Dual-DOF Linear Module Actuator with Brake

Abstract

This invention relates to the field of mechanical transmission equipment technology, specifically to a dual-degree-of-freedom linear module actuator with brake. It includes a ball spline with a first motor mounted on it. The rotor of the first motor, connected to the ball spline, drives the ball spline to perform linear reciprocating motion. A braking assembly is mounted on the ball spline and connected to the first motor. The braking assembly includes a friction unit, which, when de-energized, is in contact with one side surface of the rotor of the first motor. By employing the above technical solution, this invention achieves a braking effect on the actuator when power is off, ensuring safety when the actuator is under load.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission equipment, and in particular to a double-freedom linear module actuator with a brake. Background Art

[0002] The actuator in the linear drive structure usually uses a linear guide or a ball screw to achieve linear reciprocating motion along the axial direction. Since the main application of the actuator is the movement along the length direction (Z axis) of the linear guide or ball screw, when the product encounters a power outage, if there is a load hanging on one end of the linear guide or the end of the ball screw, such as a workpiece of a certain weight, then at this time, the brake effect is lost after the power is lost, and the weight of the workpiece will become the non-electric driving force of the actuator, driving the actuator to move. At this time, if the Z-axis direction is vertical or non-horizontal with a certain angle of inclination, the workpiece may gradually accelerate down and fall along the length direction of the actuator. During the sliding process, it is very easy to hit other workpieces to cause damage to the workpiece, and the actuator device body will also be damaged due to the gradual increase in speed.

[0003] Based on the above reasons, it is necessary to develop an actuator that can prevent loads from sliding after power failure to meet market needs. Summary of the invention

[0004] The purpose of the present invention is to provide a dual-degree-of-freedom linear module actuator with brakes to solve the above technical problems.

[0005] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:

[0006] A double-degree-of-freedom linear module actuator with brakes includes a ball spline, wherein a first motor is provided on the ball spline, and a rotor of the first motor is connected to the ball spline and drives the ball spline to perform linear reciprocating motion;

[0007] The ball spline is provided with a brake assembly, and after the brake assembly is connected to the first motor, the rotor of the first motor is braked or released;

[0008] The brake assembly includes a friction unit, which is positioned to fit with a side surface of the rotor of the first motor when power is off, so that after the actuator is powered off, the friction force between the friction unit and the rotor of the first motor can achieve a braking effect on the first motor.

[0009] The brake assembly includes a brake housing, a pneumatic piston, and a return spring, the friction unit includes an active friction unit, the brake housing is arranged outside the ball spline, the pneumatic piston divides the brake inner cavity in the brake housing into a first chamber and a second chamber, the first chamber is connected to the housing inner cavity of the first motor, the rotor of the first motor is arranged in the housing inner cavity of the first motor, the active friction unit is arranged in the first chamber, and the active friction unit is connected to the pneumatic piston through a connecting rod;

[0010] The return spring is disposed in the second chamber.

[0011] Preferably, after one end of the brake cover is connected to the outer shell of the first motor and the other end is connected to the front end cover, the space between the first motor and the front end cover is closed, thereby enclosing the active friction unit, the return spring and the pneumatic piston, preventing dust and the like from falling into them and affecting the operation of the spring or the piston.

[0012] The brake housing is provided with a compressed air inlet and outlet, and the compressed air inlet and outlet are connected to the first chamber of the brake inner cavity.

[0013] When the present invention is working, compressed air is introduced into the first chamber to push the pneumatic piston to move toward the side of the return spring, thereby gradually increasing the distance between the active friction unit and the side surface of the rotor of the first motor. After the compressed air is gradually extracted, the pneumatic piston moves toward the direction of the first motor under the action of the restoring force of the return spring, thereby pushing the active friction unit toward the side surface of the rotor of the first motor, until the active friction unit contacts the side surface of the rotor of the first motor, and the motor rotor is gradually braked to a stop under the action of friction.

[0014] The active friction unit adopts a friction plate with a plate structure or a friction block with a block structure.

[0015] In the present invention, when compressed air is not introduced into the first chamber of the brake cavity, the default initial position of the active friction unit should be set to contact with the side surface of the rotor of the first motor and tightly fit against the side surface of the rotor of the first motor under the action of the return spring. Only when compressed air is introduced into the first chamber to push the pneumatic piston to move in the direction of the return spring, the active friction unit will leave the rotor of the first motor, which is equivalent to releasing the brake.

