JP2018074775A - Motor with brake - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a resolver from receiving influence of a magnetic flux from an electromagnetic brake portion.SOLUTION: The motor with a brake is so configured that a resolver (13) is provided adjacent to a motor section (4), an electromagnetic brake section (9) is provided adjacent to the resolver (13), or the electromagnetic brake section (9) is provided outside the motor section (4), and by engaging a brake disk (23) of the electromagnetic brake section (9) with a spline section (40) of a rotating shaft (12), propagation of the magnetic flux is prevented.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a motor with a brake, and more particularly to a novel improvement for preventing magnetic flux generated during energization of an electromagnetic brake from propagating to a resolver and adversely affecting the resolver.

As a motor with a brake composed of an electromagnetic brake, a rotation detector, and a motor of this type that have been used in the past, for example, many are disclosed in Patent Documents 1 and 2, and are actually commercially available among them. As a structure, the conventional structure of FIG. 4 can be mentioned.
That is, in FIG. 4, what is indicated by reference numeral 1 is a casing whose overall shape is a cylindrical shape, and a motor portion 4 including an annular stator 2 and a rotor 3 is provided inside the casing 1.

A first bearing 7 provided on the front lid 6 of the casing 1 is provided on the motor front side 5 of the motor unit 4.
An electromagnetic brake part 9 is provided on the motor rear side 8 of the motor part 4 so as to be adjacent to the motor part 4, and a rear cover 11 having a second bearing 10 is provided on the rear part 1 a of the casing 1. Is provided.

  A rotary shaft 12 is provided between the first and second bearings 7 and 10, the rotor 3 is provided on the rotary shaft 12, and the rotary shaft 12 is adjacent to the motor unit 4. The electromagnetic brake part 9 is penetrated.

A rear portion 12 a of the rotary shaft 12 that has penetrated the second bearing 10 penetrates a resolver 13 provided on the rear lid 11 side.
The resolver 13 is of a rotary transformer type, and is constituted by a resolver part 13A and a rotary transformer 13B as is well known, and the rear part 12a of the rotary shaft 12 is a resolver rotor 20 and a rotary transformer rotor of the resolver part 13A. 21 is penetrated.
A cylindrical body 12A made of a nonmagnetic material such as stainless steel is provided on the outer periphery of the rear portion 12a of the rotating shaft 12, and the resolver 13 is provided on the outer peripheral side of the cylindrical body 12A.

A brake disc 23 of the electromagnetic brake unit 9 is provided on the spline portion 22 formed in the central portion 12 b of the rotating shaft 12.
As is well known, when the motor unit 4 is turned off, the electromagnetic brake unit 9 always presses the brake disc 23 against the fixed plate 42 side by a spring (not shown) so that the rotating shaft 12 It will be stopped. Further, when the motor unit 4 is turned on, the electromagnetic unit 24 is turned on, and the annular brake plate 35 is attracted to the right side in FIG. 4 against the force of the spring, so that the pressure on the brake disk 23 is released. Thus, the brake to the rotating shaft 12 is turned off, and the rotating shaft 12 by the motor unit 4 is configured to rotate.
In addition, the “motor with an auxiliary device and the short-axis robot and the telescopic device including the same” in Patent Document 1 have a configuration in which a motor, a resolver, and a brake are arranged in series in a casing. Avoiding magnetic flux from is not disclosed.
In the “electric brake device” of Patent Document 2, a motor and resolver are disclosed, but the structure of the brake and resolver magnetic flux in the present invention is not disclosed in the structure of the brake itself.

JP 2011-234521 A JP 2011-31749 A

Since the conventional motor with a brake is configured as described above, the following problems exist.
That is, in the conventional configuration shown in FIG. 4 described above, since the distance between the electromagnetic brake unit 9 and the resolver 13 is short, the magnetic flux generated in the electromagnetic unit 24 of the electromagnetic brake unit 9 is indicated by an arrow B. A cylindrical body 12A made of a non-magnetic material is provided in the rear portion 12a, which enters the resolver portion 13A side of the resolver 13 from the rear portion 12a through the rotating shaft 12 and gives a serious false detection to the detecting operation of the resolver 13. However, the adverse effect of the magnetic flux on the resolver 13 side can be prevented, but the manufacturing cost and assembly cost of the cylinder 12A provided on the rear portion 12a of the rotating shaft 12 are increased, and the increase in the cost of the motor with brake is suppressed. I couldn't.

