Micro-miniature driving and control integrated power module

Abstract

The utility model relates to a microminiature drive and control integrated power module. The microminiature drive and control integrated power module comprises a drive motor, a master control circuit board, a motor clamping fixing block, a drive wheel, a Hall sensor circuit board and an embedded nut, the motor clamping fixing block is a long-strip-shaped rigid component provided with an axial through hole, blind holes are formed in the two sides of the motor clamping fixing block, the embedded nuts are installed in the blind holes, and the pair of driving motors are arranged in the axial through hole of the motor clamping fixing block in a penetrating mode and are locked and fixed in the radial direction through the clamping screws penetrating through the embedded nuts. The Hall sensor circuit board is fixedly arranged on the outer wall of the head end of the driving motor and is electrically connected with an electrode pin of the driving motor through tin soldering; a fixing hole is formed in the motor clamp fixing block, and the main control circuit board is arranged on the upper surface of the motor clamp fixing block and is rigidly connected with the fixing hole through a bolt; the main control circuit board and the Hall sensor circuit board are vertically orthogonal, the connection parts are connected through tin soldering, and adjacent welding spots are independent and are not electrically connected; a reduction gearbox is arranged at the tail end of the driving motor, and the driving wheel is arranged on an output shaft of the reduction gearbox and fastened to the end of the output shaft of the reduction gearbox through an axially-penetrating set screw.

Description

Technical Field

[0001] This utility model relates to the field of micro-miniature pipeline inspection robots, specifically to a micro-miniature integrated drive and control power module. Background Technology

[0002] In industries such as energy transportation, water conservancy, and industrial applications, regular inspections and flaw detection of pipelines and related components are required. However, due to varying industry standards and applications, pipeline networks differ in size and design, resulting in complex internal structures and high risks and difficulties for inspections, often making human access impossible. Miniature pipeline inspection robots are a special type of robot. Their small size and agile movement allow them to enter complex pipeline networks and even confined spaces to complete inspection tasks, providing accurate assessment images for risk assessment engineers and other technical personnel. Examples include urban pipeline inspection robots used by municipal departments and steam turbine pipeline inspection robots in power plants.

[0003] For large-scale steam-powered power generation equipment (thermal power plants, nuclear power plants, and geothermal power plants), the energy transfer medium is high-temperature steam, which drives the turbine to rotate through pipes. The pipes and related components are exposed to harsh environments of high temperature, high pressure, and high humidity for extended periods. Traditional inspection methods for this scenario often rely on endoscopy or non-destructive testing with ultrasonic equipment. However, these methods suffer from poor controllability, limited range of motion, small inspection area, and high cost, and cannot provide direct and accurate sample evidence. Miniature pipeline inspection robots can effectively solve these problems by performing safety inspections of the internal structure without disassembling the equipment, and by moving the robot, they can transmit real-time images of the internal structure within a certain range.

[0004] The miniature drive mechanism is one of the key components of the miniature pipeline robot. Its key components mainly provide the miniature pipeline robot with a large torque for normal movement. At the same time, due to the size limitations of the miniature pipeline robot itself, the internal space of the robot body is limited. The overall control function, data processing function and related sensors of the robot are also integrated into the drive mechanism, maximizing the rational use of the limited internal space while ensuring its basic functions.

[0005] CN118168712A discloses an underwater pipeline inspection robot. The robot includes a robot body, which comprises a mounting frame, and a power supply, an image acquisition unit, a drive mechanism, and a controller mounted on the mounting frame. The power supply provides power to the underwater pipeline inspection robot. The image acquisition unit acquires images of the underwater pipeline. The drive mechanism drives the underwater pipeline inspection robot to move along a preset path. The controller is electrically connected to the power supply, the image acquisition unit, the drive mechanism, the telescopic component, the cleaning component, and the scraping component. This drive mechanism includes complex components such as a vertical propulsion component (propeller), a vector propulsion component (including a rotating base and propeller), a lead screw, and ball nuts, which need to be distributed around the mounting frame, resulting in the following disadvantages:

[0006] 1. The large space occupied by components such as thrusters and lead screws makes it difficult for the robot body to adapt to narrow pipes.

[0007] 2. The drive motor and vector propulsion components need to be connected to the controller via cables, which further occupies space due to the cable layout.

[0008] 3. Relying on plug-in electrical connections, metal components are susceptible to underwater corrosion, resulting in poor environmental adaptability. Summary of the Invention

[0009] The purpose of this utility model is to overcome the defects and deficiencies of the existing technology and provide a micro-sized integrated drive and control power module. This power module abandons the traditional cable connection method and deeply integrates drive, control and sensing functions into a single module, which not only improves space utilization, but also can adapt to extreme working conditions such as high temperature steam and underwater, and shows stronger reliability in harsh environments.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] A miniature integrated drive and control power module includes a pair of drive motors, a main control circuit board, a motor clamp fixing block, a drive wheel, a Hall sensor circuit board, and a pre-embedded nut.

