Salient pole magnetic circuit permanent magnet brake joint module and assembling method thereof

Abstract

The application discloses a salient pole magnetic circuit permanent magnet brake joint module and an assembling method thereof. The salient pole magnetic circuit permanent magnet brake joint module comprises a shell, a main shaft, a motor stator, a motor rotor, a brake stator and a brake rotor. The shell comprises a ring cover and inner and outer cylinders fixed on the inner and outer ring faces thereof. The inner and outer cylinders and the ring cover form a sandwich cavity with one end being open and the other end being closed. The main shaft is rotationally connected with the inner ring of the inner cylinder, and the brake end thereof is distributed on the same side of the ring cover and extends to the outer cylinder. The motor stator is arranged in the open end of the sandwich cavity and is fixed on the inner side wall of the outer cylinder. The motor rotor is arranged in the inner ring of the motor stator and is connected with the main shaft. The brake stator is filled with glue in the closed end of the sandwich cavity and is connected with the end face of the motor stator. The motor and the brake are integrated, the axial space of the structure is saved, and the brake torque between the brake stator and the brake rotor is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robots, in particular to a salient pole magnetic circuit permanent magnet brake joint module and an assembling method thereof. BACKGROUND

[0002] The current joint module of humanoid robots generally adopts a permanent magnet power-off brake as a safety holding device, and its core function is to realize mechanical self-locking through the magnetic force generated by the permanent magnet in the power-off state to prevent the joint position from deviating.

[0003] In the prior art, the permanent magnet power-off brake is mainly a traditional external brake and a split electromagnetic brake. Among them, the traditional external brake, such as the standard part provided by KEB Kobra and other manufacturers, has the problems of too large axial length (i.e. usually greater than 15mm) and limited intermediate through hole size, which is difficult to adapt to the compactness requirement of the joint module. The traditional brake is easy to heat, and when the temperature rises too high, the permanent magnet appears irreversible demagnetization, resulting in brake force attenuation, and high temperature makes the brake friction plate contact surface uneven, aggravating abnormal wear. The high temperature of the coil accelerates the carbonization of the insulation layer, increases the risk of short circuit, and is difficult to meet the high-frequency start-stop requirement of humanoid robots. The split electromagnetic brake needs independent power supply and complex heat dissipation structure, such as the ultra-thin brake of Jushun, which optimizes the thickness, but still needs additional heat dissipation design, resulting in increased system energy consumption.

[0004] In addition, the existing permanent magnet power-off brake needs a larger current to maintain the torque, and the space occupied by the coil in the permanent magnet power-off brake is large, which significantly increases the power consumption of the joint module and the axial length of the joint module, and reduces the endurance of the robot. SUMMARY

[0005] The present application provides a salient pole magnetic circuit permanent magnet brake joint module and an assembling method to solve the problems of excessive axial length and high power consumption of the joint module provided with a brake.

[0006] In one aspect, the present application discloses a salient pole magnetic circuit permanent magnet brake joint module, which comprises a shell, a main shaft, a motor stator, a motor rotor, a brake stator and a brake rotor.

[0007] The shell comprises a ring cover, an inner cylinder and an outer cylinder fixed on the inner and outer ring surfaces thereof, and a sandwich cavity with one end open and one end closed is formed by the inner cylinder, the outer cylinder and the ring cover; the main shaft is rotationally connected with the inner ring of the inner cylinder, the brake end thereof is distributed on the same side of the ring cover and extends to the outside of the inner cylinder, and the end thereof away from the ring cover is an output end;

[0008] The motor stator is arranged in the opening end of the sandwich cavity and fixed to the inner side wall of the outer cylinder; the motor rotor is arranged in the inner ring of the motor stator and connected to the main shaft; the brake stator is filled with glue in the closed end of the sandwich cavity, and the end face of the motor stator close to the ring cover is in contact with the glue;

[0009] The brake stator comprises a shielding plate, an inner ring frame, a holding frame, an outer ring frame and a coil which are connected in sequence along the axial direction of the main shaft; the shielding plate is fixed to the end face of the motor stator; the outer ring frame is arranged outside the inner ring frame, and the two ring frames form a mounting sandwich layer for the coil; the salient poles of the two ring frames are arranged along the axial direction of the main shaft and extend to the outside of the housing through the ring cover; the two ring frames are made of high permeability material; the first permanent magnet is arranged between the two ring frames and in the holding frame;

[0010] The brake rotor comprises a fixing seat which is arranged outside the housing and connected to the brake end of the main shaft; the fixing seat and the ring cover are provided with an armature; the armature is connected to the fixing seat through a spring; and the second permanent magnet is arranged in the armature. By integrating the motor and the brake, the axial space of the structure is saved, and the braking torque between the brake stator and the brake rotor is improved.

[0011] Optionally, the salient poles of the inner ring frame are distributed at equal angles around the axis of the main shaft; the salient poles of the outer ring frame are distributed at equal angles around the axis of the main shaft and arranged opposite to the salient poles of the inner ring frame; the first permanent magnet is distributed at equal angles around the axis of the main shaft and arranged opposite to the salient poles of the inner ring frame; and the second permanent magnet is distributed at equal angles around the axis of the main shaft and arranged between the salient poles of the inner ring frame and the salient poles of the holding frame.

[0012] The inner ring frame comprises an inner ring body arranged along the axial direction of the main shaft; one end of the inner ring body is provided with a salient pole, and the other end of the inner ring body is provided with a first connecting plate; the outer ring frame comprises an outer ring body arranged along the axial direction of the main shaft; one end of the outer ring body is provided with a salient pole, and the other end of the outer ring body is provided with a second connecting plate; and the first connecting plate, the holding frame and the second connecting plate are fixed together by bolts.

