High-load multi-degree-of-freedom gantry and band-type brake motor

Abstract

The invention relates to the field of motors, in particular to a high-load multi-degree-of-freedom gantry and band-type brake motor, the band-type brake motor comprises a rotor assembly, a stator assembly and a band-type brake assembly, and the rotor assembly comprises a rotating shaft; the band-type brake assembly comprises an annular brake pad connected to the rotating shaft, a brake block connected to the stator assembly and a driving mechanism, and the driving mechanism drives the brake block to be connected with or away from the brake pad; the driving mechanism comprises a first groove and a second groove; the bottom of the first groove communicates with a gas generation device, after ventilation, the brake block is driven to be away from the bottom of the first groove and further away from the brake pad, and a non-braking state is formed. An elastic element is arranged at the bottom of the second groove and drives the brake block to get away from the second groove and get close to the brake pad, and a braking state is formed. The band-type brake device can be integrated into the motor, and the band-type brake device is arranged around the rotating shaft, so that the overall size of the motor is greatly reduced, the overall size is reduced in the application of a multi-degree-of-freedom joint, and the motor is more suitable for a limited space environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, in particular to a high-load multi-degree-of-freedom gantry and brake motor. BACKGROUND

[0002] In the assembly or detection process of some precision parts, the gantry mechanism is usually used to move the parts or detection devices to the predetermined position for corresponding operation. In this process, the load of the Z-axis is generally large, and the multi-degree-of-freedom joint under the load of the Z-axis may be stopped in the case of power failure and occasional situations. However, the motor will not be locked immediately under the action of the moment of inertia, so the joint may continue to move and cause accidents.

[0003] In order to improve the safety of the multi-degree-of-freedom joint after power failure, a brake device is usually arranged on the motor to lock immediately after power failure. The common brake devices in the field of robots are divided into two types. The first type is a gear mechanical brake device, which completes the power failure locking function through a mechanical structure. The second type is an electromagnetic brake device, which installs an upper and lower two-layer iron sheet that can move axially on the motor, and installs a rotor hub on the output end of the motor. The rotor hub is provided with a friction plate, and the friction plate is clamped between the two layers of iron sheets. When the power is off, the two layers of iron sheets are pressed to the friction plate and clamped, so as to lock the motor. However, the above two brake devices need to occupy a large volume, and the design cannot break through the "additional" structure thinking. The brake unit and the motor body are always in a physically separated state. This design paradigm not only occupies valuable space, but also increases the complexity of the transmission chain. Modern precision manufacturing has an increasingly urgent demand for equipment miniaturization, especially in the fields of semiconductor packaging and minimally invasive medical device assembly. Millimeter-level space saving may bring process breakthroughs.

[0004] Therefore, how to reduce the overall volume of the multi-degree-of-freedom gantry with the brake device is a problem that needs to be considered by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a high-load multi-degree-of-freedom gantry and brake motor to solve the problems of large volume of the brake motor in the prior art and limited application space of the multi-degree-of-freedom gantry.

[0006] The technical solution of the present application is: a brake motor, comprising a rotor assembly, a stator assembly and a brake assembly, the rotor assembly comprising a rotating shaft; The brake assembly comprises an annular brake sheet connected to the rotating shaft, a brake block connected to the stator assembly and a driving mechanism, the driving mechanism driving the brake block to connect or move away from the brake sheet; The driving mechanism comprises a first slot and a second slot, two ends of the brake block are embedded in the first slot and the second slot respectively; the bottom of the first slot is communicated with a gas generating device, and after the gas is ventilated, the brake block is driven to move away from the bottom of the first slot and further away from the brake pad, forming a non-braking state; The bottom of the second slot is provided with an elastic element, which drives the brake block to move away from the second slot and further close to the brake pad, forming a braking state.

[0007] Preferably, the brake block comprises a first limiting ring and a second limiting ring; The first limiting ring is arranged in the annular first slot and forms a sealed cavity with the bottom of the first slot; the second limiting ring is arranged in the annular second slot.

