TWM620690U - Electromagnetic brake module and actuating joint of robot - Google Patents

Abstract

An electromagnetic brake module for braking a driving device is provided. The electromagnetic brake module and the driving device are sheathed onto a driving shaft and disposed inside a housing. The electromagnetic brake module includes a magnetic yoke base, an armature plate, at least one elastic member, a brake pad, and a flange structure. The driving shaft is connected to the driving device to be rotated with the driving device synchronously. The magnetic yoke base is sheathed onto the driving shaft to apply a magnetic force to the armature plate or remove the magnetic force therefrom. The armature plate is sheathed onto the driving shaft and movable along the driving shaft. The elastic member is abutted between the magnetic yoke base and the armature plate. The brake pad is sheathed onto the driving shaft and located between the armature plate and the flange structure, wherein the brake pad is rotated along with the driving shaft synchronously. An actuating joint of robot is also provided.

Description

Electromagnetic brake module and robot joint actuator

This new creation relates to a brake module and actuator, and particularly relates to a safety electromagnetic brake module and a joint actuator of a robot.

Industrial robots can not only overcome the impact of harsh environments on production and reduce the use of labor, but also improve production efficiency and ensure product quality. With the continuous development of industrial robot technology, it no longer only has the function of carrying heavy objects, but can perform various high-precision and intelligent tasks, such as welding, precision assembly, grinding, starting and other actions.

Focusing on the joint actuators of industrial robots, in addition to being connected to the robot arm and moving through the driving device, it also needs to provide enough space in the structure to accommodate the safety brake module, which makes it impossible to effectively limit the shrinkage The overall volume, and therefore increase the structural assembly tolerance and manufacturing cost.

This "prior art" is only used to help understand the content of this new type of creation, so the content disclosed in the "prior art" paragraph may contain some conventional technologies that do not constitute the common knowledge in the technical field. The content disclosed in the "prior art" paragraph does not represent the content or the problem to be solved by one or more embodiments of the creation of the new model, and it has been known or recognized by those with ordinary knowledge in the technical field before the application of the creation of the new model .

This new creation provides a joint actuator for an electromagnetic brake module and a robot. The brake module is directly assembled to the housing through a flange structure, so as to reduce the overall volume of the brake module and thus reduce the structural assembly tolerance And production costs.

The electromagnetic brake module created by the new model is used to brake the driving device. The electromagnetic brake module and the driving device are sleeved on the driving shaft and contained in the casing. The electromagnetic brake module includes a yoke seat, an armature plate, at least one elastic member, a brake plate and a flange structure arranged in the shell. The drive shaft is connected to the drive device to rotate synchronously with the drive device. The yoke seat is sleeved on the drive shaft to provide or release the magnetic force. The armature plate is sleeved on the drive shaft and can move along the drive shaft. The elastic piece abuts between the yoke base and the armature plate. The brake pad is sleeved on the drive shaft and is arranged between the armature plate and the flange structure, and the brake pad rotates synchronously with the drive shaft. The flange structure is sleeved on the drive shaft and locked to the housing. When the yoke base provides magnetic force to attract the armature plate, the armature plate moves toward the yoke base along the drive shaft and deforms the elastic member, and the brake plate moves away from the flange structure. When the yoke base is released from the magnetic force, the elastic element provides elastic force to drive the armature plate to move along the drive shaft toward the flange structure, and the brake pad is clamped between the armature plate and the flange structure to generate friction.

The joint actuator of the robot created by the new model includes a housing, a drive device, a drive shaft, a reducer, a torque sensor, a dual encoder, and an electromagnetic brake module, including the drive device, drive shaft, reducer, and dual encoding The brake and the electromagnetic brake module are arranged in the housing. The drive shaft is connected to the drive device, the reducer is connected to the drive device and the drive shaft, at least part of the torque sensor is arranged in the housing and connected to the reducer, and the dual encoder is connected to the drive device and the drive shaft and coupled to the torque sensor. The electromagnetic brake module and the driving device are sleeved on the driving shaft and contained in the casing. The electromagnetic brake module is sleeved on the drive shaft and includes a yoke base, an armature plate, at least one elastic piece, a brake plate and a flange structure. The yoke seat is sleeved on the drive shaft to provide or release the magnetic force. The armature plate is sleeved on the drive shaft and can move along the drive shaft. The elastic piece abuts between the yoke base and the armature plate. The brake pad is sleeved on the drive shaft and is arranged between the armature plate and the flange structure, and the brake pad rotates synchronously with the drive shaft. The flange structure is sleeved on the drive shaft and locked to the housing. When the yoke base provides magnetic force to attract the armature plate, the armature plate moves toward the yoke base along the drive shaft and deforms the elastic member, and the brake plate moves away from the flange structure. When the yoke base is released from the magnetic force, the elastic element provides elastic force to drive the armature plate to move along the drive shaft toward the flange structure, and the brake pad is clamped between the armature plate and the flange structure to generate friction.

