CN113037005A - Band-type brake motor, reduction gear and robot - Google Patents
Band-type brake motor, reduction gear and robot Download PDFInfo
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- CN113037005A CN113037005A CN202110236287.8A CN202110236287A CN113037005A CN 113037005 A CN113037005 A CN 113037005A CN 202110236287 A CN202110236287 A CN 202110236287A CN 113037005 A CN113037005 A CN 113037005A
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- band
- type brake
- rotor
- brake motor
- braking position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
- H02K7/125—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking magnetically influenced
Abstract
The utility model relates to a band-type brake motor, reduction gear and robot, this band-type brake motor include rotor subassembly, stator module and band-type brake device, but the rotor subassembly sets up axially movable on the stator module and have braking position and non-braking position, the rotor subassembly includes the pivot, the pivot is located the rotation center of band-type brake motor, the band-type brake device includes actuating mechanism and braking piece, actuating mechanism centers on the pivot sets up, is used for the drive the rotor subassembly switches between braking position and non-braking position, the braking piece with the rotor subassembly links to each other, is used for braking position and the spacing cooperation of external connecting piece are in order to brake the rotor subassembly. The driving mechanism can drive the rotor assembly to move from the non-braking position to the braking position, so that the rotor assembly can be quickly stopped rotating under the action of the braking part, and safety accidents are prevented. And the driving mechanism is arranged around the rotating shaft, so that the structure is compact and the occupied space is small.
Description
Technical Field
The utility model relates to the technical field of motors, specifically, relate to a band-type brake motor, install the reduction gear of this band-type brake motor to and install the robot of this reduction gear.
Background
In the intelligent manufacturing industry or service industry, robots and mechanical arms which are usually used are used to replace manual work, most of the robots or mechanical arms are driven by built-in motors, and when power is cut off suddenly, the motors cannot be locked immediately under the action of rotation inertia, so that people injury accidents caused by natural droop or continuous movement of the mechanical arms often occur. In order to improve the security of robot or arm after the outage, can set up the band-type brake device on the motor usually, can lock immediately after the motor outage, the common band-type brake device in present robot field divide into two kinds, a gear machinery band-type brake device, accomplish the outage lock function through mechanical structure, the second kind is electromagnetic band-type brake device, but install axial displacement's upper and lower two-layer iron sheet on the motor, and install the rotor hub additional at the motor output, be provided with the friction disc on the rotor hub, the friction disc presss from both sides and establishes between two-layer iron sheet, two-layer iron sheet extrudees and presss from both sides tightly to the friction disc when the outage, thereby lock the motor.
According to the structural characteristics, no matter which type of brake device, a large part of volume space of the motor is inevitably occupied, and even the appearance structure and the use experience of the robot and the mechanical arm are influenced.
Disclosure of Invention
The purpose of this disclosure is to provide a band-type brake motor, install this band-type brake motor's reduction gear to and install the robot of this reduction gear, this band-type brake motor can brake fast to compact structure, occupation space are little.
In order to realize above-mentioned purpose, this disclosure provides a band-type brake motor, including rotor subassembly, stator subassembly and band-type brake device, but the rotor subassembly sets up axially move on the stator subassembly and have braking position and non-braking position, the rotor subassembly includes the pivot, the pivot is located the centre of rotation of band-type brake motor, the band-type brake device includes actuating mechanism and braking piece, actuating mechanism centers on the pivot sets up, is used for the drive the rotor subassembly switches between braking position and non-braking position, the braking piece with the rotor subassembly links to each other, is used for braking position and the spacing cooperation of external connecting piece in order to brake the rotor subassembly.
Optionally, actuating mechanism includes electromagnetic induction coil and magnetism attraction piece, be formed with on the stator module and be used for the installation magnetic induction coil's installation department, magnetic induction coil centers on the pivot is the heliciform around connecing the installation department, magnetism attraction piece with the rotor subassembly links to each other, magnetic induction coil is used for linking to each other and producing along its axial magnetism attraction with the power, magnetism attraction piece is in make under the effect of magnetism attraction the rotor subassembly keeps non-braking position.
Optionally, stator module includes stator base, stator base structure is for centering on the tubular structure that the pivot set up, the installation department structure is for seting up annular groove on the stator base, annular groove follows stator base's terminal surface extends along the axial, magnetic induction coil sets up in the annular groove.
