JP2011144854A - Deenergization-operating brake and geared motor with built-in brake - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a geared motor with a built-in brake which has a reduced size and enhanced efficiency. <P>SOLUTION: The geared motor includes a plurality of bearings 25 provided between a side plate 22 and a field core 8 so as to equally separate to each other in a circumferential direction; an armature 6 arranged in contact with outer rings of the bearings 25 by cutouts formed to match the shape of the outer rings; a brake disk 5 disposed so that its outer peripheral surface contacts with the outer rings of the bearings 25, the brake disk having a magnetic body 26 provided on the inner periphery; a plurality of permanent magnets 28 disposed in the circumferential direction of a shaft 14 so as to face and magnetically couple with the magnetic body 26 of the brake disk 5; and a can 27 mechanically insulating the magnetic body 26 from the permanent magnets 28. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to a brake built-in geared motor.

A conventional brake built-in geared motor will be described with reference to FIG. So far, the inventors have developed a servo motor with a brake as shown in FIG. 2, and a motor with a speed reducer attached to such a motor with a brake is used (for example, see Patent Document 1). In FIG. 2, the stator core 1 is formed by laminating silicon steel plates, and a plurality of armature windings 2 are arranged at equal intervals in the circumferential direction via an insulating layer (not shown) on the inner periphery thereof. After each armature winding is soldered to the connection board 10, the stator core 1, the armature winding 2, and the connection board 10 are integrally fixed by a resin mold 9. After molding, the stator core 1 and the frame 3 are fixed by shrinkage or adhesion.
The armature winding 2 generates heat when energized, and the heat is transmitted to the frame 3 through the stator core 1. In the conventional example, the frame 3 is made of aluminum. A permanent magnet 4 is disposed opposite to the inner periphery of the armature winding 2 through a gap.
The permanent magnet 4 is composed of a ring magnet or a plurality of segment magnets, is magnetized so as to have a predetermined number of poles, and is bonded and fixed to the outer periphery of a rotor yoke 15 made of a soft magnetic material. The rotor yoke 15 has a substantially cup shape that is recessed toward the inner diameter side. The rotor yoke 15 is fixed concentrically with the shaft 14, and the shaft 14 is rotatably supported by the L-side bearing 12 and the anti-L-side bearing 13. The L bracket 11 is formed integrally with the frame 3, and the outer ring of the L side bearing 12 is fitted into the L bracket 11. The outer ring of the anti-L side bearing 13 is fitted into an anti-L bearing housing 16 formed integrally with the field core 8 of the brake, and the outer periphery of the field core 8 is fixed to the frame 3 by bolts (not shown) to constitute a motor part. ing.
Next, the brake unit will be described. The field core 8 has a cylindrical shape with concentric slots and is made of a soft magnetic material such as iron. The brake coil 7 is wound around a bobbin (not shown) in a cylindrical shape, inserted into a groove of the field core 8, and then fixed by a resin mold or the like. A coil spring (not shown) is arranged on the outer periphery of the field core 8 in order to press the brake disc 5 against the armor chair 6 and the side plate 22.
The brake disk 5 is disposed between the armor chair 6 and the side plate 22 and is attached to the shaft 14 via the hub 23. A notch not shown is provided on the outer periphery of the armor chair 6 so as to slide freely in the axial direction along the collar and not to rotate in the circumferential direction. The side plate 22 is fixed to the field core 8 through a collar (not shown).
Next, the operation of the brake will be described. When the brake coil is not energized, the brake brake disc 5 is pressed and restrained against the armor chair 6 and the side plate 22 by the force of the coil spring. Since the brake disc 5 is attached to the shaft 14 via the hub 23, the shaft 14 also does not rotate. When the coil 7 is energized, the armature 6 is attracted to the field 8 by the magnetic attractive force, so that the brake disk 5 becomes rotatable and the brake is released.
FIG. 3 shows another conventional brake built-in geared motor. 3A shows a side sectional view, and FIG. 3B is a front sectional view taken along line AA ′. The reducer 30 is filled with a prescribed amount of grease (not shown) for lubrication, and an oil seal 24 is provided to prevent the grease from entering the motor side. In this conventional example, there is no L bracket, and the resin mold 9 and the armature winding 2 are arranged via the motor side mounting surface of the reduction gear and the air gap. Further, an L-side bearing (not shown) is provided integrally with the speed reducer 30 to reduce the axial length. A hub 23 is fixed to a shaft 14 formed integrally with the high speed shaft of the speed reducer, and the brake disc 5 is restrained in the radial direction by a spline 21 provided on the outer periphery of the hub 23 and the inner periphery of the brake disc 5. It is attached so as to be movable in the axial direction. The field core 8 has a cylindrical shape with concentric slots and is made of a soft magnetic material such as iron. The brake coil 7 is wound around a bobbin (not shown) in a cylindrical shape, inserted into a groove of the field core 8, and then fixed by a resin mold or the like. A coil spring (not shown) is arranged on the outer periphery of the field core 8 in order to press the brake disc 5 against the armor chair 6 and the side plate 22.
The brake disk 5 is disposed between the armor chair 6 and the side plate 22 and is attached to the shaft 14 via the hub 23. A cutout that matches the collar 19 is provided on the outer periphery of the armor chair 6, and is freely slid along the collar 19 in the axial direction so as not to rotate in the circumferential direction. The side plate 22 is fixed to the field core 8 via the collar 19.
Next, the operation of the brake will be described. When the brake coil is not energized, the brake disc 5 is pressed and restrained against the armature 6 and the side plate 22 by the force of the coil spring. Since the brake disc 5 is attached to the shaft 14 via the hub 23, the shaft 14 also does not rotate. When the coil 7 is energized, the armature 6 is attracted to the field 8 by the magnetic attractive force, so that the brake disk 5 becomes rotatable and the brake is released.

