Joint module integrated with bistable electromagnetic clutch locking device

Abstract

The invention provides a joint module integrated with a bistable electromagnetic clutch locking device, relates to the technical field of robot joint modules, and aims to solve the technical problems that an electromagnetic brake of a robot joint module in the prior art needs to be continuously powered on to maintain a braking state, the energy-saving requirement is not met, and the instability risk exists during power failure. According to the joint module integrated with the bistable electromagnetic clutch locking device, a first clutch tooth is connected into a shell, a motor rotor is rotationally arranged in the shell, a motor shaft synchronously rotating with the motor rotor is arranged on the motor rotor, and a shaft sleeve is slidably connected to the motor shaft in the axial direction of the motor shaft and synchronously rotates with the motor shaft; an annular permanent magnet which is magnetized in the radial direction is arranged on the peripheral wall of the shaft sleeve, one end of the shaft sleeve is connected with a second clutch tooth, the bidirectional excitation brake coil is arranged in the shell and located on the radial outer side of the shaft sleeve, and the bidirectional excitation brake coil comprises a coil shell made of permeability magnetic materials and a coil body arranged in the coil shell.

Description

Technical Field

[0001] This invention relates to the field of robot joint module technology, specifically to a joint module integrating a bistable electromagnetic clutch locking device. Background Technology

[0002] Robot joint modules are core motion components of industrial robots, collaborative robots, and various precision automated equipment. Their functions and performance directly determine the motion accuracy, dynamic response, and operational reliability of the entire machine. With the rapid development of high-end manufacturing and precision assembly, increasingly higher demands are being placed on robot joints to achieve high torque, high precision, and high reliability motion control within limited spaces.

[0003] As the core motion unit of automated equipment, the locking or braking function of robot joint modules is crucial for ensuring safe emergency stops and maintaining high-precision positioning. One common method is the disc-type electromagnetic brake using axial flux, which connects the brake disc to the motor shaft, with the electromagnet assembly fixed to the motor housing. When energized, the electromagnet attracts the brake disc, achieving frictional braking. However, this solution requires continuous power to maintain the braking state, which does not meet energy-saving requirements and poses a risk of instability when power is cut off. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a joint module with an integrated bistable electromagnetic clutch locking device, thereby solving the technical problems of existing robot joint module electromagnetic brakes requiring continuous power to maintain braking, which does not meet energy-saving requirements, and poses a risk of instability when power is off.

[0005] To address the aforementioned technical problems, this invention provides a joint module integrating a bistable electromagnetic clutch locking device, comprising: The housing has a first clutch tooth connected inside it; The motor rotor is rotatably housed within the housing, and a motor shaft that rotates synchronously with the motor rotor is mounted on the motor rotor; Wave generator, connected to the motor shaft and rotating synchronously with the motor shaft; The bushing is slidably connected to the motor shaft along the axial direction and rotates synchronously with the motor shaft. The outer peripheral wall of the bushing is provided with an annular permanent magnet that is magnetically charged in the radial direction. One end of the bushing is connected to a second clutch tooth. When the bushing slides along the axial direction, the first clutch tooth engages or disengages with the second clutch tooth. A bidirectional excitation braking coil is located inside the housing and on the radially outer side of the bushing. The bidirectional excitation braking coil includes a coil housing made of magnetic material and a coil body located inside the coil housing.

[0006] With the above structure, the joint module of the integrated bistable electromagnetic clutch locking device of the present invention has the following advantages: Under normal conditions when the bidirectional excitation braking coil is not energized, the permanent magnet and the coil housing remain attracted to each other, forming a closed magnetic field. The magnetic force generated by this magnetic circuit system can stably hold the bushing at one of the two ends of its axial stroke, corresponding to the complete separation or complete engagement of the first clutch tooth and the second clutch tooth, respectively, thereby achieving zero-power bistable holding for release or locking; when it is necessary to switch states, a current excitation in a specific direction is applied to the bidirectional excitation braking coil, and the magnetic field generated by the coil will interact with the magnetic field of the permanent magnet to generate a net magnetic force that drives the bushing to slide axially, overcomes the magnetic holding force and pushes it to another stable position, and then the power can be cut off, and the permanent magnet magnetic circuit will hold the new state again; relying on the permanent magnet magnetic circuit to achieve the holding of both locking and releasing states, power is only required at the moment of state switching, and no electrical energy is consumed in steady state, which is energy-saving and safe.

