A servo motor with deceleration and braking functions

Abstract

The present disclosure provides a servo motor with deceleration and braking functions, including: a motor housing; and a stator assembly, a rotor assembly and an input shaft installed in the motor housing; and also including: a hollow shaft, a reducer and a brake, wherein the hollow shaft is located in the motor housing and is fixedly connected to the motor housing; the reducer and the brake are both installed in the hollow shaft; the stator assembly is sleeved on the outside of the hollow shaft; the input shaft is connected to the brake; the first end of the input shaft is transmission-connected to the reducer, and the second end of the input shaft is connected to the rotor assembly. The present disclosure integrates the reducer and the brake inside the motor housing of the servo motor, making full use of the space inside the servo motor, realizing the integration of the reducer, the brake and the servo motor, and has the advantages of small size, light weight, compact structure, etc.

Description

Technical Field

[0001] The present disclosure relates to the field of servo motors, and in particular to a servo motor with deceleration and braking functions. Background Art

[0002] Servo motors have been widely used in industries with high requirements for work reliability and running stability, such as machine tools, printing equipment, robots, automated production lines, AGVs, electric forklifts, etc., due to their high positioning accuracy, stable running speed, and strong overload capacity.

[0003] In order to meet the functional and performance requirements of actual working conditions, existing servo motors need to be decelerated and braked when working. The current common solution is to simply assemble the servo motor, reducer, and brake as independent individuals to form an actuator. The disadvantage of this solution is that it is bulky and heavy, which is not conducive to application in certain mobile occasions such as mobile robots, AGVs, electric forklifts and other fields. Summary of the invention

[0004] In order to solve at least one of the above technical problems, the present disclosure provides a servo motor with deceleration and braking functions, and the specific implementation method is:

[0005] A servo motor with deceleration and braking functions, comprising: a motor housing; and a stator assembly, a rotor assembly and an input shaft installed in the motor housing;

[0006] It also includes: a hollow shaft, a reducer and a brake, wherein the hollow shaft is located in the motor housing and is fixedly connected to the motor housing; the reducer and the brake are both installed in the hollow shaft; and the stator assembly is sleeved on the outside of the hollow shaft;

[0007] The input shaft is connected to the brake; the first end of the input shaft is drivingly connected to the reducer, and the second end of the input shaft is connected to the rotor assembly.

[0008] Furthermore, the input shaft is connected to the spline of the brake via a first key.

[0009] Furthermore, an end surface of the first key away from the brake is connected with a shaft stopper.

[0010] Furthermore, the stator assembly and the hollow shaft are interference fit.

[0011] Furthermore, the reducer is provided with high-speed teeth, and the first end of the input shaft is connected to the high-speed teeth.

[0012] Furthermore, the second end of the input shaft is fixedly connected to the rotor via a second key.

[0013] Furthermore, the rotor assembly includes a rotor and a permanent magnet disposed inside the rotor, and the second key is disposed at the axial center of the rotor.

[0014] Furthermore, the rotor is fastened to the second end of the input shaft by means of screws.

[0015] Furthermore, the motor housing includes a casing, a front end cover disposed at the front end of the casing, and a rear cover disposed at the rear end of the casing; the hollow shaft and the front end cover are integrally formed.

[0016] Furthermore, it also includes an encoder, which includes a signal excitation module and a signal processing module, and the signal excitation module is installed at the second end of the input shaft; the signal processing module is fixed to the middle part of the rear end of the motor housing, and the signal excitation module and the signal processing module are located on the same axis.

[0017] Furthermore, the signal excitation module and the signal processing module are spaced apart by a distance L, where L≤1 mm.

[0018] Furthermore, a wire outlet groove is provided on the inner wall of the motor housing, and a wire outlet port is opened at the rear end of the motor housing. The lead wires of the stator assembly and the lead wires of the brake both pass through the wire outlet groove and extend from the wire outlet port.

[0019] Furthermore, the lead wire of the encoder extends out from the wire outlet.

[0020] Furthermore, the wire outlet sleeve is provided with a wire protection rubber ring.

