CN216216334U - Power-off protection motor and actuator - Google Patents
Power-off protection motor and actuator Download PDFInfo
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- CN216216334U CN216216334U CN202122406048.0U CN202122406048U CN216216334U CN 216216334 U CN216216334 U CN 216216334U CN 202122406048 U CN202122406048 U CN 202122406048U CN 216216334 U CN216216334 U CN 216216334U
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Abstract
The utility model provides a power-off protection motor and an actuator, wherein the power-off protection motor comprises: the rotor comprises a stator base, a rotor top cover and a moving flange; the moving flange is axially movably arranged on the stator base, and the rotor top cover is rotationally matched with the moving flange and axially positioned; the stator base is provided with an electromagnetic coil, the top end of the stator base is provided with a first friction part, the bottom of the rotor top cover is provided with a second friction part opposite to the first friction part, and an elastic part is arranged between the stator base and the moving flange; the rotor top cover or the moving flange is further provided with a traction magnetic piece which is matched with the electromagnetic coil to provide force for separating the first friction part from the second friction part. The utility model has the beneficial effects that: through the solenoid, first friction portion and the second friction portion that set up, can be in the same place rotor top cap and stator base lock under the outage state, prevent that rotor top cap from continuing to rotate and hinder the people.
Description
Technical Field
The utility model relates to the technical field of power-off protection motors, in particular to a power-off protection motor and an actuator.
Background
In order to ensure safety and prevent injury caused by sudden power failure, a band-type brake is required to be installed in an execution period for power failure protection. The principle of the motor is similar to that of a brake device, the motor can normally work in a power-on state, and the motor is locked immediately after power failure, so that the mechanical arm is prevented from naturally drooping.
Common band-type brake stopper in the robot field at present divide into two kinds, and the dead function of outage lock is accomplished through mechanical structure to first gear machinery band-type brake stopper, but the advantage freely designs, and the suitability is strong, and the shortcoming is that the volume is difficult to reduce, influences the outward appearance. The second type is an electromagnetic band-type brake which is usually disc-shaped, and an electromagnet controls an iron hoop to extrude a friction plate interlayer to complete a locking function. However, no matter which type of band-type brake is a matching device independent of the motor, a large part of volume space is inevitably occupied finally, and the appearance structure and the use experience of the robot and the mechanical arm are influenced in many times.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provides a power-off protection motor and an actuator.
The problem of gear machinery band-type brake stopper commonly used among the prior art and electromagnetism band-type brake stopper finally all inevitablely occupy very big partial volume space, can influence the outward appearance structure of robot and arm and use the experience many times is solved.
The utility model is realized by the following technical scheme:
the utility model provides a power-off protection motor, which comprises: the rotor comprises a stator base, a rotor top cover and a moving flange;
the moving flange is axially movably arranged on the stator base, and the rotor top cover is rotationally matched with the moving flange and axially positioned;
the stator base is provided with an electromagnetic coil, the top end of the stator base is provided with a first friction part, the bottom of the rotor top cover is provided with a second friction part opposite to the first friction part, and an elastic part for driving the first friction part to be in contact with the second friction part is arranged between the stator base and the moving flange;
the rotor top cover or the moving flange is further provided with a traction magnetic piece which is matched with the electromagnetic coil to provide force for separating the first friction part from the second friction part.
Preferably, the electromagnetic coil is arranged at the upper end of the stator base, the traction magnetic part is arranged at the bottom of the rotor top cover, the electromagnetic coil and the traction magnetic part mutually repel after being electrified, and the elastic part is arranged at the lower end of the stator base and applies downward force to the moving flange.
Preferably, the first friction part and the second friction part are friction bars which are convexly fixed on the stator base and the rotor top cover respectively and have rough surfaces.
Preferably, the first friction part and the second friction part are both of annular structures.
Preferably, the traction magnetic part is fixed to the rotor top cover and is of an annular structure, the cross section of the traction magnetic part is L-shaped and has a concave position, and the second friction part is fixed in the concave position.
Preferably, the stator base is fixedly connected with a motor stator, and the motor stator and the stator base are coaxially arranged.
Preferably, the rotor top cover is fixedly connected with a magnetic steel ring, and the inner wall of the magnetic steel ring is fixedly connected with a plurality of magnet pieces.
Preferably, the plurality of magnet pieces are uniformly distributed on the inner wall of the magnetic conductive steel ring.
Preferably, a plurality of guide pins extending along an axis are arranged between the inner wall of the stator base and the outer wall of the moving flange.
Preferably, the rotor top cover comprises a shaft body, the moving flange is of a hollow structure, and the shaft body is rotatably installed in the hollow structure of the moving flange through a bearing.
Preferably, the upper end of the shaft body is provided with a boss for limiting the bearing, the bottom end of the outer side of the shaft body is provided with a groove, a limiting part is arranged in the groove, and the limiting part is matched with the boss to realize axial positioning of the moving flange and the rotor top cover.