[0013] The first permanent magnet and the second permanent magnet are made of sintered Nd-Fe-B; and the holding frame is made of non-magnetic material. By using the above scheme, the brake stator is made of high permeability material and has a salient pole structure, so that the brake stator and the brake rotor cooperate to have low power, low power consumption and high torque, thereby reducing the power consumption of the joint module.

[0014] Optionally, the end surface of the inner ring frame salient pole is flush with the end surface of the holder salient pole, and the height difference between the inner ring frame salient pole and the outer wall of the ring cover is 2-5 mm. The above scheme makes the salient pole better cooperate with the armature.

[0015] Optionally, the shell is an integral structure.

[0016] The outer ring of the brake stator, the inner wall of the ring cover, the inner wall of the outer cylinder and the end surface of the motor stator enclose a first filling area, the inner ring of the brake stator, the inner wall of the ring cover and the outer ring of the inner cylinder enclose a second filling area, and a connecting channel is arranged between the brake stator and the inner wall of the ring cover for connecting the first filling area and the second filling area.

[0017] The ring cover is provided with a through hole for the salient pole to pass through and a wire passing hole for a cable to pass through; the glue is suitable for being injected into the first filling area through the wire passing hole, so that the brake stator and the motor stator are both filled in the closed end of the sandwich cavity; and the glue is an epoxy resin material.

[0018] The shell is made of aluminum alloy. The above scheme fills the brake stator and the motor stator in the shell, and the heat dissipation performance is good.

[0019] Optionally, the inner side of the ring cover is provided with abutting blocks, the abutting blocks are distributed on the outer side wall of the inner cylinder at equal angles with the axis of the main shaft as the center, and the abutting blocks are suitable for positioning the inner ring of the inner ring frame. The above scheme,

[0020] Optionally, the elastic sheet is connected with the armature through a first bolt, the first bolt is distributed at equal angles with the axis of the main shaft as the center, a second bolt is arranged between two adjacent first bolts, the second bolt connects the elastic sheet with the fixed seat, and the elastic sheet is made of elastic material. The above scheme is to reset the armature driven by the elastic sheet when the brake stator and the brake rotor are unlocked.

[0021] Optionally, the end of the inner cylinder away from the ring cover extends to the middle section of the outer cylinder.

[0022] The end of the motor rotor close to the ring cover is arranged between the inner cylinder and the outer cylinder, the end of the motor rotor away from the ring cover is a connecting end, and the connecting end of the motor rotor is arranged in the outer cylinder and exposed outside the inner cylinder.

[0023] The main shaft comprises a hollow shaft and a connecting frame, a bearing and a shaft sleeve arranged along the hollow shaft in sequence in the axial direction.

[0024] The hollow shaft is connected with the inner ring of the inner cylinder through the bearing; the hollow shaft is an integral structure with the connecting frame; the hollow shaft is connected with the connecting end inner ring of the motor rotor through the connecting frame; the brake end of the hollow shaft is connected with the shaft sleeve; one end of the shaft sleeve extends to the inner ring of the inner cylinder and abuts against the adjacent bearing, and the other end of the shaft sleeve extends out of the shell and is connected with the fixed seat. By adopting the above scheme, the fixed seat and the hollow shaft are connected through the shaft sleeve, and the installation process is simplified.

[0025] Optionally, the bearing is two, including a first bearing adjacent to the shaft sleeve and a second bearing adjacent to the connecting frame;

[0026] The end faces of the two ends of the first bearing abut against the end faces of the shaft sleeve and the first step face of the inner cylinder, respectively;

[0027] The side close to the shaft sleeve of the connecting frame is provided with a ring groove, the second bearing is partially arranged in the ring groove, and the end faces of the two ends of the second bearing abut against the second step face of the inner cylinder and the step face of the hollow shaft, respectively. By adopting the above scheme, the axial length of the main shaft is shortened, and the axial length of the joint module is further shortened.

[0028] On the other hand, the assembly method of the salient pole magnetic circuit permanent magnet brake joint module is disclosed, which comprises the following steps:

[0029] S1: installing the brake stator and the motor stator in the interlayer cavity of the shell to obtain a half-finished product;

[0030] S2: inserting the auxiliary tool coated with a release agent into the opening end of the interlayer cavity of the shell, so that the sealing end of the auxiliary tool is arranged between the motor stator and the inner cylinder; heating the auxiliary tool to make the sealing end in interference fit with the inner cylinder and the motor stator; wherein the heating temperature is 110-130 DEG C;

[0031] S3: placing the half-finished product provided with the auxiliary tool in the glue injection equipment for glue injection and sealing; after the glue solidification is completed, the auxiliary tool is separated from the half-finished product at room temperature;

[0032] S4: assembling the motor rotor and the main shaft to the half-finished product, and installing the brake rotor on the brake end of the main shaft.

[0033] Optionally, the auxiliary tool is arranged along the axial direction of the main shaft, and the two ends thereof are divided into a sealing end composed of a sealing ring and a connecting end composed of a connecting flange;

[0034] The inner ring of the brake stator, the inner wall of the ring cover, the outer ring of the inner cylinder and the end face of the sealing ring enclose a second sealing area;

[0035] The connecting flange is suitable for being fixed on the end face of the outer cylinder far away from the ring cover by screws.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] The brake stator is made of high-permeability material and salient pole structure, so that the brake stator and the brake rotor cooperate with low power, low power consumption and high torque, the power consumption of the salient pole magnetic circuit permanent magnet brake joint module is reduced, and the salient pole magnetic circuit permanent magnet brake joint module and the humanoid robot are beneficial to realize longer endurance time and adapt to the frequent start-stop working environment of the humanoid robot.

