阅读说明：本技术 一种电机轴制动器及伺服电机 (Motor shaft brake and servo motor ) 是由 陈飞龙 杨文德 李祺 刘赫 谢亮 于 2021-08-26 设计创作，主要内容包括：本发明公开了一种电机轴制动器及伺服电机,以解决现有的电机制动器保持分离状态需要一直通电,浪费能源,造成电机编码器温度过高影响伺服系统精度的问题。本发明一种电机轴制动器,包括：外壳；制动机构,设置在所述外壳内,其包括在外壳的第一方向相对设置的两个制动部,两个制动部各自的一端与所述外壳弹性连接,其各自的另一端相对地形成用于对电机轴进行制动控制的制动面；电磁保持机构,设置在所述外壳内,其包括在外壳的第二方向两个相对设置的电磁保持部,每个所述电磁保持部均形成有两个作用臂。本发明电磁保持机构只有在通电时,制动机构对电机轴进行制动,节约能源,减少了电机产生的热量,避免伺服电机编码器过热影响伺服系统精度。(The invention discloses a motor shaft brake and a servo motor, and aims to solve the problem that the precision of a servo system is influenced by overhigh temperature of a motor encoder due to the fact that the existing motor brake needs to be powered on all the time when being kept in a separated state, energy is wasted. The invention relates to a motor shaft brake, comprising: a housing; the brake mechanism is arranged in the shell and comprises two brake parts which are oppositely arranged in the first direction of the shell, one end of each of the two brake parts is elastically connected with the shell, and the other end of each of the two brake parts oppositely forms a brake surface for controlling the brake of the motor shaft; and the electromagnetic holding mechanism is arranged in the shell and comprises two electromagnetic holding parts which are oppositely arranged in the second direction of the shell, and each electromagnetic holding part is provided with two acting arms. The electromagnetic holding mechanism brakes the motor shaft by the braking mechanism only when the electromagnetic holding mechanism is electrified, so that energy is saved, heat generated by the motor is reduced, and the influence of overheating of a servo motor encoder on the precision of a servo system is avoided.)

1. A motor shaft brake, comprising:

a housing;

the braking mechanism is arranged in the shell and comprises two braking parts which are oppositely arranged in a first diameter direction of the motor shaft, one end of each of the two braking parts is elastically connected with the shell through a first elastic piece, and the other end of each of the two braking parts oppositely forms a braking surface for braking and controlling the motor shaft;

the electromagnetic holding mechanism is arranged in the shell and comprises two electromagnetic holding parts which are oppositely arranged in the second diameter direction of the motor shaft, the electromagnetic holding parts comprise a stator part, a second elastic part and an action part, the stator part, the second elastic part and the action part are sequentially arranged along the second diameter direction from outside to inside, the second elastic part is connected between the stator part and the action part, a coil winding is wound on the stator part, two action arms are formed on the action part, and the two action arms correspond to the two braking parts one by one; the coil winding generates electromagnetic force when being electrified so that the acting arm is separated from the braking part of the braking mechanism, and the two braking parts enable the braking surfaces of the two braking parts to be oppositely pressed on the motor shaft under the action of the elastic force of the first elastic piece so as to brake the rotation of the motor shaft; when the coil winding is in power-off state, the action part acts on the braking parts on the corresponding sides of the action part under the action of the elastic force of the second elastic piece, so that the two braking surfaces are separated from the motor shaft.

2. The motor shaft brake as recited in claim 1, wherein each of said braking portions has said friction member fixedly mounted to a side of said motor shaft, said friction member having said braking surface engaging said motor shaft on a side facing said motor shaft.

3. The motor shaft brake of claim 2, wherein said first diametrical direction and said second diametrical direction are perpendicular to each other and intersect at said motor shaft axis.

4. The motor shaft brake of claim 3, wherein the acting portion is a magnetic conductor formed with two acting arms, and the coil windings of the stator portion are energized to generate electromagnetic force to attract the magnetic conductor to move away from the motor shaft in a radial direction, so that the two acting arms on the magnetic conductor are separated from the braking portion of the braking mechanism.