  The present invention has been made to solve the above-described problems, and in particular, a brake-equipped motor that prevents magnetic flux generated during energization of an electromagnetic brake from propagating to the resolver and adversely affecting the resolver. The purpose is to provide.

  A motor with a brake according to the present invention is provided with a motor part provided in a cylindrical casing, a ring-shaped stator for constituting the motor part, a rotor provided in the ring-shaped stator, and the rotor. In a motor with a brake comprising a rotating shaft, a resolver provided at a position adjacent to the motor unit, and an electromagnetic brake unit provided at a position adjacent to the resolver or a position adjacent to the motor unit, The brake disc is configured to mesh with a spline portion provided at an end portion of the rotating shaft, and the electromagnetic brake portion is configured to be provided on the motor rear side of the motor portion. The electromagnetic brake part is configured to be provided on the motor front side of the motor part, and of the first and second bearings that support the rotating shaft. The first bearing is located on the front side of the motor, the second bearing is located between the resolver and the motor part, and the brake cover incorporating the electromagnetic part in the electromagnetic brake part includes: The brake cover is configured to protrude outward from the end surface 1M of the casing, and the brake cover is attached to the end surface 1M of the casing via a waterproof seal portion, and a plug is provided in the through hole of the brake cover. Therefore, the electromagnetic brake part is configured to be waterproof.

Since the brake motor according to the present invention is configured as described above, the following effects can be obtained.
That is, a motor part provided in a cylindrical casing, a ring-shaped stator for constituting the motor part, a rotor provided in the ring-shaped stator, a rotating shaft provided in the rotor, and the motor In a motor with a brake comprising a resolver provided at an adjacent position of a part and an electromagnetic brake part provided at an adjacent position of the resolver or an adjacent position of the motor part, the brake disk of the electromagnetic brake part has the rotation With the configuration that meshes with the spline part provided at the end of the shaft, the leakage magnetic flux from the electromagnetic brake part is difficult to be transmitted to the resolver side due to the magnetic resistance of the spline part, and the arrangement of the electromagnetic brake part and the resolver is changed. By combining the spline portions, the influence of magnetic flux on the resolver can be avoided.
Moreover, the said electromagnetic brake part can acquire the effect similar to the above by being provided in the motor rear side of the said motor part.
Moreover, the said electromagnetic brake part can acquire the effect similar to the above by being provided in the motor front side of the said motor part.
Of the first and second bearings that pivotally support the rotating shaft, the first bearing is located on the front side of the motor, and the second bearing is located between the resolver and the motor unit. Even when the electromagnetic brake unit is arranged on either the motor front side or the motor rear side of the motor unit, the influence of magnetic flux on the resolver can be prevented and the detection accuracy of the resolver can be improved.
Moreover, the brake cover incorporating the electromagnetic part in the electromagnetic brake part is configured to protrude outward from the end face of the casing, thereby facilitating repair or replacement work of the electromagnetic brake part.
In addition, the brake cover is attached to the end surface of the casing via a waterproof seal portion, and a plug is provided in the through hole of the brake cover, so that the electromagnetic brake portion is configured as a waterproof type. The motor with a brake can be used under adverse conditions.

It is sectional drawing which shows the motor with a brake by this invention. It is an expanded sectional view of the principal part of FIG. It is sectional drawing which shows the other form of FIG. It is sectional drawing which shows the conventional motor with a brake.

  The motor with a brake according to the present invention prevents the magnetic flux generated when the electromagnetic brake is energized from reaching the resolver and causing the resolver to be erroneously detected.

A preferred embodiment of a motor with brake according to the present invention will be described below with reference to the drawings.
In addition, the same code | symbol is attached | subjected and demonstrated to a part the same as that of a prior art example, or an equivalent part.
In FIG. 1, a reference numeral 1 denotes a casing whose overall shape is a cylindrical shape, and a motor unit 4 including a ring-shaped stator 2 and a rotor 3 is provided inside the casing 1.