[0021] Furthermore, the stator assembly includes a stator core and a motor winding wound in slots of the stator core. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0023] Figure 1 It is a schematic diagram of the structure of the present disclosure;

[0024] Figure 2 It is a schematic diagram of the structure of the stator assembly disclosed in the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the rotor assembly disclosed in the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the encoder disclosed in the present invention;

[0027] Reducer 1, front end cover 2, hollow shaft 3, stator assembly 4, rotor assembly 5, rear cover 6, housing 7, first key 8, second key 9, encoder 10, input shaft 11, wire protection rubber ring 12, -brake 13, shaft stop 14, stator core 15, motor winding 16, permanent magnet 17, rotor 18, signal excitation module 19, signal processing module 20. DETAILED DESCRIPTION

[0028] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Reference Figure 1 A servo motor with deceleration and braking functions comprises: a motor housing; and a stator assembly 4, a rotor assembly 5 and an input shaft 11 installed in the motor housing; the input shaft is a high-speed input shaft. It also comprises: a hollow shaft 3, a reducer 1 and a brake 13, the hollow shaft 3 is located in the motor housing and is fixedly connected to the motor housing; the reducer 1 and the brake 13 are both installed in the hollow shaft 3; the reducer 1 and the brake 13 can be fixed inside the hollow shaft 3 by screws.

[0031] Reference Figure 1 In this embodiment, the reducer 1 and the brake 13 are installed in the hollow shaft 3, so that the reducer 1 and the brake 13 are integrated into the motor housing of the servo motor, making full use of the space inside the servo motor, greatly shortening the length of the servo mechanism, and saving the redundant parts of the traditional servo mechanism caused by the external connection between the servo motor and the reducer 1 and the brake 13, thereby further reducing the weight of the servo mechanism and reducing the cost, and the structure is more compact.

[0032] Reference Figure 1 In this embodiment, the stator assembly 4 is sleeved on the outside of the hollow shaft 3; the stator assembly 4 is pressed onto the outside of the hollow shaft 3 by interference fit, so that the stator assembly 4 is clamped on the hollow shaft 3 to achieve relative fixation.

[0033] Reference Figure 1 and Figure 2The stator assembly 4 includes a stator core 15 and a motor winding 16 wound in the slots of the stator core 15. According to the actual application scenario, an AC point with a set frequency is selected to pass through the motor winding 16 to generate a rotating magnetic field with a corresponding frequency.

[0034] Reference Figure 1 and Figure 3 The rotor assembly 5 includes a rotor 18 and a permanent magnet 17 disposed inside the rotor 18. The permanent magnet 17 can be fixed inside the rotor 18 by gluing or other methods. The second key 9 is disposed at the axial center of the rotor 18. In this embodiment, the permanent magnet 17 can be made of a material such as a permanent magnet alloy.

[0035] Reference Figure 1 , the input shaft 11 is connected to the brake 13 ; the first end of the input shaft 11 is drivingly connected to the reducer 1 , and the second end of the input shaft 11 is connected to the rotor assembly 5 .

[0036] Reference Figure 1 The input shaft 11 is connected with the spline of the brake 13 through the first key 8, and the first key 8 is meshed with the spline to realize the transmission connection between the brake 13 and the input shaft 11, thereby realizing the braking function. In this embodiment, a shaft stopper 14 is connected to the end face of the first key 8 away from the brake 13 to prevent the first key 8 from sliding axially.

[0037] Reference Figure 1 The reducer 1 is provided with a high-speed tooth, and the first end of the input shaft 11 is connected to the high-speed tooth. The high-speed tooth is a gear with a relatively high speed in the reducer 1. The input shaft 11 is connected to the high-speed tooth to achieve the function of increasing the torque of the reducer 1.

[0038] Reference Figure 1 and Figure 3 In this embodiment, the second end of the input shaft 11 is fixedly connected to the rotor 18 via a second key 9. The rotor 18 can be fastened to the second end of the input shaft 11 via screws to achieve a fixed connection effect, thereby preventing the rotor 18 and the input shaft 11 from generating relative axial displacement when rotating.

[0039] Reference Figure 1 In this embodiment, the motor housing includes a casing 7, a front end cover 2 provided at the front end of the casing 7, and a rear cover 6 provided at the rear end of the casing 7; the hollow shaft 3 and the front end cover 2 are integrally formed, which can prevent the hollow shaft 3 from shaking when the brake 13 and the reducer 1 are in operation, thereby making the hollow shaft 3 more stable.

[0040] Reference Figure 1 and Figure 4 The servo motor of this embodiment further includes an encoder 10, which is located inside the rear cover 6. The encoder 10 includes a signal excitation module 19 and a signal processing module 20. The signal excitation module 19 is installed at the second end of the input shaft 11; the signal processing module 20 is fixed to the middle part of the rear end of the motor housing, and the signal excitation module 19 and the signal processing module 20 are located on the same axis. The signal excitation module 19 and the signal processing module 20 are spaced apart by a distance L, L≤1mm, so that the rotation information of the input shaft 11 received by the signal excitation module 19 can be transmitted to the signal processing module 20 in a timely manner, and the interference and delay of the transmission are reduced.