In an embodiment of the present invention, the aforementioned electromagnetic brake module further includes a coil and a control unit. The coil is arranged in the yoke base and is electrically connected to the control unit. The control unit supplies power to the coil to cause the yoke base to generate the Magnetic force, the control unit de-energizes the coil to release the magnetic force from the yoke base.

In an embodiment of the present invention, the aforementioned brake pad is located at the end of the drive shaft away from the drive device.

In an embodiment of the present invention, the above-mentioned brake pad is located on one side of the inner ring portion of the flange structure, and the outer ring portion of the flange structure is locked to the inner wall of the housing by at least one locking attachment.

In an embodiment of the present invention, the aforementioned drive shaft includes an input shaft and an output shaft that are coaxially arranged, and the brake pad is arranged on the input shaft and rotates synchronously with the input shaft.

In an embodiment of the present invention, the aforementioned driving device is connected to the input shaft.

In an embodiment of the present invention, the above-mentioned yoke base is provided with at least one groove, the above-mentioned at least one elastic element is accommodated in the at least one groove, and two ends of the at least one elastic element respectively abut against the at least one groove The bottom and armature plate.

In an embodiment of the present invention, the above-mentioned flange structure and the yoke base are an integral structure.

In an embodiment of the present invention, the above-mentioned magnetic yoke base is located between the driving device and the flange structure.

In an embodiment of the present invention, the outer ring portion of the aforementioned flange structure surrounds the yoke base, and the brake plate and the armature plate are arranged between the yoke base and the inner ring portion.

In an embodiment of the present invention, the aforementioned torque sensor is connected to the robotic arm of the robot.

In an embodiment of the present invention, the above-mentioned driving device is a frameless motor.

Based on the above, in the joint actuator of the robot, the electromagnetic brake module can be attached to the housing with a flange structure, which avoids the need to use an adapter to connect between the brake module and the housing in the prior art. The electromagnetic brake module of the present invention reduces the assembly tolerance caused by additional components (adapters) in structure, and can also effectively reduce the overall volume and manufacturing cost of the joint actuator.

The aforementioned and other technical content, features, and effects of the creation of the new model will be clearly presented in the following detailed description of a preferred embodiment with reference to the drawings. The directional terms mentioned in the following embodiments, for example: up, down, left, right, front or back, etc., are only directions for referring to the attached drawings. Therefore, the directional terms used are used to illustrate and not to limit the creation of the new model.

Fig. 1 is a schematic diagram of a joint actuator of a robot according to an embodiment of the present invention. Fig. 2 is a cross-sectional view of the joint actuator of Fig. 1. Please refer to FIGS. 1 and 2 at the same time. In this embodiment, the joint actuator 10 of this embodiment includes a housing 400, a driving device 200, a driving shaft 300, a reducer 500, a torque sensor 600, and a dual encoder 700 and the electromagnetic brake module 100, wherein the driving device 200, the drive shaft 300, the reducer 500, the dual encoder 700 and the electromagnetic brake module 100 are arranged in the housing 400. The drive shaft 300 is connected to the drive device 200, the reducer 500 is connected to the drive device 200 and the drive shaft 300, at least part of the torque sensor 600 is disposed in the housing 400 and connected to the reducer 500, and the dual encoder 700 is connected to the drive shaft 300. The electromagnetic brake module 100 and the driving device 200 are sleeved on the driving shaft 300 and contained in the housing 400. In more detail, the torque sensor 600, the reducer 500, the driving device 200, the electromagnetic brake module 100 and the dual encoder 700 are sequentially sleeved on the drive shaft 300, and the electromagnetic brake module 100 is attached to the joint actuator 10. The inner part is used as a safety brake component, which is used to lock the drive shaft 300 without rotating when the joint actuator 10 stops operating.

