JP3396016B2 - Motor with brake - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor with a brake having a brake releasing device.
It can be applied as a motor for driving a robot arm or a motor for handling cargo such as hoists.

[0002]

2. Description of the Related Art As a motor for driving a robot arm or a motor for loading and unloading a hoist or the like, a type in which a brake is constantly applied by a spring and the brake is released by an electromagnetic force during driving so that a position in the middle of operation can be held Brake motor is used. However, when the exciting current cannot be supplied to the brake releasing electromagnet due to a power failure during use or other reasons, the brake cannot be released by the electromagnetic force. However, even if the brake cannot be released by electromagnetic force, it may be necessary to move the driven body such as the robot arm.For such a case, a motor with a brake with a device to manually release the brake is required. Various proposals have been made.

As a prior art of a manual brake releasing device for a motor with a brake as described above, there is a practically open device 61.
The one described in Japanese Patent No. 169463 is known. This is because the brake spring pressurizes the control unit through the movable core to brake, the electromagnet is energized to attract the movable core to release the brake, and the screwing member is manually operated.
In a brake device having a brake mechanism in which a movable core is moved against a brake spring pressure to release a brake, and the brake mechanism is covered with a brake cover, a cutout portion is provided in the screw member. By providing the circular collar that it has integrally, it has a safety function that prevents the brake cover from being attached when the brake is opened manually, and the screwing member rotates due to vibration etc. during normal operation. It was designed so that it would not fall out.

However, in the above-mentioned prior art, when visually confirming a screw, it is difficult to tell whether the present state is the manual release state by just looking at the position of the screw.
Further, when returning from the manual brake release state to the holding state, it is difficult to determine how much the bolt should be loosened. Also, even if the bolt is loosened, the armature and the bolt will not separate, so there is a risk that the bolt will be tightened by the vibration of the motor and the brake will malfunction.In addition, when the bolt is tightened, there is no base under the armature However, there is a problem that the amateur warps, which hinders the release / holding operation of the brake.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and when the brake is released by a manual device, this can be clearly recognized and the brake can be recognized. It is an object of the present invention to provide a motor with a brake that can be easily manually released.

[0006]

In order to solve the above-mentioned problems, the invention according to claim 1 is directed to a brake disc which rotates integrally with a rotor, a fixed plate provided with the brake disc sandwiched therebetween, and an axial movement. Possible magnetic plate, biasing means for biasing the magnetic plate toward the brake disc, coil for electromagnetically attracting the magnetic plate against the biasing force of the biasing means, and mounting of this coil In the motor with a brake including the brake yoke and the bracket that holds the brake yoke, the bracket has a through hole that penetrates in the axial direction, and the brake releasing screw and the elastic member are inserted into the through hole. When the brake release screw is tightened, one end of the screw is screwed into the magnetic plate, and the magnetic plate is moved against the brake disc against the urging force of the urging means. While disengaging from click, when the one end of the screw for brake release is not screwed to the magnetic plate,
The other end of the screw moves to the vicinity of the opening of the through hole by the elastic force of the elastic member, and the movement range of the brake releasing screw is restricted by a stopper that covers a part of the opening of the through hole. Characterize.

In order to solve the above problems, the invention according to claim 2 is the invention according to claim 2, wherein the outer diameter of the brake yoke is equal to or larger than the outer diameter of the brake disc. Characterize.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a motor with a brake according to the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a shaft directly connected to a rotor of a motor unit (not shown), and the shaft 1 is rotationally driven by receiving the rotational force of the motor. A hub 2 having a rectangular plate with chamfered corners is attached to the shaft 1. The hub 2 is rotatable integrally with the shaft 1 by a key or the like. A brake disc 3 having an inner shape that is the same as the outer shape of the hub 2 is fitted on the outside of the hub 2, and the brake disc 3 is rotatable integrally with the shaft 1 and the hub 2. Shaft 1
The brake disc 3 and the hub 2 may be integrally connected, but the hub 2 is provided so as to be movable in a limited range in the axial direction with respect to the shaft 1, or the brake disc 3 is provided with respect to the hub 2. It is desirable to be able to move within a limited range in the direction.

