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

Abstract

The application relates to the field of electric machines, in particular to a high-load multi-degree-of-freedom gantry and brake clutch motor. The brake clutch motor comprises a rotor assembly, a stator assembly and a brake clutch assembly. The rotor assembly comprises a rotating shaft. The brake clutch assembly comprises an annular brake shoe connected to the rotating shaft, a brake block connected to the stator assembly and a driving mechanism. The driving mechanism drives the brake block to connect to or move away from the brake shoe. The driving mechanism comprises a first groove and a second groove. The bottom of the first groove is communicated with a gas generating device. After the gas is discharged, the driving mechanism drives the brake block to move away from the bottom of the first groove and further away from the brake shoe, thereby forming a non-braking state. The bottom of the second groove is provided with an elastic element. The elastic element drives the brake block to move away from the second groove and further close to the brake shoe, thereby forming a braking state. The brake clutch device can be integrated into the electric machine, and the brake clutch device is arranged around the rotating shaft, thereby greatly reducing the overall volume of the electric machine, and further reducing the overall volume in the application of the multi-degree-of-freedom joint, and being more suitable for limited space environment.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a high-load, multi-degree-of-freedom gantry and brake motor. Background Technology

[0002] In the assembly or inspection of some precision parts, a gantry mechanism is often needed to move the parts or inspection devices to a predetermined position for operation. During this process, the Z-axis typically experiences a large load, and in applications where multi-degree-of-freedom joints under Z-axis load may stop due to power failure or other unforeseen circumstances. However, the motor does not immediately lock due to rotational inertia, often resulting in continued joint movement and potential injuries.

[0003] To improve the safety of multi-degree-of-freedom joints after power failure, a braking device is usually installed on the motor to lock it immediately upon power loss. Currently, there are two common types of braking devices in the robotics field: the first is a gear-mechanical braking device, which uses a mechanical structure to achieve the power-off locking function; the second is an electromagnetic braking device, which has two axially movable iron plates mounted on the motor, and a rotor hub added to the motor output end. Friction plates are installed on the rotor hub, sandwiched between the two iron plates. When power is lost, the two iron plates press against and clamp the friction plates, thus locking the motor. However, both of these braking devices require a large volume, and their design fails to break through the "additional" structural thinking, with the braking unit always physically separated from the motor body. This design paradigm not only occupies valuable space but also increases the complexity of the transmission chain. Modern precision manufacturing has an increasingly urgent need for equipment miniaturization, especially in scenarios such as semiconductor packaging and minimally invasive medical device assembly, where even millimeter-level space savings can lead to technological breakthroughs.

[0004] Therefore, how to reduce the overall volume of a multi-degree-of-freedom gantry by incorporating a motor with a brake device is a problem that those skilled in the art need to consider. Summary of the Invention

[0005] The purpose of this invention is to provide a high-load multi-degree-of-freedom gantry and brake motor to solve the problems of large size of existing brake motors, which leads to limited application space for multi-degree-of-freedom gantry motors.

[0006] The technical solution of the present invention is: a brake motor, comprising a rotor assembly, a stator assembly and a brake assembly, wherein the rotor assembly includes a rotating shaft;

[0007] The brake assembly includes an annular brake pad connected to the rotating shaft, a brake block connected to the stator assembly, and a drive mechanism, wherein the drive mechanism drives the brake block to connect to or move away from the brake pad;

[0008] The drive mechanism includes a first groove and a second groove, and the two ends of the brake block are respectively embedded in the first groove and the second groove; the bottom of the first groove is connected to a gas generator, and after the gas is supplied, the brake block is driven away from the bottom of the first groove and then away from the brake pad, forming a non-braking state.

[0009] An elastic element is provided at the bottom of the second groove. The elastic element drives the brake block away from the second groove and closer to the brake pad to form a braking state.

[0010] Preferably, the brake block includes a first limiting ring and a second limiting ring;

[0011] The first limiting ring is disposed in the annular first groove and forms a sealed cavity with the bottom of the first groove; the second limiting ring is disposed in the annular second groove.

[0012] Preferably, the end of the elastic element away from the second groove is connected to the second limiting ring and has a driving force to drive the second limiting ring away from the second groove.

