KR100869435B1 - Brake-attached motor and robot apparatus having the same - Google Patents

Abstract

Provided are a brake-mounted motor and a robot device using the brake plate, the brake plate of which does not come into contact with the lining when the brake is opened. The brake part 3 is provided in one end side of the rotating shaft 2, and the brake part 3 has the 1st lining 6, the braking part 5 provided in the fixed part, and the axial direction in the rotating shaft 2 The first lining 6 of the braking section 5 via the brake plate 7 on which the sliding is freely mounted, and the brake plate 7 via the armature 8 having the second lining 9. In a motor with a brake having a brake spring (10) pressed against the arm (8) and an electromagnetic device (11) for sucking the armature (8) and releasing braking of the brake part (3), the brake plate is provided at the end of the rotation shaft (2). A pair of spring bearings 12 and 13 are provided with (7) in between, and support springs 14 and 15 are disposed between the brake plate 7 and each of the spring bearings 12 and 13. .

Brake, Brake Plate, Lining, Robot, Spring Receptacle, Support Spring

Description

Brake motor and robot apparatus with same {BRAKE-ATTACHED MOTOR AND ROBOT APPARATUS HAVING THE SAME}

Fig. 1 is a side sectional view showing a main part of a motor with a brake in a first embodiment of the present invention.

Fig. 2 is a side sectional view showing a main part of a motor with a brake in the second embodiment of the present invention.

3 is a side view showing a robot apparatus used in the prior art and the present invention.

4 is a side sectional view showing a motor with a brake in the prior art.

Fig. 5 is a side sectional view showing a main part of a motor with a brake in the prior art.

<Description of the code>

A robot device

B Fixed base

C turning base

D Vertical arm

E Horizontal Arm

F wrist

1 motor with brake

2 rotating shaft

3 brakes

4-spline

5 braking part

6 First lining

7 brake plate

8 Amateur

9 'second lining

10 brake spring

11 electromagnetic device

12 Spring support (braking part)

13 spring support (electromagnetic device side)

14 support spring (braking part)

15 support spring (electromagnetic device side)

16 first permanent magnet

17 Second permanent magnet

18 Third Permanent Magnet

19 fourth permanent magnet

Patent Document 1: Japanese Patent Application Laid-Open No. 2004-223689

The present invention relates to a motor with a brake and a robot device having the same.

For example, an industrial robot includes a motor with a brake as a motor for driving a swing base to a fixed base, as a motor for an arm for a swing base, and as a motor for an actuating arm to a support arm. It is used (for example, refer patent document 1).

Fig. 3 shows a robot device A such as an industrial robot in the prior art (which is also used in the present invention), wherein the pivot base C is rotatably supported by the fixed base B. The vertical arm D is supported by the revolving base C so that rotation is possible. Moreover, the horizontal arm E is rotatably supported by the said vertical arm D, and the wrist part F is supported by the front-end | tip part of the said horizontal arm E so that rotation is possible. The motor with a brake is used for each rotating member as a drive motor.

As shown in FIG. 4, the brake-mounted motor is provided with a brake portion 3 on one end side of the rotating shaft 2 of the brake-mounted motor 1, for example, an anti-load side. A spline 4 is formed on the rotation shaft side, and a spline groove (not shown) is formed on the brake portion side. The brake part 3 includes a brake part 5 having a first lining 6, a brake plate 7 freely mounted on the rotary shaft 2 only in the axial direction; And a brake spring for pressing the brake plate 7 to the first lining 6 of the brake part 5 via an armature 8 having a second lining 9. (10) and an electromagnetic device (11) for magnetically attracting the amateur (8) to release the brake of the brake unit (3). The electromagnetic device 11 has a coil (not shown) inside and is fixed to the anti-load side bracket 12 of the motor. Moreover, the said braking part 5 is provided in the electromagnetic device 11 (or outer edge of a bracket etc.) as a fixed part.

In such a configuration, the robot device A drives the motor 1 with brake to move or move the turning base C, the vertical arm D, the horizontal arm E, the wrist part F, or the like. To stop.

