Power module for maintaining mechanism maintaining function and robot thereof

Abstract

The utility model discloses a power module for maintaining a mechanism maintaining function and a robot. The power module is mainly applied to a joint power module and a wheel type driving module of the robot. The power module comprises a motor, a brake disc, an armature, a brake spring, an end plate, a guide column and a magnet exciting coil. In the utility model, the brake and the motor are integrated and connected into a whole, but are completely decoupled in function and do not influence each other, thereby being convenient for independent assembly and manufacture. The utility model has the advantages of small radial size, compact structure and small volume, and can be applied to a robot joint module and a wheel type driving module with higher requirements on volume and compactness. The module is simple in structure and light in weight, redundant parts are removed through the integrated design of the motor and the brake, structure simplification is achieved to the greatest extent, and the module has the advantages of being light in weight and low in cost and can be popularized on a robot joint power unit and a wheel type driving unit module in a large scale.

Description

Technical Field

[0001] This utility model relates to the field of robot power modules, specifically to a power module for maintaining the holding function of a mechanism, and a robot including such a module. Background Technology

[0002] With the technological development in the field of robotics, applications have higher requirements for robot joints and wheel drives in terms of maintaining the shape of the mechanism and maintaining the mechanism's holding function when power is off. At the same time, higher requirements are put forward for the lightweighting of modules and the simplification of mechanisms.

[0003] Currently, most robot joint power and wheel drive modules on the market use motor stalling to maintain the holding function of the mechanism. This method places high demands on the drive algorithm. With a continuous stall current supplied to the motor to maintain the holding state, the module is constantly consuming power, affecting the robot's endurance. Furthermore, if the stall current is inappropriate, there is a risk of burning out the motor. Additionally, if the robot's power supply system is low on power or experiences an unexpected power outage, the module's holding function cannot be achieved. This method also results in non-shared motor and brake components, redundant and complex structure, and significant weight and size, failing to meet the robot's requirements for lightweight modules and simplified mechanisms.

[0004] Currently, some modules use electromagnetic brakes to maintain the mechanism's holding function. Although they can achieve basic braking and holding functions, they generally cannot be directly applied to robot joint power and wheel drive modules due to their large radial dimensions, large volume, and large weight. How to achieve the requirements of lightweight and simplification of robot modules while maintaining the mechanism's holding function well is a problem that needs to be solved in the field. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, one objective of this utility model is to provide a robot module for maintaining the holding function of a mechanism, and another objective is to provide a robot including such a module, which can solve the problem that the drive module for maintaining the holding function of the existing robot is difficult to achieve lightweight and miniaturization.

[0006] This utility model is achieved through the following technical solution:

[0007] A power module for maintaining the holding function of a mechanism includes: a motor, including a motor rotor and a motor end cover; a brake disc, keyed to the motor rotor for linkage with the motor rotor; an armature, disposed on one side of the brake disc; a brake spring, with both ends abutting against the armature and the motor end cover respectively; an end plate, disposed on the side of the brake disc opposite to the armature; the end plate is fastened to the motor end cover; a guide post, with both ends abutting against the end plate and the motor end cover respectively, the length of the guide post being greater than the sum of the thicknesses of the brake disc and the armature, so that there is an axial gap between the brake disc, the armature, and the motor end cover; an annular groove is recessed in the motor end cover, and a boss is provided in the annular groove, the upper part of the boss being flush with the opening of the annular groove; a spring mounting groove is provided in the boss so that the brake spring is embedded in the motor end cover; and an excitation coil is sleeved in the annular groove to be embedded in the motor end cover.

[0008] Furthermore, the motor rotor includes a motor shaft, a bushing, and a rotor core; the bushing is fitted onto one end of the motor shaft; the outer periphery of the bushing is provided with a key structure, the key structure being a spline or a polygonal key, and the brake disc has a key hole that matches the bushing; the length of the key structure is greater than the depth of the key hole.

