A servo motor with braking function

Abstract

The present invention relates to the technical field of motors with friction brakes, and discloses a servo motor with a braking function, comprising a motor box and a rotating shaft, and also comprising a brake, wherein the brake comprises a first brake assembly and a second brake assembly, wherein the first brake assembly is sleeved on the circumference of the rotating shaft, the first brake assembly comprises a first drive plate, and the second brake assembly comprises a second drive plate, the first drive plate and the second drive plate are connected based on a gear set transmission, and the rotational angular velocity of the first drive plate is different from the rotational angular velocity of the second drive plate. The present invention sets a first brake assembly and a second brake assembly that are associated and act in sequence to achieve superimposed braking of different speeds, and the second brake assembly will brake the rotating shaft only when the first brake assembly cannot quickly reduce the rotating shaft speed to zero, thereby achieving the purpose of superimposed braking. Furthermore, the present invention can utilize the inertia of the rotating shaft when the servo motor is powered off to brake the rotating shaft, recover energy for utilization, and increase energy utilization.

Description

Technical Field

[0001] The invention relates to the technical field of motors with friction brakes, and in particular to a servo motor with a braking function. Background Art

[0002] The servo motor, also known as the actuator motor, acts as an actuator in the servo system, converting the received electrical signal into angular displacement or angular velocity output on the motor shaft. In some servo motors that operate in position mode, a brake is often installed inside the servo motor. When the equipment is shut down, the brake is used to hold the motor shaft in place to prevent the load from moving. It can also be used as an emergency brake.

[0003] CN113685459A discloses a motor shaft brake and a servo motor to solve the problem that the existing motor brake needs to be powered on to maintain the separation state, which wastes energy and causes the motor encoder temperature to be too high, affecting the accuracy of the servo system. The invention discloses a motor shaft brake, comprising: a housing; a braking mechanism, which is arranged in the housing, and includes two braking parts arranged oppositely in the first direction of the housing, one end of each of the two braking parts is elastically connected to the housing, and the other end of each of the two braking parts is relatively formed to form a braking surface for braking control of the motor shaft; an electromagnetic holding mechanism, which is arranged in the housing, and includes two electromagnetic holding parts arranged oppositely in the second direction of the housing, and each of the electromagnetic holding parts is formed with two action arms. The invention is arranged to brake the servo motor only in the charging state, and when in use, additional electricity is required to be used for braking the servo motor, which in a sense increases the energy loss of the servo motor.

[0004] CN102704157A relates to an oil-cooled servo motor with a brake for a rapier loom, including an oil-cooled servo motor, a brake, and a brake arranged inside the oil-cooled servo motor. The invention adopts an oil-cooled servo motor with a brake to directly drive the loom, and adopts an oil-cooled servo motor with a brake to directly drive the loom. When the loom stops, the main motor stops at the same time, reducing energy consumption; eliminating the clutch and slow transmission part makes the structure simple, the transmission chain is reduced, and maintenance and adjustment are convenient, the efficiency is high, and the speed change is convenient and fast. At the same time, the main machine speed can be adjusted by panel input, and the human-machine dialogue function is strengthened. The above invention only adopts a set of braking devices to brake the servo motor, and does not take into account the problem of brake failure caused by the braking device not being able to quickly reduce the speed of the rotating shaft when the rotating shaft speed is high. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a servo motor with a braking function, so as to solve the problem that the braking device of the existing servo motor has high energy consumption and the braking failure occurs when the shaft speed is high.

[0006] The present invention solves the above technical problems by the following technical means:

[0007] A servo motor with a braking function comprises a motor box and a rotating shaft, and also comprises a brake, wherein the brake comprises a first brake assembly and a second brake assembly, wherein the first brake assembly is sleeved on the circumference of the rotating shaft, the first brake assembly comprises a first drive plate, and the second brake assembly comprises a second drive plate, wherein the first drive plate and the second drive plate are connected by a gear train, and the rotational angular velocity of the first drive plate is different from the rotational angular velocity of the second drive plate. The invention sets a first brake assembly and a second brake assembly that are associated and act in sequence to achieve superimposed braking of different speeds, and the second brake assembly will brake the rotating shaft only when the first brake assembly cannot quickly reduce the rotating shaft speed to zero, thereby achieving the purpose of superimposed braking.