For example, when using the motor with a brake 1 for driving the turning base C, the motor with a brake 1 is attached to the turning base C in a vertical position as shown in FIG. When driving the turning base C, power is supplied to the electromagnetic device 11 so that the armature 8 is magnetically attracted to the brake spring 10 to be magnetically attracted to the end face of the electromagnetic device 11. ). Thereby, the brake plate 7 is opened from the fitting of the 1st lining 6 and the 2nd lining 9, and the motor with a brake 1 starts a drive, and turns the turning base C. As shown in FIG.

When the turning of the turning base C is stopped, the power of the electromagnetic device 11 is turned off, and the armature 8 that has been magnetically attracted to the end face of the electromagnetic device 11 has been applied to the force of the brake spring 10. Is momentarily pushed toward the brake plate 7 side, and the second lining 9 is attached to the brake plate 7. Then, the brake plate 7 is moved in the axial direction by the force of the brake spring 10 as it is, and the brake plate 7 is pressed against the first lining 6 of the brake part 5. As a result, the brake plate 7 is strongly fitted to the first lining 6 and the second lining 9, and the motor 1 with brake stops driving and stops the turning of the turning base C.

The same applies to the case where the brake-mounted motor 1 is used for driving the vertical and horizontal arms D and E and the wrist portion F. FIG.

However, such a prior art had the following problem.

(1) When the motor with a brake is used in a vertical position on the swing base, the brake plate is supported by the frictional force between the spline and the spline groove, and may move downward by gravity. In this case, the brake plate contacts the second lining of the armature and the second lining is worn. Abnormal wear of the lining not only shortens the life of the lining, but also impairs braking, causing the robot to overrun, damaging the operator or surrounding structures, or damaging the robot itself.

(2) When the motor with brake is mounted on the arm and used for driving the arm, the brake plate may move in the axial direction at an acceleration due to rapid acceleration in the axial direction of the motor due to the rapid movement of the arm. have. Also in this case, the brake plate contacts the second lining of the amateur or the first lining of the braking part, and the first or second lining is worn, and the same problem as in (1) occurs.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a motor with a brake and a robot device having the same, in which the brake plate does not come into contact with the lining when the brake is opened.

MEANS TO SOLVE THE PROBLEM In order to solve the said subject, this invention is comprised as follows.

According to the invention of the motor with a brake according to claim 1, the brake unit is provided on one end side of the rotating shaft, the brake unit has a first lining, a brake unit provided in the fixed unit, and a brake in which the sliding shaft is freely mounted only in the axial direction. A brake is provided with a plate, a brake spring for pressing the brake plate on the first lining of the brake portion via an armature having a second lining, and an electromagnetic device for sucking the amateur to release braking of the brake portion. In the motor, a pair of spring bearings are provided at the end of the rotating shaft with the brake plate interposed therebetween, and the spring bearing on the braking portion side is disposed on the braking portion side rather than the surface of the first lining. The spring bearing on the electromagnetic device side is disposed on the electromagnetic device side rather than the surface of the second lining, To it characterized in that the supporting spring disposed between the plate and the rake each spring bearing.

The invention according to claim 2 is provided with a brake portion on one end side of the rotating shaft, the brake portion having a first lining and a brake portion provided on a fixed portion, a brake plate on which the sliding shaft is freely slidable only in the axial direction, and the In a motor with a brake provided with a brake spring for pressing the brake plate on the first lining of the braking portion via an amateur having a second lining, and an electromagnetic device for sucking the amateur to release braking of the brake portion. On each of the portions of the brake portion and the brake plate that face each other, the surfaces on which the surfaces face each other are equipped with first and second permanent magnets of different poles, and each portion of the brake plate and the amateur facing each other. On the opposite side, the third and fourth permanent magnets of the other pole are mounted, and the position in the radial direction of the first and second permanent magnets is And between the first lining and the rotating shaft, wherein the radial position of the third and fourth permanent magnets is between the second lining and the rotating shaft.

The invention of the robot apparatus according to claim 3 includes the motor with brake according to claim 1 or 2.

Invention of Claim 4 made the said motor with a brake the turning base drive motor of a robot apparatus. It is characterized by the above-mentioned.

EMBODIMENT OF THE INVENTION Hereinafter, the Example of this invention is described based on drawing.