[0038] By pouring the brake stator and the motor stator into the shell, the heat dissipation performance is good, the assembly difficulty of the brake stator is reduced, the installation space is saved, and the axial length of the salient pole magnetic circuit permanent magnet brake joint module is reduced.

[0039] By arranging the elastic sheet between the armature and the fixed seat, the axial length of the brake rotor is shortened, the volume is smaller, and the salient pole magnetic circuit permanent magnet brake joint module with smaller axial length is facilitated to be realized.

[0040] The salient pole magnetic circuit permanent magnet brake joint module integrates the motor and the brake, saves the axial space of the structure, and improves the braking torque between the brake stator and the brake rotor.

[0041] The above description of the present disclosure and the following description of the embodiments are used to demonstrate and explain the spirit and principles of the present application, and provide further explanation of the patent application scope of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0042] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0043] Figure 1 It is an exploded view of the salient pole magnetic circuit permanent magnet brake joint module in the present application.

[0044] Figure 2 It is a sectional view of the salient pole magnetic circuit permanent magnet brake joint module in the present application.

[0045] Figure 3 It is an exploded view of the brake stator in the present application.

[0046] Figure 4 It is an exploded view of the brake rotor in the present application.

[0047] Figure 5 It is a schematic view of the shell in the present application.

[0048] Figure 6Schematic diagram of self-locking of the brake stator and the brake rotor in the application;

[0049] Figure 7 Schematic diagram of unlocking of the brake stator and the brake rotor in the application;

[0050] Figure 8 Schematic diagram of the semi-finished product and the auxiliary tool in the application;

[0051] Figure 9 Schematic diagram of the auxiliary tool in the application.

[0052] Explanation of reference numerals:

[0053] 1, housing; 11, ring cover; 111, through hole; 112, wire hole; 12, inner cylinder; 13, outer cylinder; 14, abutting block;

[0054] 2, main shaft; 21, hollow shaft; 22, connecting frame; 23, bearing; 24, shaft sleeve; 25, ring groove;

[0055] 3, motor stator;

[0056] 4, motor rotor;

[0057] 5, brake stator; 51, shielding plate; 52, inner ring frame; 53, retainer; 54, outer ring frame; 55, coil; 56, first permanent magnet;

[0058] 6, brake rotor; 61, fixed seat; 62, armature; 63, elastic sheet; 64, second permanent magnet; 65, first bolt; 66, second bolt;

[0059] 7, auxiliary tool; 71, sealing ring; 72, connecting flange. DETAILED DESCRIPTION

[0060] The specific embodiments of the present application will be described in detail below, and other advantages and effects of the present application can be easily understood by those skilled in the art from the content disclosed in the specification. Although the description of the present application will be introduced in combination with the preferred embodiments, this does not mean that the features of the present application are limited to the embodiments. On the contrary, the purpose of introducing the present application in combination with the embodiments is to cover other options or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0061] In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0062] The terms "first", "second", and the like are only used for differentiation in description and cannot be understood as indicating or implying relative importance.

[0063] In the description of the present embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with", "provided", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present embodiment can be understood according to the specific circumstances.

[0064] In one aspect, the application provides a salient pole magnetic circuit permanent magnet brake joint module, which is suitable for being applied to a humanoid robot. The salient pole magnetic circuit permanent magnet brake joint module is a joint module with a salient pole magnetic circuit designed permanent magnet loss-of-power brake.

[0065] Please refer to Figures 1-2 As shown in the figure, the salient pole magnetic circuit permanent magnet brake joint module comprises a shell 1, a main shaft 2, a motor stator 3, a motor rotor 4, a brake stator 5 and a brake rotor 6. In the present embodiment, the shell 1, the main shaft 2, the motor stator 3, the motor rotor 4, the brake stator 5 and the brake rotor 6 are coaxially arranged. In the present embodiment, the salient pole magnetic circuit permanent magnet brake joint module is arranged vertically. The brake rotor 6, the brake stator 5 and the motor stator 3 are arranged in sequence from top to bottom.

[0066] The shell 1 comprises a ring cover 11, an inner cylinder 12 and an outer cylinder 13 fixed on the inner and outer ring surfaces of the ring cover 11. The inner cylinder 12, the outer cylinder 13 and the ring cover 11 enclose a sandwich cavity with one end open and one end closed. In the present embodiment, the shell 1 is an integral structure. The shell 1 is made of aluminum alloy material to better dissipate heat. The ring cover 11 is connected to the top of the inner cylinder 12 and the top of the outer cylinder 13, respectively. The upper end of the sandwich cavity is a closed end, and the lower end of the sandwich cavity is an open end.

[0067] The main shaft 2 is rotationally connected with the inner ring of the inner cylinder 12. The main shaft 2 has oppositely arranged brake end and output end. The brake end of the main shaft 2 is distributed on the same side of the ring cover 11 and extends to the outside of the inner cylinder 12. The end of the main shaft 2 away from the ring cover 11 is the output end, which is suitable for being connected with the speed reduction mechanism. The motor stator 3 is arranged in the opening end of the sandwich cavity and is fixed on the inner side wall of the outer cylinder 13. The motor rotor 4 is arranged in the inner ring of the motor stator 3 and is connected with the main shaft 2.