[0009] Furthermore, the motor rotor also includes: a shaft bearing, the motor shaft is mounted on the motor end cover by sleeve of the shaft bearing; a bearing mounting groove is recessed on one side of the motor end cover so that the shaft bearing is embedded in the motor end cover.

[0010] Furthermore, the end plate is connected to the motor end cover by fastening screws; the guide post has a hollow through hole inside, and the fastening screw passes through the guide post and is fastened to the motor end cover, so that the end plate and the motor end cover together press the two ends of the guide post.

[0011] Furthermore, the boss on the motor end cover has multiple spring mounting slots spaced apart along the circumferential direction. Each of the brake springs is housed in one of the spring mounting slots and together they abut against the armature.

[0012] Furthermore, the power module for maintaining the mechanism's holding function also includes an encoder; the encoder is fixed to the end plate on the side opposite to the brake disc.

[0013] Furthermore, the motor also includes a motor stator, which is sleeved on the outer periphery of the motor rotor, and the motor rotor is rotatably connected to the motor stator.

[0014] Furthermore, the power module for maintaining the holding function of the mechanism also includes a reduction mechanism; the reduction mechanism is fixed to the motor by screws and is connected to the output end of the motor in a transmission manner.

[0015] Furthermore, the motor end cover is made of magnetically conductive material.

[0016] A robot includes the aforementioned power module for maintaining the mechanism's holding function.

[0017] Compared with existing technologies, the beneficial effects that this utility model can achieve are as follows:

[0018] When the motor is powered on, the excitation coil is energized and forms an electromagnetic circuit with the armature. The armature is attracted by the excitation coil, moves axially, and presses tightly against the motor end cover. At the same time, the brake spring is in a compressed state. Since the brake disc, armature, and motor are supported and limited by the guide post and have a certain gap, the armature is separated from the brake disc and a gap is formed. The brake disc is in a released state, and the motor rotor connected to the brake disc can rotate freely along the central axis, thereby enabling the mechanism to complete the movement.

[0019] When the motor is de-energized, the excitation coil loses power, the electromagnetic attraction on the armature disappears, the brake spring releases its elastic potential energy, and presses the armature tightly against the brake disc. The resulting friction restricts the free rotation of the brake disc, thereby locking the motor rotor and putting the motor in a braking state, thus maintaining the mechanism's holding function.

[0020] (1) In the past, the brake and motor were simply connected by assembly, resulting in a low degree of integration. This manifested as large radial dimensions, large volume, and heavy weight of the module, which severely limited its application in terms of installation space and load, and had a limited range of applicability. In this invention, the brake and motor are integrated into one unit, but are completely decoupled in function and do not affect each other, making it easy to assemble and manufacture independently. At the same time, the brake disc is connected to the motor end cover, and the guide post serves as an intermediate support, ensuring that there is a certain gap between the armature and the brake disc for the axial sliding of the armature. The width of this sliding gap is fixed and can therefore be designed to be as small as possible. Furthermore, through the structural design of the motor end cover, the spring and excitation coil can be embedded in the motor end cover. Therefore, this invention has the advantages of small radial dimensions, compact structure, and small volume, and can be applied to robot joint modules and wheel drive modules with high requirements for volume and compactness.

[0021] (2) This module has a simple structure and light weight. The integrated design of the motor and brake eliminates redundant parts and achieves structural simplification to the greatest extent possible. It has the characteristics of being lightweight and low cost, and can be widely promoted in robot joint power unit and wheel drive unit modules. Attached Figure Description

[0022] Figure 1 The image shown is an assembly diagram of the power module;

[0023] Figure 2 The diagram shown is an exploded view of the braking system and the motor.

[0024] Figure 3 The image shown is an exploded view of the braking section.

[0025] Figure 4 The image shown is an exploded view of the motor rotor.

[0026] Figure 5 The image shown is a cross-sectional view of the brake assembly with the motor.