3 and 4 are respectively partial cross-sectional views of the electromagnetic brake module, which are used to further analyze the component configuration of the electromagnetic brake module. Please refer to FIGS. 1 to 3 first. In this embodiment, the driving device 200 is, for example, a frameless motor and used to control the driving shaft 300 to rotate about the axis L1. The driving device 200 includes a coil 210 and a rotor 220 arranged inside the coil 210, that is, the rotor 220 is sleeved on the driving shaft 300 and located between the driving shaft 300 and the coil 210. The reducer 500 includes a power input part 510 and a power output part 520. The power input part 510 is, for example, a cap-shaped flexspline, and the power output part 520 is, for example, a rigid wheel. The power input 510 and the power output 520 are both sleeved on the drive shaft 300, and the power input 510 is disposed between the drive shaft 300 and the power output 520. The drive shaft 300 can be decelerated by the reduction ratio between the power input 510 and the power output 520. The specific structure design of the reducer 500 to achieve the reduction ratio is based on the prior art, and will not be repeated here.

The torque sensor 600 of this embodiment is connected to the power output member 520 of the reducer 500. The dual encoder 700 is connected to the drive shaft 300, and the driving device 200 is located between the dual encoder 700 and the reducer 500. Therefore, the joint actuator 10 of this embodiment can not only use the torque sensor 600 to sense the torque at the output end of the joint actuator 10, but also use the dual encoder 700 to input the joint actuator 10 The displacement of the terminal and the output terminal is sensed, and because the bilateral encoder 700 and the torque sensor 600 are both coupled to the circuit board (not shown) in the joint actuator 10, the circuit in the joint actuator 10 The board receives and integrates the displacement sensing signals and torque sensing signals sensed by the bilateral encoder 700 and the torque sensor 600 to accurately determine the force state of the robot, and then accurately perform corresponding high-precision actions.

The drive shaft 300 includes an input shaft 310 and an output shaft 320 coaxially arranged. The input shaft 310 is sleeved on the outside of the output shaft 320. One end of the input shaft 310 is connected to the power input 510 of the reducer 500 (equivalent to being connected to the drive device). 200) And the other end is connected to the dual encoder 700, one end of the output shaft 320 is connected to the torque sensor 600 and the other end is connected to the dual encoder 700. Furthermore, since the torque sensor 600 is connected to the power output part 520 (such as a rigid wheel) of the reducer 500 instead of being connected to the power input part 510, the structural design for connecting the torque sensor 600 and the reducer 500 can be Simplified.

In addition, please refer to FIGS. 1 and 2 again. The robot arm 20 of the robot in this embodiment includes a connecting piece 800, and the torsion sensor 600 of the joint actuator 10 is adapted to connect the robot arm 20 of the robot through the connecting piece 800. Accordingly, the external force from the robotic arm 20 is transmitted to the torque sensor 600 through the connecting member 800, so that the torque sensor 600 of this embodiment can also sense the torque corresponding to the external force.

Please refer to FIGS. 3 and 4 at the same time. In this embodiment, the electromagnetic brake module 100 includes a yoke base 110, an armature plate 120, an elastic member 130, a brake plate 140, and a flange structure 150 disposed in the housing 400. . The driving shaft 300 is connected to the driving device 200 to rotate synchronously with the driving device 200. The yoke base 110 is sleeved on the drive shaft 300 to provide or release the magnetic force. The armature plate 120 is sleeved on the drive shaft 300 and can move along the drive shaft 300 (that is, it can move back and forth along the axis L1). The elastic member 130 abuts between the yoke base 110 and the armature plate 120. The brake pad 140 is sleeved on the drive shaft 300 and is disposed between the armature plate 120 and the flange structure 150, and the brake pad 140 is buckled to the drive shaft 300 to rotate synchronously with the drive shaft 300. The flange structure 150 is sleeved on the drive shaft 300 and locked to the housing 400. In this embodiment, the flange structure 150 and the yoke base 110 may be an integral structure or may be two components separately fixed to the housing 400.