A fixing plate 4 is fixed to a motor body (not shown) by appropriate fixing means, and one surface (upper surface in FIG. 1) of the fixing plate 4 is slightly smaller than one surface (lower surface in FIG. 1) of the brake disc 3. They are facing each other with a gap. Above the brake disc 3, a brake armature 5 as a disk-shaped magnetic plate is arranged so as to be movable in the axial direction but not rotatable. Around the outer peripheral edge of the brake armature 5, a plurality of screw holes 16 for screwing a brake releasing screw 12 described later are formed.

A cylindrical bracket 7 having a bottom is fitted on one end of a motor body (not shown). Bracket 7
A hole is formed in the center of the bottom of the rolling bearing 1.
0 outer ring is inserted. One end of the shaft 1 is press-fitted into the inner ring of the rolling bearing 10, and the shaft 1 is rotatably supported. A brake yoke 8 is fitted on the inner bottom portion (ceiling portion in FIG. 1) of the bracket 7. The brake yoke 8 has a thick disk shape, and a coil 9 is embedded in the brake yoke 8 in the circumferential direction. The coil 9 constitutes an electromagnet, and the lower end surface of the coil 9 is exposed from the lower end surface of the brake yoke 8. Brake yoke 8
Is fixed to the bracket 7 and does not rotate.

A brake armature 5 is arranged below the brake yoke 8 with a slight gap. The brake armature 5 is non-rotatably supported, but movably in the direction of the shaft 1, by a bracket 7 via suitable supporting means. A plurality of holes 17 are formed outside the coil 9 from the lower surface side of the brake yoke 8, and each hole 17 serves as a biasing member for biasing the brake armature 5 toward the brake disc 3 side. The repulsive coil spring 6 is inserted. The elastic force of the coil spring 6 pressurizes the brake armature 5 toward the brake disc 3, and the brake disc 3 is sandwiched between the fixed plate 4 and the brake armature 5 fixed to the motor body. The shaft 1 integrated with the brake disc 3 can be braked.

The bracket 7 is also provided with an appropriate number of through holes 18 in the outer peripheral edge of the bottom portion thereof in the direction parallel to the shaft 1 at even positions in the circumferential direction. A brake releasing screw 12 is inserted into each through hole 18, and each brake releasing screw 12 is rotatably and axially movable in a hole provided through the brake yoke 8. The inside of each of the through holes 18 has a small diameter portion, and the repulsion coil spring 11 is interposed between the small diameter portion and the head of the brake releasing screw 12. In this way, the brake releasing screw 12 is inserted into the through hole 18 together with the coil spring 11 as an elastic member. Coil spring 11
Is selected such that at least the head of the brake releasing screw 12 has sufficient repulsive force and length so as to reach the vicinity of the upper portion of the through hole 18. Instead of the coil spring 11, an elastic member such as sponge or rubber may be used.

In FIG. 1, reference numeral 13 is an encoder, 1
Reference numerals 4 respectively denote encoder covers. The encoder cover 14 is a flat dish-shaped member, and the outer peripheral edge portion of the open end is an outward flange portion. The encoder cover 14 covers the encoder 13, and the bracket 7 is fixed with an appropriate set screw or the like.
The relationship between the outer diameter of the flange and the position where the through hole 18 is formed is set so that the flange covers a part of the opening at the upper end of the through hole 18 in a state of being fixed to the through hole 18. . The flange portion of the encoder cover 14 is provided with a brake release screw 12
Normally, the brake releasing screw 12 is lifted by the urging force of the coil spring 11 and its head contacts the flange of the encoder cover 14 to restrict the lifted position. In the state in which the lifting of the brake releasing screws 12 is restricted, the tip ends (lower ends in FIG. 1) of the brake releasing screws 12 face the screw holes 16 of the brake armature 5 at appropriate intervals. .

