阅读说明：本技术 电磁失电制动器、电机、机器人 (Electromagnetic power-off brake, motor and robot ) 是由 贾惠玲 文智明 张荣婷 彭诚 陈卓 刘治利 于 2021-09-14 设计创作，主要内容包括：本发明提供一种转子组件、电机、压缩机、空调器,其中的电磁失电制动器,包括磁力控制部件、衔铁、与轮毂连接的摩擦片,所述衔铁能够在所述磁力控制部件失电时与所述摩擦片接触实现所述轮毂的制动,所述衔铁与所述磁力控制部件之间设有第一磁流变弹性体及相应的第一磁力发生部件,当所述轮毂解除制动时,所述第一磁流变弹性体能够在所述第一磁力发生部件的作用下产生膨胀形变。根据本发明,利用所述第一磁流变弹性体作为减缓冲击、衰减振动的介质,其响应快、充分节能,能够衰减多种振动信号,实现电磁失电制动器在启动、制动时,减缓所述衔铁对所述定子铁芯的冲击,增加电磁失电制动器使用寿命及可靠性。(The invention provides a rotor assembly, a motor, a compressor and an air conditioner, wherein an electromagnetic power-off brake comprises a magnetic control component, an armature and a friction plate connected with a hub, the armature can be in contact with the friction plate to brake the hub when the magnetic control component is powered off, a first magnetorheological elastomer and a corresponding first magnetic force generation component are arranged between the armature and the magnetic control component, and when the hub is braked, the first magnetorheological elastomer can expand and deform under the action of the first magnetic force generation component. According to the invention, the first magnetorheological elastomer is used as a medium for slowing down impact and damping vibration, the response is fast, the energy is fully saved, various vibration signals can be damped, the impact of the armature on the stator iron core is slowed down when the electromagnetic power-off brake is started and braked, and the service life and the reliability of the electromagnetic power-off brake are increased.)

1. The utility model provides an electromagnetism loses electric stopper, includes magnetic control part, armature (1), friction disc (3) of being connected with wheel hub (2), armature (1) can be in when the magnetic control part loses the electricity with friction disc (3) contact realizes the braking of wheel hub (2), its characterized in that, armature (1) with be equipped with first magnetic current becomes elastomer (4) and corresponding first magnetic force generation part between the magnetic control part, when wheel hub (2) remove the braking, first magnetic current becomes elastomer (4) can be in the effect of first magnetic force generation part produces the inflation deformation.

2. The electromagnetic power-loss brake as recited in claim 1, characterized in that the first magnetorheological elastomer (4) is annular, a first annular groove (11) is formed on the side of the armature (1) facing the magnetic control part, and the first magnetorheological elastomer (4) is arranged in the first annular groove (11).

3. The electromagnetic power-loss brake as recited in claim 2, wherein the first magnetic force generating component comprises a first coil (41), the first coil (41) is sleeved outside the first magnetorheological elastomer (4), and the first coil (41) is arranged in the first annular groove (11).

4. The electromagnetic power-off brake as claimed in claim 3, wherein the first magnetorheological elastomer (4) has a first arc section, a second arc section, a first arc section and a second arc section alternately in sequence along the circumferential direction, the cross-sectional area of the first arc section is smaller than that of the second arc section, the number of the first coils (41) is two, and the two first coils (41) are respectively sleeved on the outer sides of the two first arc sections in a one-to-one correspondence manner.

5. The electromagnetic power-loss brake as claimed in claim 1, characterized in that a second magnetorheological elastomer (5) and a corresponding second magnetic force generating component are arranged between the friction plate (3) and the hub (2), and when the hub (2) brakes, the second magnetorheological elastomer (5) can expand and deform under the action of the second magnetic force generating component.

6. The electromagnetic power-loss brake as claimed in claim 5, characterized in that the second magnetorheological elastomer (5) is annular, a second annular groove (21) is formed on the side of the hub (2) facing the friction plate (3), and the second magnetorheological elastomer (5) is installed in the second annular groove (21).

7. The electromagnetic power-loss brake as recited in claim 6, wherein the second magnetic force generating component comprises a second coil (51), the second coil (51) is sleeved outside the second magnetorheological elastomer (5), and the second coil (51) is arranged in the second ring groove (21).

8. The electromagnetic power-off brake as claimed in claim 5, characterized in that the outer surface of the first magnetorheological elastomer (4) is provided with a sound deadening hole (6); and/or a silencing hole (6) is arranged on the outer surface of the second magnetorheological elastomer (5).

9. An electrical machine comprising an electromagnetic de-energizing brake according to any of claims 1 to 8.

10. A robot comprising the motor of claim 9.

Technical Field

The invention belongs to the technical field of electromagnetic brake design, and particularly relates to an electromagnetic power-off brake, a motor and a robot.

