Intelligent hub motor with lock, electric equipment and locking and unlocking method

Abstract

The invention provides an intelligent hub motor with a lock, electric equipment and a locking and unlocking method, the motor comprises a motor body and a lock unit, and the lock unit comprises a rotating part and a fixed part; the rotating part is fixedly connected to a motor rotor assembly of the motor body and rotates along with the motor rotor assembly; the fixed part is fixedly connected to a shaft of a motor stator assembly of the motor body; wherein the rotating part comprises a plurality of notches; the fixed part comprises a spring bolt and a lock execution unit, and the lock execution unit can drive the spring bolt to move according to the control signal, so that the spring bolt extends into one notch or retreats from the notch, and the motor rotor assembly and the motor stator assembly are mutually locked / unlocked. According to the invention, autonomous locking and unlocking control can be realized, the method can face wider application scenes, and large-torque braking can be provided.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to an intelligent locking hub motor, an electric device, and a locking and unlocking method. Background Art

[0002] Currently, in-wheel motors on the market are divided into direct-drive in-wheel motors and reduction-wheel motors. These motors require sufficient torque to drive. Due to market demand for in-wheel motors with braking capabilities, motors with brakes have emerged, such as direct-drive in-wheel motors with brakes and reduction-wheel motors with brakes.

[0003] Patent document CN222262389U discloses a hub motor with a brake structure, including a housing, a rotor, a planetary reduction mechanism, and a brake lock. The brake lock is connected to the rotor. When power is on, the power output by the rotor is decelerated by the planetary reduction mechanism and then drives the housing to rotate. When power is off, the brake lock stops the rotor from rotating, so that the power is braked before being decelerated by the planetary reduction mechanism; the housing includes a first shell and a second shell, the edge of the first shell extends to form a middle part, and the second shell is installed at the end of the middle part.

[0004] The operating mode of this type of existing motor with a brake is that when powered on, the electric energy maintains the brake lock in the unlocked state, allowing the motor to operate normally. When the power is lost, the energy required to maintain the brake lock is lost, and the brake lock engages and brakes. This single operating mode consumes battery energy to maintain the unlocked state. Furthermore, the existing braking method using brake pads provides limited braking effect. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide an intelligent locking hub motor, an electric device and a locking and unlocking method.

[0006] According to the present invention, a smart hub motor with lock includes: a motor body and a lock unit, wherein the lock unit includes a rotating part and a fixed part;

[0007] The rotating part is fixedly connected to the motor rotor assembly of the motor body and rotates with the motor rotor assembly;

[0008] The fixing portion is fixedly connected to the shaft of the motor stator assembly of the motor body;

[0009] wherein the rotating portion includes a plurality of notches;

[0010] The fixing portion includes a lock tongue and a lock execution unit, wherein the lock execution unit can drive the lock tongue to move according to a control signal, thereby extending into or withdrawing from one of the slots, thereby locking / unlocking the motor rotor assembly and the motor stator assembly with each other;

[0011] The control signal comes from the motor control unit for autonomous control or the upper controller for manual control.

[0012] Furthermore, the motor body includes a motor stator assembly, a motor rotor assembly, a left end cover and a shaft end cover, and the motor rotor assembly is coaxially arranged on the outer periphery of the motor stator assembly;

[0013] The motor stator assembly includes: a shaft and a stator core, wherein the stator core is coaxially connected to the shaft, and the left end cover and the shaft outlet end cover are respectively connected to the shaft through bearings and are located on both sides of the stator core;

[0014] The shaft has a first end and a second end, the first end is located in the left end cover, and the second end passes through the shaft outlet end cover and extends outward.

[0015] Furthermore, the motor body further comprises a motor control unit, the left end cover has a receiving space open to the outside, the motor control unit is located in the receiving space, and the receiving space is closed by a cover plate connected to the outside of the left end cover;

[0016] The motor control unit includes a PCB board and a magnet. The PCB board is connected to the first end of the shaft and is electrically connected to the lock unit and an external upper controller through a wiring harness inside the shaft. The magnet is connected to the inner side of the cover plate.