Example  One

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side sectional view showing a main part of a motor with a brake in a first embodiment of the present invention.

According to the present invention, the brake plate 7 is positioned between the first lining 6 and the second lining 9 when the brake is opened, regardless of how the motor 1 with brake is used. ) And the 1st lining 6 and the 2nd lining 9 do not contact.

In the first embodiment, a configuration example using a support spring is shown.

As shown in FIG. 1, the brake part 3 of the motor with brake 1 is provided with the pair of spring support 12, 13 at the edge part of the rotating shaft 2 with the brake plate 7 interposed.

The spring support 12 on the braking portion 5 side is disposed on the braking portion 5 side rather than on the surface of the first lining 6 and on the electromagnetic device 11 (see FIG. 4 or FIG. 5) side. The spring bearing 13 is arranged on the electromagnetic device 11 side rather than the surface of the second lining 9. A pair of support springs 14 and 15 are disposed between the brake plate 7 and each of the spring bearings 12 and 13. The support springs 14, 15 hold the brake plates 7, respectively, whereby the brake plates 7 are located in the middle of the two spring bearings 12, 13.

Thereby, the brake plate 7 can always be located between the 1st lining 6 and the 2nd lining 9 by a pair of support springs 14 and 15 at the time of brake opening, There is no contact with the first lining 6 or the second lining 9. During braking, the support springs 14 and 15 are compressed so that they do not interfere with braking.

In this way, it is possible to provide a motor with a brake which has a long service life, low maintenance cost, and which can ensure braking.

In addition, by using the brake-mounted motor as a drive motor such as a turning base, a vertical arm, a horizontal arm, and a wrist of the robot device, the robot device can ensure braking, and it is safe and can lower the cost of maintenance. There is a number.

In addition, the two support springs 14 and 15 may be made to change spring pressure according to the attitude | position of the motor 1 with a brake.

For example, when the brake motor 1 is installed with the load side down as shown in Fig. 3, the spring of the support spring 15 on the load side, that is, on the electromagnetic device 11 (see Fig. 4 or Fig. 5) side. The pressure may be made stronger than the spring pressure of the support spring 14 on the braking portion 5 side to increase the bearing against gravity.

Example  2

In the second embodiment, a configuration example using a permanent magnet is shown.

As shown in FIG. 2, the brake portion 3 of the motor 1 with brake has a first surface of a different pole in which the surfaces of the brake portions 3 and the brake plates 7 oppose each other. The permanent magnets 16 and the second permanent magnets 17 of the brake plate 7 and the second permanent magnets 17 are mounted to the respective parts of the brake plate 7 and the amateur 8 that face each other. The third permanent magnet 18 and the fourth permanent magnet 19 are mounted.

The radial position of the first permanent magnet 16 and the second permanent magnet 17 is between the first lining 6 and the rotary shaft 2, and the third permanent magnet 18 and The radial position of the fourth permanent magnet 19 is between the second lining 9 and the rotary shaft 2.

Thereby, the brake plate 7 is attracted to the brake part side by the 1st permanent magnet 16 and the 2nd permanent magnet 17 which attract | pulling each other at the time of brake opening, and the 3rd attracting mutually The permanent magnet 18 and the fourth permanent magnet 19 are attracted to the electromagnetic device 11 side. For this reason, the brake plate 7 can always be located between the first lining 6 and the second lining 9, and is in contact with the first lining 6 and the second lining 9. There is no work.

In the case of this second embodiment, the pulling force of the first permanent magnet 16 and the second permanent magnet 17 when braking pushes the brake plate 7 to the first lining 6. The force that acts as a plus and that the third permanent magnet 18 and the fourth permanent magnet 19 attract each other pushes the second lining 9 to the brake plate 7. Since it acts positively on the force, the braking force becomes larger than in the case of the first embodiment.

By doing in this way, like the first embodiment, it is possible to provide a motor with a brake which has a long life, low maintenance cost, and which can ensure braking.

In addition, by using the brake-mounted motor as a driving motor for the turning base, the vertical arm, the horizontal arm, and the wrist of the robot apparatus, the robot apparatus can ensure the braking, is safe, and the maintenance cost is low. You can do it.