[0008] Preferably, one end of the elastic element away from the second slot is connected with the second limiting ring, and the elastic element has a driving force to drive the second limiting ring away from the second slot.

[0009] Preferably, the bottom of the second slot is provided with a first limiting hole, and the second limiting ring is provided with a second limiting hole, and the two ends of the elastic element are arranged in the first limiting hole and the second limiting hole respectively.

[0010] Preferably, the stator assembly comprises a shell, a first connecting ring connected with the inner circle of the shell, a second connecting ring arranged at the upper end of the shell, and the second slot is arranged on the second connecting ring; The inner circle of the shell extends inwardly to form an annular first boss, and the first connecting ring is connected to the first boss; The upper end of the first connecting ring extends upwardly to form an annular second boss, and the first slot is formed by the second boss, the first connecting ring and the shell.

[0011] Preferably, the outer circle of the first limiting ring is provided with a first sealing ring; and the outer circle of the second boss is provided with a second sealing ring.

[0012] Preferably, the lower end of the second limiting ring is provided with a first friction pad, the upper end of the second boss is provided with a second friction pad, and the outer circle of the brake pad is arranged between the first friction pad and the second friction pad.

[0013] Preferably, the second connecting ring is provided with a first through hole, one end of the first through hole is communicated with the outer wall of the second connecting ring, and the other end is communicated with the second slot through the second limiting hole.

[0014] Preferably, the end of the rotating shaft is connected with a flange, and the rotating shaft drives the flange to rotate.

[0015] A high-load multi-degree-of-freedom gantry, applying the band brake motor as claimed in claim 1, comprising a gantry, an X-axis module arranged on the gantry, and a Z-axis module arranged on the X-axis module. The Z-axis module is connected with a clamping jaw device through a plurality of band brake motors connected in sequence.

[0016] Compared with the prior art, the present application has the following advantages: (1) In the present application, the band brake motor is kept connected to the air source when the equipment is in normal operation, forming a positive pressure in the sealed cavity, so that the brake block moves into the second groove, and then the first friction plate and the second friction plate are both not in contact with the brake piece, and the band brake function is unlocked. When the equipment is powered off or in other situations, the air source is cut off, and under the driving of the elastic element, the second limiting ring moves away from the second groove, so that the first friction plate presses against the brake piece, forming a band brake; and the brake piece is deformed when pressed, and is in contact with the second friction plate, further forming a lock, preventing slipping and falling; (2) The band brake device can be integrated into the motor, and the band brake device is arranged around the rotating shaft, greatly reducing the overall size of the motor, and thus reducing the overall size in the application of multi-degree-of-freedom joints, and being more suitable for limited space environment. BRIEF DESCRIPTION OF DRAWINGS

[0017] The present application will be further described below in conjunction with the drawings and examples: Figure 1 is a structural schematic view of the high-load multi-degree-of-freedom gantry of the present application; Figure 2 is a structural schematic view of the band brake motor of the present application and in a non-braking state; Figure 3 is Figure 2 is an enlarged structural schematic view of position A in FIG. 4; Figure 4 is a structural schematic view of the band brake motor of the present application and in a band brake braking state; Figure 5 is a structural schematic view of the unlocking key of the present application; Figure 6 is a schematic view of the unlocking process of the unlocking key of the present application.