[0041] Reference Figure 1 , the servo motor disclosed in the present invention, wherein the inner wall of the motor housing is provided with a wire outlet groove, and the rear end of the motor housing is provided with a wire outlet, referring to Figure 1 In this embodiment, the appearance groove is provided on the inner wall of the housing 7, the rear end of the click housing is the rear cover 6, the wire outlet is provided on the rear cover 6, the lead wires of the stator assembly 4 and the lead wires of the brake 13 pass through the wire outlet groove and extend from the wire outlet to the outside of the motor housing, and the lead wires of the encoder 10 extend from the wire outlet to the outside of the motor housing. In order to protect the lead wires, the wire outlet is provided with a wire protection rubber ring 12.

[0042] Reference Figure 1-Figure 4 , the working process of the servo motor described in the present disclosure is as follows:

[0043] When the servo motor needs a braking function, a 24V DC power is supplied to the brake 13, and the brake 13 is opened. At this time, the high-speed shaft of the reducer 1 can rotate freely.

[0044] When the motor driver of the servo motor drives the servo motor of the present invention to rotate at a specified speed, the rotor assembly 5 drives the input shaft 11 to rotate. The input shaft 11 is connected to the high-speed teeth of the reducer 1. After the deceleration effect of the reducer 1, the required speed and torque are output.

[0045] The signal excitation module 19 fixed to the end of the input shaft 11 and the signal processing module 20 fixed to the rear cover 6 monitor the rotation speed of the servo motor and the position of the rotor 18 in real time and feed back to the motor driver, thereby realizing accurate control of the rotation speed of the servo motor.

[0046] When the servo motor needs to stop rotating and maintain braking, the motor driver drives the servo motor to reduce its rotation speed to zero, and then disconnects the direct current of the brake 13 to maintain braking.

[0047] The present disclosure realizes the integration of the reducer 1, the brake 13 and the servo motor through the above means, and has the advantages of small size, light weight, compact structure and the like.

[0048] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0049] Those skilled in the art will appreciate that the above embodiments are only intended to clearly illustrate the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A servo motor with deceleration and braking functions, comprising: Motor housing; And a stator assembly, a rotor assembly and an input shaft installed in the motor housing; characterized in that, It also includes: a hollow shaft, a reducer, a brake and an encoder, wherein the hollow shaft is located in the motor housing and is fixedly connected to the motor housing; the reducer and the brake are both installed in the hollow shaft; and the stator assembly is sleeved on the outside of the hollow shaft; The input shaft is connected to the brake; the first end of the input shaft is drivingly connected to the reducer, and the second end of the input shaft is connected to the rotor assembly; The input shaft is connected to the spline of the brake through a first key; an end surface of the first key away from the brake is connected to a shaft stopper to prevent the first key from sliding axially; The reducer is provided with a high-speed tooth, and the first end of the input shaft is connected to the high-speed tooth; The second end of the input shaft is fixedly connected to the rotor via a second key; The rotor assembly includes a rotor and a permanent magnet disposed inside the rotor, and the second key is disposed at the axial center of the rotor; The motor housing comprises a casing, a front end cover disposed at the front end of the casing, and a rear cover disposed at the rear end of the casing; the hollow shaft and the front end cover are integrally formed; The encoder includes a signal excitation module and a signal processing module. The signal excitation module is installed at the second end of the input shaft; the signal processing module is fixed to the middle part of the rear end of the motor housing, and the signal excitation module and the signal processing module are located on the same axis.

2. A servo motor with deceleration and braking functions as claimed in claim 1, characterized in that: The stator assembly is interference fit with the hollow shaft.

3. A servo motor with deceleration and braking functions as claimed in claim 1 or 2, characterized in that: The inner wall of the motor housing is provided with a wire outlet groove, and the rear end of the motor housing is provided with a wire outlet port. The lead wires of the stator assembly and the lead wires of the brake both pass through the wire outlet groove and extend out from the wire outlet port.

4. A servo motor with deceleration and braking functions as claimed in claim 1 or 2, characterized in that: The stator assembly comprises a stator core and a motor winding wound in slots of the stator core.

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