Optionally, the magnetic attraction piece includes a cylindrical body and an adsorption portion, the cylindrical body is axially movably disposed inside the stator base, the adsorption portion is disposed at an end portion of the cylindrical body and is formed in a disc shape protruding outward in a radial direction, and the adsorption portion is disposed corresponding to an opening of the annular groove.
Optionally, the band-type brake device still includes first limit structure, first limit structure sets up magnetism attraction piece with between the stator base, be used for the restriction magnetism attraction piece with circumferential displacement between the stator base, first limit structure is the locating pin, the inside wall of stator base is formed with at least one along axially extended first spacing groove, the lateral wall of tube-shape body is formed with the second spacing groove, first spacing groove and second spacing groove correspond the setting to enclose jointly and close out and hold the cavity of locating pin, the locating pin holds first spacing groove with in the second spacing groove.
Optionally, the pivot is rotationally assembled through the bearing the inside wall of tube-shape body, the bearing includes first bearing and second bearing, first bearing with the second bearing is established side by side along the axial the pivot with between the tube-shape body, the band-type brake device still includes second limit structure, second limit structure is spacing arch, spacing arch forms the inside wall of magnetic attraction piece, and extends along circumference and arrange, spacing protruding clamp is established first bearing with between the second bearing.
Optionally, actuating mechanism still includes the elasticity piece that resets, this elasticity reset be used for with the rotor subassembly moves to from non-braking position the braking position, stator base's inside wall is formed with the circular bead, the one end butt that the elasticity resets on the circular bead, the other end butt is in on the attraction piece is inhaled to the magnetism, when magnetic induction coil circular telegram, the elasticity resets the atress energy storage, when magnetic induction coil cuts off the power supply, the elasticity resets and promotes under the effect of elasticity restoring force the attraction piece is inhaled along axial displacement to the magnetism.
Optionally, the braking member is a friction member disposed on an outer sidewall of the rotor assembly for frictional contact with an external connection member in the braking position to brake the rotor assembly.
Optionally, the band-type brake motor is an outer rotor motor, the outer rotor motor includes a rotor housing, the friction member is formed as an annular sheet, and the friction member is disposed around the rotation shaft on an end surface of the rotor housing.
Optionally, the rotor assembly further includes a rotor housing and a magnetic member, the stator assembly further includes a stator core and a coil winding, the coil winding is wound on the stator core, the magnetic member is disposed inside the rotor housing and corresponds to the coil winding, and the coil winding is configured to be connected to an external power source and drive the rotor housing to rotate.
Another embodiment of the present disclosure also provides a decelerator including an external connection member as described above.
Yet another embodiment of the present disclosure also provides a robot including a decelerator as described above.
Through the technical scheme, the rotor assembly of the band-type brake motor in the embodiment of the disclosure is arranged on the stator assembly, can rotate relative to the stator assembly, and is used for outputting torque to an external executive component (such as a robot or a mechanical arm) to provide power; in order to ensure the safety of the motor, when the motor needs to be stopped suddenly, for example, under the conditions of power failure, faults and the like, the driving mechanism can drive the rotor assembly to move from the non-braking position to the braking position, so that the rotor assembly can be stopped and rotated quickly under the action of the braking part, and therefore the external executive part driven by the motor can be stopped immediately, and safety accidents are prevented. In addition, the driving mechanism in the embodiment of the disclosure is arranged around the rotating shaft, and the driving mechanism is compact in structure and small in occupied space.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is an external structural schematic diagram of a band-type brake motor in an embodiment of the present disclosure;
fig. 2 is an external structural schematic view of a band-type brake motor from another perspective in an embodiment of the present disclosure;
figure 3 is an axial cross-sectional view of a band-type brake motor in an embodiment of the present disclosure;
figure 4 is an exploded schematic view of a band-type brake motor in an embodiment of the present disclosure;
figure 5 is a schematic view of an assembly of a band-type brake motor and an external connecting member in an embodiment of the present disclosure;
figure 6 is an assembled cross-sectional view of a band-type brake motor and an external connector in an embodiment of the present disclosure, wherein the band-type brake motor is in a non-braking position;
figure 7 is an assembled cross-sectional view of a band-type brake motor and an external connector in an embodiment of the present disclosure, wherein the band-type brake motor is in a braking position.
