Brake apparatus, robot joint and robot including the same

A robot joint comprising:

• a housing;
• an electric motor comprising a rotor and a stator fixedly connected to the housing;
• and
• a brake apparatus configured to stop the rotor, wherein, the brake apparatus comprises:
• a locking component comprising a locking end provided with a first magnet;
• and
• a brake component comprising a mounting portion connected to the rotor and a plurality of brake ends provided on the mounting portion along a circumferential direction of the mounting portion, wherein each of the plurality of brake ends is provided with a second magnet,
• wherein, the locking end is configured to lock the brake component rotating with the rotor according to a received brake instruction;
• a side of the first magnet facing the brake component is configured to have same polarity as sides of the second magnets facing the locking component;
• and
• a distance from the first magnet to a rotary axis of the rotor is substantially the same as distances from the second magnets to the rotary axis of the rotor.

A robot comprising a plurality of connecting arms and a plurality of robot joints, the plurality of connecting arms being connected sequentially through the plurality of robot joints, each of the plurality of robot joints comprising:

• a housing;
• an electric motor comprising a rotor and a stator fixedly connected to the housing;
• and
• a brake apparatus configured to configured to stop the rotor,
• wherein the brake apparatus comprises:
• a locking component comprising a locking end provided with a first magnet;
• and
• a brake component comprising a mounting portion connected to the rotor and a plurality of brake ends provided on the mounting portion along a circumferential direction of the mounting portion, wherein each of the plurality of brake ends is provided with a second magnet,
• wherein, the locking end is configured to lock the brake component rotating with the rotor according to a received brake instruction;
• a side of the first magnet facing the brake component is configured to have same polarity as sides of the second magnets facing the locking component;
• and
• a distance from the first magnet to a rotary axis of the rotor is substantially the same as distances from the second magnets to the rotary axis of the rotor.