Furthermore, the electromagnetic brake module 100 further includes a coil 160 and a control unit 170, which are only indicated by symbols here. The coil 160 is disposed in the yoke base 110 and is electrically connected to the control unit 170, and the control unit 170 supplies power to the coil 160 to cause the yoke base 110 to generate magnetic force. Conversely, when the control unit 170 de-energizes the coil 160, the yoke base 110 can release the magnetic force. In this way, when the yoke base 110 provides magnetic force to attract the armature plate 120, the armature plate 120 can move along the drive shaft 300 toward the yoke base 110 and deform the elastic member 130 (to accumulate elastic force), thereby making the armature The plate 120 is separated from the brake pad 140, and the brake pad 140 moves away from the flange structure 150. The brake pad 140 and the armature plate 120 and the flange structure 150 will not generate friction, and the brake pad 140 can rotate synchronously with the drive shaft 300. Conversely, when the yoke base 110 releases the magnetic force, the elastic member 130 provides elastic force to move the armature plate 120 along the drive shaft 300 toward the flange structure 150, and the brake plate 140 is clamped between the armature plate 120 and the flange structure 150 And generate friction.

Furthermore, the brake pad 140 of this embodiment is located at the end of the drive shaft 300 away from the drive device 200, which is equivalent to being located on the side of the inner ring portion of the flange structure 150, and the outer ring portion of the flange structure 150 Then, it is locked to the inner wall of the housing 400 by the locking attachment P1. As mentioned above, the brake pad 140 is substantially buckled to the input shaft 310 and rotates synchronously with the input shaft 310. In addition, the yoke base 110 is provided with a groove 111, and the elastic member 130 is accommodated in the groove 111 and opposite ends of the elastic member 130 respectively abut the bottom of the groove 111 and the armature plate 120. As shown in FIG. 3, at this time, the yoke base 110 provides magnetic force to attract the armature plate 120, and presses against the elastic member 130 to accumulate elastic force, and there is a gap G1 between the brake pad 140 and the flange structure 150. This is the normal operating state of the driving device 200 (also equivalent to the joint actuator 10). Conversely, as shown in FIG. 4, when the yoke base 110 releases the magnetic force and no longer attracts the armature plate 120, the elastic force of the elastic member 130 will push the armature plate 120 along the axis L1 to move to the right in the figure, so that There is a gap G2 between the yoke base 110 and the armature plate 120, which is equivalent to allowing the brake pad 140 to move to the right along the axis L1 to compensate for the aforementioned gap G1. In this way, the brake pad 140 is clamped between the armature plate 120 and the flange structure 150, so as to provide the driving device 200 and the drive shaft 300 with friction required for the braking effect.

Fig. 5 is a partial cross-sectional view of an electromagnetic brake module according to another embodiment of the present invention. Please refer to FIG. 5 and compare with FIG. 3. Different from the embodiment shown in FIG. 3, the yoke base 110 is located between the driving device 200 and the flange structure 150. In this embodiment, the flange structure 150A is arranged around the yoke base 110A, where the axis L2 is taken as a reference, the flange structure 150A includes an outer ring portion located on the same normal plane as the yoke base 110A, and located on another normal plane The other normal plane is parallel to the aforementioned normal plane, and there is a relative distance between the two along the axis L2. In other words, the brake pad 140 and the armature plate 120 of this embodiment are arranged between the yoke base 110A and the inner ring portion of the flange structure 150A. The outer ring portion of the flange structure 150A surrounds the yoke base 110A, for example. The inner ring portion and the outer ring portion of the flange structure 150A are integrally formed through a connecting portion and the inner ring portion is sleeved on the drive shaft 300, or the inner ring portion is sleeved on the drive shaft 300 and is arranged far away The direction of the driving device 200 is locked to the outer ring part through the lock attachment P3. The outer ring part of the flange structure 150A is still locked to the inner wall of the housing 400 through the lock attachment P2. Here, the armature plate 120 is still When the yoke base 110A provides magnetic force or not, it reciprocates along the axis L2. The state shown in FIG. 5 is that the elastic member 130 pushes the armature plate 120 away from the yoke base 110A with a gap G2A, and the brake pad 140 faces the figure. The right side moves and is clamped by the armature plate 120 and the inner ring portion of the flange structure 150A to achieve the desired braking effect.