Description of the reference numerals
1. A rotor assembly; 11. a rotating shaft; 12. a first bearing; 13. a second bearing; 14. a rotor housing; 141. a rotor end cover; 142. a rotor side wall; 143. positioning a groove; 15. a magnetic member; 16. a rotor base; 17. a magnetic counter; 2. a stator assembly; 21. a stator base; 211. an annular groove; 212. a first limit groove; 213. a shoulder; 22. a stator core; 3. a band-type brake device; 31. a drive mechanism; 311. an electromagnetic induction coil; 312. a magnetic attraction member; 3121. a cylindrical body; 3122. an adsorption part; 3123. a second limit groove; 313. an elastic reset member; 32. a stopper; 33. a first limit structure; 34. a second limit structure; 4. an external connection; 41. spacing cooperation structure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, unless otherwise specified, use of directional terms such as "inner" and "outer" refers to the interior and exterior of the contours of the respective component or structure. The foregoing directional terms are used only to explain and illustrate the present disclosure, and are not to be construed as limiting the present disclosure. Furthermore, the use of terms such as "first," "second," etc., are used to distinguish one element from another, and are not necessarily order nor importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.
The disclosed embodiment provides a band-type brake motor, as shown in fig. 1 to 7, the band-type brake motor includes a rotor assembly 1, a stator assembly 2 and a band-type brake device 3, the rotor assembly 1 is axially movably disposed on the stator assembly 2 and has a braking position and a non-braking position, the rotor assembly 1 includes a rotating shaft 11, the rotating shaft 11 is located at a rotation center of the band-type brake motor, the band-type brake device 3 includes a driving mechanism 31 and a braking member 32, the driving mechanism 31 is disposed around the rotating shaft 11 and is used for driving the rotor assembly 1 to switch between the braking position and the non-braking position, and the braking member 32 is connected with the rotor assembly 1 and is used for being in limit fit with an external connecting component 4 at the braking. The external connecting piece 4 refers to an external component connected with the band-type brake motor, such as an executing piece like a speed reducer or a mechanical arm, or other components; the band-type brake motor can be installed inside the external connecting piece 4, and can also be butted with the external connecting piece 4 side by side, etc., which is not limited by the present disclosure.
According to the above scheme, the rotor assembly 1 of the band-type brake motor in the embodiment of the present disclosure is disposed on the stator assembly 2, and can rotate relative to the stator assembly 2, and is used for outputting torque to an external actuator (e.g., a robot or a robot arm, etc.) to provide power; in order to ensure the safety of the motor, when the motor needs to be stopped suddenly, for example, power failure, malfunction, etc., the driving mechanism 31 can drive the rotor assembly 1 to move from the non-braking position to the braking position, so that the rotor assembly 1 can be stopped rapidly under the action of the braking member 32, thereby ensuring that the external executive member driven by the motor stops working immediately, and preventing safety accidents. In addition, the driving mechanism 31 in the embodiment of the present disclosure is disposed around the rotating shaft 11, and has a compact structure and a small occupied space.
An exemplary embodiment of a band-type brake motor in the embodiment of the present disclosure will be described in detail below with reference to fig. 1 to 4.
Specifically, as shown in fig. 3 and 4, the driving mechanism 31 of the band-type brake device 3 includes an electromagnetic induction coil 311 and a magnetic attraction member 312, a mounting portion for mounting the magnetic induction coil is formed on the stator assembly 2, the magnetic induction coil is spirally wound around the rotating shaft 11 at the mounting portion, the magnetic attraction member 312 is connected to the rotor assembly 1, the magnetic induction coil is used for being connected to a power supply and generating a magnetic attraction force along an axial direction thereof, and the magnetic attraction member 312 enables the rotor assembly 1 to be kept at a non-braking position under the action of the magnetic attraction force. In the normal working process of the band-type brake motor, the magnetic induction coil is electrified to generate magnetic attraction force, so that the magnetic attraction piece 312 is adsorbed, the rotor assembly 1 is kept at the non-braking position to rotate, and torque is output.