[0007] As an improvement, the motor shaft is provided with a first mating groove, in which a spline is connected. The inner wall of the bushing is provided with a second mating groove, which extends through the other end of the bushing. The spline is connected in the second mating groove, and the bushing and the spline are slidably connected. With this structure, the spline connection ensures that the bushing and the motor shaft rotate synchronously without slippage, thereby achieving effective locking when locked. At the same time, the precise fit of the spline pair provides high-precision linear guidance for the axial sliding of the bushing, ensuring that the second clutch tooth can accurately align with the first clutch tooth and smoothly engage or disengage. This results in high reliability and low wear.

[0008] As an improvement, the bidirectional excitation braking coil also includes a coil support. The coil housing has a through hole along the axial direction, through which the motor shaft passes. The inner wall of the through hole has an annular first mounting cavity. The coil support is embedded in the first mounting cavity, and the coil body is wound around the coil support.

[0009] As an improvement, an annular groove is provided on the outer peripheral wall of the coil support, and the coil body is wound in the annular groove.

[0010] As an improvement, the housing includes a first axial portion, a radial portion, and a second axial portion. The first axial portion is arranged along the axial direction of the motor shaft. The radial portion is located at one end of the first axial portion and is arranged along the radial direction of the motor shaft. The second axial portion is located at the end of the radial portion away from the first axial portion. The second axial portion is arranged in the direction away from the first axial portion and along the axial direction of the motor shaft. A second mounting cavity is provided inside the first axial portion. The motor rotor and the bidirectional excitation brake coil are both located in the second mounting cavity. A motor shaft is provided at the end of the motor rotor facing the radial portion. A second clutch tooth is connected to the end of the bushing away from the motor rotor. The inner wall of the second axial portion is connected to the first clutch tooth. The first clutch tooth and the second clutch tooth are spaced apart along the axial direction of the motor shaft.

[0011] As an improvement, a PCB board and a motor stator are connected inside the housing, and the motor rotor is located inside the motor stator. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of the present invention.

[0013] Reference numerals in the attached drawings: 1. First clutch tooth; 2. Motor rotor; 3. Motor shaft; 4. Wave generator; 5. Bushing; 6. Permanent magnet; 7. Second clutch tooth; 8. Bidirectional excitation braking coil; 81. Coil housing; 82. Coil body; 83. Coil support; 9. Spline; 10. First axial part; 11. Radial part; 12. Second axial part; 13. PCB board; 14. Motor stator. Detailed Implementation

[0014] The joint module of the integrated bistable electromagnetic clutch locking device of the present invention will be described in detail below with reference to the accompanying drawings.

[0015] like Figure 1 As shown, a joint module integrating a bistable electromagnetic clutch locking device includes a housing, a motor rotor 2, a wave generator 4, a bushing 5, a bidirectional excitation brake coil 8, a PCB board 13, and a motor stator 14. The PCB board 13 and the motor stator 14 are connected inside the housing. The motor rotor 2 is rotatably disposed inside the housing. Specifically, the motor rotor 2 is disposed inside the motor stator 14. The motor rotor 2 is provided with a motor shaft 3 that rotates synchronously with the motor rotor 2. The wave generator 4 is connected to the motor shaft 3 and rotates synchronously with the motor shaft 3.