[0068] The brake stator 5 is filled with glue in the closed end of the sandwich cavity, and the end face of the motor stator 3 close to the ring cover 11 (i.e. the upper end face of the motor stator 3) is in contact with the glue. The brake stator 5 is fixed on the upper end face of the motor stator 3. The glue can not only effectively fix the brake stator 5, but also can be used for heat dissipation of the motor stator 3. The brake rotor 6 is located outside the shell 1 and is connected with the brake end of the main shaft 2.

[0069] Please refer to Figures 2-3 As shown in the figure, the brake stator 5 includes shielding plate 51, inner ring holder 52, retaining holder 53, outer ring holder 54 and coil 55 which are connected in sequence along the axial direction of the main shaft 2. In this embodiment, the shielding plate 51, the inner ring holder 52, the retaining holder 53, the outer ring holder 54 and the coil 55 are connected in sequence from bottom to top. The shielding plate 51 is fixed on the upper end face of the motor stator 3. The outer ring holder 54 is arranged outside the inner ring holder 52. The two ring holders (i.e. the outer ring holder 54 and the inner ring holder 52) form an installation sandwich layer for the coil 55. The upper ends of the two ring holders are provided with salient poles. The salient poles of the two ring holders are arranged along the axial direction of the main shaft 2 and extend to the outside of the shell 1 through the ring cover 11. A first permanent magnet 56 is arranged between the two ring holders. The first permanent magnet 56 is arranged in the retaining holder 53.

[0070] The outer ring of the brake stator 5, the inner wall of the ring cover 11, the inner wall of the outer cylinder 13 and the upper end face of the motor stator 3 form a first filling area. The inner ring of the brake stator 5, the inner wall of the ring cover 11 and the outer ring of the inner cylinder 12 form a second filling area. A connecting channel is arranged between the brake stator 5 and the inner wall of the ring cover 11 for connecting the first filling area and the second filling area. The ring cover 11 is provided with a through hole 111 for the salient poles to pass through and a wire passing hole 112 for the wire to pass through. The glue is suitable for being injected into the first filling area through the wire passing hole 112, so that the top of the brake stator 5 and the top of the motor stator 3 are both filled in the closed end of the sandwich cavity. In this embodiment, the glue is an epoxy resin material.

[0071] Please refer to Figure 2 and Figure 4As shown, the brake rotor 6 comprises a fixed seat 61, an armature 62, a spring piece 63 and a second permanent magnet 64. The fixed seat 61 is located outside the housing 1 and connected with the brake end of the main shaft 2. The fixed seat 61 is provided with the armature 62 between the fixed seat 61 and the ring cover 11. The armature 62 is connected with the fixed seat 61 through the spring piece 63. The armature 62 is provided with the second permanent magnet 64. In the embodiment, the spring piece 63 is connected with the armature 62 through the first bolt 65. The first bolt 65 is distributed at equal angles with the axis of the main shaft 2 as the center. The second bolt 66 is provided between two adjacent first bolts 65. The second bolt 66 connects the spring piece 63 with the fixed seat 61. The spring piece 63 can be single or multiple pieces. In the embodiment, the spring piece 63 is single.

[0072] In the embodiment, the shielding plate 51 is made of ferromagnetic material to prevent the magnetic field of the motor stator 3 and the motor rotor 4 from interfering with the magnetic field of the brake stator 5.

[0073] In the embodiment, the inner ring frame 52 and the outer ring frame 54 are made of high permeability material. The material of the inner ring frame 52 and the outer ring frame 54 includes but is not limited to hot-rolled No. 10 steel, quenched and tempered DT4 (i.e. electromagnetic pure iron) and the like.

[0074] In the embodiment, the retainer 53 is made of non-magnetic material. The material of the retainer 53 includes but is not limited to PTFE (i.e. polytetrafluoroethylene) and the like.

[0075] In the embodiment, the first permanent magnet 56 and the second permanent magnet 64 are made of sintered neodymium iron boron to form a permanent and continuously excited magnetic field loop. The magnetization direction of the first permanent magnet 56 is axial magnetization, and the magnetization direction of the second permanent magnet 64 is radial magnetization.

[0076] In the embodiment, the spring piece 63 is made of elastic material. The material of the spring piece 63 includes but is not limited to spring steel 65Mn, stainless steel SUS301, stainless steel SUS304, stainless steel SUS316 and the like.

[0077] In the embodiment, please refer to Figure 2 As shown, the inner circle of the shielding plate 51 is consistent with the inner diameter of the inner ring frame 52 and is coaxially arranged. The outer circle of the shielding plate 51, the outer circle of the inner ring frame 52, the outer circle of the retainer 53 and the outer circle of the outer ring frame 54 are consistent in outer diameter and are coaxially arranged. The inner ring frame 52 comprises an inner ring body arranged along the axial direction of the main shaft 2. The upper end of the inner ring body is provided with a salient pole, and the outer circle of the lower end is provided with a first connecting plate. The outer ring frame 54 comprises an outer ring body arranged along the axial direction of the main shaft 2. The upper end of the outer ring body is provided with a salient pole, and the inner circle of the lower end is provided with a second connecting plate. The first connecting plate, the retainer 53 and the second connecting plate are fixed together by bolts.