Through magnetic induction coil and the cooperation of magnetism attraction piece 312, magnetic induction coil is required space less when the winding, magnetism attraction piece 312 mainly used responds magnetic induction coil's magnetism adsorption affinity, the function of magnetism attraction piece 312 is irrelevant with its concrete shape, therefore, the design of magnetism attraction piece 312 has very high flexibility, can carry out nimble design according to the inner structure or the clearance of band-type brake motor, it is visible, magnetic induction coil and magnetism attraction piece 312 can to a great extent simplify the structure of actuating mechanism 31, in order to reduce the volume of band-type brake motor.
In the disclosed embodiment, as shown in fig. 3 and 4, the stator assembly 2 includes a stator base 21, the stator base 21 is configured as a cylindrical structure disposed around the rotating shaft 11, and the stator base 21 is mainly used for providing support for the rotor assembly 1 and is also used for being fixedly connected with an external actuator. The magnetic induction coil described above may be provided on the stator base 21, and the mounting portion is illustratively configured as an annular groove 211 opened on the stator base 21, the annular groove 211 extending in the axial direction from an end surface of the stator base 21, the magnetic induction coil being provided in the annular groove 211. Like this, annular groove 211 not only can provide accommodation space for magnetic induction coil, can also protect it from magnetic induction coil's both sides, prevents that magnetic induction coil from receiving the interference of other parts.
Further, the stator base 21 may include a first end and a second end opposite to each other, the first end is used for being fixedly connected to an external actuator and being exposed to the outside of the band-type brake motor, the second end is located inside the band-type brake motor, the end surface of the second end is provided with the annular groove 211, and the annular groove 211 extends axially from the end surface of the second end to mount the magnetic induction coil.
In addition, in the embodiment of the present disclosure, the stator base 21 is further provided with a through hole, one end of the through hole is communicated with the annular groove 211, the other end of the through hole extends to the second end of the stator base 21 along the axial direction of the stator base 21, and the through hole is used for accommodating a power line of the magnetic induction coil and is connected to an external power supply through the power line.
In other embodiments of the present disclosure, the magnetic induction coil may also be wound in other manners, for example, the stator base 21 is formed in an i-shaped cylindrical shape, that is, two end surfaces of the stator base 21 may be formed with limiting discs protruding outward in the radial direction, and the magnetic induction coil may be wound on the cylindrical portion and stopped by the limiting discs at two sides, which is not limited by the present disclosure.
In the embodiment of the present disclosure, as shown in fig. 3, the magnetic attraction piece 312 includes a cylindrical body 3121 and an adsorption portion 3122, the cylindrical body 3121 is axially movably disposed inside the stator base 21, the adsorption portion 3122 is disposed at an end portion of the cylindrical body 3121 and is formed into a disk shape protruding radially outward, the adsorption portion 3122 is disposed corresponding to an opening of the annular groove 211, so that a magnetic attraction force generated by the magnetic induction coil when energized can act on the magnetic attraction piece 312, and stability of adsorption between the magnetic induction coil and the magnetic attraction piece 312 is improved.
And, the adsorption portion 3122 can withstand the second end of the stator base 21 under the action of the magnetic adsorption force to limit the axial displacement of the magnetic attraction piece 312, so that the rotor assembly 1 is maintained at the non-braking position and does not produce the axial displacement any more, and the rotor assembly 1 is convenient to stably rotate.
In the embodiment of the present disclosure, as shown in fig. 3, the band-type brake device 3 further includes a first limiting structure 33, where the first limiting structure 33 is disposed between the magnetic attraction piece 312 and the stator base 21, and is used for limiting circumferential displacement between the magnetic attraction piece 312 and the stator base 21, so as to prevent rotation of the rotor assembly 1 from driving the magnetic attraction piece 312 to rotate relative to the stator base 21, and thus improve rotational stability of the rotor assembly 1.
Illustratively, as shown in fig. 3 and 4, the first limit structure 33 is a positioning pin, the inner side wall of the stator base 21 is formed with at least one first limit groove 212 extending along the axial direction, the outer side wall of the cylindrical body 3121 of the magnetic attraction piece 312 is formed with a second limit groove 3123, the first limit groove 212 and the second limit groove 3123 are correspondingly arranged and jointly enclose a cavity for accommodating the positioning pin, the positioning pin is accommodated in the first limit groove 212 and the second limit groove 3123, that is, at least a part of the positioning pin abuts against the first limit groove 212, and another part abuts against the second limit groove 3123, thereby limiting the circumferential displacement between the magnetic attraction piece 312 and the stator base 21.