A first bearing 7 provided on the front lid 6 of the casing 1 is provided on the motor front side 5 of the motor unit 4.
A second bearing 10 is provided on the rear part 1 a side of the casing 1 and adjacent to the motor part 4, and a resolver 13 is provided adjacent to the second bearing 10.
The resolver 13 has a resolver rotor 20 and a rotary transformer rotor 21 disposed on the outer periphery of a cylinder 12A provided at an end 12B of the rotary shaft 12, and is provided at the resolver rotor 20 and its outer position. A resolver portion 13A is constituted by the resolver stator 20A.

A rotary transformer portion 21B is constituted by the rotary transformer rotor 21 and a rotary transformer stator 21A provided at an outer position thereof.
On the rear part 1a of the casing 1, that is, the motor rear side 8 and the rear lid 11, a brake cover 30 that forms a cup shape of the electromagnetic brake part 9 is provided via a waterproof seal part 31 such as an O-ring.

A ring-shaped electromagnetic part 24 composed of a coil for generating an electromagnetic action of the electromagnetic brake part 9 is provided in a ring-shaped recess 32 formed in the thickness of the brake cover 30.
On the front surface 33 of the brake cover 30, a ring-shaped brake plate 35 that is always urged toward the resolver 13 by an elastic body 34 such as a spring provided on the front surface 33 side of the brake cover 30 is provided in the axial direction A. It can be reciprocated along.

An end 12B, which is the rear end of the rotary shaft 12, is located facing one side 36a of the through hole 36 formed in the axis of the brake cover 30, and the other side 36b of the through hole 36 is located on the other side 36b. A plug 37 made of a nonmagnetic material is inserted. The plug 37 is grounded to the casing 1 by a connecting member 80 and a bolt 81.
Therefore, the motor front side 5 of the casing 1 has a sealed waterproof structure by the front lid 6, and the motor rear side 18 has a sealed waterproof structure by the rear lid 11, the brake cover 30 and the plug body 37. Thus, the entire motor 1A is configured as a waterproof structure.

As shown in an enlarged view in FIG. 2, a spline portion 40 is formed on the outer periphery of the end portion 12 </ b> B of the rotary shaft 12, and the brake disc 23 is provided on the spline portion 40 so as to mesh with the brake disc 23. A pair of brake shoes 41 are provided on both sides of the disk 23.
In the vicinity of the brake disk 23, a fixing plate 42 is fixed to the brake cover 30 with bolts 43.

  The motor projection 1B and the brake / resolver projection 1C from which a part of the casing 1 projects outward are provided with a motor connector 50 and a brake / resolver connector 51, respectively. 51 is configured so that water does not enter the casing 1.

Next, the case where the brake motor provided with the resolver 13 is operated in the above-described configuration will be described.
First, when the power is turned off before driving the motor unit 4, the annular brake plate 35 is pressed against the brake shoe 41 of the brake disc 23 by the pressing force of each elastic body 34. Is maintained in a stopped state.

In the state described above, when the motor 1A is turned on, the electromagnetic part 24 of the electromagnetic brake part 9 is turned on, and the ring-shaped brake plate 24 is caused to spring by the elastic body 34 by the electromagnetic attractive force of the electromagnetic brake part 9. Therefore, the brake disk 23 is released from being pressed and rotation of the rotary shaft 12 is started.
Next, when the power of the motor 1A is turned off, the electromagnetic unit 24 is turned off, the shape of the elastic body 34 is restored to the original, and the pressure on the ring-shaped brake plate 35 is generated. Thus, the rotation stop of the rotating shaft 12 is continued.

  In the driving state of the motor 1A described above, the magnetic flux generated from the electromagnetic part 24 tries to wrap around the winding of the resolver 13 via the annular brake plate 35, the brake disk 23 and the spline part 40. Since the propagation of the magnetic flux is greatly reduced by the magnetic resistance by the unit 40, it is possible to prevent a decrease in detected stress and accuracy due to disturbance of the resolver 13.

  In the first embodiment shown in FIGS. 1 and 2 described above, the electromagnetic brake unit 9 is provided on the right side in the view of the motor 1A. For example, as shown in FIG. Even when the electromagnetic brake unit 9 is provided on the left side in the view of FIG. 1A, it is possible to obtain the same operational effects as those of the configuration of FIGS.