To sum up, in the above-mentioned embodiment of the present invention, the electromagnetic brake module and the driving device are sleeved on the drive shaft and housed in the housing. The electromagnetic brake module includes a yoke base, an armature plate, and an elastic member. , Brake pads and flange structure, the drive device is connected to the drive shaft, and the brake pads are sleeved on the drive shaft to rotate synchronously with the drive shaft. The yoke base and the armature plate are sleeved on the drive shaft, wherein the armature plate can move along the drive shaft, the elastic piece abuts between the yoke base and the armature plate, and the brake plate is located between the flange structure and the armature plate between. In this way, the yoke seat can provide magnetic force to the armature plate to attract the armature plate, thereby moving the brake plate away from the flange structure and deforming the elastic member to accumulate elastic force, so that the driving device can run smoothly. Conversely, when the yoke base releases the aforementioned magnetic force, the elastic force of the elastic member pushes the brake pads through the armature plate, so that the brake pads are clamped between the armature plate and the flange structure to generate friction to provide the driving device with Braking effect.

More importantly, the electromagnetic brake module can be attached to the inner wall of the housing with a flange structure, avoiding the need for an additional adapter to be connected between the brake module and the housing in the prior art, thereby making the The newly created electromagnetic brake module structurally reduces the assembly tolerance caused by additional components (adapters), and can also effectively reduce the overall volume and manufacturing cost of the joint actuator.

However, the above is only a preferred embodiment of the creation of the new model, and should not be used to limit the scope of implementation of the creation of the new model, that is, the simple equivalent made according to the scope of the patent application for the creation of the new model and the content of the new creation description Changes and modifications are still within the scope of the new creation patent. In addition, any embodiment of the new creation or the scope of the patent application does not have to achieve all the purposes or advantages or features disclosed in the new creation. In addition, the abstract part and title are only used to assist the search of patent documents, not to limit the scope of rights for the creation of the new model. In addition, the terms "first" and "second" mentioned in this specification or the scope of the patent application are only used to name the element (element) or to distinguish different embodiments or ranges, and are not used to limit the number of elements. Upper or lower limit.

Although the creation of this new type has been disclosed in the above embodiments, it is not intended to limit the creation of this new type. Anyone with ordinary knowledge in the technical field can make some changes and changes without departing from the spirit and scope of the creation of this new type. Retouching, therefore, the scope of protection for the creation of this new model shall be subject to the scope of the attached patent application.

10: Joint actuator 100: Electromagnetic brake module 110, 110A: yoke seat 111: Groove 120: Armature plate 130: Elastic part 140: Brake Pads 150, 150A: flange structure 160: coil 170: control unit 200: Drive 210: Coil 220: Rotor 300: drive shaft 310: Input shaft 320: output shaft 400: shell 500: reducer 510: power input 520: power take-off 600: Torque sensor 700: Dual encoder 800: connector G1, G2, G2A: gap L1, L2: axis P1, P2, P3: lock accessories

Fig. 1 is a schematic diagram of a joint actuator of a robot according to an embodiment of the present invention. Fig. 2 is a cross-sectional view of the joint actuator of Fig. 1. 3 and 4 are partial cross-sectional views of the electromagnetic brake module. Fig. 5 is a partial cross-sectional view of an electromagnetic brake module according to another embodiment of the present invention.

100: Electromagnetic brake module

200: Drive

300: drive shaft

310: Input shaft

320: output shaft

400: shell

500: reducer

510: power input

520: power take-off

600: Torque sensor

700: Dual encoder

L1: axis

Claims (20)