[0016] The friction unit includes a passive friction unit, and the passive friction unit is arranged on a side surface of the rotor of the first motor.

[0017] Preferably, the passive friction unit is a passive friction unit with a sheet-like structure, and the passive friction unit covers a side surface of the rotor of the first motor.

[0018] The brake assembly is arranged on one side of the first motor, and a second motor is arranged on the other side. The second motor is used for driving the ball spline to rotate.

[0019] The rotor of the second motor is connected to the ball spline via a second connector.

[0020] Beneficial effect: Due to the adoption of the above technical solution, the present invention achieves the braking effect of the actuator when the power is off, ensuring the safety when there is a load on the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, purpose and efficacy of the present invention easy to understand, the present invention is further explained in conjunction with specific diagrams below. It should be noted that the terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a product or device containing a series of components or units is not necessarily limited to those components or units clearly listed, but may include other components or components that are not clearly listed or inherent to these products or devices.

[0023] Reference Figure 1 A double-degree-of-freedom linear module actuator with brakes includes a ball spline 12, wherein a first motor 3 is provided on the ball spline 12, and a rotor 2 of the first motor 3 is connected to the ball spline 12 to drive the ball spline 12 to perform linear reciprocating motion.

[0024] The ball spline 12 is provided with a brake assembly, and after the brake assembly is connected to the first motor 3 , the rotor 2 of the first motor 3 is braked or released.

[0025] The braking assembly includes a friction unit, which is positioned in a position when power is off to fit with a surface of one side of the rotor 2 of the first motor 3, so that after the actuator is powered off, the friction force between the friction unit and the rotor 2 of the first motor 3 can achieve a braking effect on the first motor 3.

[0026] In some embodiments, the brake assembly includes a brake cover, a pneumatic piston 11, and a return spring 13. The friction unit includes an active friction unit 10. The brake cover is covered outside the ball spline 12. The pneumatic piston 11 divides the brake cavity in the brake cover into a first chamber and a second chamber. The first chamber is connected to the outer shell cavity of the first motor 3. The rotor of the first motor 3 is arranged in the outer shell cavity of the first motor 3. The active friction unit 10 is arranged in the first chamber, and the active friction unit 10 is connected to the pneumatic piston 11 through a connecting rod; the return spring 13 is arranged in the second chamber.

[0027] In some preferred embodiments, after one end of the brake cover is connected to the outer casing of the first motor 3 and the other end is connected to the front cover, the space between the first motor 3 and the front cover is closed, thereby enclosing the active friction unit 10, the return spring 13 and the pneumatic piston 11, preventing dust and the like from falling into them and affecting the operation of the spring or the piston.

[0028] In other preferred embodiments, a rear end cover is provided between the first chamber and the chamber of the first motor, and the rear end cover and the front end cover seal the front and rear ends of the brake inner chamber surrounded by the brake housing, and the rear end cover is provided with a through hole for the connecting rod to pass through, and a sealing structure is provided at the through hole position after the connecting rod passes through the through hole, such as a sealing gasket made of rubber, etc., which is padded at the connecting rod and the through hole. An active friction unit 10 is provided at one end of the connecting rod passing through the first chamber.

[0029] In some embodiments, a compressed air inlet and outlet 14 is provided on the brake housing, and the compressed air inlet and outlet 14 is connected to the first chamber of the brake inner cavity.

[0030] The active friction unit 10 adopts a friction plate with a plate structure or a friction block with a block structure.

[0031] It should be noted that in the present invention, when compressed air is not introduced into the first chamber of the brake cavity, the default initial position of the active friction unit 10 should be set to contact with one side surface of the rotor of the first motor 3 and tightly fit against one side surface of the rotor of the first motor 3 under the action of the return spring 13. Only when compressed air is introduced into the first chamber to push the pneumatic piston 11 to move in the direction of the return spring 13, the active friction unit 10 is separated from the rotor 2 of the first motor 3, which is equivalent to releasing the brake. The elastic force of the return spring can be adjusted to achieve that the active friction unit is only pressed against one side surface of the rotor 2 of the first motor 3 in the power-off state.

[0032] In some embodiments, the friction unit includes a passive friction unit 9 , which is disposed on a side surface of the rotor 2 of the first motor 3 .