5. The motor shaft brake as recited in claim 4, wherein said magnetic conductor has two protrusions symmetrical with respect to said motor shaft, each protrusion protruding toward each braking portion, and two protrusions forming said actuating arm.

6. The motor shaft brake of claim 5, wherein each of said braking portions has inclined surfaces symmetrical with respect to said motor shaft on both sides thereof, each inclined surface being disposed toward said actuating arm adjacent thereto, and when said brake stator is not energized, both of said actuating arms of each of said magnetizers press against respective inclined surfaces on the same side of both of said braking portions, so that said braking portions generate an urging force to move in a direction away from said motor shaft.

7. The motor shaft brake as recited in claim 6, wherein the first elastic member and the second elastic member are both springs.

8. The motor shaft brake as recited in claim 7, wherein the number of said first elastic members is N, the force applied by each said first elastic member to each said magnetizer is F when two acting arms of each said magnetizer not energized by said coil winding are in contact with said inclined surfaces of two said braking portions, respectively, and the attraction force F generated by each said stator portion is F₀Satisfies the following conditions: f₀≥1.5N*F。

9. The motor shaft brake of claim 8, wherein, when each coil winding is energized, each magnetizer and the braking portion move backward by a distance X, the friction body moves by a distance Y, and X and Y satisfy:

X>1.5Y*tanθ

where θ is 1/2 for the two ramp angles of each detent.

10. A servo motor comprising a motor shaft brake as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of motors, in particular to a motor shaft brake and a servo motor.

Background

With the continuous development and progress of society, the role of the servo motor in the industrial development is more and more obvious. The development of high-speed processing technology and other technologies based on high speed and high precision promotes the rapid development of servo motors, which are taken as important strategies for developing industrial technologies in all countries in the world. The servo motor is widely applied to automatic manufacturing, assembling and measuring equipment such as a numerical control machine tool, an industrial robot, a coordinate measuring machine and the like, and the servo motor is an important execution mechanism in an electric servo system. Under the current rapidly developing information society, the servo motor will be developed toward the digital and automatic path, so that it can satisfy the demand in industrial development more in multiple directions.

The brake is an indispensable component of the servo motor, is mainly used for zero locking of a mechanical system, avoids the system from mistakenly wandering and deflecting or from being locked due to faults in emergency, and prevents the abnormal operation of the system and the like.

The structure of a traditional brake is shown in fig. 1, wherein an armature 1 is installed on one side of a friction plate 4, the armature 1 brakes through a compression spring 2, the armature 1 is electrified and attracted through a stator part 32, so that the armature 1 and the friction plate 4 are kept separated, and when a motor runs, the armature 1 can only ensure the normal running of the motor by keeping the stator part 32 in an electrified state. There are several problems with such brakes: the installation process is complicated, the friction plate and the hub are high in matching precision and inconvenient to assemble, the brake is required to be electrified to manually adjust the matching relation of the friction plate and the hub in the assembling process, the labor cost is high, and the large-batch rapid automatic production is not facilitated. The stopper in the motor operation process coil need be circular telegram all the time and make the friction disc be in the separation state, only coil outage just realizes the braking, and there is the extravagant energy in this kind of structure, and the stopper lasts the circular telegram and can produce great heat, leads to the temperature rise too high can lead to the local temperature rise of encoder too high even, influences whole servo precision.

Disclosure of Invention

In view of the above, the invention discloses a motor shaft brake and a servo motor, which are used for solving the problem that the precision of a servo system is affected due to overhigh temperature of a motor encoder caused by the fact that the existing motor brake needs to be electrified all the time when being kept in a separated state, and energy is wasted.