Preferably, the shaft body is of a hollow structure and is provided with a hollow channel penetrating through the power-off protection motor.
Preferably, the electric actuator further comprises an actuator body and the power-off protection motor is arranged on the actuator body.
The utility model has the beneficial effects that: through the traction magnetic part, the electromagnetic coil, the first friction part and the second friction part, the electromagnetic coil can generate magnetic force opposite to that of the traction magnetic part in an electrified state, so that the first friction part and the second friction part are kept in a separated state, and the rotor top cover can normally rotate; the electromagnetic coil magnetic force disappears under the power-off state, and the elastic piece drives the first friction part to contact with the second friction part and generate friction force, so that the rotor top cover is stopped, and the rotor top cover is prevented from continuously rotating to hurt people.
Drawings
Fig. 1 is a schematic structural diagram of a power-off protection motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a power-off protection motor according to an embodiment of the present invention in a power-off state;
fig. 3 is a schematic structural diagram of a power-off protection motor according to an embodiment of the present invention in an energized state.
Detailed Description
The following detailed description of specific embodiments of the utility model refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In order to facilitate understanding of the power-off protection motor and the actuator provided by the embodiment of the present application, an application scenario of the power-off protection motor is first described, and the power-off protection motor provided by the embodiment of the present application is used for providing a motor which prevents the motor from continuously rotating in a power-off state; in the prior art, a gear mechanical band-type brake and an electromagnetic band-type brake which are commonly used inevitably occupy a large part of volume space, and the appearance structure and the use experience of a robot and a mechanical arm are influenced in many times. A power-off protection motor provided by the embodiment of the present application is described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a power-off protection motor according to an embodiment of the present invention. As can be seen from fig. 1, the present invention provides a power-off protection motor, which comprises a stator base 1, a rotor top cover 15 and a moving flange 7, wherein the stator base 1 is connected with the rotor top cover 15 through the moving flange 7. When the robot is electrified to work, the rotor top cover 15 rotates, so that mechanical arms of the robot are driven to move; when the robot cuts off the power supply, the band-type brake assembly arranged between the stator base 1 and the rotor top cover 15 brakes the rotor top cover 15, so that the rotor top cover 15 is prevented from continuously rotating after the power supply is cut off, and the mechanical arm of the robot is prevented from continuously moving to hurt people after the power supply is cut off.
When the stator base 1 and the rotor top cover 15 are specifically connected, reference may be made to fig. 2 and fig. 3, where fig. 2 is a schematic structural diagram of a power-off protection motor provided in an embodiment of the present invention in a power-off state; fig. 3 is a schematic structural diagram of a power-off protection motor according to an embodiment of the present invention in an energized state. As can be seen from fig. 2 and 3, the stator base 1 is fixedly connected with a motor stator 9, the motor stator 9 is coaxially arranged with the stator base 1, the rotor top cover 15 is fixedly connected with a magnetic steel ring 2, and the inner wall of the magnetic steel ring 2 is fixedly connected with a plurality of magnet pieces 3, the magnet pieces 3 can be 6010 magnet pieces commonly used in the prior art; the stator base 1 is coaxially matched with a moving flange 7, the moving flange 7 is axially movably arranged on the stator base 1, specifically, the moving flange 7 is connected with the stator base 1 through an elastic piece 4, the elastic piece 4 can adopt a disc spring commonly used in the prior art, one end of the elastic piece 4 is fixedly connected with the moving flange 7, the other end of the elastic piece 4 is fixedly connected with the stator base 1, and the elastic piece 4 applies downward pressure to the moving flange 7; in this application, be the step form in the bottom space of stator base 1, and the bottom of moving flange 7 can slide in the step form inner space of stator base 1 bottom, and under the spring action of elastic component 4, the step form inner space of stator base 1 bottom can hold moving flange 7 completely wherein and can not expose.
With continued reference to fig. 2 and 3, the moving flange 7 is fixedly connected with a bearing 10, the inside of the moving flange 7 is a hollow structure, specifically, the outer side wall of the outer ring of the bearing 10 is fixedly connected with the inner side wall of the hollow structure of the moving flange 7, and the specific connection manner includes, but is not limited to, the common manners of adhesion or welding in the prior art; continuing to refer to fig. 2 and 3, the inner wall of the stator base 1 is fixedly connected with a plurality of guide pins 8, the number of the guide pins 8 can be specifically 3-6, the outer wall of the moving flange 7 is provided with a plurality of sliding grooves corresponding to the guide pins 8 one by one, the length of each sliding groove is longer than that of the corresponding guide pin 8, specifically, the left half part or the right half part of each guide pin 8 is positioned in the side wall of the stator base 1 and is fixedly connected, and the other half part of each guide pin 8 is inserted into the corresponding sliding groove. The guide pins 8 can be fixed to the moving flange 7 and slidingly received in sliding grooves in the stator base 1, as well as a sliding connection between the two.