[0033] In some preferred embodiments, the passive friction unit 9 has a sheet structure, and the passive friction unit 9 covers a side surface of the rotor 2 of the first motor 3 .

[0034] In some embodiments, a brake assembly is provided on one side of the first motor 3 and a second motor 4 is provided on the other side, and the second motor 4 is used to drive the ball spline 12 to rotate. The rotor 6 of the second motor 4 is connected to the ball spline 12 through a second connector 5. In some preferred embodiments, the second connector 5 adopts a nut structure.

[0035] In some embodiments, the rotor 2 of the first motor 3 is connected to the ball spline 12 via the first connector 1. In some preferred embodiments, the first connector 1 is a connector with a nut structure. In particular, the first connector 1 is a hexagonal nut.

[0036] In some embodiments, in order to obtain the movement of the first motor and the second motor to calculate the operating position of the ball spline, the rotor 2 of the first motor can be connected to the first encoder 8, and the rotor 6 of the second motor can be connected to the second encoder 7.

[0037] When the present invention is working, compressed air is introduced into the first chamber to push the pneumatic piston 11 to move toward the side of the return spring 13, so that the distance between the active friction unit 10 and the side surface of the rotor 2 of the first motor 3 is gradually increased. After the compressed air is gradually extracted, under the action of the restoring force of the return spring 13, the pneumatic piston 11 moves in the direction of the first motor 3, thereby pushing the active friction unit 10 toward the side surface of the rotor 2 of the first motor 3, until the active friction unit 10 contacts the side surface of the rotor 2 of the first motor 3, and the motor rotor is gradually braked to a stop under the action of the friction force.

[0038] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A two-degree-of-freedom linear module actuator with brake, including a ball spline, characterized in that: A first motor is provided on the ball spline, and a rotor of the first motor is connected to the ball spline and drives the ball spline to perform linear reciprocating motion; The ball spline is provided with a brake assembly, and the brake assembly is connected to the first motor; The brake assembly includes a friction unit, and the position of the friction unit when power is off is in contact with a side surface of the rotor of the first motor; The brake assembly includes a brake housing, a pneumatic piston, and a return spring, the friction unit includes an active friction unit, the brake housing is arranged outside the ball spline, the pneumatic piston divides the brake inner cavity in the brake housing into a first chamber and a second chamber, the first chamber is connected to the inner cavity of the shell of the first motor, the rotor of the first motor is arranged in the inner cavity of the shell of the first motor, the active friction unit is arranged in the first chamber, and the active friction unit is connected to the pneumatic piston through a connecting rod; The return spring is disposed in the second chamber.

2. The dual-degree-of-freedom linear module actuator with brake according to claim 1, characterized in that: After one end of the brake cover is connected to the housing of the first motor and the other end is connected to the front end cover, the space between the first motor and the front end cover is closed.

3. The dual-freedom linear module actuator with brake according to claim 1, characterized in that: The brake housing is provided with a compressed air inlet and outlet, and the compressed air inlet and outlet are connected to the first chamber of the brake inner cavity.

4. The dual-degree-of-freedom linear module actuator with brake according to claim 1, characterized in that: The active friction unit adopts a friction plate with a plate structure or a friction block with a block structure.

5. The dual-freedom linear module actuator with brake according to claim 3, characterized in that: When compressed air is not introduced into the first chamber of the brake cavity, the default initial position of the active friction unit is set to contact with one side surface of the rotor of the first motor and tightly fit against one side surface of the rotor of the first motor under the action of the return spring.

6. The dual-freedom linear module actuator with brake according to any one of claims 1 to 5, characterized in that: The friction unit includes a passive friction unit, and the passive friction unit is arranged on a side surface of the rotor of the first motor.

7. The dual-freedom linear module actuator with brake according to claim 6, characterized in that: The passive friction unit is a sheet-shaped passive friction unit, and the passive friction unit covers a surface of one side of the rotor of the first motor.

8. The dual-freedom linear module actuator with brake according to any one of claims 1 to 5, characterized in that: The brake assembly is arranged on one side of the first motor, and a second motor is arranged on the other side. The second motor is used for driving the ball spline to rotate.

9. The dual-freedom linear module actuator with brake according to claim 8, characterized in that: The rotor of the second motor is connected to the ball spline via a second connector.

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