[0027] Figure 6 As shown Figure 5 A three-dimensional schematic diagram;

[0028] Figure 7 The image shown is an assembly drawing of the braking system.

[0029] Figure 8 As shown Figure 7 A sectional view;

[0030] Figure 9 The diagram shown is a structural schematic of the motor end cover;

[0031] Figure 10 The diagram shown is a structural schematic of the motor end cover from another perspective.

[0032] In the diagram: 10. Motor rotor; 11. Motor shaft; 12. Bushing; 121. Key structure; 13. Rotor core; 14. Shaft bearing; 20. Motor end cover; 21. Annular groove; 22. Boss; 23. Spring mounting slot; 24. Bearing mounting slot; 30. Brake disc; 40. Armature; 50. Brake spring; 60. End plate; 70. Guide post; 80. Excitation coil; 90. Encoder; 100. Motor stator; 110. Reduction mechanism; 120. Cover. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0034] In the description of this utility model, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0037] This utility model discloses a power module for maintaining the holding function of a mechanism, which is mainly used in the joint power module and wheel drive module of a robot; of course, it can also be applied to other drive modules that need to achieve this function.

[0038] See Figures 2-3 This power module includes: a motor, a brake disc 30, an armature 40, a brake spring 50, an end plate 60, a guide post 70, and an excitation coil 80. (See also...) Figure 4 The motor includes a motor rotor 10 and a motor end cover 20; see reference. Figures 5-6 The brake disc 30 and the motor rotor 10 are connected by a key, thus enabling them to rotate synchronously. The motor rotor 10 can drive the brake disc 30 to rotate synchronously. An armature 40 is located on one side of the brake disc 30, and an end plate 60 is located on the side of the brake disc 30 opposite to the armature 40. The end plate 60 is fastened to the motor end cover 20. The two ends of the brake spring 50 abut against the armature 40 and the motor end cover 20, respectively. (See reference...) Figure 3 , Figures 5-8Multiple guide posts 70 are provided. The two ends of each guide post 70 abut against the end plate 60 and the motor end cover 20, respectively. The length of each guide post 70 is greater than the sum of the thickness of the brake disc 30 and the armature 40. The armature 40 is located between the brake disc 30 and the motor end cover 20. Therefore, there is always a gap between the brake disc 30, the armature 40, and the motor end cover 20, and the specific location of this gap is determined by the position of the armature 40. When the armature 40 is attracted to the motor end cover 20, a gap is formed between the armature 40 and the brake disc 30; when the armature 40 is pressed against the brake disc 30, a gap is formed between the armature 40 and the motor end cover 20.

[0039] See Figure 9 , Figures 5-6 The motor end cover 20 has an annular groove 21 recessed within it to accommodate the excitation coil 80. The excitation coil 80 is fitted into the annular groove 21, thus being embedded inside the motor end cover 20. A boss 22 is provided on the inner circumference of the annular groove 21, the upper part of which is flush with the opening of the annular groove 21. A spring mounting groove 23 is formed within the boss 22. One end of the brake spring 50 abuts against the bottom of the spring mounting groove 23, and the other end abuts against the armature 40, thus embedding the brake spring 50 inside the motor end cover 20. When the armature 40 is attracted to the motor end cover 20, the brake spring 50 is in a compressed state.

[0040] When the motor is powered on, the excitation coil 80 is energized and forms an electromagnetic circuit with the armature 40. The armature 40 is attracted by the excitation coil 80, moves axially and closely abuts against the motor end cover 20. At the same time, the brake spring 50 is in a compressed state. Since the brake disc 30, the armature 40 and the motor are supported and limited by the guide post 70 and have a certain gap, the armature 40 is disengaged from the brake disc 30 and a gap is formed. The brake disc 30 is in a released state, and the motor rotor 10 connected to the brake disc 30 can rotate freely along the central axis, thereby enabling the mechanism to complete the movement.