In addition, when the force of the brake spring 10 (refer FIG. 4 or FIG. 5) is large, the 1st permanent magnet 16 and the 2nd permanent magnet 17, and the 3rd permanent magnet 18 and the 1st The permanent magnet 19 of 4 has the opposite side with the same pole, so that the brake plate 7 is positioned between the first lining 6 and the second lining 9 by the repulsive force of the magnet when the brake is opened. You may do so.

The first and second embodiments also do not have a lining attached to the brake plate, but the lining may be attached to the brake plate.

According to the present invention, the brake plate can be held in the axial direction by a spring or a permanent magnet even when the brake plate is used in the axial direction with acceleration due to axial gravity or rapid acceleration in the axial direction of the motor. The brake plate does not come into contact with the lining at the time of opening, and it is safe and the life of the lining can be greatly extended. Therefore, it is possible to provide a robot device that is safe and low in maintenance cost.

Claims (6)

Install a brake on one end side of the rotating shaft, The brake unit includes a brake unit having a first lining and a brake unit installed on a fixed unit, a brake plate freely mounted on the rotation shaft in an axial direction, and an armature having the brake plate having a second lining. In the motor with a brake provided with the brake spring which presses on an eastern 1st lining, and the electromagnetic device which attracts the said amateur and releases braking of the said brake part, A pair of spring bearings are provided at the end of the rotating shaft with the brake plate interposed therebetween, and the spring bearing on the braking portion side is disposed on the braking portion side rather than the surface of the first lining, and on the electromagnetic device side. The spring bearing is disposed on the electromagnetic device side rather than the surface of the second lining, and a support spring is disposed between the brake plate and each spring bearing. Install a brake on one end side of the rotating shaft, The brake unit includes a brake unit having a first lining and a brake unit installed on a fixed unit, a brake plate freely mounted on the rotation shaft in an axial direction, and an armature having the brake plate having a second lining. In the motor with a brake provided with the brake spring which presses on an eastern 1st lining, and the electromagnetic device which attracts the said amateur and releases braking of the said brake part, On each of the portions of the brake portion and the brake plate that face each other, the surfaces on which the surfaces face each other are equipped with first and second permanent magnets of different poles, and each portion of the brake plate and the amateur facing each other. The opposing surface is equipped with third and fourth permanent magnets of different poles, and radial positions of the first and second permanent magnets are between the first lining and the rotating shaft, and the third And a radial position of the fourth permanent magnet is between the second lining and the rotating shaft. Install a brake on one end side of the rotating shaft, The brake unit includes a brake unit having a first lining and a brake unit installed on a fixed unit, a brake plate freely mounted on the rotation shaft in an axial direction, and an armature having the brake plate having a second lining. In the motor with a brake provided with the brake spring which presses on an eastern 1st lining, and the electromagnetic device which attracts the said amateur and releases braking of the said brake part, A pair of spring bearings are provided at the end of the rotating shaft with the brake plate interposed therebetween, and the spring bearing on the braking portion side is disposed on the braking portion side rather than the surface of the first lining, and on the electromagnetic device side. A spring device is disposed on the electromagnetic device side rather than the surface of the second lining and includes a motor with a brake in which a support spring is disposed between the brake plate and each spring support. The method of claim 3, A robot apparatus, wherein the motor with the brake is used as a driving motor for a turning base. Install a brake on one end side of the rotating shaft, The brake unit includes a brake unit having a first lining and a brake unit installed on a fixed unit, a brake plate freely mounted on the rotation shaft in an axial direction, and an armature having the brake plate having a second lining. In the motor with a brake provided with the brake spring which presses on an eastern 1st lining, and the electromagnetic device which attracts the said amateur and releases braking of the said brake part, On each of the portions of the brake portion and the brake plate that face each other, the surfaces on which the surfaces face each other are equipped with first and second permanent magnets of different poles, and each portion of the brake plate and the amateur facing each other. The opposing surface is equipped with third and fourth permanent magnets of different poles, and radial positions of the first and second permanent magnets are between the first lining and the rotating shaft, and the third And a brake-mounted motor whose radial position of the fourth permanent magnet is between the second lining and the rotating shaft. The method of claim 5, A robot apparatus, wherein the motor with the brake is used as a driving motor for a turning base.

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