[0078] Further, the salient poles of the inner ring frame 52 are equiangularly distributed with the axis of the main shaft 2 as the center. The salient poles of the outer ring frame 54 are equiangularly distributed with the axis of the main shaft 2 as the center and are oppositely arranged with the salient poles of the inner ring frame 52. The first permanent magnets 56 are equiangularly distributed with the axis of the main shaft 2 as the center and are oppositely arranged with the salient poles of the inner ring frame 52. The second permanent magnets 64 are equiangularly distributed with the axis of the main shaft 2 as the center and are distributed between the salient poles of the inner ring frame 52 and the salient poles of the retainer frame 53. The length of the second permanent magnets 64 is greater than the length of the salient poles of the inner ring frame 52 and the length of the salient poles of the outer ring frame 54 respectively, so as to ensure that the brake stator 5 can effectively cooperate with the second permanent magnets 64.

[0079] In the embodiment, the number of the salient poles of the inner ring frame 52, the salient poles of the outer ring frame 54 and the first permanent magnets 56 is consistent, which is six. Preferably, the number of the second permanent magnets 64 is also six. The first bolts 65 are three and the second bolts 66 are three. The six bolts are equiangularly distributed with the axis of the main shaft 2 as the center, so that the elastic sheets 63 form a wave spring structure. Compared with the traditional spring structure, the wave spring structure saves most of the space in space. Compared with the sealing ring as the elastic device, the wave spring structure has better reliability.

[0080] Further, please refer to Figure 5 As shown in the figure, in order to ensure that the shell 1 can effectively position the brake stator 5, the inner side of the ring cover 11 is provided with abutting blocks 14. The abutting blocks 14 are equiangularly distributed on the outer side wall of the inner cylinder 12 with the axis of the main shaft 2 as the center. The abutting blocks 14 are suitable for positioning the inner ring of the inner ring frame 52, thereby effectively positioning the brake stator 5.

[0081] In the embodiment, the number of the salient poles of the inner ring frame 52, the salient poles of the outer ring frame 54 and the first permanent magnets 56 is consistent, which is six. Preferably, the number of the second permanent magnets 64 is also six. The first bolts 65 are three and the second bolts 66 are three. The six bolts are equiangularly distributed with the axis of the main shaft 2 as the center, so that the elastic sheets 63 form a wave spring structure. Compared with the traditional spring structure, the wave spring structure saves most of the space in space. Compared with the sealing ring as the elastic device, the wave spring structure has better reliability.

[0082] Please refer to Figure 2 As shown in the figure, the end of the inner cylinder 12 away from the ring cover 11 extends to the middle section of the outer cylinder 13. The end of the motor rotor 4 close to the ring cover 11 (i.e. the upper end of the motor rotor 4) is arranged between the inner cylinder 12 and the outer cylinder 13, and the end of the motor rotor 4 away from the ring cover 11 (i.e. the lower end of the motor rotor 4) is a connecting end. The connecting end of the motor rotor 4 is arranged in the outer cylinder 13 and exposed outside the inner cylinder 12. The upper end of the motor stator 3 is arranged between the inner cylinder 12 and the outer cylinder 13, and the lower end of the motor stator 3 is arranged in the outer cylinder 13 and exposed outside the inner cylinder 12.

[0083] The main shaft 2 comprises a hollow shaft 21, a connecting frame 22, a bearing 23 and a shaft sleeve 24. The connecting frame 22, the bearing 23 and the shaft sleeve 24 are sequentially arranged on the hollow shaft 21 in the axial direction. In the embodiment, the connecting frame 22, the bearing 23 and the shaft sleeve 24 are sequentially arranged from bottom to top. The hollow shaft 21 is provided with an axial center hole for the cable of the robot to pass through and lay.

[0084] The hollow shaft 21 is connected to the inner ring of the inner cylinder 12 via the bearing 23. The hollow shaft 21 and the connecting frame 22 are an integral structure. The hollow shaft 21 is connected to the inner ring of the connecting end of the motor rotor 4 via the connecting frame 22. The braking end of the hollow shaft 21 (i.e., the upper end of the hollow shaft 21) is connected to the bushing 24. One end of the bushing 24 extends to the inner ring of the inner cylinder 12 and abuts against the adjacent bearing 23, while the other end of the bushing 24 extends out of the housing 1 and is connected to the fixed seat 61.

[0085] The fixed base 61 is connected to the hollow shaft 21 via a bushing 24, and a flat key is provided between the fixed base 61 and the bushing 24. During installation, the fixed base 61 is simply pressed into place without adjustment, which simplifies the installation process and reduces the machining precision required.

[0086] In this embodiment, there are two bearings 23, including a first bearing adjacent to the bushing 24 and a second bearing adjacent to the connecting frame 22. The upper and lower end faces of the first bearing abut against the lower end face of the bushing 24 and the first stepped surface of the inner cylinder 12, respectively. An annular groove 25 is formed on the side of the connecting frame 22 near the bushing 24, and the lower end of the second bearing is placed in the annular groove 25. The upper and lower end faces of the second bearing abut against the second stepped surface of the inner cylinder 12 and the stepped surface of the hollow shaft 21, respectively. Placing the second bearing in the annular groove 25 can compress the axial length of the salient pole magnetic circuit permanent magnet braking joint module, thereby reducing the volume of the salient pole magnetic circuit permanent magnet braking joint module.

[0087] In this embodiment, the working principle of the brake stator 5 and the brake rotor 6 is as follows:

[0088] When coil 55 is de-energized, please refer to Figure 6 As shown, the magnetic field generated by the first permanent magnet 56 forms a magnetic circuit with the inner ring frame 52 and the outer ring frame 54; the second permanent magnet 64 forms a magnetic circuit with the armature 62, and the two magnetic circuits attract each other, that is, the armature 62 is attracted by the force. Since the fixed seat 61 is axially fixed, the armature 62 drives the spring 63 to move towards the salient pole through the first bolt 65, so that the armature 62 abuts against the salient pole and achieves self-locking; at this time, the spring 63 is deformed by force, that is, the spring 63 becomes a wave spring.