As described above, in the state shown in FIG. 1, the brake armature 5 is pressed toward the brake disc 3 by the elasticity of the coil spring 6, and the brake disc 3 is
Sandwiched between the fixed plate 4 and the brake armature 5 which is fixed to the motor body, by by that braking effect on the friction force,
The shaft 1 integrated with the brake disc 3 is in a braked state, and the rotor of the motor is constrained so that it cannot rotate.

FIG. 2 shows a state in which the brake is manually released from the state shown in FIG. When the motor is driven to rotate, the coil 9 is energized at the same time as the motor is energized, the brake armature 5 is attracted by its electromagnetic action, and the brake armature 5 and the fixing plate 4 release the sandwiching of the brake disc 3 to brake the motor. To cancel. By doing so, the motor can be rotationally driven. However, when the current cannot be supplied to the coil 9 due to a trouble such as a power failure, the brake cannot be released by the electromagnetic force, so that a driven body such as a robot arm which is originally driven by a motor can be manually moved. Thus, the need to manually release the brake arises. Therefore, when the above trouble occurs, the brake releasing screw 12 is pushed against the spring 11 by using a tool such as a screwdriver, and the screw at the tip of the brake releasing screw 12 is screwed into the screw hole of the brake armature 5. Tighten by screwing on 16. In this way, the brake armature 5 is pulled up to the brake yoke 8 side, the brake armature 5, the brake disc 3, and the fixing plate 4 are separated from each other, and the brake disc 3 is freed to release the brake. Accordingly, the shaft 1 can freely rotate, and the driven body connected to the shaft 1 can be manually moved.

FIG. 3A shows the brake holding state of the embodiment described above. In the brake holding state, the brake releasing screw 12 is pushed up by the elastic force of the coil spring 11, and the end portion of the encoder cover 14 and the head portion of the brake releasing screw 12 are in contact with each other. The encoder cover 14 serves as a stopper so that the brake releasing screw 12 does not come out of the bracket 7 through the screw hole 18. FIG. 4 shows this state. At this time, it is necessary that only a part of the head of the brake releasing screw 12 contacts the encoder cover 14 to the extent that the brake releasing screw 12 can be rotated. Therefore, as shown in FIG. 5, it is preferable to use a cross hole bolt, a hexagon socket head cap screw, or the like. Thus, in the brake holding state, the head of the brake releasing screw 12 can be easily recognized from the outside.

FIG. 3 (b) shows that the driver 12 or the like resists the repulsive force of the coil spring 11 in order to screw the brake releasing screw 12 into the screw hole 16 of the brake armature 5 from the brake holding state of FIG. 3 (a). It shows a state in which the brake releasing screw 12 is being tightened after being pushed in.

FIG. 3C shows a state in which the brake releasing screw 12 and the brake armature 5 are screwed together and tightened. When the brake releasing screw 12 is completely tightened, the brake armature 5, the brake disc 3, and the fixing plate 4 are separated from each other, and the brake of the motor is released.
In this way, in the state where the brake is manually released, the brake release screw 12 is in the state of being sunk deeper into the through hole 18, so it is possible to visually confirm that the brake is released manually. Can be visually recognized easily and clearly.

As described above, when the brake release screw 12 is tightened excessively when the brake is manually released, the brake yoke 8 is tightened by the brake armature 5 as shown in FIG. 6 (a). If the shape is limited to the position just before, the outer peripheral portion of the brake armature 5 may be attracted and deformed by a strong force, and the brake may not be released. However, according to the embodiment of the present invention, as shown in FIG. 6B, the brake yoke 8 is widened so that the outer diameter of the brake yoke 8 becomes smaller than that of the brake armature 5.
Since it has a function as a seat of the brake armature 5 equal to or larger than the outer diameter of the brake armature 5, the entire surface of the brake armature 5 contacts the flat surface of the brake yoke 8 and the brake armature 5 is not deformed. There is no problem that the brake cannot be released.

As shown in FIG. 7, a nut portion 15 is fixed to the brake armature 5, and a brake releasing screw 12 is screwed onto the nut portion 15 to move the brake armature 5 against the urging force. The brake may be released. The nut portion 15 may be a non-magnetic material or a magnetic material.

