WO2023045199A1

WO2023045199A1 - Driving motor of mechanical arm

Info

Publication number: WO2023045199A1
Application number: PCT/CN2022/074220
Authority: WO
Inventors: 林子春; 林高宏; 林群
Original assignee: 琦星智能科技股份有限公司
Priority date: 2021-09-22
Filing date: 2022-01-27
Publication date: 2023-03-30
Also published as: CN216266122U

Abstract

The present application provides a driving motor of a mechanical arm, and specifically relates to the field of mechanical arms. The driving motor is provided with a buffering assembly, a connecting disc, a brake disc and an electromagnet. The connecting disc is provided with a brake rod. When the driving motor stops moving, the magnetism of the electromagnet at the connecting disc disappears, at which time the brake rod is clamped into the brake disc, and then, by cooperating with the buffering assembly, the purposes of smooth stopping and impact force reduction are attained, and the effect of flexible braking is achieved. Compared with the past technology, the described motor has advantages such stable operation, little damage to parts, and low subsequent maintenance costs, and has high use value.

Description

A mechanical arm drive motor

technical field

The present application proposes a driving motor for a manipulator, and specifically relates to the technical field of manipulator manufacturing.

Background technique

The operation of the mechanical arm is realized in the operation of the motor. Most of the existing motors are installed on the base of the mechanical arm, and the mechanical arm is driven by the motor to operate normally; when the mechanical arm is about to stop running, the motor first stops running so as to realize the end of the complete operation of the mechanical arm. At this time, the mechanical arm has to bear the inertial impact caused by the stop of the motor, which will cause great damage to the motor itself and the body of the mechanical arm and other parts. After a long period of frequent operation, the motor maintenance will follow. As the frequency increases, the maintenance cost also increases accordingly, which not only consumes manpower and material resources, but also seriously affects the overall quality of the robotic arm.

Contents of the invention

In view of the disadvantages caused by motor stoppage and high maintenance costs in the prior art, the technical problem to be solved in this application is to provide a driving motor for a mechanical arm, the driving motor is connected to a main shaft, which is characterized in that it includes:

A brake disc is arranged on the main shaft, and a positioning through hole is arranged on the brake disc;

The connection disc is arranged on the main shaft of the side of the brake disc close to the drive motor, the side of the connection disc close to the drive motor is provided with a connecting rod and an elastic member in the circumferential direction, and the connection disc is far away from the drive motor. One side of the motor is provided with a brake lever;

a brake ring, fixedly arranged on the side of the drive motor close to the main shaft, the brake ring is provided with a brake hole that cooperates with the connecting rod and the elastic member;

The electromagnet is arranged on the connection plate.

Preferably, a buffer assembly is provided on the brake disc, and the buffer assembly includes:

A circlip, clamped on the main shaft, is used to limit the movement of the brake disc;

a wave gasket arranged between the circlip and the brake disc;

The rigid sheet is fixedly arranged on the inner ring of the brake pad, and the rigid sheet is sleeved on the main shaft.

Preferably, the elastic member is a spring.

Preferably, the connecting rods and the elastic members are arranged alternately.

Preferably, the positioning through hole is in the shape of a long slot.

Compared with the prior art, the beneficial effect of the present application is that the driving motor of a mechanical arm of the present application has the advantages of stable operation, less damage to parts, and low follow-up maintenance cost compared with the prior art. , has high use value.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a mechanical arm drive motor;

Fig. 2 is a schematic diagram of a mechanical arm driving buffer assembly;

Fig. 3 is a schematic diagram of a connection plate of a mechanical arm drive motor connection plate structure;

Fig. 4 is a structural schematic diagram of a wave washer of a mechanical arm drive motor;

Fig. 5 is a schematic diagram of a brake disc with a mechanical arm drive motor connection disc structure.

Reference signs: drive motor 1, main shaft 2, brake disc 3, positioning through hole 31, circlip 4, wave washer 5, connecting disc 6, connecting rod 61, elastic member 62, brake lever 63, steel plate 7, manufacturing Moving ring 8, braking hole 81.

Detailed ways

The preferred embodiments of the present application will be described in detail below in conjunction with accompanying drawings 1-5, so that the advantages and features of the present application can be more easily understood by those skilled in the art, so as to make a clearer definition of the protection scope of the present application. These embodiments are only used to illustrate the present invention, not to limit the present invention.