[0008] Furthermore, a driving gear is coaxially arranged on the circumference of the rotating shaft, and the brake further comprises a first connecting assembly, the first connecting assembly comprises a differential and a connecting rod, the differential comprises a first gear and a second gear, the first gear is meshed with the driving gear, and the second gear is coaxially connected with the connecting rod. The present application sets a differential to controllably transmit the energy of the rotating shaft to the brake, when braking is not required, the energy transmitted from the rotating shaft to the brake is internally absorbed by the differential; when braking is required, the energy transmitted from the rotating shaft is transmitted to the connecting rod via the differential to drive the brake assembly for braking, and the control method is simple and effective.

[0009] Furthermore, the first connecting assembly also includes a lock, and the lock includes an electromagnet arranged in the connecting rod and a friction brake assembly arranged on the peripheral side of the connecting rod, and the friction brake assembly includes a limit plate, a first spring and a connecting piece connected in sequence, and the limit plate is frictionally connected to the connecting rod under the action of the electromagnet. When the present invention performs braking, the power supply of the lock can use the same power supply as the motor box, so that the lock is unlocked when the motor box is powered off, thereby utilizing the inertia of the rotating shaft to drive the brake assembly for braking, so as to achieve energy recovery. The lock can also be controlled using a separate power supply, so that the lock can be unlocked when the motor box is powered on, and a portion of the kinetic energy of the rotating shaft is used for braking. This scenario is generally used for emergency braking when the power supply of the motor box cannot be turned off immediately.

[0010] Furthermore, a third gear is coaxially arranged on the peripheral side of the connecting rod, the first driving plate is meshed with the third gear, the first brake assembly further comprises a slider, a sliding column is arranged on the slider, a sliding rail is penetrated on the driving plate in a direction parallel to the axis, and the sliding column is slidably connected with the sliding rail. The present invention provides a slider capable of locking and braking the rotating shaft under the drive of the rotating shaft, fully utilizing the kinetic energy of the rotating shaft and improving the energy utilization rate.

[0011] Furthermore, the first brake assembly further comprises a base and a sleeve, the base is slidably connected to the slider, and a second spring is arranged on the inner wall of the sleeve and connected to the peripheral side of the slider. The present invention arranges a spring group to control the braking process of the slider, and when the shaft speed drops to near zero and is insufficient to drive the slider to stay in the braking position, the slider is retracted into the slide rail under the tension of the spring to complete the reset, and the degree of automation is high.

[0012] Furthermore, the slider is provided with limiting ribs on the connection surface corresponding to the rotating shaft. The present invention increases the friction between the slider and the rotating shaft by providing limiting ribs on the surface of the slider used to fit to the rotating shaft for braking, thereby increasing the deceleration effect of the slider, which is beneficial to the braking and deceleration of the rotating shaft.

[0013] Furthermore, the first drive plate and the second drive plate are connected in transmission based on a second connecting assembly, and the second connecting assembly includes a fourth gear, a rod and a fifth gear connected in sequence, the fourth gear is meshed with the first drive plate, and the fifth gear is meshed with the second drive plate. The present application sets a second connecting assembly to transfer a part of the kinetic energy of the first brake assembly to the second brake assembly, so that the second brake assembly can perform superimposed braking on the rotating shaft when the braking of the first brake assembly fails or the braking effect is poor, thereby further reducing the kinetic energy of the rotating shaft.

[0014] Furthermore, the inner diameter of the first driving plate is greater than or equal to the sum of the diameter of the rotating shaft and twice the diameter of the sliding post, so that when the sliding block is attached to the rotating shaft, the sliding post can be tangent to the inner wall of the first driving plate. In the present application, the inner diameter of the first driving plate is arranged to match the sliding post, so that when the sliding post moves to the position of attaching to the rotating shaft, if the rotating shaft is still rotating, the first driving plate can continue to rotate and drive the second brake assembly to brake.

