CN210016364U

CN210016364U - Motor assembly used on robot

Info

Publication number: CN210016364U
Application number: CN201920728829.1U
Authority: CN
Inventors: 刘旭; 邓世韬; 陈伟杰; 胡玲玲
Original assignee: Dongguan Weichuang Power Technology Co Ltd
Current assignee: Dongguan Weichuang Power Technology Co Ltd
Priority date: 2019-05-18
Filing date: 2019-05-18
Publication date: 2020-02-04
Anticipated expiration: 2029-05-18

Abstract

The utility model discloses a motor element for on robot, include: the brake device comprises a brake motor, a speed reducer sleeved on a rotating shaft of the brake motor, and a pin shaft for connecting the brake motor and the speed reducer; the brake motor includes: the electromagnetic brake device comprises a shell, a rotating shaft, a rotor, a stator and an electromagnetic brake mechanism, wherein the rotating shaft is arranged in the shell and exposed out of the shell, the rotor is sleeved and fixed on the outer wall of the rotating shaft, the stator is arranged on the inner wall of the shell around the rotor, and the electromagnetic brake mechanism is arranged at one end of the rotating shaft. The reducer is connected with a rotating shaft of the brake motor through a pin shaft, the electromagnetic brake mechanism is arranged in the brake motor, and the electromagnetic brake mechanism is prevented from interfering with the rotor or the stator through the magnetic separation sheet. The novel structure of this implementation is compact, occupies smallly, and whole light in weight.

Description

Motor assembly used on robot

Technical Field

The utility model relates to the technical field of electric machines, especially, relate to a motor element for on robot.

Background

At present, a motor used on a robot is generally required to be matched with a brake and a speed reducer (a harmonic speed reducer, an RV speed reducer and the like) to form a robot joint with braking and speed regulating functions. However, the structure formed by the motor, the brake and the speed reducer at present occupies a large volume, is not compact enough and has large overall weight.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems that the existing motor and the brake are large in size, not compact enough and the whole weight is large due to the fact that the structure formed by the installation of the speed reducer occupies the space.

The utility model discloses a following technical scheme realizes: a motor assembly for use on a robot, comprising: the brake device comprises a brake motor, a speed reducer sleeved on a rotating shaft of the brake motor, and a pin shaft for connecting the brake motor and the speed reducer;

the brake motor includes: the electromagnetic brake device comprises a shell, a rotating shaft, a rotor, a stator and an electromagnetic brake mechanism, wherein the rotating shaft is arranged in the shell and exposed out of the shell, the rotor is sleeved and fixed on the outer wall of the rotating shaft, the stator is arranged on the inner wall of the shell around the rotor, and the electromagnetic brake mechanism is arranged at one end of the rotating shaft.

As a further improvement of the above technical solution, the electromagnetic brake further includes a magnetic shield sheet disposed between the stator and the electromagnetic brake mechanism.

As a further improvement of the above technical solution, the magnetism isolating sheet is annular.

As a further improvement of the technical scheme, the interior of the rotating shaft is of a hollow structure.

As a further improvement of the above technical solution, the electromagnetic braking mechanism is used for braking the rotating shaft, the rotating shaft is provided with a braking portion, the electromagnetic braking mechanism includes a rear shell, an electromagnet mounted in the rear shell, a braking plate sleeved on the rotating shaft, an armature positioned between the electromagnet and the braking plate, a push spring positioned between the rear shell and the armature, a first friction plate sleeved on the rotating shaft, a braking spring positioned between the braking plate and the first friction plate, and a second friction plate positioned between the braking plate and the braking portion; a stop groove for stopping the armature from rotating is arranged on the rear shell; the armature comprises an armature body and a stop block arranged on the armature body, and the stop block extends into the stop groove from the armature body; the brake pad includes a brake pad body and a flap extending outwardly along a circumferential side of the brake pad body.