[0016] like Figure 1 As shown, the housing includes a first axial portion 10, a radial portion 11, and a second axial portion 12. The first axial portion 10 is arranged along the axial direction of the motor shaft 3. The radial portion 11 is located at one end of the first axial portion 10 and is arranged along the radial direction of the motor shaft 3. The second axial portion 12 is located on the radial portion 11 at one end away from the first axial portion 10. The second axial portion 12 is arranged away from the first axial portion 10 and along the axial direction of the motor shaft 3. A second mounting cavity is provided inside the first axial portion 10. The PCB board 13, the motor stator 14, and the motor rotor 2 are all located in the second mounting cavity. The motor shaft 3 is located on the motor rotor 2 at one end facing the radial portion 11. The motor shaft 3 is located between the motor rotor 2 and the wave generator 4.

[0017] like Figure 1 As shown, a first clutch tooth 1 is connected inside the housing. Specifically, the first clutch tooth 1 is connected to the inner wall of the second axial part 12.

[0018] like Figure 1As shown, the bushing 5 is slidably connected to the motor shaft 3 along the axial direction of the motor shaft 3 and rotates synchronously with the motor shaft 3. The outer peripheral wall of the bushing 5 is provided with an annular permanent magnet 6 that is magnetically charged in the radial direction. One end of the bushing 5 is connected to a second clutch tooth 7. Specifically, the motor shaft 3 is provided with a first mating groove, in which a spline 9 is connected. The inner wall of the bushing 5 is provided with a second mating groove, which passes through the other end of the bushing 5. The spline 9 is connected in the second mating groove, and the bushing 5 is slidably connected to the spline 9. One end of the bushing 5 is the end facing the wave generator 4, and the end of the bushing 5 away from the motor rotor 2 is connected to the second clutch tooth 7. The other end of the bushing 5 is the end facing the motor rotor 2. The first clutch tooth 1 and the second clutch tooth 7 are spaced apart along the axial direction of the motor shaft 3. When the bushing 5 slides along the axial direction, the first clutch tooth 1 and the second clutch tooth 7 engage or disengage.

[0019] like Figure 1 As shown, the bidirectional excitation braking coil 8 is located inside the housing and radially outside the bushing 5. Specifically, the bidirectional excitation braking coil 8 is located in the second mounting cavity. The bidirectional excitation braking coil 8 includes a coil housing 81 made of magnetically conductive material and a coil body 82 disposed within the coil housing 81. It also includes a coil support 83. The coil housing 81 has a through hole along the axial direction, through which the motor shaft 3 passes. The inner wall of the through hole has an annular first mounting cavity. The coil support 83 is embedded in the first mounting cavity, and the coil body 82 is wound around the coil support 83. The outer peripheral wall of the coil support 83 has an annular groove, and the coil body 82 is wound within the annular groove. It should be noted that, as Figure 1 The housing, motor rotor 2, motor shaft 3, wave generator 4, PCB board 13, motor stator 14, bushing 5, permanent magnet 6, bidirectional excitation brake coil 8, first clutch tooth 1 and second clutch tooth 7 shown are all half of the actual structure.

[0020] In the normal state where the bidirectional excitation braking coil 8 is not energized, the permanent magnet 6 and the coil housing 81 remain attracted, forming a closed magnetic field. The magnetic force generated by this magnetic circuit system can stably hold the bushing 5 at one of the two ends of its axial travel, corresponding to the fully disengaged or fully engaged states of the first clutch tooth 1 and the second clutch tooth 7, thereby achieving zero-power bistable holding for release or locking. When a state switch is required, a current excitation in a specific direction is applied to the bidirectional excitation braking coil 8. The magnetic field generated by the coil interacts with the magnetic field of the permanent magnet 6, generating a net magnetic force that drives the bushing 5 to slide axially, overcoming the magnetic holding force and pushing it to another stable position. Then, the power can be cut off, and the permanent magnet 6 magnetic circuit will hold the new state again. Relying on the permanent magnet 6 magnetic circuit to achieve the holding of both locking and releasing states, power is only required at the moment of state switching. No electrical energy is consumed in steady state, making it energy-saving and safe. In this embodiment, when the bidirectional excitation braking coil 8 is connected to a positive current, the bushing 5 moves towards Figure 1When the bidirectional excitation brake coil 8 is connected to the negative current, the bushing 5 slides to the right. Figure 1 Slide to the left in the middle.