In order to achieve the above object, the invention adopts the following technical scheme:

the invention discloses a motor shaft brake in a first aspect, which comprises: a housing; the braking mechanism is arranged in the shell and comprises two braking parts which are oppositely arranged in a first diameter direction of the motor shaft, one end of each of the two braking parts is elastically connected with the shell through a first elastic piece, and the other end of each of the two braking parts oppositely forms a braking surface for braking and controlling the motor shaft; the electromagnetic holding mechanism is arranged in the shell and comprises two electromagnetic holding parts which are oppositely arranged in the second diameter direction of the motor shaft, the electromagnetic holding parts comprise a stator part, a second elastic part and an action part, the stator part, the second elastic part and the action part are sequentially arranged along the second diameter direction from outside to inside, the second elastic part is connected between the stator part and the action part, a coil winding is wound on the stator part, two action arms are formed on the action part, and the two action arms correspond to the two braking parts one by one; the coil winding generates electromagnetic force when being electrified so that the acting arm is separated from the braking part of the braking mechanism, and the two braking parts enable the braking surfaces of the two braking parts to be oppositely pressed on the motor shaft under the action of the elastic force of the first elastic piece so as to brake the rotation of the motor shaft; when the coil winding is in power-off state, the action part acts on the braking parts on the corresponding sides of the action part under the action of the elastic force of the second elastic piece, so that the two braking surfaces are separated from the motor shaft.

Furthermore, each braking portion is fixedly provided with the friction body on one side of the motor shaft, and the side, facing the motor shaft, of the friction body is provided with the braking surface matched with the motor shaft.

Further, the first and second diametrical directions are perpendicular to each other and intersect on the motor shaft axis.

Furthermore, the action part is a magnetizer, the magnetizer is provided with two action arms, the coil winding of the stator part is electrified to generate electromagnetic force to attract the magnetizer to move away from the radial direction of the motor shaft, so that the two action arms on the magnetizer are separated from the braking part of the braking mechanism.

Furthermore, two protrusions which are symmetrical relative to the motor shaft are arranged on the magnetizer, the protruding direction of each protrusion is arranged towards each braking part, and the two protrusions form the acting arm.

Furthermore, inclined planes symmetrical to the motor shaft are arranged on two sides of each braking portion, each inclined plane is arranged towards the action arm close to the inclined plane, and when the stator of the brake is not electrified, the two action arms of each magnetizer press the inclined planes on the same side of the two braking portions, so that the braking portions generate acting force to move towards the direction far away from the motor shaft.

Further, the first elastic piece and the second elastic piece are both springs.

Further, the number of the first elastic members is N, when the coil winding is not energized and the two action arms of each magnetizer are respectively contacted with the inclined planes of the two braking portions, the acting force of each first elastic member on each magnetizer is F, and the suction force F generated by each stator portion is F₀Satisfies the following conditions: f₀≥1.5N*F。

Further, after each coil winding is electrified, the distance between each magnetizer and the braking part and the backward movement is X, the movement distance of the friction body is Y, and X and Y satisfy the following conditions:

X>1.5Y*tanθ

where θ is 1/2 for the two ramp angles of each detent.

The invention discloses a servo motor in a second aspect, which comprises the motor shaft brake in the first aspect.

Has the advantages that: the electromagnetic holding mechanism brakes the motor shaft only when being electrified, and when not being electrified, the braking mechanism and the motor shaft are in a separated state, so that the brake can not be electrified in the normal running process of the motor, the energy is saved, the heat generated by the motor is reduced, and the influence on the precision of a servo system caused by the overheating of a servo motor encoder is avoided.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely exemplary embodiments of the present disclosure, and other drawings may be derived by those skilled in the art without inventive effort.

FIG. 1 shows an isometric view of a prior art motor brake;

FIG. 2 shows a cross-sectional view of a prior art motor brake;

fig. 3 shows a schematic view of a motor brake in embodiment 1 of the invention;

fig. 4 shows a partial enlarged view of the contact of the magnetizer and the stopper.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

To further illustrate the technical solution of the present invention, the following specific examples are provided with reference to fig. 1 to 4.