Optionally, one or more positioning pins may be provided, for example, three or four positioning pins, and the number of the first limiting grooves 212 and the number of the second limiting grooves 3123 are equal to the number of the positioning pins; and the first limit grooves 212 may be disposed at intervals in the circumferential direction of the stator base 21, and the second limit grooves 3123 may be disposed at intervals in the circumferential direction of the cylindrical body 3121 of the magnetic attraction piece 312, for example, at equal intervals, etc., which is not limited by this disclosure.
In other embodiments of the present disclosure, the first limit structure 33 may also be formed as a protrusion provided on the outer side wall of the cylindrical body 3121 of the magnetic attraction piece 312, the protrusion is engaged with the first limit groove 212 axially extending on the stator base 21, and the protrusion can slide along the first limit groove 212, that is, the protrusion only limits the circumferential displacement of the magnetic attraction piece 312 relative to the stator base 21, but does not limit the axial displacement thereof.
In the embodiment of the present disclosure, as shown in fig. 3, the rotating shaft 11 of the rotor assembly 1 is rotatably mounted on the inner sidewall of the cylindrical body 3121 through a bearing, the bearing includes a first bearing 12 and a second bearing 13, and the first bearing 12 and the second bearing 13 are axially sleeved side by side between the rotating shaft 11 and the cylindrical body 3121. The bearing includes inner and outer races that can rotate relatively, and pivot 11 and bearing inner race cooperation, and the tube-shape body 3121 of magnetic attraction piece 312 and the cooperation of the outer race of bearing, like this, pivot 11 can be for the smooth rotation of magnetic attraction piece 312.
A rotor base 16 is further provided at the lower end of the rotating shaft 11, the rotor base 16 is arranged coaxially with the rotating shaft 11, and a flange for blocking the bearing is provided on the rotor base 16 so that the first bearing 12 and the second bearing 13 are held on the rotating shaft 11. The end of the rotor base 16 remote from the shaft 11 is provided with a receiving groove for receiving and mounting a magnetic counter 17 for establishing signal connection with an external circuit board, thereby calculating the rotation speed of the rotor assembly 1.
In order to enable the rotor assembly 1 and the magnetic attraction piece 312 to move synchronously along the axial direction, in the embodiment of the present disclosure, as shown in fig. 3 and fig. 4, the band-type brake device 3 further includes a second limiting structure 34, the second limiting structure 34 is a limiting protrusion, the limiting protrusion is formed on the inner side wall of the magnetic attraction piece 312, and is arranged to extend along the circumferential direction, and the limiting protrusion is clamped between the outer rings of the first bearing 12 and the second bearing 13. Thus, when the magnetic attraction piece 312 moves axially, the limiting protrusion can drive the rotor assembly 1 to move axially together relative to the stator assembly 2.
In the embodiment of the present disclosure, the magnetic attraction member 312 may be a structural member made of metal such as iron, cobalt, nickel, or an alloy thereof, which is not limited by the present disclosure.
The magnetic induction coil and the magnetic attraction member 312 are mainly used for holding the rotor assembly 1 at the non-braking position so as to normally rotate, and when a power failure or the like occurs and an emergency stop is required, the driving mechanism 31 drives the rotor assembly 1 to the braking position so as to rapidly stop the rotor assembly 1. Therefore, the drive mechanism 31 further comprises an elastic return member 313, the elastic return member 313 being used to move the rotor assembly 1 from the non-braking position to the braking position.
Specifically, as shown in fig. 3, a shoulder 213 is formed on the inner side wall of the stator base 21, one end of the elastic restoring member 313 abuts against the shoulder 213, and the other end abuts against the magnetic attraction member 312, so that when the magnetic induction coil is energized, the elastic restoring member 313 is forced to store energy, and when the magnetic induction coil is de-energized, the elastic restoring member 313 pushes the magnetic attraction member 312 to move in the axial direction by the elastic restoring force. Thus, when the power failure of the motor occurs, the magnetic induction coil is powered off, so that the restraining force on the magnetic attraction member 312 disappears, and at this time, the elastic reset member 313 pushes the magnetic attraction member 312 to move from the non-braking position to the braking position, so that the braking member 32 brakes the rotor assembly 1.