[0018] Wherein: the gantry 1; the X-axis module 2; the Z-axis module 3; Braze motor 4, rotor assembly 41, rotating shaft 411, flange 412, stator assembly 42, shell 421, first boss 4211, give way channel 4212, first connecting ring 422, second boss 4221, second connecting ring 423, first through hole 4231, first friction plate 4232, second friction plate 4233, brake assembly 43, brake piece 431, brake block 432, first limiting ring 4321, second limiting ring 4322, first sealing ring 4323, second sealing ring 4324, third sealing ring 4325, second limiting hole 4326, unlocking hole 4327, driving mechanism 433, elastic element 4331, first groove 434, second through hole 4341, third through hole 4342, sealing cavity 434a, second groove 435, first limiting hole 4351; Clamping jaw device 5; Unlocking key 6, unlocking rod 61, unlocking part 62. DETAILED DESCRIPTION

[0019] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0020] In the description of the present application, it is understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0021] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more, unless otherwise explicitly limited.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] The present invention will be further described in detail below with reference to specific embodiments: like Figures 1-4 As shown, this invention is applied to an intelligent multi-degree-of-freedom assembly system to adjust the position and orientation of components during the assembly process. For example, in a quasi-optical network intelligent multi-degree-of-freedom assembly system (hereinafter referred to as the quasi-optical assembly system), it is used to adjust the position and orientation of quasi-optical devices during the assembly of a quasi-optical feed network. Based on the assembly sequence of the quasi-optical devices and the adjustment technical conditions of the device assembly process, a high-precision adjustment system is used to achieve high-precision multi-degree-of-freedom adjustment of the quasi-optical devices. The quasi-optical assembly system is used for automatic adjustment, automatic clamping, and automatic flipping of devices during the assembly process. The quasi-optical assembly system can be integrated with high-precision automated measurement equipment for quasi-optical networks, adjusting the quasi-optical devices according to the designed positional relationships and forming an "assembly-measurement-adjustment" cycle with the high-precision automated measurement equipment for quasi-optical networks to achieve precise assembly of the quasi-optical feed network.

[0025] Currently, multi-degree-of-freedom joints are typically installed under coordinate measuring machines (CMMs), where space and high load limitations prevent the use of suitable end-effectors. Due to the large Z-axis load, conventional brake systems are ineffective, leading to risks such as slippage and descent of the multi-degree-of-freedom joint under power outages or unforeseen circumstances. Therefore, the brake motor configuration in this embodiment is suitable for high-load, space-constrained multi-degree-of-freedom joint applications. Specifically: A high-load, multi-degree-of-freedom gantry crane and brake motor are disclosed. The gantry crane includes a gantry frame 1, an X-axis module 2 mounted on the gantry frame 1, and a Z-axis module 3 mounted on the X-axis module 2. The Z-axis module 3 is connected to a gripper device 5 via multiple sequentially connected brake motors 4. In this embodiment, the gantry frame 1 is placed on a marble platform. The X-axis module 2 is a module that drives linear motion in the X-axis direction, and it can drive the Z-axis module 3 to move along the X-axis direction. The Z-axis module 3 is a module that drives linear motion in the Z-axis direction, and it can drive the gripper device to move vertically. At least three brake motors 4 are provided: a first motor connected to the Z-axis module and driving rotation in the Y-axis direction; a second motor connected to the first motor and driving rotation perpendicular to the Y-axis direction; and a third motor connected to the second motor and driving rotation perpendicular to the second motor. The gripper device is connected to the third motor. The gripper device can be electric or pneumatic, and a six-degree-of-freedom torque sensor is provided at the connection point between the gripper device and the third motor. Among them, the first motor, the second motor and the third motor are all motors with pneumatic brake structures.

[0026] The brake motor 4 includes a rotor assembly 41, a stator assembly 42, and a brake assembly 43. The rotor assembly 41 includes a rotating shaft 411. For ease of explanation, the following description will use the axial direction of the rotating shaft 411 as the upper and lower orientation when it is in the vertical direction.

[0027] A flange 412 is connected to the upper end of the rotating shaft 411. Rotation of the rotating shaft 411 drives the flange 412 to rotate simultaneously. The flange 412 is a connecting piece, and the brake motor 4 is connected to other joints through the flange 412. The stator assembly 42 includes a housing 421, a first connecting ring 422 connected to the inner ring of the housing 421, and a second connecting ring 423 disposed at the upper end of the housing 421.