[0015] Furthermore, a bidirectional driver is also provided on the connecting rod. The bidirectional driver provided in the present application enables the brake to be driven to brake when the rotating shaft rotates in the forward direction and the reverse direction, thereby increasing the practical effect of the brake.

[0016] Furthermore, the servo motor further comprises a housing, which is arranged outside the brake. The present application arranges a housing outside the brake to prevent external impurities or parts from falling into the brake and the motor box when the servo motor is in use, so that the servo motor can operate stably and effectively. Furthermore, the operating risk caused by exposed parts to operators is reduced.

[0017] Beneficial effects of the present invention:

[0018] 1. The invention sets up a first brake assembly and a second brake assembly that are associated and act in sequence to achieve superimposed braking of different speeds. When the first brake assembly cannot quickly reduce the shaft speed to zero, the shaft will continue to drive the second brake assembly to brake the shaft, thereby achieving the purpose of superimposed braking.

[0019] 2. The present application sets up a differential to transmit the energy of the rotating shaft to the brake in a controllable manner. When braking is not required, the energy transmitted from the rotating shaft to the brake is internally absorbed by the differential; when braking is required, the energy transmitted by the rotating shaft is transmitted to the connecting rod via the differential and then drives the brake assembly to brake. The control method is simple and effective.

[0020] 3. When the present invention is braking, the power supply of the lock can use the same power supply as the motor box, so that the lock is unlocked when the motor box is powered off, thereby using the inertia of the shaft to drive the brake assembly for braking, so as to achieve energy recovery. The lock can also be controlled by a separate power supply, so that the lock can be unlocked when the motor box is powered on, and a part of the kinetic energy of the shaft is used for braking. This scenario is generally used for emergency braking when the power supply of the motor box cannot be turned off immediately.

[0021] 4. The present application sets up a second connecting component to transfer part of the kinetic energy of the first brake component to the second brake component, so that the second brake component can perform superimposed braking on the rotating shaft when the braking of the first brake component fails or the braking effect is poor, thereby further reducing the kinetic energy of the rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a structural schematic diagram of an embodiment of a servo motor with a braking function of the present invention;

[0023] Figure 2 Schematic diagram of the brake of the servo motor with braking function of the present invention

[0024] Figure 3 A schematic diagram of a locking device of a servo motor with a braking function according to an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of a differential of a servo motor with a braking function according to an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of the assembly of the first brake assembly of the servo motor with a braking function according to an embodiment of the present invention;

[0027] Figure 6 An exploded view of the first brake assembly of the servo motor with braking function according to an embodiment of the present invention.

[0028] in,

[0029] 100, motor box; 200, rotating shaft; 210, driving gear; 300, brake; 310, first brake assembly; 311, first driving plate; 312, slide rail; 313, slider; 314, sliding column; 315, base; 316, sleeve; 317, first spring; 318, limiting rib; 319, connecting rod; 320, second brake assembly; 321, second driving plate; 330, first connecting assembly; 331, differential; 332, connecting rod; 333, first gear; 334, second gear; 335, lock; 336, limiting plate; 337, second spring; 338, connecting piece; 339, third gear; 340, mounting seat; 350, second connecting assembly; 351, fourth gear; 352, fifth gear; 353, rod; 360, mounting seat; 400, housing. Implementation

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1-6 As shown, a servo motor with a braking function of the present invention includes a motor box 100, a rotating shaft 200 and a brake 300. The motor box 100 serves as a driving device and a carrying device for the rotating shaft 200, and can drive the rotating shaft 200 to rotate around the axis. The brake 300 can convert a portion of the kinetic energy of the rotating shaft 200 that is still in a rotating state into the energy required to limit the rotation of the rotating shaft 200 when the power of the motor box 100 is turned off. Compared with the traditional braking device that requires additional electrical energy to lock the rotating shaft 200 to achieve the purpose of limiting the rotation of the rotating shaft, the present application saves the additional energy required for braking and improves energy utilization.