FIG. 8 is a side view of the motor with a brake according to the above embodiment as seen from the encoder cover 14 side. Considering the balance when the brake armature 5 is pulled up by the brake releasing screws 12, it is desirable that the brake releasing screws 12 are provided at least at three or more positions on the outer circumference of the encoder cover 14 at equal intervals.

In the present embodiment, the encoder cover 14 is used as a stopper for restricting the moving range of the brake releasing screw 12, but the present invention is not limited to this, and various changes are made within the scope of the gist. can do.

[0023]

According to the first aspect of the present invention, a brake disc that rotates integrally with the rotor, a fixed plate that is sandwiched by the brake disc, a magnetic plate that is movable in the axial direction, and the magnetic plate are provided. Urging means for urging the magnetic plate toward the brake disc, a coil for electromagnetically attracting the magnetic plate against the urging force of the urging means, a brake yoke equipped with this coil, and this brake yoke. in a motor with a brake consisting comprises a bracket for holding said bracket has a through hole penetrating in the axial direction, the brake release screw and the elastic member into the through hole is inserted, tightened brakes release screw At this time, one end of the screw is screwed into the magnetic plate to disengage the magnetic plate from the brake disc against the urging force of the urging means. When one end of the removing screw does not engage with the magnetic plate, the other end of the screw moves to the vicinity of the opening of the through hole by the elastic force of the elastic member and covers a part of the opening of the through hole. Since the stopper limits the moving range of the brake release screw,
Whether or not the brake has been manually released can now be easily recognized simply by looking at the screw, and there is no fear of the brake malfunctioning due to the manual brake release screw. Moreover, since only the brake releasing screw and the spring are added as components, it is possible to suppress cost increase.

According to the second aspect of the invention, since the outer diameter of the brake yoke is equal to or larger than the outer diameter of the brake disc, the brake armature is deformed when the bolt is strongly tightened. Therefore, it is possible to eliminate the inconvenience that the brake cannot be released due to the deformation of the brake amateur.

[Brief description of drawings]

FIG. 1 is a side sectional view showing an embodiment of a motor with a brake according to the present invention.

FIG. 2 is a side sectional view showing an operation mode of the above embodiment.

FIG. 3 is a side cross-sectional view showing the operation of the above embodiment in order.

FIG. 4 is a partial cross-sectional side view showing various examples of brake releasing screws that can be brought into the present invention.

FIG. 5 is a top view of the same brake release screw.

FIG. 6 is an example of a brake yoke applied to a motor with a brake, (a) is an example of an undesirable one,
(B) is a side sectional view showing an example of the embodiment of the present invention.

FIG. 7 is a side sectional view showing another example of the brake releasing screw portion applicable to the present invention.

FIG. 8 is a side view of the embodiment of the present invention.

[Explanation of symbols] 1 shaft 3 brake discs 4 fixed plate 5 Magnetic plate 6 Spring as biasing means 7 bracket 8 brake yoke 11 Elastic member 12 Screw for releasing brake 14 Encoder cover 18 through holes

Claims (2)

(57) [Claims] 1. A brake disc that rotates integrally with a rotor, a fixed plate that sandwiches the brake disc and a magnetic plate that is movable in the axial direction, and urges the magnetic plate toward the brake disc. With a brake, a coil for electromagnetically attracting the magnetic plate against the urging force of the magnetic plate, a brake yoke equipped with the coil, and a bracket for holding the brake yoke. In the motor, the bracket has a through hole that penetrates in the axial direction, and a brake releasing screw and an elastic member are inserted into the through hole. When the brake releasing screw is tightened, one end of the screw is the magnetic plate. And the magnetic plate is disengaged from the brake disc against the urging force of the urging means, while one end of a brake releasing screw is attached to the magnetic disc. When not screwed into the plate, the other end of the screw moves to the vicinity of the opening of the through hole due to the elastic force of the elastic member, and the stopper for covering a part of the opening of the through hole moves the brake releasing screw. A motor with a brake characterized in that the range is regulated. 2. The brake motor according to claim 1, wherein an outer diameter of the brake yoke is equal to or larger than an outer diameter of the brake disc.