[0028] In this embodiment, the inner ring of the housing 421 extends inward to form an annular first protrusion 4211, and a first connecting ring 422 is connected above the first protrusion 4211. A coil is provided below the first protrusion 4211, which cooperates with a corresponding magnetic element on the rotating shaft 411 to drive the rotating shaft 411 to rotate.

[0029] An upward extension of the upper end of the first connecting ring 422 forms an annular second boss 4221. The first groove 434 is formed by the second boss 4221, the first connecting ring 422, and the housing 421. Specifically, the outer ring of the second boss 4221 and the upper end face of the first connecting ring 422 form the bottom surface of the first groove 434; the outer ring of the second boss 4221 forms the inner surface of the first groove 434; and the inner ring of the housing forms the outer surface of the first groove 434. A flange 412 is located at the upper end of the second connecting ring 423, and its lower end has an annular second groove 435.

[0030] The brake assembly 43 includes an annular brake pad 431 connected to the rotating shaft 411, a brake block 432 connected to the stator assembly 42, and a drive mechanism 433. The drive mechanism 433 drives the brake block 432 to engage or disengage from the brake pad 431 to achieve brake engagement and unlocking of the brake motor 4.

[0031] The brake block 432 includes a first limiting ring 4321 and a second limiting ring 4322 disposed on the upper end of the first limiting ring 4321. The outer diameter of the first limiting ring 4321 is larger than the outer diameter of the second limiting ring 4322; the inner diameter of the first limiting ring 4321 is smaller than the outer diameter of the second limiting ring 4322 but larger than the inner diameter of the second limiting ring 4322. The first limiting ring 4321 is disposed in an annular first groove 434 and forms a sealing cavity 434a with the bottom of the first groove 434. The second limiting ring 4322 is disposed in an annular second groove 435. A second through hole 4341 is provided at the bottom of the first groove 434, and the second through hole 4341 communicates with a third through hole 4342 provided on the first connecting ring 422; the end of the third through hole 4342 away from the second through hole 4341 is connected to the outer side of the housing 421 and is connected to a gas generating device (not shown in the figure).

[0032] In this embodiment, to ensure the sealing performance of the sealing cavity 434a, a first sealing ring 4323 is provided on the outer ring of the first limiting ring 4321, forming a seal between the inner wall of the housing 421 and the outer wall of the first limiting ring 4321. A second sealing ring 4324 is provided on the outer ring of the second boss 4221, forming a seal between the outer wall of the second boss 4221 and the inner wall of the first limiting ring 4321. The first connecting ring 422 and the second boss 4221 are integrally formed, and a third sealing ring 4325 is provided on the outer ring of the first connecting ring 422, forming a seal between the first connecting ring 422 and the inner ring of the housing 421. After ventilation, a positive pressure is formed in the sealing cavity 434a, and the brake block 432 moves away from the bottom of the first groove 434 and thus away from the brake pad 431, forming a non-braking state.

[0033] The drive mechanism 433 also includes an elastic element 4331 disposed at the bottom of the second groove 435. One end of the elastic element 4331 away from the second groove 435 is connected to the second limiting ring 4322 and has a driving force to drive the second limiting ring 4322 away from the second groove 435, thereby driving the brake block 432 away from the second groove 435 and closer to the brake pad 431 to form a braking state.

[0034] In this embodiment, the elastic element 4331 can be a spring; a first limiting hole 4351 is provided at the bottom of the second groove 435, and a second limiting hole 4326 is provided on the second limiting ring 4322; the two ends of the elastic element 4331 are respectively disposed in the first limiting hole 4351 and the second limiting hole 4326. In other embodiments, a limiting pin (not shown in the figure) is provided at the bottom of the second limiting ring 4322 and the second groove 435 to ensure that the second limiting ring 4322 remains vertical when moving in the second groove 435. In another embodiment, an annular spring is provided between the second limiting ring 4322 and the second groove 435. Of course, other elastic driving structures can also be provided, as long as they have a driving force to drive the second limiting ring 4322 to move downward.