[0041] When the motor is de-energized, the excitation coil 80 loses power, the electromagnetic attraction force on the armature 40 disappears, the brake spring 50 releases its elastic potential energy, and presses the armature 40 tightly against the brake disc 30. The resulting friction restricts the free rotation of the brake disc 30, thereby locking the motor rotor 10 and putting the motor in a braking state, thus maintaining the position of the mechanism after power loss.

[0042] (1) In the past, the brake and motor were simply connected by assembly, resulting in a low degree of integration. This manifested as large radial dimensions, large volume, and heavy weight of the module, which severely limited its application in terms of installation space and load, and had a limited range of applicability. In this invention, the brake and motor are integrated into one unit, but are completely decoupled in function and do not affect each other, making it easy to assemble and manufacture independently. At the same time, the brake disc 30 is connected to the motor end cover 20, and the guide post 70 serves as an intermediate support, ensuring that the armature 40 and the brake disc 30 have a certain gap for the axial sliding of the armature 40. The width of this sliding gap is fixed and can therefore be designed to be as small as possible. Furthermore, through the structural design of the motor end cover 20, the spring and the excitation coil 80 can be embedded in the motor end cover 20. Therefore, this invention has the advantages of small radial dimensions, compact structure, and small volume, and can be applied to robot joint modules and wheel drive modules with high requirements for volume and compactness.

[0043] (2) This module has a simple structure and light weight. The integrated design of the motor and brake eliminates redundant parts and achieves structural simplification to the greatest extent possible. It has the characteristics of being lightweight and low cost, and can be widely promoted in robot joint power unit and wheel drive unit modules.

[0044] Preferably, see Figure 4 The motor rotor 10 specifically includes a rotor core 13, a motor shaft 11, and a bushing 12. The rotor core 13 is pressed into the motor shaft 11. The bushing 12 is fitted onto one end of the motor shaft 11, and a key structure 121 is provided on the outer circumference of the bushing 12. The key structure 121 can be a spline or a polygonal key. The brake disc 30 has a keyhole that matches the key structure 121 of the bushing 12. The length of the key structure 121 is greater than the depth of the keyhole, so that the brake disc 30 and the motor rotor 10 are always in a linked state.

[0045] Further, see Figures 5-6 , Figure 10 The motor rotor 10 also includes a shaft bearing 14, through which the motor shaft 11 is mounted on the motor end cover 20. A bearing mounting groove 24 is recessed on one side of the motor end cover 20, allowing the shaft bearing 14 to be embedded within the motor end cover 20. This implementation further reduces the radial dimension of the module, achieving module miniaturization.

[0046] Preferably, see Figure 8The end plate 60 and the motor end cover 20 are connected by fastening screws. A hollow through-hole is formed inside the guide post 70, through which the fastening screws pass and are fastened to the motor end cover 20, thereby pressing the end plate 60 and the motor end cover 20 together against both ends of the guide post 70. This implementation achieves a secure connection between the brake and the motor. Furthermore, the method of embedding the fastening screws within the guide post 70 further reduces the radial dimension and enhances structural compactness.

[0047] Preferably, see Figure 9 The motor end cover 20 has a plurality of spring mounting slots 23 spaced apart along its circumference on the boss 22. The brake springs 50 are housed in the spring mounting slots 23 and abut against the armature 40. Specifically, in one embodiment, there are 6 spring mounting slots 23 and 6 brake springs 50 to apply pressure evenly to the surface of the armature 40 at multiple points.

[0048] Preferably, see Figures 7-8 The present invention also includes an encoder 90, which is fixed on the end plate 60 on the side opposite to the brake disc 30, and is used to provide real-time feedback signals for information such as the position, speed and angle of the brake.

[0049] Preferably, see Figure 2 The motor also includes a motor stator 100, which is sleeved on the outer periphery of the motor rotor 10. The motor rotor 10 and the motor stator 100 can rotate relative to each other.