Background

With the gradual development of current industrial intelligent products, the safety requirements of emergency shutdown are increasingly raised when mechanical moving parts such as rotation and impact occur abnormity, that is, small, light and cheap electromagnetic power-off type brakes are widely applied to industrial products such as machine tools, industrial robots, servo motors and the like. In the prior art, the work of the electromagnetic power-off brake is divided into a starting process and a braking process, and the starting working principle is as follows: a stator coil in the electromagnetic power-off brake is electrified to generate a magnetic field and generate attraction force on the armature, the armature is electrified by electromagnetic force and overcomes the elasticity of a spring in a stator iron core, moves towards the direction of the stator and is attached to the stator, a friction plate is released, and the rotating shaft can be started to operate; the brake working principle is as follows: when a stator coil in the electromagnetic power-off brake is powered off, the armature loses electromagnetic force, and runs towards the friction plate immediately and is quickly attached to the friction plate under the elastic force of a spring in the stator core, and the rotating shaft stops running, so that braking is realized.

However, for the complex mechanical operation conditions at present, starting and braking with multiple degrees of freedom are involved, such as: at present, the industrial application of four-axis and six-axis industrial robots is relatively wide, and one six-axis robot needs to use six servo motors, namely, six electromagnetic power-off brakes are started and braked simultaneously. When the electromagnetic power-off brake is started and braked, the electromagnetic power-off brake can respectively impact the stator core and the friction plate to generate larger impact noise, and particularly when six brakes are started and braked simultaneously, the electromagnetic power-off brake is not suitable for occasions with higher requirements on noise due to synchronous or asynchronous impact noise, and the reliability and the service life of the electromagnetic power-off brake can be directly influenced due to larger impact. That is, in the prior art, when the electromagnetic power-off brake is simultaneously opened in a multi-joint application occasion, the armature impacts a stator component, and when the electromagnetic power-off brake is braked, the armature impacts a friction plate to generate large impact noise, and the electromagnetic power-off brake is braked by the attachment of the armature and the friction plate, so that the friction plate is abraded due to long-time multiple braking, the armature always keeps a high-strength impact effect with the friction plate, the friction plate is easily cracked, the service life of the friction plate is shortened, and the reliability of the electromagnetic power-off brake is reduced; in addition, the impact noise generated when the armature is attracted or braked is reduced by using more materials with larger damping such as rubber pads and elastic pads, but hole sites, grooves and the like are additionally arranged at the joint of the armature, the stator, the friction plate and other parts, so that the braking effect and reliability of the electromagnetic power-off brake can be influenced, the materials are easy to age, the performance life cycle is short, meanwhile, the damping cannot be adjusted, and the vibration radiation effect caused by damping impact is poor.

Disclosure of Invention

Therefore, the invention provides an electromagnetic power-off brake, a motor and a robot, which can overcome the defects that a rubber ring is adopted for braking noise of the electromagnetic power-off brake in the related technology, an elastic pad is easy to age, the braking effect is poor and the like.

In order to solve the problems, the invention provides an electromagnetic power-off brake which comprises a magnetic control component, an armature and a friction plate connected with a hub, wherein the armature can be in contact with the friction plate to brake the hub when the magnetic control component is powered off, a first magnetorheological elastomer and a corresponding first magnetic force generating component are arranged between the armature and the magnetic control component, and when the hub is braked, the first magnetorheological elastomer can expand and deform under the action of the first magnetic force generating component.

In some embodiments, the first magnetorheological elastomer is annular, and a side of the armature facing the magnetic control component is configured with a first annular groove, and the first magnetorheological elastomer is installed in the first annular groove.

In some embodiments, the first magnetic force generating component comprises a first coil, the first coil is sleeved outside the first magnetorheological elastomer, and the first coil is arranged in the first ring groove.

In some embodiments, the first magnetorheological elastomer is provided with a first arc section, a second arc section, a first arc section and a second arc section in turn along the circumferential direction, wherein the cross-sectional area of the first arc section is smaller than that of the second arc section, the number of the first coils is two, and the two first coils are respectively sleeved on the outer sides of the two first arc sections in a one-to-one correspondence manner.

In some embodiments, a second magnetorheological elastomer and a corresponding second magnetic force generating component are arranged between the friction plate and the hub, and when the hub brakes, the second magnetorheological elastomer can expand and deform under the action of the second magnetic force generating component.

In some embodiments, the second magnetorheological elastomer is annular, and a second ring groove is formed in a side of the hub facing the friction plate, and the second magnetorheological elastomer is mounted in the second ring groove.