As a further improvement of the technical scheme, a control panel shell is fixedly arranged on the outer side of the rear shell, and a control circuit board is arranged between the rear shell and the control panel shell.

As a further improvement of the above technical solution, a sensor for detecting the rotational position of the rotor is provided on the control circuit board.

As a further improvement of the above technical solution, the brake spring is a disc spring.

As a further improvement of the above technical solution, a retainer ring is disposed on the rotating shaft, and the retainer ring abuts against a side of the first friction plate away from the brake spring.

Implement the utility model discloses a beneficial effect includes at least: the reducer is connected with a rotating shaft of the brake motor through a pin shaft, the electromagnetic brake mechanism is arranged in the brake motor, and the electromagnetic brake mechanism is prevented from interfering with the rotor or the stator through the magnetic separation sheet. The novel structure of this implementation is compact, occupies smallly, and whole light in weight.

Drawings

FIG. 1 is a schematic cross-sectional view of an embodiment of the present invention;

fig. 2 is another schematic cross-sectional view of an embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of an embodiment of the present invention;

fig. 4 is an exploded view of an embodiment of the electromagnetic braking mechanism of the present invention;

fig. 5 is a schematic structural diagram of an embodiment of a rear housing in an electromagnetic braking mechanism according to the present invention;

fig. 6 is a schematic structural diagram of an embodiment of an electromagnet in the electromagnetic braking mechanism according to the present invention;

fig. 7 is a schematic structural diagram of an embodiment of an armature in the electromagnetic braking mechanism according to the present invention;

fig. 8 is a schematic structural diagram of an embodiment of a brake pad in an electromagnetic braking mechanism according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 3, a motor assembly for use in a robot includes: the brake device comprises a brake motor 500, a speed reducer 600 sleeved on a rotating shaft of the brake motor, and a pin shaft 700 for connecting the brake motor and the speed reducer;

the brake motor 500 includes: a housing 200, a rotating shaft 7 disposed inside the housing 200 and exposed from the housing 200, a rotor 300 fixed to an outer wall of the rotating shaft 7, a stator 400 disposed on an inner wall of the housing around the rotor 300, and an electromagnetic brake mechanism 100 disposed at one end of the rotating shaft 7.

In this embodiment, the braking motor 500 and the speed reducer 600 are tightly connected by the radial pin 700, so as to avoid a virtual position of connection and improve transmission precision; the reducer 600 is preferably a harmonic reducer or an RV reducer.

As shown in fig. 3, as a further improvement of the above technical solution, the brake motor 500 further includes a magnetic shielding sheet 600 disposed between the stator 400 and the electromagnetic brake mechanism 100, and the magnetic shielding sheet 600 is annular.

In this embodiment, the magnetic isolation sheet 600 is made of a magnetic conductive material, and the magnetic isolation sheet 600 is fixedly disposed on the inner wall of the housing 200, and the magnetic isolation sheet 600 is limited between the inner wall of the housing 200 and the brake pad 4, so that a magnetic field generated by the magnetized permanent magnet adhered to the rotor 300 and a magnetic field generated by the coil on the stator 400 after being energized are absorbed by the magnetic isolation sheet, and therefore the electromagnet 2 of the electromagnetic braking mechanism 100 can normally work to brake the rotating shaft 7, thereby preventing the situation that the electromagnet 2 of the electromagnetic braking mechanism cannot brake the rotating shaft 7 because the magnetic field generated by the magnetized permanent magnet adhered to the rotor 300 and the magnetic field generated by the coil on the stator after being energized attract the electromagnet 2 of the electromagnetic braking mechanism, and improving the braking effect.

In this embodiment, the rotating shaft 7 has a hollow structure inside. In this embodiment, the hollow structure inside the rotating shaft is beneficial to reducing the moment of inertia of the rotating shaft 7, and the structure with the hollow inside can be provided with an electric connecting wire, so that the space is saved, and the structure is more compact.