Example 1

In the present embodiment, there is provided a motor shaft brake, as shown in fig. 3, including a housing 10, a brake mechanism 20, and an electromagnetic holding mechanism; the brake mechanism 20 is disposed in the housing 10, and includes two brake portions 21 disposed opposite to each other in a first radial direction of the motor shaft 40, one end of each of the two brake portions 21 is elastically connected to the housing 10 by a first elastic member 50, and the other end thereof is formed opposite to each other to form a brake surface for controlling braking of the motor shaft 40; the electromagnetic holding mechanism is arranged in the housing 10 and comprises two electromagnetic holding parts which are oppositely arranged in the second diameter direction of the motor shaft 40, the electromagnetic holding parts comprise a stator part 32, a second elastic part 60 and an action part 31 which are sequentially arranged from outside to inside along the second diameter direction, wherein the second elastic part 60 is connected between the stator part 32 and the action part 31, a coil winding is wound on the stator part 32, two action arms 311 are formed on the action part 31, and the two action arms 311 correspond to the two brake parts one by one; the coil windings generate electromagnetic force when being electrified to separate the acting arm 311 from the braking portion 21 of the braking mechanism 20, and the two braking portions 21 are pressed on the motor shaft 40 by the opposite braking surfaces under the action of the elastic force of the first elastic member 50 to brake the rotation of the motor shaft 40; when the coil windings are de-energized, the acting part 31 acts on the braking part 21 on the corresponding side of the acting part 31 under the elastic force of the second elastic member 60, so that the two braking surfaces are separated from the motor shaft 40 by the two acting arms 311 of the acting part 31.

Each braking portion 21 is fixedly provided with the friction body 22 on one side of the motor shaft 40, and the side of the friction body 22 facing the motor shaft 40 is provided with the braking surface matched with the motor shaft 40.

The braking surface on the friction body 22 is an arc surface attached to the outer circumferential surface of the motor shaft 40.

As a preferred embodiment of the present embodiment, as shown in fig. 4, the first diameter direction and the second diameter direction are perpendicular to each other and intersect on the axis of the motor shaft 40, i.e., each braking portion 21 and each electromagnetic holding portion are arranged at an interval of 90 ° in the circumferential direction of the motor shaft 40 in the housing 10 and are located on the same plane as the cross section of the motor shaft 40.

The action portion 31 is a magnetizer, the magnetizer may be an armature or other magnetic conductive material, the magnetizer is formed with two action arms 311, the coil winding of the stator portion 32 is electrified to generate electromagnetic force to attract the magnetizer to move away from the radial direction of the motor shaft 40, so that the two action arms 311 on the magnetizer are separated from the braking portion 21 of the braking mechanism 20, and two braking surfaces are attached to the motor shaft 40 to brake the motor shaft, and meanwhile, in order to ensure that the forces of the two action arms 311 of the magnetizer acting on the two braking portions 21 are equal, so that the two braking forces are uniform.

In this embodiment, the friction body 22 may be made of materials such as phenolic resin, metal fiber or glass fiber, and the contact surface between the friction body 22 and the motor shaft 40 is an arc surface, so as to be conveniently attached to the motor shaft 40 for braking.

Two protrusions which are symmetrical relative to the motor shaft 40 are arranged on the magnetizer, the protruding direction of each protrusion is arranged towards each braking part 21, and the two protrusions form the acting arm 311.

Further, inclined surfaces 211 symmetrical to the motor shaft 40 are arranged on two sides of each braking portion 21, each inclined surface 211 is arranged towards the acting arm 311 close to the inclined surface 211, and when the brake stator 32 is not electrified, the two acting arms 311 of each magnetizer press the inclined surfaces 211 on the same side of the two braking portions 21, so that the braking portions 21 generate acting force to move towards the direction far away from the motor shaft 40. Optionally, the surface of the protrusion contacting the inclined surface 211 may be an arc surface to realize smooth contact between the acting arm 311 and the inclined surface 211, and a roller may be mounted at an end of the protrusion to contact and cooperate with the inclined surface 211.

In this embodiment, the first elastic member 50 and the second elastic member 60 are both springs. The spring may be a compression spring.