[0032] The brake 300 includes a first brake assembly 310 and a second brake assembly 320. The first brake assembly 310 and the second brake assembly 320 are connected by a gear train. The first brake assembly 310 includes a first drive plate 311, and the second brake assembly 320 includes a second drive plate 321. The first brake assembly 310 and the second brake assembly 320 are both used to lock the rotating shaft 200 to achieve the purpose of braking. The difference between the first brake assembly 310 and the second brake assembly 320 is that the locking response time of the two is inconsistent. Only when one brake assembly acts to lock the rotating shaft 200, but the rotating shaft 200 is still rotating, the second brake assembly will continue to act to the locking position to brake the rotating shaft 200. The first brake assembly to act can be the first brake assembly 310 or the second brake assembly 320. The action time of the two can be set by adjusting the angular velocity difference between the first drive plate 311 and the second drive plate 321 when the two act. When the action time of the first brake assembly 310 is set to be shorter than the action time of the second brake assembly 320, the angular velocity of the first drive plate 311 can be adjusted to be greater than the angular velocity of the second drive plate 321. The adjustment method can be by changing the number of teeth of the two or changing the gear ratio of the gears driving the two to rotate. In this solution, multiple sets of brake assemblies can be set to perform step-by-step braking until the shaft 200 stops rotating. For ease of understanding, the embodiment of the present application only sets two sets of brake assemblies for step-by-step braking.

[0033] like Figure 2 , a driving gear 210 is arranged on the peripheral side of the rotating shaft 200. The driving gear 210 is coaxially fixedly connected with the rotating shaft 200, and is used to transfer the kinetic energy of the rotating shaft 200 to the brake 300. The brake 300 includes a first connecting assembly 330. The first connecting assembly 330 is used to transfer the kinetic energy of the rotating shaft 200 to the first brake assembly 310. The first connecting assembly 330 includes a differential 331 and a connecting rod 332. Figure 3 , the differential 331 includes a first gear 333 and a second gear 334. The first gear 333 is meshed with the driving gear 210. The second gear 334 is coaxially connected with the connecting rod 332. A locker 335 is provided on the connecting rod 332. The locker 335 is used to limit the rotation tendency of the connecting rod 332. The differential 331 can refer to the existing automobile differential. When the rotation tendency of the connecting rod 332 is limited by the locker 335, the driving gear 210 will not drive the connecting rod 332 to rotate when driving the first gear 333 to rotate. When the locker 335 releases the rotation restriction on the connecting rod 332, the first gear 333 will drive the second gear 334 and the connecting rod 332 connected to the second gear 334 to rotate under the drive of the driving gear 210. The purpose of this is that when braking is not required, the kinetic energy transmitted by the driving gear 210 is consumed in the differential 331, and when braking is required, the kinetic energy of the driving gear 210 is used to drive the connecting rod 332 to rotate, and the control method is simple and fast. It should be noted that the rod connected to the first gear 333 is rotatably connected to the housing 400.

[0034] like Figure 4 , the lock 335 includes an electromagnet arranged inside the connecting rod 332 and a friction brake assembly arranged on the side of the connecting rod 332 corresponding to the electromagnet position. The friction brake assembly includes a limit plate 336, a second spring 337 and a connector 338 connected in sequence. The limit plate 336 is adsorbed to the side of the connecting rod 332 when the electromagnet is energized, and is used to limit the rotation trend of the connecting rod 332. The second spring 337 stores a part of the elastic potential energy during the movement of the limit plate 336 to the adsorption position. The connector 338 is used to install the limit plate 336 to the adsorption position. When the electromagnet is powered off, the limit plate 336 is disengaged from the connecting rod 332 under the pulling force of the second spring 337. At this time, the connecting rod 332 and the second gear 334 can rotate under the drive of the first gear. It is worth noting that the electromagnet can use the same power supply as the motor box 100, so that when the motor box 100 is powered off, the lock 335 automatically unlocks and triggers the brake. Of course, the electromagnet may also use a separate power supply, so that when braking is required while the motor box 100 is powered on, the lock 335 can also be independently powered off to be unlocked.