[0012] The motor clamp fixing block is a long strip-shaped rigid component with an axial through hole. Blind holes are opened on both sides of the motor clamp fixing block. The pre-embedded nut is installed in the blind hole. The pair of drive motors are installed through the axial through hole of the motor clamp fixing block and are radially locked and fixed by clamping screws that pass through the pre-embedded nut.

[0013] The Hall sensor circuit board is fixedly mounted on the outer wall of the front end of the drive motor and is electrically connected to the electrode pins of the drive motor by soldering.

[0014] The motor clamp fixing block has a fixing hole, and the main control circuit board is set on the upper surface of the motor clamp fixing block and rigidly connected to the fixing hole by bolts; the main control circuit board is perpendicular to the Hall sensor circuit board, and their connection is made by soldering, and adjacent solder points are independent and have no electrical connection.

[0015] The drive motor is equipped with a reduction gearbox at its end, and the drive wheel is mounted on the output shaft of the reduction gearbox and fastened to the end of the output shaft of the reduction gearbox by an axially penetrating set screw.

[0016] As a preferred embodiment, a safety hook is also included, which is located at the beginning of the drive motor.

[0017] As a preferred embodiment, a positioning plate is also included, which is located at the end of the drive motor.

[0018] As a preferred embodiment, the drive wheel is a synchronous belt type walking component, a wheel type, or a belt-driven walking component.

[0019] As a preferred embodiment, the drive wheel has a shaft connection hole at its center, and the cross-sectional shape of the shaft connection hole is a D-shaped hole, a key hole, or a polygonal hole.

[0020] As a preferred embodiment, the gearbox of the drive motor is equipped with a modular transmission assembly, which includes at least one pair of detachably connected gear sets. By changing the gear ratio between the driving gear and the driven gear in the gear sets, the output shaft of the gearbox can obtain different reduction ratios.

[0021] In summary, this utility model has the following advantages:

[0022] 1. The main control circuit board and the Hall sensor circuit board of this utility model are perpendicular and orthogonal, and are connected by soldering, eliminating cable connections, reducing interfaces, reducing the overall space occupied by the power module inside the robot, avoiding the risk of loose cables, improving reliability in high-temperature environments, and significantly improving the space utilization and integration of this utility model.

[0023] 2. The motor clamp fixing block of this utility model radially locks the drive motor through the pre-embedded nut and clamping screw. The motor clamp fixing block and the pre-embedded nut cooperate to realize the rapid positioning and rigid fixation of the motor, shorten the assembly time, and enhance the axial tensile strength, meet the requirements of the vibration environment of high pressure pipeline, and optimize the assembly efficiency and structural stability of this utility model.

[0024] 3. The drive wheel of this utility model supports interchangeability of synchronous belt type, wheel type, and pulley type, and can be matched with smooth / rough pipe inner walls; the modular transmission component can expand the output torque range by replacing the gear set, which can meet different load requirements and enhance the environmental adaptability and functional expandability of this utility model.

[0025] 4. This utility model reduces the risk of interface oxidation by using solder hard connection, extends circuit life, and has no plug resistance loss, thus reducing the maintenance cost and energy consumption of this utility model. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the micro-miniature integrated drive and control power module of this utility model;

[0027] Figure 2 This is an isometric view of the micro-miniature integrated drive and control power module of this utility model;

[0028] Figure 3 This is a rear view of the miniature integrated drive and control power module of this utility model;

[0029] Among them: 1 is the drive motor, 2 is the main control circuit board, 3 is the motor clamp fixing block, 4 is the drive wheel, 5 is the Hall sensor circuit board, 6 is the pre-embedded nut, 7 is the set screw, 8 is the safety hook, and 9 is the positioning plate. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1 to 3 As shown, a miniature integrated drive and control power module includes a pair of drive motors, a main control circuit board, a motor clamp fixing block, a drive wheel, a Hall sensor circuit board, and a pre-embedded nut.

[0032] The motor clamp fixing block is a long strip-shaped rigid component with an axial through hole. Blind holes are opened on both sides of the motor clamp fixing block. The pre-embedded nut is installed in the blind hole. The pair of drive motors are installed through the axial through hole of the motor clamp fixing block and are radially locked and fixed by clamping screws that pass through the pre-embedded nut.

[0033] The motor clamp fixing block is made of aluminum alloy and is a long, rigid strip with an axial through hole to accommodate the drive motor. The drive motor is a miniature brushless DC motor, symmetrically distributed within the axial through hole of the motor clamp fixing block. Blind holes are provided on both sides of the motor clamp fixing block, and pre-embedded nuts are fixed in the blind holes. After the drive motor is inserted into the axial through hole, it is radially locked by the clamping screw. The clamping screw passes through the pre-embedded nut and abuts against the outer wall of the drive motor, forming a radial fixation.

[0034] The Hall sensor circuit board is fixedly mounted on the outer wall of the front end of the drive motor and is electrically connected to the electrode pins of the drive motor by soldering.