[0035] When transitioning from braking to non-braking state, the gas at the bottom of the second groove 435 cannot be discharged in time, forming a positive pressure chamber; or when transitioning from non-braking to braking state, the bottom of the second groove 435 cannot be filled with air in time, forming a negative pressure chamber, thus affecting the efficiency of the transition. Therefore, a first through hole 4231 is provided on the second connecting ring 423. One end of the first through hole 4231 is connected to the outer wall of the second connecting ring 423, and the other end is directly connected to the bottom of the second groove 435, or connected to the second groove 435 through the second limiting hole 4326.

[0036] The lower end of the second limiting ring 4322 is provided with a first friction plate 4232, and the upper end of the second boss 4221 is provided with a second friction plate 4233. The brake pad 431 is fixedly connected to the rotating shaft 411 on the side near the inner ring, and is positioned between the first friction plate 4232 and the second friction plate 4233 on the side near the outer ring, with a gap between the brake pad 431 and both friction plates 4232 and 4233. In the non-braking state, the brake pad 431 rotates with the rotating shaft 411 and does not contact either the first friction plate 4232 or the second friction plate 4233. In the braking state, the second limiting ring 4322 moves downward, and the first friction plate 4232 abuts against the upper end face of the brake pad 431 to form braking; the brake pad 431 deforms and bends downward, and its lower end face abuts against the second friction plate 4233 to further form braking.

[0037] In this embodiment, the braking principle of the brake motor 4 is as follows: During normal operation, gas is introduced through the gas generator and enters the sealed cavity 434a via the second and third channels. This creates positive pressure within the sealed cavity 434a, pushing the first limiting ring 4321 upwards within the first groove 434. This, in turn, causes the second limiting ring 4322 to move towards the bottom of the second groove 435, compressing the elastic element 4331. At this time, the rotating shaft 411 rotates normally, and the brake pad 431 rotates with the shaft 411. The brake pad 431 is positioned between the first friction pad 4232 and the second friction pad 4233, but does not contact either of them.

[0038] When a power outage or other unforeseen event occurs, the gas generator cannot generate gas normally, and the positive pressure cannot be maintained in the sealed cavity 434a. Under the elastic force of the elastic element 4331, the second limiting ring 4322 moves downward. The first friction plate 4232 moves downward accordingly, abutting against the brake plate 431 and generating relative friction with it. The first friction plate 4232 continues to press downward against the brake plate 431, causing the brake plate 431 to deform and come into contact with the second friction plate 4233. At this point, the brake plate 431 is essentially clamped between the first friction plate 4232 and the second friction plate 4233, completing the brake engagement. During the downward movement of the second fiber ring, air enters through the first channel to prevent negative pressure from forming at the bottom of the second groove 435, which would create damping and affect the movement of the second limiting ring 4322.

[0039] Furthermore, if manual rotation of the joint is required when the brake engages, manual release of the brake is necessary. Therefore, in this embodiment, unlocking holes 4327 are provided on both symmetrical sides of the brake block 432, and a through clearance channel 4212 connected to the unlocking hole 4327 is provided on the housing 421. The cross-section of the unlocking hole 4327 is directional or circular. Also provided are... Figure 5 The unlocking key 6 shown includes an unlocking rod 61 and an unlocking portion 62 with an elliptical cross-section at the end of the unlocking rod 61. The longest diameter of the elliptical cross-section of the unlocking portion 62 is slightly smaller than the side length or diameter of the unlocking hole 4327. During unlocking, two unlocking keys 6 extend into the unlocking hole 4327 from both ends through the clearance channel 4212 and rotate 90 degrees. Figure 6 As shown, when the unlocking part 62 extends in, the side with the smaller diameter in the elliptical cross-section abuts against the upper end face of the unlocking hole 4327; when rotated 90 degrees, the side with the larger diameter abuts against the upper end face of the unlocking hole 4327, simultaneously lifting the brake block 432. This causes the first friction pad 4232 to move upward and disengage from the brake pad 431, the brake pad 431 resets, and the brake is released.