As shown in fig. 2, as a further improvement of the above technical solution, a control panel housing 800 is fixedly installed at an outer side of the rear case 1, a control circuit board 900 is installed between the rear case 1 and the control panel housing 800, and a sensor (not shown) for detecting a rotation position of the rotor 300 is installed on the control circuit board 900. The sensor can precisely control the rotation of the rotor, and the control circuit board 900 is electrically connected to the rotor 300, the stator 400 and the electromagnetic braking mechanism 100, respectively.

As shown in fig. 3 and 4, the electromagnetic brake mechanism 100 is used for braking the rotating shaft 7, a braking portion 71 is disposed on the rotating shaft 7, and the electromagnetic brake mechanism includes a rear housing 1, an electromagnet 2 mounted in the rear housing 1, a brake plate 4 sleeved on the rotating shaft 7, an armature 3 located between the electromagnet 2 and the brake plate 4, a push spring 5 located between the rear housing 1 and the armature 3, a first friction plate 61 sleeved on the rotating shaft 7, a brake spring 8 disposed between the brake plate 4 and the first friction plate 61, and a second friction plate 62 located between the brake plate 4 and the braking portion 71; a stop groove 11 for stopping the rotation of the armature is arranged on the rear shell 1; the armature 3 comprises an armature body 31 and a stop block 32 arranged on the armature body 31, wherein the stop block 32 extends from the armature body 31 to the stop groove 11; the brake pad 4 includes a pad body 41 and a flap 42 extending outward along the circumferential side of the pad body 41.

Wherein, an annular mounting groove 12 for mounting the electromagnet 2 is arranged in the rear shell 1. The rotary shaft 7 is sleeved with a ball bearing 74, and the ball bearing 74 is disposed in the rear case 1, specifically, in a circular through hole in the middle of the annular mounting groove 12.

The brake spring 8 is a disc spring. The disk spring is a special spring which is conical in the axial direction and bears load, and certain potential energy is stored after the disk spring bears load deformation. The stress distribution of the disc spring is uniformly decreased from inside to outside, and the effect of low stroke and high compensation force can be realized. The brake plate 4 is attached to the second friction plate 62 by the brake spring 8, the brake spring 8 is attached to the first friction plate 61, and the rotation of the rotary shaft 7 is stopped by the friction force generated by the brake spring 8 on the brake plate 4 and the first friction plate 61 after the rotation of the brake plate 4 is stopped.

The rotating shaft 7 is provided with a retainer ring 73, and the retainer ring 73 is abutted against one side of the first friction plate 61 away from the brake spring 8. Accordingly, a retainer installation groove 72 for installing a retainer 73 is provided on the rotary shaft 7, and the retainer 73 is fixed in the retainer installation groove 72.

It is worth mentioning, the utility model discloses an among the electromagnetic braking mechanism first friction disc 61, second friction disc 62 quantity is not fixed, can be according to the braking condition of difference, adjusts brake spring 8's the magnitude of compression through the quantity that increases or reduces the friction disc, can be suitable for multiple braking condition as required, and the braking mode is nimble, is suitable for different braking scenes.

Referring to fig. 5 and 7, the stop block 32 has a radius that gradually increases from a first end 321 at the armature body 31 to a second end 322 at the detent 11. The blocking block 32 protrudes from the armature body 31, and the blocking block 32 is used for blocking a blocking piece 42 of the brake pad 4 to realize braking of the brake pad 4. In this embodiment, the cross section of the blocking block 32 is a sector ring, the first end 321 and the second end 322 are both arc-shaped, and the radius of the arc-shaped is gradually increased, so that the braking torque of the armature 3 when braking the brake pad 4 is increased, the impact between the blocking block 32 and the rear shell 1 is reduced, the braking effect is effectively enhanced, the structure of the electromagnetic braking mechanism is more stable, and the braking effect is better. The stop block 32 is arranged on the armature body 31 in a part more than the part at the stop groove 11, so that the stability of the connection of the stop block 32 and the armature body 31 is ensured, and the structure of the electromagnetic brake mechanism is more stable.