JP 2007-143255 A

As described above, in the conventional geared motor with built-in brake, devices such as a speed reducer, a motor, a non-excitation brake, and a rotation detector are arranged in series, and a bearing, a partition wall, etc. are provided between these devices. For this reason, the axial length becomes large, and there is a problem that it is difficult to reduce the size. Further, since the heat generated in the motor part and the gear part is radiated through the bracket, there is also a problem that the cooling performance is lowered when the axial length is increased. In the conventional example, the L-side bearing is also provided in the reducer as a structure without the L bracket, so that the axial length is shortened. However, in order to prevent the grease in the reducer from flowing out to the motor side, There is a problem that a seal is required, rotation loss due to the oil seal occurs, and efficiency is lowered. Further, when grease leakage from the oil seal occurs, there is a problem that the grease adheres to the brake disc and the brake torque decreases.
The present invention has been made in view of such problems, and an object of the present invention is to provide a small and highly efficient brake built-in type geared motor.

In order to solve the above problem, the present invention is configured as follows.
According to the first aspect of the present invention, the armature is attracted by the electromagnetic force of the coil provided in the field core so that the brake is released in the energized state of the coil, and the brake disk is activated by the mechanical force of a spring or the like when not energized. In the non-excited operation brake that presses against the armchair and the side plate and generates a predetermined brake torque, a plurality of bearings provided so as to be equally divided between the side plate and the field core, and an outer ring of the bearing An armchair arranged in contact with a notch that matches the shape, an outer peripheral surface arranged to contact the outer ring of the bearing, a magnetic disc on the inner peripheral surface, and the magnetic body of the brake disc A plurality of permanent magnets arranged in the circumferential direction of the shaft so as to be opposed and magnetically coupled, and the magnetic body; The scanning between the serial permanent magnet is obtained by mechanically isolated.
According to a second aspect of the present invention, the magnetic body is formed of an even number of teeth or an even number of permanent magnets on the inner peripheral side of the brake disc. .
According to a third aspect of the present invention, a can made of a non-magnetic material is fixed to the inner peripheral surfaces of the field core and the side plate.
According to a fourth aspect of the present invention, the can is made of a resin.
Further, the invention according to claim 5 is that the armature is attracted by the electromagnetic force of the coil provided in the field core, so that the brake is opened in the energized state of the coil, and the mechanical force such as a spring is used in the non-energized state. In a geared motor with a built-in brake, which has a non-excited brake that presses the brake disc against the armature chair and the side plate and generates a predetermined brake torque, and has a motor part and a speed reducer part, between the side plate and the field core A plurality of bearings provided so as to be equally divided in circumference, an armor chair arranged in contact with a notch that matches the shape of the outer ring of the bearing, and an outer peripheral surface arranged in contact with the outer ring of the bearing A brake disk having a magnetic body on the inner peripheral surface, and a magnetic disk facing the magnetic body of the brake disk A permanent magnet plurality arranged in a circumferential direction of the shaft such that binding to, in which mechanically insulated by scanning between said magnetic body and the permanent magnet.
According to a sixth aspect of the present invention, a V-ring is provided between the speed reducer and the motor unit.