In alternative embodiments of the present disclosure, the elastic restoring member 313 may be a disc spring, a coil spring, or may be an elastic pad made of rubber, silicon, or the like, which is not limited by the present disclosure.
In the disclosed embodiment, as shown in fig. 1 and 7, the braking member 32 is a friction member disposed on an outer sidewall of the rotor assembly 1 for frictional contact with the external connection member 4 to brake the rotor assembly 1 in the braking position. As mentioned above, the external connecting element 4 refers to a structural element connected to the brake motor, for example, if the brake motor is installed in the speed reducer, the external connecting element 4 is the speed reducer, and if the brake motor is installed in the robot arm, the external connecting element 4 is the robot arm, which is not limited by the present disclosure.
The braking member 32 is a friction member, and the kinetic energy of the rotor assembly 1 can be gradually consumed by the friction force in the process of braking the rotor assembly 1, so that the stress concentration phenomenon can be avoided. And the friction piece mainly generates friction force through the roughness of the surface, and has no requirements on the shape and the size of the friction piece, so that the friction piece can be designed into a thin sheet shape, the occupied space is saved, and the reduction of the size of the band-type brake motor is facilitated.
The external connecting member 4 in the embodiment of the present disclosure is provided with a limit fitting structure 41 abutting against the braking member 32 of the band-type brake motor, and the limit fitting structure 41 has different forms according to the type of the braking member 32, which is not limited by the present disclosure. In one example of the present disclosure, the braking member 32 is a friction member, and accordingly, the limit fitting structure 41 may also be a friction structure having a certain roughness, and the surface shape facing the friction member is adapted to the friction member, for example, may be configured as a ring. In other examples of the present disclosure, the braking member 32 may also be a limit slider having certain elasticity, and accordingly, the limit engaging structure 41 may be a limit groove or the like engaged with the limit slider.
In addition, the surface roughness of the friction member and the surface roughness of the limit fitting structure 41 may be designed to generate a large friction force, so that the rotor assembly 1 can be braked within a short time to avoid safety accidents.
The band-type brake motor in the embodiment of the present disclosure is an outer rotor motor, the outer rotor motor includes a rotor housing 14, a friction member is formed into an annular sheet, and the friction member is arranged on an end surface of the rotor housing 14 around a rotating shaft 11, so that a space occupied by the friction member can be reduced as much as possible.
As shown in fig. 6, when the brake motor is in the non-braking position, a certain gap is maintained between the friction member and the limit fitting structure 41 of the external connecting member 4, so that the friction member and the limit fitting structure are separated from each other, and the rotor assembly can normally operate to output torque to the external connecting member 4; as shown in fig. 7, when the band-type brake motor is in the braking position, the friction member is tightly attached to the limit fitting structure 41 of the external connecting member 4, and after the friction member and the external connecting member slide relatively for a short time, the rotor assembly is rapidly stopped under the action of friction force, so as to ensure that the external actuating member is immediately stopped.
In other embodiments of the present disclosure, the friction member may also cover the entire end surface of the rotor housing 14 to increase the contact area with the external connection member 4, thereby increasing the friction force and shortening the time for the rotor assembly 1 to stop braking.
It should be understood that the braking position of the rotor assembly 1 refers to the rotor assembly 1 moving to a position where the friction member abuts the outer link 4, and the non-braking position refers to the rotor assembly 1 moving to a position where the friction member disengages the outer link 4, which is not limited by the present disclosure.
In the embodiment of the present disclosure, the band-type brake motor can normally operate in the non-braking position, and outputs torque to the external actuating member, as shown in fig. 3 and 4, the rotor assembly 1 further includes a rotor housing 14 and a magnetic member 15, the stator assembly 2 further includes a stator core 22 and a coil winding, the coil winding is wound on the stator core 22, the magnetic member 15 is disposed inside the rotor housing 14 and corresponds to the coil winding, and the coil winding is used for being connected to an external power supply and driving the rotor housing 14 to rotate. When the coil winding is energized, the magnetic member 15 drives the rotor housing 14 to rotate under the action of the magnetic field force generated by the coil winding, thereby outputting torque.