[0013] Preferably, the bottom of the second groove is provided with a first limiting hole, the second limiting ring is provided with a second limiting hole, and the two ends of the elastic element are respectively disposed in the first limiting hole and the second limiting hole.

[0014] Preferably, the stator assembly includes a housing, a first connecting ring connected to the inner ring of the housing, and a second connecting ring disposed at the upper end of the housing, wherein the second groove is disposed on the second connecting ring;

[0015] The inner ring of the housing extends inward to form an annular first protrusion, and the first connecting ring is connected to the first protrusion.

[0016] The upper end of the first connecting ring extends upward to form a second annular protrusion, and the first groove is formed by the second protrusion, the first connecting ring, and the housing.

[0017] Preferably, the outer ring of the first limiting ring is provided with a first sealing ring; the outer ring of the second boss is provided with a second sealing ring.

[0018] Preferably, the lower end of the second limiting ring is provided with a first friction plate, the upper end of the second protrusion is provided with a second friction plate, and the outer ring of the brake pad is disposed between the first friction plate and the second friction plate.

[0019] Preferably, the second connecting ring is provided with a first through hole, one end of which communicates with the outer wall of the second connecting ring, and the other end of which communicates with the second groove through the second limiting hole.

[0020] Preferably, a flange is connected to the end of the rotating shaft, and the rotating shaft drives the flange to rotate.

[0021] A high-load multi-degree-of-freedom gantry, using the above-mentioned brake motor, the gantry includes a gantry frame, an X-axis module mounted on the gantry frame, and a Z-axis module mounted on the X-axis module;

[0022] The Z-axis module is connected to a gripper device via multiple sequentially connected brake motors.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] (1) In this invention, when the equipment is running normally, the brake motor is kept connected to the air source, forming a positive pressure in the sealed cavity, which causes the brake block to move into the second groove, so that neither the first friction plate nor the second friction plate contacts the brake plate, and the brake function is unlocked.

[0025] When the equipment is powered off or shut down under other circumstances, the air supply is cut off. Driven by the elastic element, the second limit ring moves away from the second groove, causing the first friction plate to press against the brake plate, forming a brake. When the brake plate is pressed, it deforms and comes into contact with the second friction plate, further forming a lock-up, preventing slippage and falling.

[0026] (2) The brake device can be integrated into the motor and is set around the rotating shaft, which greatly reduces the overall volume of the motor. In addition, it reduces the overall volume in the application of multi-degree-of-freedom joints and is more suitable for confined space environments. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0028] Figure 1 This is a schematic diagram of the high-load multi-degree-of-freedom gantry structure described in this invention;

[0029] Figure 2 This is a schematic diagram of the brake motor described in this invention in a non-braking state;

[0030] Figure 3 for Figure 2 Enlarged structural diagram at point A;

[0031] Figure 4 This is a schematic diagram of the structure of the brake motor described in this invention when it is in the brake braking state;

[0032] Figure 5 This is a schematic diagram of the structure of the unlocking key described in this invention.

[0033] Figure 6 This is a schematic diagram of the unlocking process using the unlocking key described in this invention.

[0034] in:

[0035] Gantry Frame 1;

[0036] X-axis module 2;

[0037] Z-axis module 3;

[0038] Brake motor 4, rotor assembly 41, shaft 411, flange 412, stator assembly 42, housing 421, first boss 4211, clearance 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 pad 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, drive 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;

[0039] Gripper device 5;

[0040] Unlock key 6, unlock lever 61, unlocking part 62. Detailed Implementation

[0041] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0042] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0044] 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.

[0045] 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.

[0046] The present invention will be further described in detail below with reference to specific embodiments:

[0047] 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.

[0048] 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:

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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).

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In this embodiment, the braking principle of the brake motor 4 is as follows:

[0062] 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.

[0063] 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 limiting 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.

[0064] 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.

[0065] 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 is obvious 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 therefore 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. 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); 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); 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 disposed in the first limiting hole (4351) and the second limiting hole (4326). 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).

2. A brake motor according to claim 1, 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).

3. A brake motor according to claim 2, 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).

4. A brake motor according to claim 1, 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).

5. 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.

6. 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).

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