Brake assembly, joint actuator and robot

A brake assembly, comprising:

• a motor rotor;
• a brake disc fixed on the motor rotor;
• a friction plate fixed to and surrounding the brake disc;
• a bearing rotatably sleeved on the motor rotor;
• an electromagnet assembly fixed on the bearing;
• a baffle plate fixed to the electromagnet assembly and located on one side of the friction plate;
• an armature slidably sleeved on the motor rotor and located on another side of the friction plate, wherein the armature is located between the brake disc and the electromagnet assembly;
• and
• a spring assembly disposed between the armature and the electromagnet assembly;
• wherein when the electromagnet assembly is de-energized, the armature is pushed by the spring assembly to move in a direction towards the baffle plate, such that the friction plate is clamped by the armature and the baffle plate to realize braking;
• wherein an outer edge of the brake disc extends radially to form a plurality of blades, and an inner edge of the friction plate is provided with a plurality of receiving grooves configured to receive the blades, each of the plurality of blades includes two fork arms that are spaced apart, the two fork arms are in contact with two opposite side walls of a respective one of the receiving grooves, respectively.