In some embodiments, the second magnetic force generating component comprises a second coil, the second coil is sleeved outside the second magnetorheological elastomer, and the second coil is arranged in the second ring groove.

In some embodiments, a bloop is provided on an outer surface of the first magnetorheological elastomer; and/or a silencing hole is arranged on the outer surface of the second magnetorheological elastomer.

The invention further provides a motor which comprises the electromagnetic power-off brake.

The invention also provides a robot which comprises the motor.

According to the electromagnetic power-off brake, the motor and the robot, the first magnetorheological elastomer is used as a medium for slowing down impact and damping vibration, the response is fast, energy is fully saved, various vibration signals can be damped, the impact of the armature on the stator iron core is slowed down when the electromagnetic power-off brake is started and braked, the service life and the reliability of the electromagnetic power-off brake are prolonged, the first magnetorheological elastomer is used for replacing more rubber rings and elastic pads used in the related technology, and adverse effects that the rubber rings and the elastic pads are easy to age, the braking effect of the electromagnetic power-off brake is influenced and the like are eliminated.

Drawings

Fig. 1 is a schematic view of an internal structure of an electromagnetic power-off brake according to an embodiment of the present invention;

fig. 2 is a schematic internal structural diagram of an electromagnetic power-off brake according to an embodiment of the present invention from another view angle;

fig. 3 is a schematic disassembled structure view of the electromagnetic power-off brake according to the embodiment of the invention;

FIG. 4 is a partial schematic view of an assembled structure of the armature and the first magnetorheological elastomer of FIG. 1;

FIG. 5 is a partial schematic view of an assembly structure of the hub and the second magnetorheological elastomer in FIG. 1.

The reference numerals are represented as:

1. an armature; 11. a first ring groove; 2. a hub; 21. a second ring groove; 3. a friction plate; 4. a first magnetorheological elastomer; 41. a first coil; 5. a second magnetorheological elastomer; 51. a second coil; 6. a silencing hole; 71. a stator core; 72. a stator coil; 73. a stator frame; 74. a cylindrical positioning pin; 75. an elastic member.

Detailed Description

Referring to fig. 1 to 5 in combination, according to an embodiment of the present invention, there is provided an electromagnetic power-off brake, including a magnetic control component, an armature 1, and a friction plate 3 connected to a hub 2, where the armature 1 can contact with the friction plate 3 to brake the hub 2 when the magnetic control component is powered off, a first magnetorheological elastomer 4 and a corresponding first magnetic force generating component are disposed between the armature 1 and the magnetic control component, when the hub 2 is braked, the first magnetorheological elastomer 4 can generate an expansion deformation under the action of the first magnetic force generating component, the magnetic control component specifically includes a stator core 71, the stator core 71 has a stator coil 72, an elastic component 75 (specifically, for example, a spring) is disposed between the armature 1 and the stator core 71, and when the stator coil 72 is powered on, the stator core 71 generates a suction force to attract the armature 1 to realize attraction of the stator core 72 When the stator core 71 is powered off, the stator core 71 has no magnetic force, and the spring pushes the armature 1 to move towards the friction plate 3 and contact with the friction plate 3 to brake the hub 2. In the technical scheme, the first magnetorheological elastomer 4 is used as a medium for slowing down impact and damping vibration, the response is fast, energy is fully saved, various vibration signals can be attenuated, the impact of the armature 1 on the stator iron core 71 is slowed down when the electromagnetic power-off brake is started and braked, the service life and the reliability of the electromagnetic power-off brake are prolonged, the first magnetorheological elastomer 4 is adopted to replace more rubber rings and elastic cushions used in the related technology, and the adverse effects that the rubber rings and the elastic cushions are easy to age, the braking effect of the electromagnetic power-off brake is influenced and the like are eliminated.

In some embodiments, the magnetic force control component further comprises a stator frame 73, and the stator coil 72 is wound on the stator frame 73; and/or a cylindrical positioning pin 74 is arranged between the armature 1 and the stator core 71 to ensure the operational reliability of the armature 1 in the braking and braking releasing process.

The first magnetorheological elastomer 4 is annular, a first annular groove 11 is formed in one side, facing the magnetic control component, of the armature 1, the first magnetorheological elastomer 4 is installed in the first annular groove 11, and the annular magnetorheological elastomer can be used for realizing circumferential uniform stress on the corresponding component during impact buffering.

The first magnetic force generating component may specifically be, for example, a permanent magnet, and the permanent magnet only ensures that the first magnetorheological elastomer 4 is always in an expanded deformation state, that is, the damping of the first magnetorheological elastomer 4 is not adjustable, in some embodiments, the first magnetic force generating component includes a first coil 41, the first coil 41 is sleeved outside the first magnetorheological elastomer 4, and the first coil 41 is installed in the first ring groove 11.