The armature body 31 is annular. The armature body 31 is arranged inside the rear shell 1, and the annular armature body 31 can reduce the weight of the armature 3, so that the occupied space is small, and the electromagnetic braking mechanism is lighter in weight and smaller in volume.

Referring to fig. 6, the electromagnet 2 is in a ring shape. The electromagnet 2 is used for generating magnetic force to attract the armature 3 away from the brake plate 4, so that the armature 3 is contacted to brake the brake plate 4. The cross section area of a magnetic circuit formed by the annular electromagnet 2 and the armature 3 is larger, and the magnetic force is stronger. The electromagnet 2 includes an annular slot disc 21 and a coil assembly 22 located in the annular slot disc 21.

Referring to fig. 7, three stop blocks 32 are uniformly distributed along the peripheral side of the armature body 31. In the present embodiment, the uniform distribution means that the three blocking pieces 32 are coaxially arranged with the armature body 31, and the arc lengths of the armature body 31 spaced among the three blocking pieces 32 are equal. The brake pad 4 is blocked and braked by the three blocking blocks 32 which are uniformly distributed, so that the contact area with the brake pad 4 is increased, the impulse generated by the brake pad 4 during braking can be dispersed, and the stability and the service life of the electromagnetic braking mechanism are increased. The stop block 32 may be integrally formed with the armature body 31, fixed by screws, fixed by welding, etc. on the armature body 31.

Referring to fig. 8, three blocking pieces 42 are uniformly distributed along the circumferential side of the brake pad body 41. In this embodiment, the uniform distribution means that the three blocking pieces 42 are coaxially arranged with the brake pad body 41, and the arc lengths of the brake pad body 41 spaced among the three blocking pieces 42 are equal. Through the matching of the three baffle plates 42 which are uniformly distributed and the three stop blocks 32 arranged on the armature 3, the contact area of the three stop blocks 32 is increased, the impulse generated by the brake plate 4 during braking is dispersed, and the stability and the service life of the electromagnetic braking mechanism are increased.

The brake pad body 41 comprises a braking connecting portion 411 connected with the blocking piece 42 and a hollow portion 412 not connected with the blocking piece 42, and the arc length of the braking connecting portion 411 is smaller than that of the hollow portion 412. The section of the brake pad body 41 is circular, and the section of the baffle plate 42 is in a fan ring shape; the brake pad body 41 and the baffle 42 are formed by hollowing out a part of fan ring in a circle with the radius from the free end of the baffle 42 to the center of the brake pad body 41, wherein the area of the fan ring of the hollowed part 412 is larger than that of the fan ring of the baffle 42, so that the moment of inertia of the brake pad 4 can be reduced, and meanwhile, when braking occurs, because the area of the fan ring of the hollowed part 412 is larger than that of the fan ring of the baffle 42, the buffering time is provided during braking, the impulse generated by the impact between the baffle 42 and the baffle 32 can be reduced, and the stability and the service life of the electromagnetic braking mechanism are improved.

Referring to fig. 4, the electromagnetic braking mechanism 100 further includes a guide rod 51 for sleeving the push spring 5, and the guide rod 51 is installed between the rear case 1 and the stopper 32. Three guide rods 51 are arranged, one end of each guide rod 51 is fixed on the rear shell 1, the other end of each guide rod 51 is fixed on the stop block 32, and the pushing spring 5 is sleeved on each guide rod 51. The pushing spring 5 sleeved on the guide rod 51 acts on the stop block 32 to push the armature 3 to the brake block 4.