In the disclosed embodiment, the rotor housing 14 may be opened with a plurality of mounting holes for mounting an output shaft or an external actuator to output power. Alternatively, as shown in fig. 3, the rotor housing 14 includes a rotor cover 141 and a rotor side wall 142, and the rotor cover 141 is integrally formed with the rotating shaft 11; the rotor side wall 142 is used for mounting the magnetic member 15, and the magnetic member 15 is plural and fixed on the inner wall of the rotor side wall 142 at intervals along the circumferential direction.
In addition, the center of the rotor cover 141 is opened with a positioning groove 143 arranged in line with the rotation shaft 11, and the positioning groove 143 is used for providing positioning when an external output shaft is installed, and ensuring the coaxiality of the output shaft and the rotation shaft 11.
Another embodiment of the present disclosure also provides a decelerator comprising an external connection member 4 and a band-type brake motor as described above. The band-type brake motor can be rapidly braked when the power is off, so that the speed reducer can be rapidly stopped to operate, and the safety accident caused by the continuous movement of an external execution part is avoided. The external connecting member 4 may be a casing of a speed reducer, and the like, which is not limited in the present disclosure.
Wherein, this band-type brake motor can set up the inside at the reduction gear to the inside braking cooperation portion that corresponds with the braking piece 32 of band-type brake motor that is provided with of reduction gear, to the band-type brake motor that is provided with the friction piece, the braking cooperation portion of reduction gear also can set up the friction piece that corresponds, perhaps will correspond the surface machining for comparatively crude surface, so that the band-type brake motor can brake fast when the outage.
Yet another embodiment of the present disclosure also provides a robot including a decelerator as described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (12)
1. The utility model provides a band-type brake motor, its characterized in that includes rotor subassembly (1), stator module (2) and band-type brake device (3), but rotor subassembly (1) axial displacement sets up stator module (2) is last and have braking position and non-braking position, rotor subassembly (1) is including pivot (11), pivot (11) are located the centre of rotation of band-type brake motor, band-type brake device (3) are including actuating mechanism (31) and braking piece (32), actuating mechanism (31) center on pivot (11) set up for the drive rotor subassembly (1) switches between braking position and non-braking position, braking piece (32) with rotor subassembly (1) link to each other, are used for braking position and the spacing cooperation of external connecting piece (4) are in order to brake rotor subassembly (1).
2. The band-type brake motor according to claim 1, characterized in that actuating mechanism (31) includes electromagnetic induction coil (311) and magnetic attraction piece (312), be formed with on stator module (2) and be used for the installation magnetic induction coil's installation department, magnetic induction coil centers on pivot (11) are the heliciform around connecting the installation department, magnetic attraction piece (312) with rotor subassembly (1) links to each other, magnetic induction coil is used for linking to each other with the power and produces along its axial magnetic attraction, magnetic attraction piece (312) are in make under the effect of magnetic attraction the rotor subassembly (1) keeps in non-braking position.
3. The band-type brake motor according to claim 2, characterized in that the stator assembly (2) comprises a stator base (21), the stator base (21) is configured as a cylindrical structure disposed around the rotating shaft (11), the mounting portion is configured as an annular groove (211) provided on the stator base (21), the annular groove (211) extends axially from an end surface of the stator base (21), and the magnetic induction coil is disposed in the annular groove (211).
4. The band-type brake motor according to claim 3, wherein the magnetic attraction member (312) includes a cylindrical body (3121) and an adsorption portion (3122), the cylindrical body (3121) is axially movably disposed inside the stator base (21), the adsorption portion (3122) is disposed at an end portion of the cylindrical body (3121) and is formed in a disk shape protruding outward in a radial direction, and the adsorption portion (3122) is disposed corresponding to an opening of the annular groove (211).
5. A brake motor according to claim 4, wherein said brake device (3) further comprises a first stop structure (33), the first limit structure (33) is arranged between the magnetic attraction piece (312) and the stator base (21), for limiting the circumferential displacement between the magnetic attraction piece (312) and the stator base (21), the first limiting structure (33) is a positioning pin, at least one first limiting groove (212) extending along the axial direction is formed on the inner side wall of the stator base (21), a second limit groove (3123) is formed on the outer side wall of the cylindrical body (3121), the first limit groove (212) and the second limit groove (3123) are correspondingly arranged, and together enclose a cavity housing the locating pin, which is housed in the first and second retaining grooves (212, 3123).