[0089] When coil 55 is energized, please refer to Figure 7 As shown, the magnetic field excited by coil 55 forms an opposite loop with the original magnetic field, canceling out most of the magnetic field of the first permanent magnet 56 inside the inner ring frame 52 and the outer ring frame 54, as well as most of the magnetic field of the second permanent magnet 64 inside the armature 62. At this time, the magnetic fields excited by the first permanent magnet 56 and the second permanent magnet 64 are weakened, the attraction between the two magnetic circuits is reduced, and the armature 62 is reset under the action of the spring force of the spring piece 63, that is, the armature 62 moves away from the salient pole to achieve unlocking.

[0090] The salient pole structure helps to concentrate the magnetic field strength and improve the braking torque. The magnetic field distributed on the circumference is concentrated on the salient pole, greatly increasing the magnetic field strength of the magnetic circuit on the salient pole. The mutual attraction between the two magnetic fields forms the braking torque without additional energy. When the brake needs to be started, the instantaneous large current is increased to make the magnetic field loop counteract each other, so that the armature 62 and the salient pole are separated. The brake stator 5 can be controlled by a PID controller, and a small current required to maintain the brake can be set to maintain the brake continuously open. Preferably, the salient pole structure can be designed into a 6-salient pole, 8-salient pole, 10-salient pole, or 12-salient pole structure according to actual needs, which helps to concentrate the magnetic field strength and improve the braking torque.

[0091] Compared with the large coil in the traditional brake, the large coil is replaced by the inner ring frame 52, the outer ring frame 54, the coil 55, and the first permanent magnet 56, which effectively reduces the volume of the brake stator 5, and the power consumption of the coil 55 is much smaller than that of the large coil in the traditional brake. The power and power consumption of the brake stator 5 cooperating with the brake rotor 6 in the present application are low, and the torque is high, which reduces the power consumption of the salient pole magnetic circuit permanent magnet brake joint module, and is beneficial to realize longer endurance time of the salient pole magnetic circuit permanent magnet brake joint module and the humanoid robot and adapt to the working environment of frequent start and stop of the humanoid robot.

[0092] Further, in order to make the salient pole better cooperate with the armature 62, the upper end face of the salient pole of the inner ring frame 52 is flush with the upper end face of the salient pole of the retainer 53. The height difference between the top surface of the salient pole of the inner ring frame 52 and the outer wall of the ring cover 11 (i.e. the top surface of the ring cover 11) is 2mm-5mm. In the present embodiment, the height difference between the top surface of the salient pole of the inner ring frame 52 and the outer wall of the ring cover 11 (i.e. the top surface of the ring cover 11) is 4mm.

[0093] In the present embodiment, the working principle of the salient pole magnetic circuit permanent magnet brake joint module is as follows:

[0094] When the main shaft 2 of the salient pole magnetic circuit permanent magnet brake joint module needs to rotate, the coil 55 is energized to unlock the brake stator 5 and the brake rotor 6, at this time, the motor stator 3 is energized, and the motor stator 3 cooperates with the motor rotor 4 to make the main shaft 2 rotate;

[0095] When the main shaft 2 of the salient pole magnetic circuit permanent magnet brake joint module needs to stop rotating, the motor stator 3 is de-energized, and at the same time, the coil 55 is de-energized to realize self-locking of the brake stator 5 and the brake rotor 6.

[0096] On the other hand, the present application also provides an assembly method of the salient pole magnetic circuit permanent magnet brake joint module.

[0097] The assembly method comprises the following steps:

[0098] S1: Install the brake stator 5 and the motor stator 3 in the interlayer cavity of the housing 1 to obtain a half-finished product.

[0099] S2: Insert the auxiliary tooling 7 coated with a release agent into the open end of the interlayer cavity of the housing 1 (as shown in Figure 8 Figure 2) so that the sealing end of the auxiliary tooling 7 is positioned between the motor stator 3 and the inner cylinder 12. Heat the auxiliary tooling 7, and the auxiliary tooling 7 expands under the heat so that the sealing end is in interference fit with the inner cylinder 12 and the motor stator 3. The heating temperature is 110-130°C. Preferably, the heating temperature is 120°C.

[0100] In this embodiment, please refer to Figure 9 Figure 2, the auxiliary tooling 7 is arranged along the axial direction of the main shaft 2, and the two ends thereof are divided into a sealing end formed by a sealing ring 71 and a connecting end formed by a connecting flange 72. The inner ring of the brake stator 5, the inner wall of the ring cover 11, the outer ring of the inner cylinder 12, and the end face of the sealing ring 71 enclose a second potting area. The connecting flange 72 is adapted to be fixed on the end face of the outer cylinder 13 away from the ring cover 11 (i.e., on the lower end face of the outer cylinder 13) by screws.

[0101] In addition, before the glue injection and potting, the cables of the motor stator 3 and the coils 55 are both extended to the outside of the housing 1 through the wire holes 112.

[0102] S3: Place the half-finished product assembled with the auxiliary tooling 7 in a glue injection device to perform glue injection and potting. Specifically, the half-finished product is arranged vertically, and the ring cover 11 is located at the top of the half-finished product. The glue injection device injects glue into the first potting area through the wire holes 112, the glue in the first potting area is connected to the second potting area through the glue connection channels, and then the glue effectively fills the closed end of the interlayer cavity. When the glue filling the interlayer cavity is flush with the upper end face of the ring cover 11, the glue injection is stopped.

