Hub motor with electromagnetic brake for crawler stair-climbing robot

Abstract

The utility model discloses a wheel hub motor with an electromagnetic brake for a crawler stair-climbing robot, and belongs to the technical field of wheel hub motors. A hub motor with an electromagnetic brake for a crawler stair-climbing robot comprises a motor shell, a motor rotor and a central shaft, the motor shell is connected with the motor rotor through a bolt, the central shaft is movably connected with the motor rotor through a bearing, and the central shaft is arranged in the motor shell and connected with a motor stator. According to the wheel hub motor with the electromagnetic brake for the crawler stair-climbing robot, the motor rotor and the motor shell are integrally designed, the crawler is directly driven to move, energy loss possibly existing in a traditional transmission system is reduced, the overall kinetic energy conversion efficiency is improved, the integrated electromagnetic brake system can respond quickly when needed, and the service life of the crawler stair-climbing robot is prolonged. According to the crawler stair-climbing robot, the reliable braking function is provided, especially in emergency, movement of the crawler stair-climbing robot can be stopped immediately, and the safety and controllability of the equipment are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of wheel hub motors, and more specifically to a wheel hub motor with electromagnetic brakes for a crawler stair climbing robot. Background Art

[0002] Existing crawler-type stair-climbing robots usually use independent drive motors and transmission systems to achieve motion functions. However, this method has limitations in terms of kinetic energy conversion efficiency and is not sensitive enough to respond to the need for rapid stopping in emergency situations. Although some technical solutions have attempted to solve these problems by improving the motor structure or adding electromagnetic brakes, they have failed to optimize these two key factors at the same time. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a hub motor with electromagnetic brakes for a crawler stair-climbing robot to solve the above deficiencies.

[0004] In order to achieve the above-mentioned purpose, the technical solution provided by the utility model is:

[0005] The utility model discloses a wheel hub motor with electromagnetic brake for a crawler stair-climbing robot, comprising a motor housing, a motor rotor and a central shaft, wherein the motor housing is connected to the motor rotor by bolts, the central shaft is movably connected to the motor rotor by a bearing, the central shaft is arranged in a position inside the motor housing and connected to the motor stator, and one end of the motor rotor is movably connected to an electromagnetic brake assembly.

[0006] Preferably, the motor rotor comprises a first rotor and a second rotor, and the motor housing is connected to the first rotor and the second rotor respectively at a position close to the inner ring by bolts, and the motor housing and the first rotor and the second rotor enclose a storage space for accommodating the motor stator and the motor controller, and after connection, the first rotor, the second rotor and the motor housing are connected to form an integral structure, and after power is turned on, the motor rotor drives the motor housing to rotate, and the central shaft is movably connected to the first rotor and the second rotor respectively through bearings, and the position of the motor stator is fixed by the central shaft, and at the same time, the installation position of the hub motor is restricted,

[0007] Preferably, a rotating shaft is provided on a side of the first rotor away from the second rotor, and an electromagnetic brake assembly is movably connected to the rotating shaft.

[0008] Preferably, the electromagnetic brake assembly includes a support bearing, a mounting ring, a fixing frame, an electromagnetic coil, a spring washer, an armature and a fork frame. The support bearing is sleeved with the rotating shaft, and the outer ring of the support bearing is connected to the mounting ring. A fixing frame is provided on one side of the mounting ring, the fixing frame is connected to one side of the electromagnetic coil, and the other side of the electromagnetic coil is connected to the fork frame. A spring washer and an armature are provided between the electromagnetic coil and the fixing frame.

[0009] Preferably, the electromagnetic coil includes an external shell and a coil body arranged in the shell, the shell protects the coil body, the fixing frame is connected to the edge of one side of the electromagnetic coil, and the fixing frame is provided with a spring gasket and an armature inside the side close to the electromagnetic coil. When the electromagnetic coil is energized, the electromagnetic coil generates a magnetic force, which attracts the armature to move toward the electromagnetic coil, and the spring gasket is squeezed and deformed. When the power is off, the magnetic force of the electromagnetic coil disappears, and the spring gasket pushes the armature to squeeze the rotating shaft, thereby locking the rotating shaft.

[0010] Preferably, track teeth meshing with the track body are arranged at equal distances on the outer wall of the motor housing, and when the motor housing rotates, the track body is driven to rotate and displace through the track teeth.