The gist of the motor with brake according to the present invention is as follows.
That is, the motor part 4 provided in the cylindrical casing 1, the ring-shaped stator 2 for configuring the motor part 4, the rotor 3 provided in the ring-shaped stator 2, and the rotor 3 are provided. A brake motor comprising: a rotating shaft 12; a resolver 13 provided adjacent to the motor unit 4; and an electromagnetic brake unit 9 provided adjacent to the resolver 13 or adjacent to the motor unit 4. The brake disc 23 of the electromagnetic brake part 9 is configured to mesh with a spline part 40 provided at the end 12B of the rotary shaft 12, and the electromagnetic brake part 9 is The configuration is provided on the motor rear side 8, and the electromagnetic brake portion 9 is provided on the motor front side 5 of the motor portion 4. Of the first and second bearings 7 and 10 that support the rotating shaft 12, the first bearing 7 is located on the motor front side 5, and the second bearing 10 is located between the resolver 13 and the motor unit 4. The brake cover 30 including the electromagnetic part 24 in the electromagnetic brake part 9 is configured to protrude outward from the end face 1M of the casing 1 and the brake cover 30 Is attached to the end face 1M of the casing 1 via a waterproof seal 31 and a plug 37 is provided in the through hole 36 of the brake cover 30 so that the electromagnetic brake 9 is a waterproof type. It is a configuration.

  In the motor with brake according to the present invention, a spline portion is formed at a portion connecting the rotating shaft and the brake disk, and this spline portion serves as a magnetic resistance, prevents propagation of magnetic flux to the resolver, and improves detection accuracy of the resolver. be able to.

DESCRIPTION OF SYMBOLS 1 Casing 2 Ring-shaped stator 1M End surface 1A Motor 1a Rear part 4 Motor part 3 Rotor 5 Motor front side 6 Front cover 7 1st bearing 8 Motor rear part 9 Electromagnetic brake part 10 2nd bearing 11 Rear cover 12A Cylindrical body 12B End part 13 Resolver 13A Resolver Part 20 Resolver rotor 20A Resolver stator 21 Rotating transformer rotor 21A Rotating transformer stator 21B Rotating transformer part 24 Electromagnetic part 30 Brake cover 31 Waterproof seal part 32 Ring-shaped concave part 33 Front surface 34 Elastic body 35 Ring-shaped brake plate 36 Through hole 36b Other side 40 Spline part 42 Fixing plate 43 Bolt 50 Motor connector 51 Brake / resolver connector A Axial direction 1B Motor protrusion 1C Brake / resolver protrusion

Claims (6)

A motor part (4) provided in a cylindrical casing (1), a ring-shaped stator (2) for constituting the motor part (4), a rotor (3) provided in the ring-shaped stator (2) ), A rotating shaft (12) provided in the rotor (3), a resolver (13) provided in a position adjacent to the motor unit (4), and a position adjacent to the resolver (13) or the motor. In the motor with brake comprising the electromagnetic brake part (9) provided at the position adjacent to the part (4),
The brake disc (23) of the electromagnetic brake portion (9) is configured to mesh with a spline portion (40) provided at an end portion (12B) of the rotating shaft (12). motor.   The motor with brake according to claim 1, wherein the electromagnetic brake part (9) is provided on a motor rear side (8) of the motor part (4).   The motor with brake according to claim 1, wherein the electromagnetic brake part (9) is provided on a motor front side (5) of the motor part (4).   Of the first and second bearings (7, 10) that support the rotating shaft (12), the first bearing (7) is located on the front side of the motor (5), and the second bearing (10) is The motor with a brake according to claim 2, wherein the motor is provided between the resolver (13) and the motor section (4).   The brake cover (30) having a built-in electromagnetic portion (24) in the electromagnetic brake portion (9) is configured to protrude outward from an end surface (1M) of the casing (1). 4. A motor with a brake according to 4.   The brake cover (30) is attached to the end surface (1M) of the casing (1) via a waterproof seal part (31), and the plug body (37) is inserted into the through hole (36) of the brake cover (30). The brake-equipped motor according to claim 5, wherein the electromagnetic brake portion (9) is configured to be waterproof.

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