According to the present invention, since the shaft and the brake disc are mechanically insulated, it is possible to prevent foreign matter from entering the brake disc from the shaft side. Further, since the magnetic coupling portion of the brake portion will step out when an excessive torque is applied, it can be used as a torque limiter. If the magnetic coupling force is set lower than the friction force of the brake disc, the braking force is determined by the magnetic attractive force. Since the magnetic coupling part is non-contact, there is no secular change, and the variation in braking force can be made extremely small compared to the prior art. In addition, by holding the outer periphery of the brake disc with a bearing, it is possible to reduce the falling of the disc, so that a brake with extremely low idling wear can be realized.
Also, since the grease of the reducer does not enter the brake, the reducer grease sealing means such as oil seal, which was necessary in the past, is unnecessary, or it can be made simple such as a V-ring, so it is generated by the sealing means Friction resistance can be greatly reduced, motor efficiency is improved, and heat generation can be reduced.

1 is a side sectional view of a built-in brake geared motor showing a first embodiment of the present invention. Side sectional view of a built-in brake geared motor showing an example of the prior art Side sectional view of a brake built-in geared motor showing another conventional example

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a sectional side view (a) and a sectional view A-A (b) of a built-in brake geared motor. In the figure, 1 is a stator core, 2 is an armature winding, 3 is a frame, 4 is a permanent magnet, 5 is a brake disk, 6 is an armor chair, 7 is a brake coil, 8 is a field core, 9 is a mold resin, and 10 is a connection. Substrate, 13 is anti-L-side bearing, 14 is shaft, 15 is rotor yoke, 16 is anti-L bearing housing, 17 is brake cover, 18 is encoder, 20 is encoder cover, 22 is side plate, 25 is bearing, and 26 is magnetic Teeth, 27 can, 28 is a permanent magnet, 29 is a V-ring, and 30 is a speed reducer.

The differences between the present invention and the prior art will be described. The outer periphery of the brake disk 5 is rotatably held by an outer ring of a bearing 25, and magnetic teeth 26 are provided on the inner periphery. The brake disk 5 is made of a non-magnetic material, but the inner peripheral magnetic teeth 26 are provided with an even number of teeth made of a magnetic material, and are fixed integrally with the outer non-magnetic portion by shrinkage or the like. Even-numbered teeth are formed to generate a magnetic change, but an even number of permanent magnets may be arranged in the circumferential direction in the order of N pole and S pole instead of the teeth. Permanent magnets 28 are installed in the circumferential direction in the order of the same number of N poles and S poles as the magnetic teeth 26 on the outer periphery of the shaft 14 facing the magnetic teeth 26, and the magnetic teeth 26 and the permanent magnets 28 are magnetically coupled. A can 27 is provided between the magnetic tooth and the permanent magnet, and is mechanically insulated. The can 27 is made of a non-magnetic material or resin, but a high resistivity material is desirable in order to reduce the viscous resistance generated by the magnetic flux of the permanent magnet 28. The can 27 is fixed to the inner periphery of the side plate 22 and the inner periphery of the field core 8 by bonding or the like.
The armor chair 6 is provided with notches on the outer peripheral surface of the plurality of bearings 25 that are provided between the side plate 22 and the field core 8 so as to be divided into concentric equal parts, and is in contact with the outer ring of the bearing 25. Thus, it does not rotate in the circumferential direction but is movably attached in the axial direction.
The V ring 29 is provided to prevent the grease supplied to the speed reducer 30 from flowing out to the motor side. Conventionally, an oil seal has been used. However, according to the brake of the present invention, foreign matter does not enter the brake disc, and grease can be allowed to flow out so as not to hinder lubrication. The V ring 29 has a lower grease sealing capability than an oil seal, but has a low sliding resistance, so that the no-load torque of the motor can be reduced. A rubber bush or seal material (not shown) is applied to the brake lead hole 32 to prevent foreign matter from entering the brake. Further, a sealing material (not shown) is applied to the contact surfaces of the frame 3, the brake cover 17 and the field core 8 to prevent foreign matter from entering from the outside.