Continuing to refer to fig. 2 and 3, rotor top cover 15 is coaxially matched with the inner ring of bearing 10, rotor top cover 15 includes a shaft body, the upper end of the shaft body has a boss for limiting bearing 10, the bottom end of the outer side of shaft body 10 is provided with a groove, a limiting part is arranged in the groove, and the axial positioning of bearing 10 and rotor top cover 15 is realized by the cooperation of the limiting part and the boss. Specifically, a plurality of recesses have been seted up to the bottom in the axis body outside of rotor top cap 15, equal fixedly connected with jump ring 5 and gasket 6 in every recess, and the bottom of gasket 6 and the inner circle of bearing 10 is laminated mutually to cooperate with the inner circle of bearing 10 and the axis body card of rotor top cap 15 through the axis body of gasket 6 and rotor top cap 15 and be in the same place.
Further, the band-type brake assembly can be continuously referred to fig. 2 and 3 when being specifically set. As can be seen from fig. 2 and 3, the band-type brake assembly includes an electromagnetic coil 11 fixedly connected to the inner wall of the stator base 1, and a first friction portion 12 is fixedly connected to the top end of the stator base 1, and a second friction portion 13 corresponding to the first friction portion 12 is disposed at the bottom of the rotor top cover 15; with continued reference to fig. 2 and 3, the band-type brake device further includes a traction magnetic member 14 fixedly connected to a bottom end of the rotor top cover 15, and the traction magnetic member 14 may be a traction magnetic ring commonly used in the prior art. When the motor is used, the electromagnetic coil 11 and the motor stator 9 are electrified, the magnetism generated by the electromagnetic coil 11 and the magnetism of the traction magnetic part 14 are mutually exclusive, the second friction part 13 is jacked upwards by overcoming the elasticity of the elastic part 4 through magnetic force, the first friction part 12 and the second friction part 13 are separated, and the rotor top cover 15 of the motor can freely rotate; when the robot is powered off, the electromagnetic coil 11 is powered off, the moving flange 7 moves downwards under the action of the elastic force of the disc spring 4 until the first friction part 12 and the second friction part 13 are extruded together, and at the moment, because the first friction part 12 and the second friction part 13 are extruded together, friction force is generated between the first friction part 12 and the second friction part 13, the friction force can limit the rotation of the rotor top cover 15, so that the robot mechanical arm can be prevented from moving continuously after the power is off, and the purpose of power-off protection is achieved. In the present application, the first friction portion 12 and the second friction portion 13 include but are not limited to friction strips with rough surfaces that are convexly fixed on the stator base 1 and the rotor cover 15, respectively, and only one of the first friction portion 12 and the second friction portion 13 may be an additionally disposed friction strip with rough surfaces, and the other one is only the surface of the rotor cover 15 or the stator base 1.
In another embodiment, the second friction portion 13 may be fixedly connected to the pulling magnetic member 14, as shown in fig. 2 and 3, and as shown in fig. 2 and 3, the pulling magnetic member 14 is fixed to the rotor top cover 15 and has a ring-shaped structure, and the cross section of the pulling magnetic member 14 is L-shaped and has a recess, in which the second friction portion 13 may be fixed.
When the power-off protection motor of this application goes up the electric use, pull magnetic part 14 and receive magnetic force effect by jack-up, rotor top cap 15, bearing 10, and motion flange 7 rebound, the spout is along guide pin 8 rebound this moment, when the bottom of spout contacts with the bottom of guide pin 8, pull magnetic part 14, rotor top cap 15, bearing 10, and motion flange 7 stop rebound, thereby prevent rotor top cap 15 to move the range too big and lead to this application motor to disintegrate to the top.
In another embodiment, only one of the first friction part 12 and the second friction part 13 may be provided, when only the first friction part 12 is provided and the robot is powered off, friction between the first friction part 12 and the magnetic traction member 14 generates a friction force, which can limit rotation of the rotor front cover 15, so that the robot mechanical arm can be prevented from moving continuously after the power is off, thereby achieving the purpose of power-off protection; when only the second friction part 13 is arranged and the robot is powered off, friction force is generated by friction between the second friction part 13 and the stator base 1, the friction force can limit rotation of the rotor front cover 15, and therefore the robot mechanical arm can be prevented from moving continuously after the power is off, and the purpose of power-off protection is achieved.