[0017] Furthermore, the rotating part includes: a member rotating with the housing;

[0018] The shell-mounted rotating part is fixedly connected to or integrally formed on the outer shell of the motor rotor assembly. The shell-mounted rotating part has an extension portion in a circular shape extending toward the shaft end cover. The extension portion is provided with a plurality of slots on one side facing the shaft end cover, and the plurality of slots are evenly distributed on the circumference of the extension portion.

[0019] Furthermore, the fixing part includes: a lock tongue, a lock execution unit and a connecting seat;

[0020] The connecting seat is sleeved on the shaft through a hole with a square slot, and the lock tongue is rotatably connected to the connecting seat through a fixing pin. The lock execution unit is connected to the connecting seat and is driven by the lock tongue, and can drive the lock tongue to rotate and extend into / out of the slot.

[0021] An electric device provided according to the present invention includes the smart locking hub motor.

[0022] According to a locking method of a smart locking hub motor provided by the present invention, the smart locking hub motor is used, and the method includes:

[0023] Step 1: When the controller receives a locking command from the upper controller, or when the controller determines that locking is required, the controller sends a locking control signal to the lock execution unit of the lock unit;

[0024] Step 2: The lock execution unit drives the deadbolt to lock and detects the locking state.

[0025] Furthermore, the method of detecting the locking state includes:

[0026] Step 3: Detect whether the rotor stops rotating and whether the pressure on the lock tongue is greater than or equal to the set threshold;

[0027] Step 4: If all the judgment results are yes, the locking is determined to be successful and the locked state is fed back; otherwise, fault diagnosis is triggered and the output of the motor body is adjusted until the locking is successful.

[0028] According to a method for unlocking a smart lockable hub motor provided by the present invention, the method adopts the smart lockable hub motor, and the method includes:

[0029] Step 1: When the controller receives an unlocking instruction from the upper controller or receives a motor start signal, the controller sends an unlocking control signal to the lock execution unit of the lock unit;

[0030] Step 2: The lock execution unit drives the lock tongue to unlock;

[0031] Step 3: Detect the incremental rotation of the rotor to determine whether the lock tongue is completely out of the notch;

[0032] Step 4: If the result is yes, the unlocking is determined to be successful and the unlocked status is fed back; otherwise, the emergency unlocking process is entered.

[0033] Furthermore, the emergency unlocking process includes:

[0034] Step 5: Activate the standby controller by supplying power through an external power supply;

[0035] Step 6: Send an unlocking control signal to the lock execution unit of the lock unit through the standby controller, or manually unlock;

[0036] Step 7: Based on the detected rotor rotation increment, feedback is given on the unlocked state or unlocking failure state.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] The present invention can achieve autonomous locking and unlocking control, is not limited to the working condition of locking in the case of power failure, and can be applied to a wider range of scenarios. The locking tongue braking method makes up for the application defect of this type of motor that cannot provide high torque braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0040] Figure 1 This is a cross-sectional view of the smart lockable hub motor;

[0041] Figure 2 This is an exploded view of the smart lockable hub motor;

[0042] Figure 3 is a perspective view of a lock unit;

[0043] Figure 4 is a diagram of the lock unit;

[0044] Figure 5 This is a schematic diagram of the installation of the rotating parts with the shell;

[0045] Figure 6 This is a schematic diagram of the installation of the connector;

[0046] Figure 7 This is a control principle diagram of the present invention;

[0047] In the picture:

[0048] 1-Motor stator assembly; 2-Motor rotor assembly; 3-Left end cover; 4-Output shaft end cover; 5-Cover plate; 6-PCB board; 7-Magnetic steel; 8-Oil seal; 9-Bearing; 10-Mounting gasket; 11-Nut; 12-Screw; 13-Screw; 14-Screw; 15-Wire harness; 16-Sealing gasket; 17-Shaft; 18-Stator core; 19-PCB bracket; 20-Retaining ring; 21-Lock unit;

[0049] 2100-slot; 2101-connecting seat; 2102-lock tongue; 2103-fixing pin; 2106-lock execution unit; 2107-rotating part with the shell; 2108-cam. DETAILED DESCRIPTION

[0050] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0051] Example 1

[0052] like Figure 1 and Figure 2 As shown, the present invention provides an intelligent hub motor with lock, including: a motor body and a lock unit 21.