In some embodiments, the first magnetorheological elastomer 4 sequentially and alternately has a first arc section, a second arc section, a first arc section and a second arc section along the circumferential direction, wherein the cross-sectional area of the first arc section is smaller than that of the second arc section, the number of the first coils 41 is two, the two first coils 41 are symmetrically arranged, the control reliability can be improved, and the two first coils 41 are respectively sleeved on the outer sides of the two first arc sections in a one-to-one correspondence manner, so that the arrangement of the first coils 41 can be ensured not to have adverse effects on the expansion shape of the first magnetorheological elastomer 4.

In some embodiments, a second magnetorheological elastomer 5 and a corresponding second magnetic force generating component are arranged between the friction plate 3 and the hub 2, when the hub 2 brakes, the second magnetorheological elastomer 5 can expand and deform under the action of the second magnetic force generating component, and the arrangement of the second magnetorheological elastomer 5 can increase the transmission damping of the vibration on the friction plate 3 towards one side of the hub 2, so that the noise of the brake in the braking process can be further reduced, and the silent braking effect of the brake is improved. Similar to the first magnetorheological elastomer 4, the second magnetorheological elastomer 5 is annular, a second annular groove 21 is formed in one side, facing the friction plate 3, of the hub 2, and the second magnetorheological elastomer 5 is installed in the second annular groove 21. The second magnetic force generating component comprises a second coil 51, the second coil 51 is sleeved outside the second magnetorheological elastomer 5, and the second coil 51 is arranged in the second ring groove 21.

In some embodiments, the outer surface of the first magnetorheological elastomer 4 is provided with a silencing hole 6; and/or the outer surface of the second magnetorheological elastomer 5 is provided with a sound damping hole 6, so that impact noise can be further absorbed, and the effects of silent starting and silent braking are achieved.

The first magnetorheological elastomer 4 and the armature 1 and the second magnetorheological elastomer 5 and the hub 2 may be bonded or rigidly fixed, such as bolted constraints.

The braking and releasing principle of the electromagnetic power-off brake of the invention is further explained as follows:

(1) for the electromagnetic power-off brake activation (i.e., brake release) process: because the brake stator coil 72 in the electromagnetic power-off brake is electrified to generate an electromagnetic field, the brake stator core 71 is made of a magnetic material to generate magnetic force, and the armature 1 is acted by the magnetic force and overcomes the axial spring force applied by the elastic member 75 (specifically, a spring) to move towards the brake stator core 71, so that the contact with the friction plate 3 is released. The first coil 41 in the synchronous armature 1 is electrified, so that the first magnetorheological elastomer 4 in the armature 1 generates small deformation due to the magnetic effect and protrudes out of the end face of the armature 1, the armature 1 is in contact with the brake stator iron core 71 before, the contact impact vibration of the first magnetorheological elastomer 4 and the brake stator iron core 71 is rapidly attenuated by the magnetic damping effect in the first magnetorheological elastomer 4, and the impact noise is absorbed by the sound attenuation hole 6 in the first magnetorheological elastomer 4 synchronously.

After the first magnetorheological elastomer 4 contacts the brake stator iron core 71, the current of the first coil 41 is further gradually weakened, the first magnetorheological elastomer 4 is restored to the initial state, the armature 1 contacts the brake stator iron core 71, and the noise absorption hole 6 in the first magnetorheological elastomer 4 synchronously absorbs contact noise. In the process of completing the starting of the electromagnetic power-off brake, the armature 1 is attracted to contact with the stator core 71 of the brake to absorb the contact collision noise and attenuate the vibration.

(2) For the braking process of the electromagnetic power-off brake: in the electromagnetic power-off brake, the brake stator coil 72 is powered off to eliminate an electromagnetic field, the brake stator core 71 eliminates magnetic force, and the armature 1 moves towards the friction plate 3 under the action of axial spring force exerted by the elastic member 75 (specifically, a spring). The second coil 51 in the synchronous hub 8 is electrified to enable the second magnetorheological elastomer 5 inside to generate a magnetic damping effect, impact vibration is quickly attenuated when the armature 1 is in contact with the friction plate 3 for braking, and impact noise is absorbed by the sound attenuation hole 6 in the second magnetorheological elastomer 5. After the braking process of the electromagnetic power-off brake is finished, after the armature 1 is in contact with the friction plate 3 for braking, the current of the second coil 51 is gradually weakened and power-off, and the second magnetorheological elastomer 5 gradually restores to the initial state.

According to an embodiment of the invention, an electric machine is also provided, which comprises the electromagnetic power-off brake.

According to an embodiment of the present invention, there is also provided a robot including the motor described above.

It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.