[0021] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above-described embodiment. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A joint module integrating a bistable electromagnetic clutch locking device, characterized in that, include: A housing, wherein a first clutch tooth (1) is connected inside the housing. The motor rotor (2) is rotatably disposed inside the housing, and the motor rotor (2) is provided with a motor shaft (3) that rotates synchronously with the motor rotor (2). A wave generator (4) is connected to the motor shaft (3) and rotates synchronously with the motor shaft (3); A bushing (5) is slidably connected to the motor shaft (3) along the axial direction and rotates synchronously with the motor shaft (3). The outer peripheral wall of the bushing (5) is provided with an annular permanent magnet (6) that is magnetically charged in the radial direction. One end of the bushing (5) is connected to a second clutch tooth (7). When the bushing (5) slides along the axial direction, the first clutch tooth (1) engages or disengages with the second clutch tooth (7). A bidirectional excitation braking coil (8) is disposed inside the housing and located radially outside the bushing (5). The bidirectional excitation braking coil (8) includes a coil housing (81) made of magnetic material and a coil body (82) disposed inside the coil housing (81).

2. The joint module of the integrated bistable electromagnetic clutch locking device according to claim 1, characterized in that, The motor shaft (3) is provided with a first mating groove, and a spline (9) is connected in the first mating groove. The inner wall of the bushing (5) is provided with a second mating groove, which passes through the other end of the bushing (5). The spline (9) is connected in the second mating groove, and the bushing (5) and the spline (9) are slidably connected.

3. The joint module of the integrated bistable electromagnetic clutch locking device according to claim 1, characterized in that, The bidirectional excitation braking coil (8) also includes a coil bracket (83). The coil housing (81) has a through hole along the axial direction. The motor shaft (3) passes through the through hole. The inner wall of the through hole has an annular first mounting cavity. The coil bracket (83) is embedded in the first mounting cavity. The coil body (82) is wound around the coil bracket (83).

4. The joint module of the integrated bistable electromagnetic clutch locking device according to claim 3, characterized in that, The outer peripheral wall of the coil support (83) is provided with an annular groove, and the coil body (82) is wound in the annular groove.

5. The joint module of the integrated bistable electromagnetic clutch locking device according to claim 1, characterized in that, The housing includes a first axial portion (10), a radial portion (11), and a second axial portion (12). The first axial portion (10) is arranged along the axial direction of the motor shaft (3). The radial portion (11) is located at one end of the first axial portion (10) and is arranged along the radial direction of the motor shaft (3). The second axial portion (12) is located on the radial portion (11) at one end away from the first axial portion (10). The second axial portion (12) is arranged away from the first axial portion (10) and along the axial direction of the motor shaft (3). A second mounting cavity is provided in an axial portion (10). The motor rotor (2) and the bidirectional excitation brake coil (8) are both located in the second mounting cavity. The motor shaft (3) is provided on the motor rotor (2) at one end facing the radial portion (11). The second clutch tooth (7) is connected to the bushing (5) at one end away from the motor rotor (2). The first clutch tooth (1) is connected to the inner wall of the second axial portion (12). The first clutch tooth (1) and the second clutch tooth (7) are spaced apart along the axial direction of the motor shaft (3).

6. The joint module of the integrated bistable electromagnetic clutch locking device according to claim 1, characterized in that, The housing is connected to a PCB board (13) and a motor stator (14), and the motor rotor (2) is located inside the motor stator (14).

Images