[0035] The other end of the lower end of the connecting rod 332 relative to the second gear 334 is connected to the rotating shaft of the mounting seat 340. The mounting seat 340 is fixedly connected to the motor box 100. A third gear 339 is coaxially arranged near the mounting seat 340 of the connecting rod 332. The third gear 339 is meshed with the first driving plate 311 of the first brake assembly 310. The third gear 339 is used to transfer the kinetic energy of the connecting rod 332 to the first brake assembly 310.

[0036] It is worth noting that in order to achieve the goal of driving the first driving plate 311 of the first brake assembly 310 to drive the slider 313 to slide inward in the radial direction for both forward and reverse rotation of the servo motor, a bidirectional input and unidirectional output structure is provided on the connecting rod 332 in the present application. For details, reference may be made to a bidirectional driver shown in CN100445597C.

[0037] Combined with Figure 5 and attached Figure 6In addition to the first driving plate 311 mentioned above, the first brake assembly 310 also includes a slider 313 and a base 315. The first driving plate 311, the slider 313 and the base 315 are sequentially sleeved on the peripheral side of the rotating shaft 200. The base 315 is connected to the mounting seat 340 through a connecting rod 319 arranged on the peripheral side. A plurality of arc-shaped slide rails 312 are arranged on the first driving plate 311. Each slide rail 312 has only one end, and the other side is connected to the through hole of the first driving plate 311 for sleeved on the rotating shaft 200. In this application, the number of slide rails 312 is set to 4. The number of sliders 313 is set in accordance with the slide rails 312. The slider 313 is used to fit the side of the rotating shaft 200 and is set in an arc shape in accordance with the rotating shaft 200. The side of the arc is provided with a plurality of limiting ribs 318 for increasing the friction force when the slider 313 contacts the rotating shaft 200. A sliding column 314 is arranged on the surface of the slider 313 for connecting with the first driving plate 311. The diameter of the sliding post 314 can be slidably engaged with the slide rail 312. Preferably, the appearance of the sliding post 314 is tangent to the arc surface of the slider 313 for contacting the rotating shaft 200, and the inner diameter of the first drive plate 311 is equal to the sum of the diameter of the rotating shaft 200 and twice the sliding post 314. The appearance of the sliding post 314 is not tangent to the arc surface of the slider 313 for contacting the rotating shaft 200, and the inner diameter of the first drive plate 311 is greater than the sum of the diameter of the rotating shaft 200 and twice the sliding post 314. A radial sliding limit structure is provided at the connection between the slider 313 and the base 315. A radial sliding post is provided on the connection surface of the slider 313 for connecting with the base 315. The base 315 is provided with a radial slide rail corresponding to the radial sliding post. The slider 313 can only slide in the radial direction on the base 315 under the restriction of the radial sliding limit structure. The inner diameter of the first drive plate 311 is greater than or equal to the sum of the diameter of the rotating shaft 200 and twice the sliding post 314. The slider 313 is sleeved with a sleeve 316 on its circumference, and the slider 313 and the sleeve 316 are connected by a first spring 317. When the slider 313 is not driven by the first drive plate 311, the first spring 317 is in a contracted or non-deformed state. When the first brake assembly 310 performs braking, the first drive plate 311 rotates under the drive of the third gear 339, so that the slider 313 moves along the slide rail 312 toward the direction close to the shaft 200 until the slider 313 can fit closely to the shaft 200 to brake the rotating shaft 200. At this time, the sliding column 314 is tangent to the inner wall of the first drive plate 311.When the rotating shaft 200 is in low-speed rotation and only needs the first brake assembly 310 to complete the braking, the kinetic energy of the rotating shaft 200 is converted into the kinetic energy of the unidirectional rotation of the first driving plate 311 via the first connecting assembly 330. The slider 313 overcomes the pulling force of the first spring 317 under the drive of the first driving plate 311 and approaches the rotating shaft 200 to lock the rotating shaft 200. When the speed of the rotating shaft 200 is reduced to the point where the first driving plate 311 and the slider 313 cannot be driven, and the speed is close to zero, the driving force of the first driving plate 311 on the slider 313 is less than the pulling force of the first spring 317 on the slider 313. The slider 313 returns to the slide rail 312 under the pulling force of the first spring 317 to complete the brake reset.