[0053] The motor body includes a motor stator assembly 1 , a motor rotor assembly 2 , a left end cover 3 and a shaft-outlet end cover 4 . The motor rotor assembly 2 is coaxially arranged on the outer periphery of the motor stator assembly 1 .

[0054] The motor stator assembly 1 includes a shaft 17 and a stator core 18. The stator core 18 is coaxially connected to the shaft 17. The left end cap 3 and the shaft end cap 4 are respectively connected to the shaft 17 via bearings and are located on either side of the stator core 18. In this embodiment, the left end cap 3 is connected to the wheel hub via screws 14 and a sealing gasket, and the left end cap 3 is connected to the shaft 17 via a bearing 9. The shaft 17 has a first end and a second end. The first end is located inside the left end cap 3, and the second end passes through the shaft end cap 4 and extends outward. An oil seal 8 is also provided at the position where it passes outside the shaft end cap 4 to prevent internal oil leakage. The portion of the shaft 17 outside the motor body is connected to a mounting gasket 10 and a nut 11 for installing the smart lockable hub motor.

[0055] The motor body also includes a motor control unit. The left end cap 3 has an outwardly open storage space. The motor control unit is located within this space and is sealed by a cover plate 5 attached to the outside of the left end cap 3 and screws 13. The motor control unit includes a PCB 6 and a magnet 7. The PCB 6 is attached to a PCB bracket 19 via screws 12. The PCB bracket 19 is connected to the first end of the shaft 17 and electrically connected to the lock unit 21 and an external upper controller via a wiring harness 15 within the shaft 17. The magnet 7 is attached to the inside of the cover plate 5. Its communication methods include various protocols, including CAN and 485.

[0056] like Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the locking unit 21 includes a rotating part and a fixed part. The rotating part is fixedly connected to the motor rotor assembly 2 of the motor body and rotates with the motor rotor assembly 2. The fixed part is fixedly connected to the shaft 17 of the motor stator assembly 1 of the motor body.

[0057] The rotating portion includes a housing-attached rotating member 2107, which is fixedly connected to the outer casing of the motor rotor assembly 2 via screws or integrally formed therewith. The housing-attached rotating member 2107 has a circular extension portion extending toward the shaft end cap 4. The side of the extension portion facing the shaft end cap 4 is provided with a plurality of notches 2100, evenly distributed around the circumference of the extension portion. In this embodiment, the number of notches 2100 is 18, but this is not a limitation of the present invention; the number of notches can be increased or decreased based on actual operating conditions.

[0058] The more notches there are, the more points of contact between the lock tongue and the notches, theoretically improving the braking effect, providing a wider braking angle, and reducing the braking angle. However, too many notches can lead to a complex structure and occupy a large space. Furthermore, the number of notches affects the structural strength of the rotating part; too many notches can weaken the component. Furthermore, too few notches can lead to unreliable locking, while too many can increase the probability of failure. To balance these considerations, the optimal number of notches was determined:

[0059] To ensure sufficient braking force, 18 notches provide just over 1.5 times the motor's maximum torque (safety redundancy). Fewer notches (e.g., 12) provide insufficient braking force and a narrow braking angle. More notches (e.g., 24) provide greater braking force but a narrower braking angle, but this is not actually needed, as the structural support area is small, providing insufficient braking force and wasting space. To improve responsiveness, the lock tongue needs to fit into the notch to lock the motor. With 18 notches distributed evenly, the lock tongue moves a smaller angle each time (360° ÷ 18 = 20°), resulting in a 40% to 50% faster locking speed than with 24 or 12 notches. To save space and improve space utilization, 18 notches occupy 30% less space than 24, leaving more room for other key components (such as sensors and circuit boards).