[0103] Thereafter, the half-finished product assembled with the auxiliary tooling 7 is placed in an oven to cure the glue.

[0104] After the glue curing is completed, the auxiliary tooling 7 is separated from the half-finished product at room temperature.

[0105] S4: Assemble the motor rotor 4 and the main shaft 2 to the half-finished product, and install the brake rotor 6 on the brake end of the main shaft 2.

[0106] The brake stator 5 and the motor stator 3 are potted in the housing 1. The potting glue is selected to be an epoxy resin material with good heat dissipation, and the glue is potted in all directions, so that the heat dissipation area is greatly improved. The motor stator 3 is in contact with the cured potting glue for heat transfer, the cured potting glue is in contact with the housing 1 for heat transfer, and the brake stator 5 is in contact with the cured potting glue for heat transfer.

[0107] In this embodiment, the outer top of the ring cover 11 is adapted to mount a rear cover. The rear cover is covered on the ring cover 11, and the motor stator 3 and the controller of the coil 55 are adapted to be fixed in the rear cover.

[0108] In general, the application provides a salient pole magnetic circuit permanent magnet brake joint module. The brake stator is made of high permeability material and salient pole structure, so that the brake stator and the brake rotor cooperate with low power and low power consumption, high torque, which reduces the power consumption of the salient pole magnetic circuit permanent magnet brake joint module, and is conducive to realizing longer endurance time of the salient pole magnetic circuit permanent magnet brake joint module and humanoid robot and adapting to the working environment of frequent start and stop of humanoid robot. The brake stator and the motor stator are filled in the shell, and the heat dissipation performance is good. Compared with the traditional brake, the brake stator is filled in the shell, which reduces the assembly difficulty of the brake stator, saves the installation space, and reduces the axial length of the salient pole magnetic circuit permanent magnet brake joint module. By arranging the elastic sheet between the armature and the fixed seat, the axial length of the brake rotor is shortened, the volume is smaller, and the salient pole magnetic circuit permanent magnet brake joint module with smaller axial length is realized. The salient pole magnetic circuit permanent magnet brake joint module saves the axial space of the structure while improving the braking torque between the brake stator and the brake rotor.

[0109] The above embodiments only illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical idea disclosed by the present application should be covered by the claims of the present application.

Claims

1. A permanent magnet braking joint module with a salient pole magnetic circuit, characterized in that, It includes a housing (1), a main shaft (2), a motor stator (3), a motor rotor (4), a brake stator (5), and a brake rotor (6); The housing (1) includes a ring cover (11) and an inner cylinder (12) and an outer cylinder (13) fixed on its inner and outer ring surfaces. The inner cylinder (12), the outer cylinder (13) and the ring cover (11) enclose a sandwich cavity with one end open and the other end closed. The main shaft (2) is rotatably connected to the inner ring of the inner cylinder (12). Its braking end is distributed on the same side as the ring cover (11) and extends to the outside of the inner cylinder (12). Its end away from the ring cover (11) is the output end. The motor stator (3) is disposed in the open end of the interlayer cavity and fixed on the inner side wall of the outer cylinder (13); the motor rotor (4) is placed in the inner ring of the motor stator (3) and connected to the main shaft (2); the brake stator (5) is sealed in the closed end of the interlayer cavity by glue, and the end face of the motor stator (3) near the ring cover (11) is in contact with the glue; The brake stator (5) includes a shield plate (51), an inner ring frame (52), a retainer (53), an outer ring frame (54), and a coil (55) connected sequentially along the axial direction of the main shaft (2); the shield plate (51) is fixed on the end face of the motor stator (3); the outer ring frame (54) is placed outside the inner ring frame (52), and the two ring frames form an installation interlayer for the coil (55) to be installed; the salient poles of the two ring frames are arranged along the axial direction of the main shaft (2) and extend through the ring cover (11) to the outside of the housing (1); the two ring frames are made of high magnetic permeability material; a first permanent magnet (56) is provided between the two ring frames; the first permanent magnet (56) is located inside the retainer (53); The brake rotor (6) includes a fixed seat (61) located outside the housing (1) and connected to the braking end of the main shaft (2). An armature (62) is provided between the fixed seat (61) and the ring cover (11). The armature (62) is connected to the fixed seat (61) through a spring piece (63). A second permanent magnet (64) is provided inside the armature (62).

2. The salient pole magnetic circuit permanent magnet braking joint module according to claim 1, characterized in that, The convex poles of the inner ring frame (52) are distributed at equal angles with the axis of the main shaft (2) as the center; the convex poles of the outer ring frame (54) are distributed at equal angles with the axis of the main shaft (2) as the center, and are arranged opposite to the convex poles of the inner ring frame (52); the first permanent magnet (56) is distributed at equal angles with the axis of the main shaft (2) as the center, and is arranged opposite to the convex poles of the inner ring frame (52); the second permanent magnet (64) is distributed at equal angles with the axis of the main shaft (2) as the center, and is distributed between the convex poles of the inner ring frame (52) and the convex poles of the retainer (53); The inner ring frame (52) includes an inner ring body arranged axially along the main shaft (2), one end of the inner ring body is provided with a convex pole, and the outer ring of the other end is provided with a first connecting plate; the outer ring frame (54) includes an outer ring body arranged axially along the main shaft (2), one end of the outer ring body is provided with a convex pole, and the inner ring of the other end is provided with a second connecting plate; the first connecting plate, the retainer (53) and the second connecting plate are fixed together by bolts; The first permanent magnet (56) and the second permanent magnet (64) are made of sintered neodymium iron boron; the cage (53) is made of non-magnetic material.