[0011] Compared with the prior art, the technical solution provided by the utility model has the following beneficial effects:

[0012] 1. By combining the motor rotor and the motor housing, the crawler track is directly driven to move, which reduces the energy loss that may exist in the traditional transmission system and improves the overall kinetic energy conversion efficiency. The motor rotor and the motor housing are connected by bolts and can be split for easy disassembly.

[0013] 2. The integrated electromagnetic brake system can respond quickly when needed and provide reliable braking function. Especially in emergency situations, it can immediately stop the movement of the crawler climbing robot, enhancing the safety and controllability of the equipment. The entire device adopts a compact design concept and integrates the motor and electromagnetic brake system, which not only saves space but also reduces weight, which is beneficial to improving the robot's maneuverability. Due to the high integration of various components, the number of external connectors is reduced, the probability of failure is reduced, and it is easy to inspect and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a first-person perspective view of a wheel hub motor with an electromagnetic brake for a crawler stair-climbing robot of the utility model;

[0015] Figure 2 This is a second viewing angle diagram of the wheel hub motor with electromagnetic brake for the crawler stair climbing robot of the utility model;

[0016] Figure 3 This is a cross-sectional view of the motor housing of the present utility model.

[0017] In the figure: 1. motor housing; 11. track teeth; 2. motor rotor; 21. first rotor; 211. rotating shaft; 22. second rotor; 3. center shaft; 4. electromagnetic brake assembly; 41. support bearing; 42. mounting ring; 43. fixing frame; 44. electromagnetic coil; 45. spring washer; 46. armature; 47. fork frame; 5. track body. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] In order to further understand the content of the utility model, the utility model is described in detail in conjunction with the accompanying drawings.

[0020] Combination Figure 1-Figure 3 The utility model provides a wheel hub motor with an electromagnetic brake for a crawler stair climbing robot, comprising a motor housing 1, a motor rotor 2 and a central shaft 3. The motor rotor 2 comprises a first rotor 21 and a second rotor 22. The position of the motor housing 1 near the inner ring is connected to the first rotor 21 and the second rotor 22 respectively by bolts. The motor housing 1 and the first rotor 21 and the second rotor 22 form a storage space for accommodating a motor stator and a motor controller. After connection, the first rotor 21, the second rotor 22 and the motor housing 1 are connected to form an integral structure. After power is turned on, the motor rotor 2 drives the motor housing 1 to rotate. The central shaft 3 is movably connected to the first rotor 21 and the second rotor 22 respectively through bearings. At the same time, the central shaft 3 is placed in a position inside the motor housing 1 and connected to the motor stator. The position of the motor stator is fixed by the central shaft 3, and the installation position of the wheel hub motor is restricted.

[0021] A rotating shaft 211 is provided on one side of the first rotor 21 away from the second rotor 22. The rotating shaft 211 and the first rotor 21 are integrally formed. The rotating shaft 211 is a brake shaft. The brake shaft (rotating shaft 211) is integrated with the first rotor 21. The rotating shaft 211 and the first rotor 21 are braked as a whole by the electromagnetic brake assembly 4 to achieve braking of the entire motor housing 1. The utility model realizes the linkage of the motor housing 1, the motor rotor 2 and the electromagnetic brake assembly 4, and the working efficiency is improved. The electromagnetic brake assembly 4 is movably connected to the rotating shaft 211. The electromagnetic brake assembly 4 includes a supporting bearing 41, a mounting ring 42, a fixing frame 43, an electromagnetic coil 44, a spring washer 45, an armature 46 and a fork frame 47. The rotating shaft 211 is fixedly connected to the mounting ring 42 through the supporting bearing 41. One side of the mounting ring 42 The side is connected to the fixing frame 43 by bolts. The electromagnetic coil 44 includes an external shell and a coil body arranged in the shell. The shell protects the coil body. The fixing frame 43 is connected to the edge of one side of the electromagnetic coil 44. The fixing frame 43 is provided with a spring gasket 45 and an armature 46 inside the side close to the electromagnetic coil 44. The electromagnetic coil 44 is connected to the armature 46 through the spring gasket 45. When the electromagnetic coil 44 is energized, the electromagnetic coil 44 generates magnetic force, attracts the armature 46 to move toward the electromagnetic coil 44, and the spring gasket 45 is squeezed and deformed. When the power is off, the magnetic force of the electromagnetic coil 44 disappears, and the spring gasket 45 pushes the armature 46 to squeeze the rotating shaft 211, locks the rotating shaft 211, and prevents the rotating shaft 211 from rotating. The fork frame 47 is connected to one side of the electromagnetic coil 44 to fix the position of the wheel hub motor.