An electromagnetic brake module is used to brake a driving device. The electromagnetic brake module and the drive device are sleeved on a drive shaft and housed in a housing. The electromagnetic brake module includes: a yoke base, an electric Pivot plate, at least one elastic piece, a brake disc and a flange structure, wherein, The yoke base, the armature plate, the elastic member, the brake plate and the flange structure are arranged in the housing; The drive shaft is connected to the drive device for synchronous rotation with the drive device; The yoke seat is sleeved on the drive shaft to provide or release magnetic force; The armature plate is sleeved on the drive shaft, and the armature plate can move along the drive shaft; The at least one elastic member abuts between the yoke base and the armature plate; The brake pad is sleeved on the drive shaft and is arranged between the armature plate and the flange structure, and the brake pad rotates synchronously with the drive shaft; and The flange structure is sleeved on the drive shaft and locked to the housing, When the yoke base provides magnetic force to attract the armature plate, the armature plate moves toward the yoke base along the drive shaft and deforms the at least one elastic member, and the brake plate moves away from the flange structure, When the yoke base is released from the magnetic force, the at least one elastic element provides elastic force to drive the armature plate to move along the drive shaft toward the flange structure, and to clamp the brake plate between the armature plate and the flange structure And generate friction. The electromagnetic brake module according to claim 1, further comprising a coil and a control unit, the coil is arranged in the yoke base and is electrically connected to the control unit, and the control unit supplies power to the coil to make the yoke The base generates the magnetic force, and the control unit de-energizes the coil to release the magnetic force from the yoke base. The electromagnetic brake module according to claim 1, wherein the brake pad is located at an end of the drive shaft away from the drive device. The electromagnetic brake module according to claim 1, wherein the brake pad is located on one side of the inner ring portion of the flange structure, and the outer ring portion of the flange structure is locked to the shell through at least one locking attachment Inner wall. The electromagnetic brake module according to claim 1, wherein the drive shaft includes an input shaft and an output shaft that are coaxially arranged, and the brake pad is arranged on the input shaft and rotates synchronously with the input shaft. The electromagnetic brake module according to claim 5, wherein the driving device is connected to the input shaft. The electromagnetic brake module according to claim 1, wherein the yoke base is provided with at least one groove, the at least one elastic member is accommodated in the at least one groove, and two ends of the at least one elastic member respectively abut against the At least the bottom of the groove and the armature plate. The electromagnetic brake module according to claim 1, wherein the flange structure and the yoke base are an integral structure. The electromagnetic brake module according to claim 4, wherein the outer ring portion of the flange structure surrounds the yoke base, and the brake plate and the armature plate are disposed between the yoke base and the inner ring portion. The electromagnetic brake module according to claim 1, wherein the flange structure is located between the driving device and the yoke base. A joint actuator of a robot, including: A shell A driving device arranged in the housing; A drive shaft, which is arranged in the housing and connected to the drive device; A reducer, which is arranged in the housing and connects the driving device and the driving shaft; A torsion sensor, at least partially disposed in the housing, and connected to the reducer; A pair of encoders arranged in the housing and connected to the drive shaft; and An electromagnetic brake module is arranged in the housing and sleeved on the drive shaft. The electromagnetic brake module includes: a yoke base, an armature plate, at least one elastic member, a brake disc and a flange structure, in, The yoke seat is sleeved on the drive shaft and used to provide or release magnetic force; The armature plate is sleeved on the drive shaft, and the armature plate can move along the drive shaft; The at least one elastic member abuts between the yoke base and the armature plate; The brake plate is sleeved on the drive shaft and is arranged between the armature plate and the flange structure, and the brake plate rotates synchronously with the drive shaft; and The flange structure is sleeved on the drive shaft and locked to the housing, When the yoke base provides magnetic force to attract the armature plate, the armature plate moves toward the yoke base along the drive shaft and deforms the at least one elastic member, and the brake plate moves away from the flange structure, When the yoke base is released from the magnetic force, the at least one elastic element provides elastic force to drive the armature plate to move along the drive shaft toward the flange structure, and to clamp the brake plate between the armature plate and the flange structure And generate friction. The joint actuator of the robot according to claim 11, further comprising a coil and a control unit, the coil is arranged in the yoke base and is electrically connected to the control unit, and the control unit supplies power to the coil to make the magnetic The yoke base generates the magnetic force, and the control unit de-energizes the coil to release the magnetic force from the yoke base. The joint actuator of a robot according to claim 11, wherein the brake pad is located at an end of the drive shaft away from the drive device. The joint actuator of a robot according to claim 11, wherein the brake pad is located on one side of the inner ring portion of the flange structure, and the outer ring portion of the flange structure is locked to the housing by at least one locking attachment The inner wall. The joint actuator of a robot according to claim 11, wherein the flange structure and the yoke base are an integral structure. The joint actuator of a robot according to claim 11, wherein the yoke base is located between the driving device and the flange structure. The joint actuator of a robot according to claim 14, wherein the outer ring portion of the flange structure surrounds the yoke base, and the brake plate and the armature plate are arranged between the yoke base and the inner ring portion . The joint actuator of a robot according to claim 11, wherein the drive shaft includes an input shaft and an output shaft that are coaxially arranged, and the brake pad is arranged on the input shaft and rotates synchronously with the input shaft. The joint actuator of a robot according to claim 11, wherein the torque sensor is adapted to be connected to a robotic arm of the robot. The joint actuator of a robot according to claim 11, wherein the driving device is a frameless motor.

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