3. The salient pole magnetic circuit permanent magnet braking joint module according to claim 1, characterized in that, The protruding end face of the inner ring frame (52) is flush with the end face of the protruding end face of the retainer (53), and the height difference between the protruding end face of the inner ring frame (52) and the outer wall of the ring cover (11) is 2mm to 5mm.

4. The salient pole magnetic circuit permanent magnet braking joint module according to claim 1, characterized in that, The shell (1) is an integral structure; The outer ring of the brake stator (5), the inner wall of the ring cover (11), the inner wall of the outer cylinder (13), and the end face of the motor stator (3) form a first potting area. The inner ring of the brake stator (5), the inner wall of the ring cover (11), and the outer ring of the inner cylinder (12) form a second potting area. A connecting channel is provided between the brake stator (5) and the inner wall of the ring cover (11) to connect the first potting area and the second potting area. The ring cover (11) has a through hole (111) for the salient pole to pass through and a wire hole (112) for the cable to pass through; the adhesive is suitable for being injected into the first potting area through the wire hole (112) so that the brake stator (5) and the motor stator (3) are both potted at the closed end of the interlayer cavity; the adhesive is an epoxy resin material; The housing (1) is made of aluminum alloy.

5. The salient pole magnetic circuit permanent magnet braking joint module according to claim 1, characterized in that, The inner side of the ring cover (11) is provided with a clamping block (14), and the clamping block (14) is distributed at equal angles on the outer side wall of the inner cylinder (12) with the axis of the main shaft (2) as the center; the clamping block (14) is suitable for positioning the inner ring of the inner ring frame (52).

6. The salient pole magnetic circuit permanent magnet braking joint module according to claim 1, characterized in that, The spring (63) is connected to the armature (62) by a first bolt (65); the first bolt (65) is distributed at equal angles with the axis of the main shaft (2) as the center; a second bolt (66) is provided between two adjacent first bolts (65), and the second bolt (66) connects the spring (63) to the fixed seat (61); the spring (63) is made of elastic material.

7. The salient pole magnetic circuit permanent magnet braking joint module according to claim 1, characterized in that, The inner cylinder (12) extends from the end away from the ring cover (11) to the middle section of the outer cylinder (13); The end of the motor rotor (4) near the ring cover (11) is placed between the inner cylinder (12) and the outer cylinder (13). The end of the motor rotor (4) away from the ring cover (11) is the connecting end. The connecting end of the motor rotor (4) is placed inside the outer cylinder (13) and exposed outside the inner cylinder (12). The main shaft (2) includes a hollow shaft (21) and a connecting frame (22), a bearing (23) and a bushing (24) arranged sequentially along the axial direction of the hollow shaft (21). The hollow shaft (21) is connected to the inner ring of the inner cylinder (12) through the bearing (23); the hollow shaft (21) and the connecting frame (22) are an integral structure; the hollow shaft (21) is connected to the inner ring of the connecting end of the motor rotor (4) through the connecting frame (22); the braking end of the hollow shaft (21) is connected to the bushing (24); one end of the bushing (24) extends to the inner ring of the inner cylinder (12) and abuts against the adjacent bearing (23); the other end of the bushing (24) extends out of the housing (1) and is connected to the fixed seat (61).

8. The salient pole magnetic circuit permanent magnet braking joint module according to claim 7, characterized in that, There are two bearings (23), including a first bearing adjacent to the bushing (24) and a second bearing adjacent to the connecting frame (22); The two end faces of the first bearing abut against the end face of the bushing (24) and the first step surface of the inner cylinder (12), respectively; The connecting frame (22) has an annular groove (25) on the side near the bushing (24). The second bearing is partially placed in the annular groove (25). The two end faces of the second bearing abut against the second step surface of the inner cylinder (12) and the step surface of the hollow shaft (21), respectively.

9. A method for assembling a salient pole magnetic circuit permanent magnet braking joint module as described in any one of claims 1 to 8, characterized in that, Includes the following steps: S1: Install the brake stator (5) and the motor stator (3) in the interlayer cavity of the housing (1) to obtain a half-finished product; S2: Insert the auxiliary tooling (7) coated with release agent into the opening end of the interlayer cavity of the shell (1) so that the sealing end of the auxiliary tooling (7) is placed between the motor stator (3) and the inner cylinder (12); heat the auxiliary tooling (7) so that the sealing end is interference-fitted with the inner cylinder (12) and the motor stator (3); wherein the heating temperature is 110℃~130℃; S3: Place the semi-finished product equipped with auxiliary tooling (7) into the glue injection equipment and perform glue injection and sealing; after the glue has cured, separate the auxiliary tooling (7) from the semi-finished product at room temperature. S4: Assemble the motor rotor (4) and main shaft (2) onto the semi-finished product, and install the brake rotor (6) on the brake end of the main shaft (2).

10. The assembly method according to claim 9, characterized in that, The auxiliary tooling (7) is arranged along the axial direction of the main shaft (2), and its two ends are divided into a sealing end composed of a sealing ring (71) and a connecting end composed of a connecting flange (72); The inner ring of the brake stator (5), the inner wall of the ring cover (11), the outer ring of the inner cylinder (12), and the end face of the sealing ring (71) form a second potting area. The connecting flange (72) is adapted to be fixed by screws to the end face of the outer cylinder (13) away from the ring cover (11).

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