[0050] Preferably, see Figure 1 The present invention also includes a reduction mechanism 110 for adjusting the output speed of the motor. The reduction mechanism 110 is fixed to the motor by screws and is connected to the output end of the motor for transmission.

[0051] Preferably, the present invention also includes a cover 120; the cover 120 is fixed to the motor end cover 20, covers the encoder 90, and also wraps around the entire braking mechanism, thereby achieving a protective effect.

[0052] Preferably, the motor end cover 20 is made of a magnetically conductive material to ensure the conduction of the electromagnetic circuit.

[0053] This utility model also discloses a robot that includes the power module described in any of the above claims for maintaining the holding function of the mechanism. Any robot that uses the same or substantially the same power module should be within the protection scope of this utility model.

[0054] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A power module for maintaining a mechanism holding function, characterized by, The motor comprises a motor rotor and a motor end cover. A brake disc is connected to the motor rotor by a key to be linked with the motor rotor. An armature is arranged on one side of the brake disc. Brake springs are respectively abutted against the armature and the motor end cover. An end plate is arranged on the side of the brake disc away from the armature. The end plate is fastened to the motor end cover. Guide columns are respectively abutted against the end plate and the motor end cover. The length of the guide columns is greater than the total thickness of the brake disc and the armature, so that the brake disc, the armature and the motor end cover have a clearance in the axial direction. The motor end cover is concave and has an annular groove.

2. The power module for maintaining the function of a mechanism holding according to claim 1, wherein, A boss is arranged in the annular groove.

3. The power module for maintaining the function of the mechanism holding according to claim 2, wherein, The upper part of the boss is flush with the opening of the annular groove.

4. The power module for maintaining the function of a mechanism holding according to claim 1, wherein, Spring installation grooves are arranged in the boss.

5. The power module for maintaining the function of a mechanism holding according to claim 1, wherein, The brake springs are embedded in the motor end cover.

6. The power module for maintaining the function of a mechanism holding according to claim 1, wherein, An excitation coil is embedded in the motor end cover.

7. The power module for maintaining the function of a mechanism holding according to claim 6, wherein, The motor rotor comprises a motor shaft, a shaft sleeve and a rotor core.

8. The power module for maintaining the function of a mechanism holding according to claim 1, wherein, The shaft sleeve is arranged at one end of the motor shaft.

9. The power module for maintaining the function of a mechanism holding according to claim 1, wherein, The outer periphery of the shaft sleeve is provided with a key structure.

10. A robot, characterized in that The key structure is a spline or a polygonal key. The brake disc is provided with a key hole matched with the shaft sleeve. The length of the key structure is greater than the depth of the key hole. The motor rotor further comprises a rotating shaft bearing. The motor shaft is installed in the motor end cover by sleeving the rotating shaft bearing. One side of the motor end cover is concave and has a bearing installation groove. The rotating shaft bearing is embedded and installed in the motor end cover. The end plate and the motor end cover are connected by fastening screws. The fastening screws are arranged in the guide columns and fastened to the motor end cover. The end plate and the motor end cover jointly compress the two ends of the guide columns. The boss of the motor end cover is spaced apart in the circumferential direction and has a plurality of spring installation grooves. The brake springs are respectively arranged in the spring installation grooves and jointly abut against the armature. The power module for maintaining the mechanism retention function further comprises an encoder. The encoder is fixed to the side of the end plate away from the brake disc. The power module for maintaining the mechanism retention function further comprises a cover. The cover is fixed to the motor end cover and covers the encoder. The motor further comprises a motor stator. The motor stator is sleeved on the outer periphery of the motor rotor. The motor rotor and the motor stator are rotationally connected. The power module for maintaining the mechanism retention function further comprises a speed reduction mechanism. The speed reduction mechanism is fixed to the motor by screws and is transmissionally connected with the output end of the motor. The power module for maintaining the mechanism retention function comprises any one of claims 1-9.

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