[0035] The Hall sensor circuit board is fixed to the outer wall of the drive motor (near the electrode pin side). The pads on the Hall sensor circuit board are connected to the electrode pins of the drive motor by soldering. The solder joint height is ≤1mm and the spacing between adjacent solder joints is ≥2mm to ensure no electrical short circuit.

[0036] The motor clamp fixing block has a fixing hole, and the main control circuit board is set on the upper surface of the motor clamp fixing block and is rigidly connected to the fixing hole by bolts; the main control circuit board is perpendicular to the Hall sensor circuit board, and their connection is made by soldering, and adjacent solder points are independent and have no electrical connection.

[0037] The main control circuit board is a PCB board, which is perpendicular to the Hall sensor circuit board. It is connected to the fixing holes on the upper surface of the motor clamp fixing block by bolts. The connection between the main control circuit board and the Hall sensor circuit board is made by soldering. Adjacent solder joints are independent (spacing ≥3mm) and have no common conductive path.

[0038] The drive motor is equipped with a reduction gearbox at its end, and the drive wheel is mounted on the output shaft of the reduction gearbox and fastened to the end of the output shaft of the reduction gearbox by an axially penetrating set screw, thus forming a walking drive mechanism.

[0039] The gearbox is fixed to the end of the drive motor and contains a gear set with a reduction ratio of 10:1. The drive wheel has a shaft connection hole at its center. The drive wheel is fitted onto the output shaft of the gearbox through the D-shaped shaft connection hole and is secured with an axially penetrating set screw.

[0040] The safety hook is an L-shaped hook made of metal, installed at the head end between a pair of drive motors. It is installed in the internal space of the miniature pipeline inspection robot through the through hole on the safety hook to limit the displacement of the motors.

[0041] The positioning plate is a trapezoidal plate made of metal, located at the end between a pair of drive motors. It is installed in the internal space of the miniature pipeline inspection robot through through holes in the positioning plate to limit the displacement of the motors.

[0042] The drive wheel is a synchronous belt type walking component, with synchronous teeth on the outer periphery of the wheel body, and the tooth pitch is 2mm.

[0043] In addition to the methods mentioned in the above embodiments, the drive wheel can be a wheeled or belt-driven walking component; the cross-sectional shape of the shaft connection hole can be a key hole, a polygonal hole, or other hole type fitted onto the output shaft of the gearbox. These variations are all within the protection scope of this utility model.

[0044] In summary, this utility model abandons the traditional method of power and signal transmission between various functional components via cables. Based on the original power module, it uses a three-dimensional welding method of main control circuit board to rigidly bind the "drive motor-Hall sensor circuit board-main control circuit board" to form the main part of the micro-miniature integrated drive and control power module.

[0045] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A miniature integrated drive and control power module, characterized in that: The drive motor, the main control circuit board, the motor clamping fixing block, the drive wheel, the Hall sensor circuit board and the embedded nut are included. The motor clamping fixing block is a long strip-shaped rigid component with an axial through hole, and blind holes are formed on both sides of the motor clamping fixing block, the embedded nut is installed in the blind hole, and the pair of drive motors are arranged in the axial through hole of the motor clamping fixing block and are locked and fixed radially by clamping screws penetrating the embedded nut. The Hall sensor circuit board is fixedly arranged on the outer wall of the first end of the drive motor and is electrically connected with the electrode pin of the drive motor by soldering. The motor clamping fixing block is provided with a fixing hole, the main control circuit board is arranged on the upper surface of the motor clamping fixing block and is rigidly connected with the fixing hole by a bolt, the main control circuit board and the Hall sensor circuit board are perpendicular and orthogonal, the connection part is connected by soldering, and adjacent welding points are independent and have no electrical connection. The drive motor is provided with a reduction box at the end, the drive wheel is arranged on the output shaft of the reduction box and is fastened to the end of the output shaft of the reduction box by a tight screw penetrating in the axial direction.

2. The micro actuation integrated power module of claim 1, wherein: A safety hook is arranged between the drive motors, and the safety hook is located at the first end of the drive motor.

3. The micro actuation integrated power module of claim 1, wherein: A positioning plate is arranged between the drive motors, and the positioning plate is located at the end of the drive motor.

4. The micro actuation integrated power module of claim 1, wherein: The drive wheel is a synchronous belt type walking component, a wheel type or a belt wheel type walking component.

5. The micro actuation integrated power module of claim 1, wherein: The center of the drive wheel is provided with an axle connection hole, and the cross-sectional shape of the axle connection hole is a D-shaped hole, a key hole or a polygonal hole.

6. The micro actuation integrated power module of claim 1, wherein: The reduction box of the drive motor is provided with a modular transmission assembly, the modular transmission assembly includes at least one pair of variable speed gear sets which are detachably connected, and by changing the gear ratio of the driving gear and the driven gear in the variable speed gear set, the output shaft of the reduction box obtains different reduction ratios.

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