Further, the motor in this application, with the direct gomphosis of band-type brake structure and effect at this internally, under the prerequisite that does not influence motor performance and volume, can also independently accomplish the task of dying of outage lock. Therefore, compared with the common gear mechanical band-type brake and electromagnetic band-type brake in the prior art, the electromagnetic band-type brake has the advantages that firstly, the obvious space is saved, no space is wasted in the structural design, and the structure is compact; secondly, various band-type brakes do not need to be designed and selected repeatedly according to the size and the structural shape of the motor, the purpose of taking the band-type brakes is achieved, and the design and manufacturing process of the mechanical arm robot industry is greatly facilitated.
The application also provides an executor, and this executor includes the executor body and sets up the power-off protection motor on the executor body, and the power-off protection motor in this application is used for driving the motion of executor body to reach the purpose that the robot wants to realize the motion.
All parts in the utility model are the parts commonly used among the prior art.
In the embodiment, the power-off protection motor that this application embodiment provided can be internal at the motor with the band-type brake subassembly gomphosis, and the motor of this application compares the inner space that can practice thrift the robot with gear machinery band-type brake stopper and electromagnetism band-type brake stopper that prior art is commonly used, need not simultaneously to design repeatedly to select all kinds of band-type brakes according to motor size and structural shape, but has accomplished "just using by taking", the very big design manufacturing process that has made things convenient for the robotic arm robot trade.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.
Claims (13)
1. A power-off protection motor, comprising: the rotor comprises a stator base, a rotor top cover and a moving flange;
the moving flange is axially movably arranged on the stator base, and the rotor top cover is rotationally matched with the moving flange and axially positioned;
the stator base is provided with an electromagnetic coil, the top end of the stator base is provided with a first friction part, the bottom of the rotor top cover is provided with a second friction part opposite to the first friction part, and an elastic part for driving the first friction part to be in contact with the second friction part is arranged between the stator base and the moving flange;
the rotor top cover or the moving flange is further provided with a traction magnetic piece which is matched with the electromagnetic coil to provide force for separating the first friction part from the second friction part.
2. The motor of claim 1, wherein the electromagnetic coil is disposed at an upper end of the stator base, the traction magnetic member is disposed at a bottom of the rotor cover, the electromagnetic coil and the traction magnetic member mutually repel each other after being energized, and the elastic member is disposed at a lower end of the stator base and applies a downward pressure to the moving flange.
3. The motor of claim 1, wherein the first friction portion and the second friction portion are friction bars with rough surfaces and are convexly fixed on the stator base and the rotor top cover respectively.
4. A power-off protection motor according to claim 3, wherein the first friction portion and the second friction portion are both annular structures.
5. A power-off protection motor according to claim 4, wherein said pulling magnetic member is fixed to said rotor top cover and has a ring-shaped configuration, said pulling magnetic member has an L-shaped cross section and has a recessed portion, and said second friction portion is fixed in said recessed portion.
6. The power-off protection motor according to claim 1, wherein a motor stator is fixedly connected to the stator base, and the motor stator is coaxially arranged with the stator base.
7. The power-off protection motor as claimed in claim 1, wherein a magnetically conductive steel ring is fixedly connected to the rotor top cover, and a plurality of magnet pieces are fixedly connected to an inner wall of the magnetically conductive steel ring.
8. A power-off protection motor as claimed in claim 7, wherein said plurality of magnet pieces are uniformly distributed on the inner wall of said magnetically conductive steel ring.
9. A power down protection motor in accordance with claim 1, wherein a plurality of guide pins extending along the axis are provided between the inner wall of the stator base and the outer wall of the moving flange.
10. The motor of claim 1, wherein the rotor cover comprises a shaft body, the moving flange is a hollow structure, and the shaft body is rotatably mounted in the hollow structure of the moving flange through a bearing.
11. The power-off protection motor according to claim 10, wherein a boss for limiting the bearing is provided at an upper end of the shaft body, a groove is provided at a bottom end of an outer side of the shaft body, a limiting member is provided in the groove, and the limiting member and the boss cooperate to axially position the moving flange and the rotor top cover.
12. A power-off protection motor according to claim 10, wherein said shaft body is hollow and is provided with a hollow passage through said power-off protection motor.
13. An actuator, comprising an actuator body and a power-off protection motor according to any one of claims 1 to 12 provided on the actuator body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122406048.0U CN216216334U (en) | 2021-09-30 | 2021-09-30 | Power-off protection motor and actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122406048.0U CN216216334U (en) | 2021-09-30 | 2021-09-30 | Power-off protection motor and actuator |
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| Publication Number | Publication Date |
|---|---|
| CN216216334U true CN216216334U (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122406048.0U Active CN216216334U (en) | 2021-09-30 | 2021-09-30 | Power-off protection motor and actuator |
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| CN (1) | CN216216334U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2021
- 2021-09-30 CN CN202122406048.0U patent/CN216216334U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 200245 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Patentee after: Dayu robot Co.,Ltd. Address before: 200245 2nd floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Patentee before: Dalu Robot Co.,Ltd. |
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| CP03 | Change of name, title or address |