The utility model discloses in, produce magnetic force attraction armature 3 and remove to the direction of keeping away from braking piece 4 when electro-magnet 2 circular telegram, the separation of separation blade 42 on the separation piece 32 on the braking piece 4 and the braking piece 3 on the armature, remove the braking. When the moment borne by the brake plate 4 is larger than the friction force generated by the brake spring 8 on the first friction plate 61, the brake plate can rotate along with the rotating shaft 7; when the electromagnet 2 is powered off, the armature 3 moves towards a direction close to the brake pad 4 under the pushing of the pushing spring 5, the blocking piece 32 on the armature 3 is in contact with the blocking piece 42 on the brake pad 4, the blocking piece 32 blocks the rotation of the blocking piece 42 and the brake pad 4, meanwhile, the blocking piece 32 is blocked from rotating through the stopping groove 11 on the rear shell 1, and after the brake pad 4 stops rotating, the friction force generated by the braking spring 8 on the brake pad 4 and the first friction plate 61 brakes to stop the rotation of the rotating shaft 7, so that the braking is completed.

Implement the utility model discloses a beneficial effect includes at least:

1. the reducer is connected with a rotating shaft of the brake motor through a pin shaft, the electromagnetic brake mechanism is arranged in the brake motor, and the electromagnetic brake mechanism is prevented from interfering with the rotor or the stator through the magnetic separation sheet. The novel structure of this implementation is compact, occupies smallly, and whole light in weight.

2. The brake block on the armature body is contacted with the blocking piece on the brake block body for blocking, the stop groove on the rear shell blocks the movement of the blocking piece, the friction force generated by the brake block and the first friction plate through the brake spring brakes the rotating shaft, and the compression amount of the brake spring is adjusted by increasing or reducing the number of the first friction plate and the second friction plate to adjust the magnitude of the braking torque, so that the brake device can be applied to various braking conditions according to requirements, is flexible in braking mode and is applicable to different braking scenes;

3. the armature brakes the brake disc through contact blocking, the armature can be pushed by the pushing spring with small elasticity, and meanwhile, the electromagnetic force generated by the needed electromagnet for overcoming the elasticity of the pushing spring is also small, so that the energy is saved.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A motor assembly for use on a robot, comprising: the brake device comprises a brake motor, a speed reducer sleeved on a rotating shaft of the brake motor, and a pin shaft for connecting the brake motor and the speed reducer;

2. A motor assembly for a robot as set forth in claim 1, further comprising a magnetic shield disposed between said stator and said electromagnetic braking mechanism.

3. A motor assembly for use in a robot as claimed in claim 2, wherein the magnetic spacer is ring-shaped.

4. The motor assembly for use in a robot of claim 1, wherein the rotating shaft is hollow inside.

5. The motor assembly for a robot according to claim 1, wherein the electromagnetic braking mechanism is configured to brake a rotating shaft, the rotating shaft is provided with a braking portion, the electromagnetic braking mechanism includes a rear housing, an electromagnet mounted in the rear housing, a brake plate fitted over the rotating shaft, an armature located between the electromagnet and the brake plate, a push spring located between the rear housing and the armature, a first friction plate fitted over the rotating shaft, a brake spring located between the brake plate and the first friction plate, and a second friction plate located between the brake plate and the braking portion; a stop groove for stopping the armature from rotating is arranged on the rear shell; the armature comprises an armature body and a stop block arranged on the armature body, and the stop block extends into the stop groove from the armature body; the brake pad includes a brake pad body and a flap extending outwardly along a circumferential side of the brake pad body.

6. The motor assembly as claimed in claim 5, wherein a control panel housing is fixedly installed at an outer side of the rear case, and a control circuit board is installed between the rear case and the control panel housing.

7. A motor assembly for use on a robot as claimed in claim 6, wherein the control circuit board is provided with a sensor for detecting the rotational position of the rotor.

8. A motor assembly for use on a robot as claimed in claim 5, wherein the brake spring is a belleville spring.

9. A motor assembly for use on a robot as claimed in claim 8, wherein the rotating shaft is provided with a retaining ring which abuts a side of the first friction plate remote from the brake spring.