Further, the number of the first elastic members 50 is N, N may be an integer greater than or equal to 1, when the two acting arms 311 of each magnetizer are not energized to the coil winding and are respectively in contact with the inclined planes 211 of the two braking portions 21, the acting force of each first elastic member 50 on each magnetizer is F, and the suction force F generated by each stator portion 32 is F₀Satisfies the following conditions: f₀≥1.5N*F。

The number of the first elastic members 50 is N, N may be an integer greater than or equal to 1, when the two acting arms 311 of each magnetizer are not electrified to contact the inclined surfaces 211 of the two braking portions 21, the acting force of each braking spring on each braking stator 32 is F, and the suction force F0 generated by each braking stator 32 satisfies: f0 is more than or equal to 1.5N F.

In order to ensure that the magnetizer can be separated from the braking portion 21 after the stator portion 32 is electrified, so as to realize reliable braking, after each coil winding is electrified, the moving distance of each magnetizer after being separated from the braking portion 21 is X, the moving distance of the friction body 22 is Y, and X and Y satisfy the following conditions:

X>1.5Y*tanθ

where θ is 1/2 for the two ramp angles of each detent.

When the number of the holding springs is n, the two acting arms 311 of each magnetizer are not electrified on the stator portion 32 and are respectively contacted with the inclined planes 211 of a pair of magnetizers, the elastic force of the holding springs is f, and the inclination angle of the inclined planes is theta, then when the two acting arms 311 of each magnetizer are not electrified on the stator portion 32 and are respectively contacted with the inclined planes 211 of a pair of magnetizers, the following conditions are satisfied: where N · F is the number of the brake springs and F is the force of each brake spring to each brake portion 21.

In this embodiment, it is preferable that the holding spring and the braking spring are both compression springs.

As shown in fig. 1 and 2, which are schematic diagrams of a motor brake in the prior art, an inner hole of a friction plate 4 is provided with a plurality of teeth to be matched with a hub 5, an armature 1 is installed on one side of the friction plate 4, the armature 1 is braked by a compression spring 2, the armature 1 is electrified and attracted by a stator 6, so that the armature 1 and the friction plate 4 are kept separated, in assembly production, the stator 6 needs to be fixed firstly, the hub 5 is installed on a motor shaft, the friction plate 4 is sleeved on the hub 5 and mutually engaged, the hub 5 and the friction plate 4 are interfered when the motor shaft is slightly inclined, the stator 6 needs to be electrified, the position relationship between the friction plate 4 and the hub 5 is manually adjusted, the assembly efficiency is low, and the motor brake is not suitable for mass production.

The motor shaft is braked by the pair of magnetizers and the pair of braking parts 21 and the electromagnetic force generated by the stator part 32, the magnetizers and the braking parts 21 do not need to be accurately matched, and the motor shaft is simple and reliable in production and assembly, high in assembly efficiency and convenient for mass production. When braking is needed, the stator part 32 is electrified to brake, so that energy is saved, and the influence of high heat productivity on the precision of a servo encoder on the servo motor is avoided.

The working principle is as follows:

when the motor needs braking, the coil windings on the two stator portions 32 are energized to generate electromagnetic force to attract the two magnetizers to move towards the radial direction far away from the motor shaft 40, so that the two magnetizers are separated from the braking portion 21, each braking portion 21 moves along the radial direction towards the motor shaft 40 under the action of the elastic force of the braking spring, the two friction bodies 22 are attached to the motor shaft 40, and the two friction bodies 22 generate friction with the motor shaft 40 under the action of the elastic force of the braking spring to brake the motor shaft 40. When the motor does not need to be braked and normally works, the coil windings on the two stator parts 32 are in a power-off state, under the action of the elastic force of the retaining spring, the two acting arms 311 on each magnetizer are pressed on the two inclined surfaces 211 of the braking part 21 to generate component forces along the first diameter direction and the second diameter direction, the two component forces along the second diameter direction are opposite and mutually offset on the same braking part 21, the two component forces along the first diameter direction are opposite, and the directions are the same and are mutually superposed to enable the braking part 21 to move away from the radial direction of the motor shaft 40.

Example 2

This embodiment provides a servo motor including a motor shaft brake as described in embodiment 1.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.