A robot control device having a drive shaft driven by a servo motor including a non-excited operation type electromagnetic brake. The electromagnetic brake is configured to perform a braking operation by pressing an armature against a friction plate by an urging force of a spring when an excitation coil is not energized, and to cancel a brake operation by attracting the armature to the excitation coil side against the urging force of the spring to separate the armature from the friction plate when the excitation coil is energized. A coil current flowing through the excitation coil is obtained and the robot is controlled based on the characteristic of time change of the obtained coil current. A robot control device capable of shortening a cycle time, estimating the life of the electromagnetic brake, performing abnormality diagnosis and the like with a relatively simple configuration can be provided.

A wheel module according to an embodiment includes a wheel, a motor, a shaft, a holding member and a brake. A tire is mounted on the wheel. The motor is arranged on the inner side of the wheel and includes a stator and a rotor. The shaft is fixed to the rotor coaxially with a rotation axis of the rotor and transmits rotation force of the rotor to the wheel. The holding member holds the stator. The brake restricts rotation of the shaft. One end portion of the holding member in the axial direction of the rotation axis of the rotor is fixed to and supported by a support member. The brake is on the opposite side to the wheel with the support member interposed therebetween. The shaft extends to an inner portion of the brake while passing through through-holes formed in the one end portion and the supporting member.

An electric brake (1) with an electric motor. An electromechanical actuating unit is provided which has a planetary rolling contact gear unit (6) by means of which a rotating movement of the electric motor is translated into an axial movement of an actuating element (7). A brake shoe (8) is coupled as a brake element to the actuating element (7).

An electric brake (1) with an electric motor. An electromechanical actuating unit is provided which has a planetary rolling contact gear unit (6) by means of which a rotating movement of the electric motor is translated into an axial movement of an actuating element (7). A brake shoe (8) is coupled as a brake element to the actuating element (7).

The invention relates to an electromagnetic brake and a method for making an electomagnetic brake. The electromagnetic brake comprises a frame part, an armature part movably mounted on the frame part and having a magnetic core, one or more spring elements for activating the brake by moving the said armature part forwards, an electromagnet fitted to the frame part and arranged to release the brake by pulling the said armature part backwards by resisting the said one or more spring elements, and a planar, elastically bendable damping plate fitted to be bent when the armature part is moving and, while being bent, to produce a damping force resisting the bending to dampen brake noise.

The invention relates to an electromagnetic brake and a method for making an electomagnetic brake. The electromagnetic brake comprises a frame part, an armature part movably mounted on the frame part and having a magnetic core, one or more spring elements for activating the brake by moving the said armature part forwards, an electromagnet fitted to the frame part and arranged to release the brake by pulling the said armature part backwards by resisting the said one or more spring elements, and a planar, elastically bendable damping plate fitted to be bent when the armature part is moving and, while being bent, to produce a damping force resisting the bending to dampen brake noise.