[0060] The fixed portion includes a lock tongue 2102, a lock execution unit 2106, and a connecting base 2101. The connecting base 2101 is sleeved onto the shaft 17 via a hole with a square slot, ensuring that the fixed portion of the lock unit is installed concentrically with the shaft while also preventing loosening due to high torque. The fixing method is not limited. The lock tongue 2102 is rotatably connected to the connecting base 2101 via a fixing pin 2103. The lock execution unit 2106 is connected to the connecting base 2101 and is driven by the lock tongue 2102, capable of driving the lock tongue 2102 to rotate and extend into / out of the slot 2100. The lock execution unit 2106 can drive the lock tongue 2102 to move according to a control signal, thereby extending into or withdrawing from a slot 2100, thereby locking / unlocking the motor rotor assembly 2 and the motor stator assembly 1. The control signal comes from the motor control unit for autonomous control or the upper controller for manual control.

[0061] The intelligent lockable hub motor provided by the present invention can be applied to various electric devices, such as lawn mowers, commercial sweepers or transport AGVs.

[0062] Example 2

[0063] like Figure 7 As shown, based on Example 1, the present invention further provides a locking method for an intelligent locking hub motor, comprising:

[0064] Step 1: When the controller receives a locking instruction from the upper controller, or the controller independently determines that locking is required, the controller sends a locking control signal to the lock execution unit 2106 of the lock unit 21.

[0065] Step 2: The lock execution unit 2106 drives the lock tongue 2102 to lock and detects the locking state.

[0066] The contents of detecting the locking status include:

[0067] Step 3: Detect whether the rotor stops rotating and whether the pressure on the lock tongue is greater than or equal to the set threshold;

[0068] Step 4: If all the judgment results are yes, the locking is determined to be successful and the locked state is fed back; otherwise, fault diagnosis is triggered and the output of the motor body is adjusted until the locking is successful.

[0069] Example 3

[0070] like Figure 7 As shown, based on Example 1, the present invention also provides a method for unlocking a smart lockable hub motor, the method comprising:

[0071] Step 1: When the controller receives an unlocking instruction from the upper controller or receives a motor start signal, the controller sends an unlocking control signal to the lock execution unit 2106 of the lock unit 21.

[0072] Step 2: The lock execution unit 2106 drives the lock tongue 2102 to unlock.

[0073] Step 3: Check the incremental rotation of the rotor to determine whether the lock tongue is completely out of the notch.

[0074] Step 4: If the result is yes, the unlocking is determined to be successful and the unlocked status is fed back; otherwise, the emergency unlocking process is entered (application scenario: main controller failure or power outage).

[0075] The emergency unlocking process includes:

[0076] Step 5: Activate the standby controller by supplying power through an external power supply;

[0077] Step 6: Send an unlocking control signal to the lock execution unit 2106 of the lock unit 21 through the standby controller, or manually unlock;

[0078] Step 7: Based on the detected rotor rotation increment, feedback is given on the unlocked state or unlocking failure state.

[0079] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0080] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A smart lockable hub motor, characterized in that: include: A motor body and a lock unit (21), wherein the lock unit (21) includes a rotating part and a fixed part; The rotating part is fixedly connected to the motor rotor assembly (2) of the motor body and rotates along with the motor rotor assembly (2); The fixing portion is fixedly connected to the shaft (17) of the motor stator assembly (1) of the motor body; wherein the rotating portion comprises a plurality of notches (2100); The fixing portion comprises a locking tongue (2102) and a lock execution unit (2106), wherein the locking execution unit (2106) is capable of driving the locking tongue (2102) to move according to a control signal, thereby extending into one of the slots (2100) or withdrawing from the slot (2100), thereby locking / unlocking the motor rotor assembly (2) and the motor stator assembly (1) with each other; The control signal comes from the motor control unit for autonomous control or the upper controller for manual control.

