamp (11) and a brake drive assembly, wherein the brake pad assembly is connected to the rotor (5); A bearing (12) is provided in a space formed by the cooperation of 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 driving assembly drives the brake cleat (11) to press the brake pad assembly to brake, or the brake driving assembly drives the brake cleat (11) to release the brake pad assembly to resume movement.

2. The brake system according to claim 1, characterized in that: The brake pad assembly comprises 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, the other end of the locking sleeve (7) extends out of the end of the rotor (5), and the brake pad (10) is connected to the locking sleeve (7) extending out of the end of the rotor (5).

3. The brake system according to claim 2, characterized in that: The cross-sectional profile of the locking sleeve (7) extending from the end of the rotor (5) includes a polygonal shape, 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 sleeved in the cavity of the brake pad (10).

4. The brake system according to claim 1, wherein: The brake drive assembly comprises a drive coil (14), a fixed base (6) and an elastic member (15), wherein the drive coil (14) is fixedly arranged on the fixed base (6), and the stator (9), the brake pad assembly, the brake cleat (11) and the fixed base (6) are arranged in sequence along the axial direction of the stator (9); The fixed base (6) is fixedly connected to the stator (9), and the elastic member (15) is arranged between the fixed base (6) and the brake pad (11); When the driving coil (14) is energized, the elastic member (15) is in a compressed state, the attractive force exerted by the driving coil (14) on the brake pad (11) overcomes the elastic force of the elastic member (15), and the brake pad (11) does not exert an axial force on the brake pad assembly; When the driving coil (14) is powered off, the elastic member (15) stretches, and the brake cleat (11) presses the brake pad assembly under the force of the elastic member (15) to perform braking.

5. The brake system according to claim 4, characterized in that: The driving coil (14) is arranged inside the fixed base (6); the shapes of the driving coil (14) and the fixed base (6) both include an annular shape, and the material of the fixed base (6) includes a magnetic material.

6. The brake system according to claim 4, characterized in that: A connecting block (16) is provided at a peripheral edge of the fixed base (6), the connecting block (16) extending along the axis of the rotor (5) in a direction close to the stator (9), and the connecting block (16) is fixedly connected to the stator (9) and / or the housing (1).

7. The brake system according to claim 6, characterized in that: The brake pad assembly, the brake cleat (11) and the 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 cleat (11); The brake clamp (11) is formed with an avoidance groove for avoiding the connecting block (16).

8. The brake system according to claim 1, wherein: A harmonic cam (13) is provided on a side of the rotor (5) away from the brake pad assembly, and one end of the harmonic cam (13) extends into the rotor (5) and is interference-fitted with the rotor (5).

9. The brake system according to claim 8, characterized in that: The harmonic cam (13), the brake pad assembly and the 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 and connected to the inner wall of the rotor (5).

10. A joint module, characterized in that: The brake system according to any one of claims 1 to 9 further comprises a housing (1), wherein both the stator (9) and the rotor (5) are arranged in 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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