[0022] Grouser teeth 11 meshing with the crawler body 5 are arranged at equal distances on the outer wall of the motor housing 1 . When the motor housing 1 rotates, the crawler body 5 is driven to rotate and displace through the groove teeth 11 .

[0023] Working process: When power is supplied to the hub motor, the current is transmitted to the motor stator through the central shaft 3 to generate a magnetic field, which acts on the motor rotor 2, including the first rotor 21 and the second rotor 22. Since the motor housing 1 is connected to the first rotor 21 and the second rotor 22 by bolts to form an integral structure, the rotation of the motor rotor 2 drives the motor housing 1 to rotate together, and the track teeth 11 on the outer wall of the motor housing 1 mesh with the track body 5, thereby driving the track body 5 to rotate and displace. When the hub motor is working, the electromagnetic coil 44 in the electromagnetic brake assembly 4 is energized, generating a magnetic force to attract the armature 46 to move toward the electromagnetic coil 44. At this time, the spring gasket 45 is squeezed and deformed. In this state, the armature 46 leaves the contact position with the rotating shaft 211, allowing the rotating shaft 211 to rotate freely. Once the electromagnetic coil 44 is powered off, the magnetic force it generates disappears, the spring gasket 45 returns to its original state and pushes the armature 46 to move toward the rotating shaft 211, and finally locks the rotating shaft 211 to prevent it from rotating, thereby achieving rapid braking. At the same time, in the power-off state, the rotating shaft 211 is automatically braked.

[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0025] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention.

Claims

1. A wheel hub motor with an electromagnetic brake for a crawler climbing robot, comprising a motor housing (1), a motor rotor (2) and a central shaft (3), characterized in that: The motor housing (1) and the motor rotor (2) are connected by bolts, the central shaft (3) is movably connected to the motor rotor (2) via a bearing, the central shaft (3) is placed in a position inside the motor housing (1) and connected to the motor stator, and one end of the motor rotor (2) is movably connected to an electromagnetic brake assembly (4); The motor rotor (2) comprises a first rotor (21) and a second rotor (22); a position of the motor housing (1) close to the inner ring is connected to the first rotor (21) and the second rotor (22) respectively by bolts; and a central shaft (3) is movably connected to the first rotor (21) and the second rotor (22) respectively by bearings; A rotating shaft (211) is provided on a side of the first rotor (21) away from the second rotor (22), and an electromagnetic brake assembly (4) is movably connected to the rotating shaft (211).

2. The wheel hub motor with electromagnetic brake for the crawler climbing robot according to claim 1, characterized in that: The electromagnetic brake assembly (4) comprises a support bearing (41), a mounting ring (42), a fixing frame (43), an electromagnetic coil (44), a spring washer (45), an armature (46) and a fork frame (47); the support bearing (41) is sleeved with the rotating shaft (211), and the outer ring of the support bearing (41) is connected to the mounting ring (42); a fixing frame (43) is provided on one side of the mounting ring (42); the fixing frame (43) is connected to one side of the electromagnetic coil (44); the other side of the electromagnetic coil (44) is connected to the fork frame (47); and a spring washer (45) and an armature (46) are provided between the electromagnetic coil (44) and the fixing frame (43).

3. The wheel hub motor with electromagnetic brake for the crawler climbing robot according to claim 2, characterized in that: The electromagnetic coil (44) comprises an external shell and a coil body arranged in the shell, the fixing frame (43) is connected to the edge of one side of the electromagnetic coil (44), and a spring washer (45) and an armature (46) are arranged inside the fixing frame (43) on a side close to the electromagnetic coil (44).

4. The wheel hub motor with electromagnetic brake for the crawler climbing robot according to claim 1, characterized in that: Track teeth (11) that mesh with the track body (5) are arranged at equal distances on the outer wall of the motor housing (1).

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