2. The smart lockable hub motor according to claim 1, characterized in that: The motor body comprises a motor stator assembly (1), a motor rotor assembly (2), a left end cover (3) and an output shaft end cover (4); the motor rotor assembly (2) is coaxially arranged on the outer periphery of the motor stator assembly (1); The motor stator assembly (1) comprises: a shaft (17) and a stator core (18), wherein the stator core (18) is coaxially connected to the shaft (17), and the left end cover (3) and the shaft outlet end cover (4) are respectively connected to the shaft (17) through bearings and are located on both sides of the stator core (18); The shaft (17) has a first end and a second end, the first end is located inside the left end cover (3), and the second end passes through the shaft outlet end cover (4) and extends outward.

3. The smart lockable hub motor according to claim 2, characterized in that: The motor body further comprises a motor control unit, the left end cover (3) having a receiving space open to the outside, the motor control unit being located in the receiving space and being closed by a cover plate (5) connected to the outside of the left end cover (3); The motor control unit comprises a PCB board (6) and a magnet (7), wherein the PCB board (6) is connected to the first end of the shaft (17) and is electrically connected to the lock unit (21) and an external upper controller via a wiring harness (15) within the shaft (17), and the magnet (7) is connected to the inner side of the cover plate (5).

4. The smart lockable hub motor according to claim 2, characterized in that: The rotating part includes: a member (2107) rotating with the shell; The housing-mounted rotating member (2107) is fixedly connected to or integrally formed on the housing of the motor rotor assembly (2), and the housing-mounted rotating member (2107) has an extension portion in a circular shape extending toward the shaft end cover (4), and a plurality of notches (2100) are formed on a side of the extension portion facing the shaft end cover (4), and the plurality of notches (2100) are evenly distributed on the circumference of the extension portion.

5. The smart lockable hub motor according to claim 2, characterized in that: The fixing part comprises: a lock tongue (2102), a lock execution unit (2106) and a connecting seat (2101); The connecting seat (2101) is sleeved on the shaft (17) through a hole with a square groove, and the lock tongue (2102) is rotatably connected to the connecting seat (2101) through a fixing pin (2103). The lock execution unit (2106) is connected to the connecting seat (2101) and is drivingly connected to the lock tongue (2102), and can drive the lock tongue (2102) to rotate and extend into / out of the slot (2100).

6. An electric device, characterized in that: The smart lockable hub motor comprises the smart lockable hub motor according to any one of claims 1 to 5.

7. A locking method for an intelligent locking hub motor, characterized in that: Using the smart lockable hub motor according to any one of claims 1 to 5, the method comprises: Step 1: When the controller receives a locking instruction from the upper controller, or the controller determines that locking is required, the controller sends a locking control signal to the lock execution unit (2106) of the lock unit (21); Step 2: The lock execution unit (2106) drives the lock tongue (2102) to lock and detects the locking state.

8. The locking method of the smart hub motor with lock according to claim 7, characterized in that: Methods for detecting the locking status include: Step 3: Detect whether the rotor stops rotating and whether the pressure on the lock tongue is greater than or equal to the set threshold; Step 4: If all the judgment results are yes, the locking is determined to be successful and the locked state is fed back; otherwise, fault diagnosis is triggered and the output of the motor body is adjusted until the locking is successful.

9. A method for unlocking a smart lockable hub motor, characterized in that: Using the smart lockable hub motor according to any one of claims 1 to 5, the method comprises: Step 1: When the controller receives an unlocking instruction from the upper controller or receives a motor start signal, the controller sends an unlocking control signal to the lock execution unit (2106) of the lock unit (21); Step 2: The lock execution unit (2106) drives the lock tongue (2102) to unlock; Step 3: Detect the incremental rotation of the rotor to determine whether the lock tongue is completely out of the notch; Step 4: If the result is yes, the unlocking is determined to be successful and the unlocked status is fed back; otherwise, the emergency unlocking process is entered.

10. The unlocking method of the smart lockable hub motor according to claim 9, characterized in that: The emergency unlocking process includes: Step 5: Activate the standby controller by supplying power through an external power supply; Step 6: Sending an unlocking control signal to the lock execution unit (2106) of the lock unit (21) via the standby controller, or manually unlocking; Step 7: Based on the detected rotor rotation increment, feedback is given on the unlocked state or unlocking failure state.

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