[0040] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A brake motor, characterized in that, It includes a rotor assembly (41), a stator assembly (42) and a brake assembly (43), wherein the rotor assembly (41) includes a shaft (411). The brake assembly (43) includes an annular brake pad (431) connected to the rotating shaft (411), a brake block (432) connected to the stator assembly (42), and a drive mechanism (433) that drives the brake block (432) to engage with or disengage from the brake pad (431). The drive mechanism (433) includes a first groove (434) and a second groove (435). The two ends of the brake block (432) are respectively embedded in the first groove (434) and the second groove (435). The bottom of the first groove (434) is connected to a gas generator. After the gas is supplied, the brake block (432) is driven away from the bottom of the first groove (434) and then away from the brake pad (431), forming a non-braking state. An elastic element (4331) is provided at the bottom of the second groove (435). The elastic element (4331) drives the brake block (432) away from the second groove (435) and closer to the brake pad (431) to form a braking state.

2. A brake motor according to claim 1, characterized in that: The brake block (432) includes a first limiting ring (4321) and a second limiting ring (4322); The first limiting ring (4321) is disposed in the annular first groove (434) and forms a sealing cavity (434a) with the bottom of the first groove (434); the second limiting ring (4322) is disposed in the annular second groove (435).

3. A brake motor according to claim 2, characterized in that: One end of the elastic element (4331) away from the second groove (435) is connected to the second limiting ring (4322) and has a driving force to drive the second limiting ring (4322) away from the second groove (435).

4. A brake motor according to claim 3, characterized in that: The bottom of the second groove (435) is provided with a first limiting hole (4351), and the second limiting ring (4322) is provided with a second limiting hole (4326). The two ends of the elastic element (4331) are respectively provided in the first limiting hole (4351) and the second limiting hole (4326).

5. A brake motor according to claim 4, characterized in that: The stator assembly (42) includes a housing (421), a first connecting ring (422) connected to the inner ring of the housing (421), and a second connecting ring (423) disposed at the upper end of the housing (421), wherein the second groove (435) is disposed on the second connecting ring (423); The inner ring of the housing (421) extends inward to form an annular first boss (4211), and the first connecting ring (422) is connected to the first boss (4211); The upper end of the first connecting ring (422) extends upward to form an annular second boss (4221), and the first groove (434) is formed by the second boss (4221), the first connecting ring (422) and the housing (421).

6. A brake motor according to claim 5, characterized in that: The outer ring of the first limiting ring (4321) is provided with a first sealing ring (4323); the outer ring of the second boss (4221) is provided with a second sealing ring (4324).

7. A brake motor according to claim 6, characterized in that: The lower end of the second limiting ring (4322) is provided with a first friction plate (4232), the upper end of the second boss (4221) is provided with a second friction plate (4233), and the outer ring of the brake plate (431) is provided between the first friction plate (4232) and the second friction plate (4233).

8. A brake motor according to claim 5, characterized in that: The second connecting ring (423) is provided with a first through hole (4231). One end of the first through hole (4231) is connected to the outer wall of the second connecting ring (423), and the other end is connected to the second groove (435) through the second limiting hole (4326).

9. A brake motor according to claim 1, characterized in that: The end of the rotating shaft (411) is connected to a flange (412), and the rotating shaft (411) drives the flange (412) to rotate.

10. A high-load, multi-degree-of-freedom gantry crane, characterized in that, Using the brake motor as described in claim 1, the gantry includes a gantry frame (1), an X-axis module disposed on the gantry frame (1), and a Z-axis module disposed on the X-axis module; The Z-axis module is connected to a gripper device (5) via multiple sequentially connected brake motors (4).

Images