Next, the operation of the brake will be described. When the brake coil 7 is not energized, the brake disc 5 is pressed and restrained against the armature 6 and the side plate 22 by the force of the coil spring. The magnetic teeth 26 provided on the inner periphery of the brake disk 5 are magnetically coupled to the permanent magnets 28 arranged to face each other through a gap and a can. Since the permanent magnets 28 are attached to the shaft 14, the shaft 14 Also does not rotate. When the coil 7 is energized, the armature 6 is attracted to the field 8 by the magnetic attractive force, so that the brake disk 5 becomes rotatable and the brake is released. The brake disk 5 is non-magnetic except for the magnetic teeth 26 provided on the inner peripheral side, and has a structure that is not attracted to the armature 6 due to leakage magnetic flux from the field core 8.

1 ... stator core 2 ... armature winding 3 ... frame 4 ... permanent magnet 5 ... brake disc 6 ... armor chair 7 ... brake coil 8 ... Field core 9 ... Mold resin 10 ... Connection board 11 ... L bracket 12 ... L side bearing 13 ... Anti-L side bearing 14 ... Shaft 15 ... Rotor yoke 16 ... Anti-L-side bearing housing 17 ... Brake cover 18 ... Encoder 19 ... Color 20 ... Encoder cover 21 ... Spline 22 ... ··· Side plate 23 ··· Hub 24 ··· Oil seal 25 ··· Bearing 26 · · · Magnetic teeth 27 · · · Can 28 · · · Permanent magnet 29 ··· V ring 30 ... Reducer 31 ... Lee Hole

Claims (6)

By attracting the armor chair by the electromagnetic force of the coil provided in the field core, the brake is released when the coil is energized, and when not energized, the brake disk is pressed against the armor chair and the side plate by a mechanical force such as a spring. In the non-excited brake that generates a predetermined brake torque,
A plurality of bearings provided so as to be equally divided between the side plate and the field core, an armor chair arranged in contact with a notch that matches the shape of the outer ring of the bearing, and an outer ring of the bearing The outer peripheral surface of the brake disk is provided with a magnetic body on the inner peripheral surface, and a plurality of permanent magnets are disposed in the circumferential direction of the shaft so as to be magnetically coupled to the brake disk facing the magnetic body. And a non-excitation actuating brake characterized in that the magnetic body and the permanent magnet are mechanically insulated by a can. 2. The non-excited operation brake according to claim 1, wherein a magnetic body is formed of an even number of teeth or an even number of permanent magnets on the inner peripheral side of the brake disk. . 2. The non-excited operation brake according to claim 1, wherein a can made of a non-magnetic material is fixed to the inner peripheral surfaces of the field core and the side plate. The non-excited operation brake according to claim 1, wherein the can is made of resin. By attracting the armor chair by the electromagnetic force of the coil provided in the field core, the brake is released when the coil is energized, and when not energized, the brake disk is pressed against the armor chair and the side plate by a mechanical force such as a spring. In a built-in brake geared motor equipped with a non-excitation actuating brake that generates a predetermined brake torque and having a motor part and a speed reducer part,
A plurality of bearings provided so as to be equally divided between the side plate and the field core, an armor chair arranged in contact with a notch that matches the shape of the outer ring of the bearing, and an outer ring of the bearing The outer peripheral surface of the brake disk is provided with a magnetic body on the inner peripheral surface, and a plurality of permanent magnets are disposed in the circumferential direction of the shaft so as to be magnetically coupled to the brake disk facing the magnetic body. And a built-in brake geared motor, wherein the magnetic body and the permanent magnet are mechanically insulated by a can. 6. The built-in brake geared motor according to claim 5, wherein a V-ring is provided between the speed reducer and the motor unit.

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