[0038] The second brake assembly 320 is used to trigger and start when the slider 313 of the first brake assembly 310 is completely moved to fit the rotating shaft 200 but still cannot brake the rotating shaft 200, so as to perform superimposed braking on the rotating shaft 200. Specifically, the structure of the second brake assembly 320 is substantially the same as that of the first brake assembly 310, and the only difference is that the rotational angular velocity of the second drive plate 321 of the second brake assembly 320 is less than the rotational angular velocity of the first drive plate 311 of the first brake assembly 310. There are many ways to adjust the speed ratio of the first drive plate 311 and the second drive plate 321, which can be achieved by adjusting the gear ratio of the two or adjusting the gear ratio of the transmission gear between the two. In the present application, the angular velocity is adjusted by adjusting the gear ratio of the two. Specifically, the first drive plate 311 and the second drive plate 321 are connected in transmission via the second connecting assembly 350. The second connecting assembly 350 includes a fourth gear 351 meshed with the first driving plate 311, a fifth gear 352 meshed with the second driving plate 321, and a rod 353 that coaxially drives the fourth gear 351 and the fifth gear 352. The bottom end of the rod 353 is connected to the rotating shaft of the mounting seat 360. The mounting seat 360 is fixedly connected to the motor box 100.

[0039] When the first driving plate 311 drives the slider 313 to the braking position, the rotating shaft 200 is still driving the first driving plate 311 to rotate due to the high speed. Since the inner diameter of the first driving plate 311 is the sum of the diameter of the rotating shaft 200 and the diameter of the sliding column 314, the sliding column 314 is tangent to the rotating shaft 200 and the first driving plate 311 at the same time. The sliding column 314 cannot limit the rotation trend of the first driving plate 311, but the first driving plate 311 will limit the sliding column 314 to slide and engage between the rotating shaft 200 and the first driving plate 311 to maintain braking. The first driving plate 311 continues to rotate to drive the fourth gear 351 to rotate and drive the second driving plate 321 to rotate. It is worth noting that the first driving plate 311 has already started to drive the second driving plate 321 to rotate when it starts to rotate, but due to the difference in angular velocity between the two, the first driving plate 311 will first drive the slider 313 to the braking position for braking, and then the second driving plate 321 will drive the corresponding slider to brake, thereby achieving the purpose of superimposed braking in the present invention. Only two groups of brake assemblies are shown in the present invention. In actual application, multiple groups of brake assemblies can be provided for superimposed braking.

[0040] The servo motor further comprises a housing 400 for protecting the brake 300. The housing 400 is used to prevent external impurities from falling into the brake 300 and causing damage to the brake 300 when the servo motor is in use.

[0041] When the present invention is performing braking, the power supply of the lock 335 can use the same power supply as the motor box 100, so that the lock 335 is unlocked when the motor box 100 is powered off, thereby utilizing the inertia of the shaft 200 to drive the brake assembly for braking, so as to achieve energy recovery. The lock 335 can also be controlled using a separate power supply, so that the lock 335 can be unlocked when the motor box 100 is powered on, and a portion of the kinetic energy of the shaft 200 is utilized for braking. This scenario is generally used for emergency braking when the power supply of the motor box 100 cannot be turned off immediately.

[0042] Taking the case where the power supply of the lock 335 is the same as the power supply of the motor box 100 as an example, when the power supply of the motor box 100 is turned off, the electromagnet contacts the attraction of the limit plate 336, and the connecting rod 332 can rotate. The rotating shaft 200 drives the connecting rod 332 to rotate through the driving gear 210 and the differential 331, and a bidirectional driver is provided on the connecting rod 332, so that the connecting rod 332 rotates in one direction when the servo motor rotates forward and reverse. The connecting rod 332 drives the first brake assembly 310 and the second brake assembly 320 to act successively to brake the rotating shaft 200. The specific action mode is described in detail above and will not be repeated here. The present invention sets the first brake assembly 310 and the second brake assembly 320 that are associated and act in sequence to achieve superimposed braking of different speeds. When the first brake assembly 310 cannot quickly reduce the speed of the rotating shaft 200 to zero, the second brake assembly 320 will brake the rotating shaft 200, thereby achieving the purpose of superimposed braking.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention. The techniques, shapes, and structural parts not described in detail in the present invention are all known technologies.