As shown in the figure, the application proposes a mechanical arm drive motor, which has a drive motor 1, a main shaft 2, a buffer assembly, a brake disc 3, a connecting rod 61, a connecting disc 6, and an electromagnet (not shown in the drawings), etc. The assembly is located on the brake disc 3, the side of the drive motor 1 close to the main shaft 2 is fixed with a brake ring 8, the brake ring 8 is provided with a brake hole 81 in the circumferential direction, and a brake hole 81 is provided between the drive motor 1 and the brake disc 3 The connecting rod 61, the connecting plate 6, and the buffer assembly play a buffering role on the mechanical arm and the driving motor 1 itself when the driving motor 1 performs braking. The buffer assembly has a retaining spring 4, a wave washer 5 and a rigid sheet 7, and the connecting disc 6, brake disc 3, rigid sheet 7, wave washer 5, and retaining spring 4 are sleeved on the main shaft 2 of the driving motor 1 in sequence, Wherein, the circlip 4 is located on the wave washer 5, a rigid sheet 7 is arranged under the wave washer 5, a brake disc 3 is arranged under the rigid sheet 7, and the connecting disc 6 is arranged under the brake disc 3, The mechanical arm is installed on the brake disc 3 . The brake disc 3 has several positioning through holes 31, the positioning through holes are in the shape of a long groove, and the side of the connecting disc 6 close to the drive motor 1 has several connecting rods 61 and elastic members 62, and the connecting rods 61 and elastic Part 62 is matched with the brake holes described above, and the connecting disc 6 is provided with a brake lever 63 in the circumferential direction near the side of the brake disc 6. The elastic part 62 is located between the connecting disc 6 and the electromagnet, and between the connecting disc 6 and the drive motor 1 An electromagnet is arranged between them. When the motor is working, the electromagnet is energized to attract the connecting plate 6 to the direction of the driving motor 1, the elastic member 62 is compressed in the braking hole 81, the connecting rod 61 shrinks in the braking hole 81, and the electromagnet breaks. The connecting disc 6 will pop up through the elastic member 62. At this time, the brake lever 63 is matched with the positioning through hole 31 and the connecting rod 61 is still arranged in the braking hole 81, so that the brake disc 3 can be braked by the action of the connecting disc 6. Braking effect, at this time, the wave washer 5 plays a key role in buffering, and the buffering component plays a buffering role when the driving motor 1 stops running and braking, and the buffering component plays a flexible role under the mutual cooperation of the connecting disc 6 and the brake disc 3 Moving technical effects.

In addition, the setting of the buffer component can allow the motor of the mechanical arm to run flexibly, prevent the occurrence of brake lock, reduce the damage to the motor and the mechanical arm caused by the inertia caused by braking, reduce maintenance costs, and extend zero time. Advantages over the lifetime of the component.

In addition, the wave washer 5 in the buffer assembly can be replaced by an elastic member, and the spring is used in this embodiment, and the technical effect is the same.

When the mechanical arm is working, the drive motor 1 starts to be energized, and the electromagnet (not shown in the drawings) located inside the connection plate 6 absorbs and positions the connection plate 6 close to the side of the body of the drive motor 1. In this state, the connection plate 6 There is a brake clearance with the brake disc 3 to ensure the normal operation of the mechanical arm. When the mechanical arm is about to stop, the drive motor 1 is disconnected from the power supply, and the magnetism of the electromagnet inside the connection plate 6 disappears. At this time, the elastic member 62 inside the connecting disc 6 helps the connecting rod disc 6 to eject toward the brake disc 3. At this time, the brake lever 63 cooperates with the positioning through hole 31 and the connecting rod 61 is still arranged in the braking hole 81, so that the brake The rod 63 pushes against the brake disc 3 . Two situations can occur at this time, one is that the brake lever 63 just enters in several positioning through holes 31 that the brake disc 3 has; Until the brake lever 63 enters the several positioning through holes 31 of the brake disc 3, the braking action is realized. During this process, the driving motor 1 will be subjected to the pressure brought by the stop of the mechanical arm, and the setting of the buffer component just slows down this pressure to a certain extent, has a good buffering effect, and can play a role in braking. To the effect of flexible braking, the above situations all achieve the purpose of smooth stopping.

The above description is only one of the preferred implementation modes of the present application, and does not therefore limit the scope of patent implementation of the present application. All equivalent structures or equivalent process transformations made by utilizing the shapes, structures and principles of the description of the application and the contents of the accompanying drawings , or directly or indirectly used in other related technical fields, are all covered within the scope of patent protection of this application.

Claims

A mechanical arm drive motor, the drive motor (1) is connected to a main shaft (2), characterized in that it includes:

The brake disc (3) is arranged on the main shaft (2), and the brake disc (3) is provided with positioning through holes (31);

The connection disc (6) is arranged on the main shaft (2) on the side of the brake disc (3) close to the drive motor (1), and the connection disc (6) is on the side close to the drive motor (1). A connecting rod (61) and an elastic member (62) are arranged in the circumferential direction, and a brake lever (63) is arranged on the side of the connecting plate (6) away from the drive motor (1);

The brake ring (8) is fixedly arranged on the side of the drive motor (1) close to the main shaft (2), and the brake ring (8) is provided with the connecting rod (63) and the The braking hole (81) that the elastic member (62) cooperates;

The electromagnet is arranged on the connection plate (6).
A driving motor for a mechanical arm according to claim 1, characterized in that a buffer assembly is provided on the brake disc (3), and the buffer assembly includes:

A circlip (4), clamped on the main shaft (2), is used to limit the movement of the brake disc (3);

A wave washer (5), arranged between the circlip (4) and the brake disc (3);

The rigid piece (7) is fixedly arranged on the inner ring of the brake pad (3), and the rigid piece (7) is sheathed on the main shaft (2).
The driving motor of a mechanical arm according to claim 1, characterized in that the elastic member (62) is a spring.
The driving motor of a mechanical arm according to claim 1, characterized in that, the connecting rods (63) and the elastic members (62) are arranged alternately.
A driving motor for a mechanical arm according to claim 1 or 2, characterized in that the positioning through hole (31) is in the shape of a long slot.