6. The band-type brake motor according to claim 4, characterized in that the rotating shaft (11) is rotatably assembled on the inner side wall of the cylindrical body (3121) through a bearing, the bearing comprises a first bearing (12) and a second bearing (13), the first bearing (12) and the second bearing (13) are axially sleeved side by side between the rotating shaft (11) and the cylindrical body (3121), the band-type brake device (3) further comprises a second limiting structure (34), the second limiting structure (34) is a limiting protrusion, the limiting protrusion is formed on the inner side wall of the magnetic attraction piece (312) and is arranged in a circumferential extending manner, and the limiting protrusion is clamped between the first bearing (12) and the second bearing (13).
7. The band-type brake motor according to claim 3, wherein the driving mechanism (31) further comprises an elastic resetting member (313), the elastic resetting member (313) is used for moving the rotor assembly (1) from the non-braking position to the braking position, a shoulder (213) is formed on the inner side wall of the stator base (21), one end of the elastic resetting member (313) abuts against the shoulder (213), the other end of the elastic resetting member abuts against the magnetic attraction member (312), when the magnetic induction coil is powered on, the elastic resetting member (313) is subjected to force energy storage, and when the magnetic induction coil is powered off, the elastic resetting member (313) pushes the magnetic attraction member (312) to move axially under the action of the elastic resetting force.
8. A brake motor according to claim 1, wherein the braking member (32) is a friction member provided on an outer side wall of the rotor assembly (1) for frictional contact with the external connection member (4) in the braking position to brake the rotor assembly (1).
9. A brake motor according to claim 8, wherein the brake motor is an outer rotor motor, the outer rotor motor comprises a rotor housing (14), the friction member is formed as an annular sheet, and the friction member is arranged on an end surface of the rotor housing (14) around the rotation shaft (11).
10. The band-type brake motor according to claim 1, wherein the rotor assembly (1) further comprises a rotor housing (14) and a magnetic member (15), the stator assembly (2) further comprises a stator core (22) and a coil winding wound on the stator core (22), the magnetic member (15) is disposed inside the rotor housing (14) and corresponds to the coil winding, and the coil winding is used for connecting with an external power supply and driving the rotor housing (14) to rotate.
11. A retarder, characterized in that the retarder comprises an external connection (4) and a brake motor according to any of claims 1-10.
12. A robot, characterized in that it comprises a decelerator according to claim 11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110236287.8A CN113037005B (en) | 2021-03-03 | 2021-03-03 | Band-type brake motor, reduction gear and robot |
| PCT/CN2021/144068 WO2022183838A1 (en) | 2021-03-03 | 2021-12-31 | Brake motor, speed reducer, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110236287.8A CN113037005B (en) | 2021-03-03 | 2021-03-03 | Band-type brake motor, reduction gear and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113037005A true CN113037005A (en) | 2021-06-25 |
| CN113037005B CN113037005B (en) | 2022-07-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110236287.8A Active CN113037005B (en) | 2021-03-03 | 2021-03-03 | Band-type brake motor, reduction gear and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113037005B (en) |
| WO (1) | WO2022183838A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022183838A1 (en) * | 2021-03-03 | 2022-09-09 | 达闼机器人股份有限公司 | Brake motor, speed reducer, and robot |
| WO2023051815A1 (en) * | 2021-09-30 | 2023-04-06 | 达闼机器人股份有限公司 | Power-off protection electric motor and actuator |
| CN116006606A (en) * | 2023-03-28 | 2023-04-25 | 苏州艾利特机器人有限公司 | Joint band-type brake mechanism and robot joint |
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| CN116006606A (en) * | 2023-03-28 | 2023-04-25 | 苏州艾利特机器人有限公司 | Joint band-type brake mechanism and robot joint |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022183838A1 (en) | 2022-09-09 |
| CN113037005B (en) | 2022-07-26 |
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Address after: 201111 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Applicant after: Dayu robot Co.,Ltd. Address before: 200245 2nd floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Applicant before: Dalu Robot Co.,Ltd. |
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