Claims

1. A servo motor with a braking function, comprising a motor box (100) and a rotating shaft (200), characterized in that: The invention also includes a brake (300), wherein the brake (300) includes a first brake assembly (310) and a second brake assembly (320), wherein the first brake assembly (310) and the second brake assembly (320) are both sleeved on the circumference of the rotating shaft (200), wherein the first brake assembly (310) includes a first drive plate (311), and the second brake assembly (320) includes a second drive plate (321), wherein the first drive plate (311) and the second drive plate (321) are connected by a gear train, wherein the rotational angular velocity of the first drive plate (311) is different from the rotational angular velocity of the second drive plate (321), so that the action time of the first brake assembly (310) and the second brake assembly (320) are different.

2. The servo motor with braking function according to claim 1, characterized in that: A driving gear (210) is coaxially arranged on the circumferential side of the rotating shaft (200), and the brake (300) further includes a first connecting component (330), the first connecting component (330) includes a differential (331) and a connecting rod (332), the differential (331) includes a first gear (333) and a second gear (334), the first gear (333) is meshed with the driving gear (210), and the second gear (334) is coaxially connected with the connecting rod (332).

3. The servo motor with braking function according to claim 2, characterized in that: The first connecting component (330) also includes a locker (335), which includes an electromagnet arranged in the connecting rod (332) and a friction brake component arranged on the peripheral side of the connecting rod (332), and the friction brake component includes a limit plate (336), a second spring (337) and a connecting member (338) connected in sequence, and the limit plate (336) is frictionally connected to the connecting rod (332) under the action of the electromagnet.

4. The servo motor with braking function according to claim 3, characterized in that: A third gear (339) is coaxially arranged on the circumferential side of the connecting rod (332), the first driving plate (311) is meshed with the third gear (339), the first braking assembly (310) further comprises a slider (313), a sliding column (314) is arranged on the slider (313), a sliding rail (312) is penetrated on the first driving plate (311) along a direction parallel to the axis, and the sliding column (314) is slidably connected to the sliding rail (312).

5. The servo motor with braking function according to claim 4, characterized in that: The first brake assembly (310) further comprises a base (315) and a sleeve (316), wherein the base (315) is slidably connected to the slider (313), and a first spring (317) is arranged on the inner wall of the sleeve (316) and connected to the peripheral side of the slider (313).

6. The servo motor with braking function according to claim 5, characterized in that: Limiting ribs (318) are provided on the connection surface of the sliding block (313) corresponding to the rotating shaft (200).

7. The servo motor with braking function according to claim 6, characterized in that: The first drive plate (311) and the second drive plate (321) are connected in transmission based on a second connecting assembly (350), and the second connecting assembly (350) includes a fourth gear (351), a rod (353) and a fifth gear (352) connected in sequence, the fourth gear (351) is meshed with the first drive plate (311), and the fifth gear (352) is meshed with the second drive plate (321).

8. The servo motor with braking function according to claim 7, characterized in that: The inner diameter of the first driving plate (311) is greater than or equal to the sum of the diameter of the rotating shaft (200) and twice the diameter of the sliding column (314), so that when the sliding block (313) is attached to the rotating shaft (200), the sliding column (314) can be tangent to the inner wall of the first driving plate (311).

9. The servo motor with braking function according to claim 8, characterized in that: The connecting rod (332) is also provided with a bidirectional driver.

10. The servo motor with braking function according to claim 6, characterized in that: The servo motor further comprises a housing (400), and the housing (400) is arranged outside the brake (300).

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