阅读说明：本技术 制动器、电机和机器人 (Stopper, motor and robot ) 是由 钟成堡 刘娜 陈飞龙 杨文德 叶小奔 于 2021-07-26 设计创作，主要内容包括：本申请提供一种制动器和电机制动器、电机和机器人。该制动器包括定子磁轭(1),定子磁轭(1)包括定子线槽(2),定子磁轭(1)的底部设置有凸起(3),凸起(3)向着远离定子线槽(2)的方向凸出,凸起(3)的内侧壁位于定子线槽(2)的内侧壁内周侧,凸起(3)的外侧壁位于定子线槽(2)的内侧壁和外侧壁之间。根据本申请的制动器,能够降低制动器的耗电,提高电机的运行效率和功率密度。(The application provides a stopper and motor brake, motor and robot. The brake comprises a stator magnet yoke (1), wherein the stator magnet yoke (1) comprises a stator wire slot (2), the bottom of the stator magnet yoke (1) is provided with a protrusion (3), the protrusion (3) protrudes towards the direction far away from the stator wire slot (2), the inner side wall of the protrusion (3) is located on the inner side wall inner peripheral side of the stator wire slot (2), and the outer side wall of the protrusion (3) is located between the inner side wall and the outer side wall of the stator wire slot (2). According to the brake, the power consumption of the brake can be reduced, and the running efficiency and the power density of the motor can be improved.)

1. The utility model provides a brake, its characterized in that, includes stator yoke (1), stator yoke (1) includes stator wire casing (2), the bottom of stator yoke (1) is provided with arch (3), arch (3) are towards keeping away from the direction protrusion of stator wire casing (2), the inside wall of arch (3) is located the inside wall internal periphery side of stator wire casing (2), the lateral wall of arch (3) is located between the inside wall and the lateral wall of stator wire casing (2).

2. A brake according to claim 1, characterized in that the bottom thickness of the stator slot (2) is W1, the maximum distance between the outer side wall of the protrusion (3) and the central axis of the stator yoke (1) is c/2, the maximum distance between the inner side wall of the stator slot (2) and the central axis of the stator yoke (1) is a/2, a + W1/10 ≦ c ≦ a +2 × W1.

3. A brake according to claim 1, characterized in that the projection (3) is an annular projection.

4. A brake according to any one of claims 1-3, characterized in that the stator yoke (1) comprises a shaft hole (4), the diameter of the shaft hole (4) is b, the bottom thickness of the stator slot (2) is W1, the maximum distance between the inner side wall of the protrusion (3) and the central axis of the stator yoke (1) is d/2, b ≦ d ≦ a-W1/10.

5. Brake according to claim 1, characterized in that stator windings (5) are arranged in the stator slots (2).

6. The brake of claim 1, characterized in that the brake further comprises a rotor yoke (6), a limiting post (7) is arranged between the rotor yoke (6) and the stator yoke (1), and the rotor yoke (6) slides along the guide of the limiting post (7).

7. Brake according to claim 6, characterized in that the brake further comprises a limit stop (8), the limit stop (8) being arranged at an end of the rotor yoke (6) remote from the stator yoke (1).

8. The brake of claim 7, characterized in that the limiting column (7) is hollow, a positioning screw (9) is arranged on the limiting baffle (8), and the positioning screw (9) is arranged in the limiting column (7) in a penetrating manner and is fixedly connected with the stator magnetic yoke (1).

9. Brake according to claim 7, characterized in that a friction lining (10) is arranged between the limit stop (8) and the rotor yoke (6).

10. An electric machine comprising a brake, characterized in that the brake is as claimed in any one of claims 1 to 9.

11. An electric machine according to claim 10, characterized in that the electric machine comprises an end cap (11), the end cap (11) facing the stator yoke (1) being provided with an annular groove (12), the protrusion (3) being mounted in the annular groove (12).

12. A robot comprising a brake, characterized in that the brake is a brake according to any one of claims 1-9.

Technical Field

The application relates to the technical field of motors, in particular to a brake, a motor and a robot.

Background

With the miniaturization development of robots, the market has higher and higher requirements on the miniaturization of motors. All large motor manufacturers strive to achieve miniaturization of their products, and strive to maximize the motor power density.

The robot has many joints to need a servo motor with a brake, the brake is an important part of the servo motor, and extra power supply is needed when the brake works, so the power consumption of the brake becomes a part influencing the operation efficiency of the robot, and reducing the service power of the brake is an important method for improving the power density of the motor and improving the efficiency of the robot.

Disclosure of Invention

Therefore, an object of the present invention is to provide a brake, a motor, and a robot, which can reduce power consumption of the brake, improve power density of the motor, and improve robot efficiency.

In order to solve the problem, the application provides a brake, including the stator yoke, the stator yoke includes the stator wire casing, and the bottom of stator yoke is provided with the arch, and the arch is towards the direction protrusion of keeping away from the stator wire casing, and bellied inside wall is located the inside wall internal periphery side of stator wire casing, and bellied lateral wall is located between the inside wall and the lateral wall of stator wire casing.

Preferably, the bottom thickness of the stator wire slot is W1, the maximum distance between the outer side wall of the protrusion and the central axis of the stator yoke is c/2, the maximum distance between the inner side wall of the stator wire slot and the central axis of the stator yoke is a/2, and a + W1/10 is not less than c and not more than a + 2W 1.

Preferably, the projection is an annular projection.

Preferably, the stator magnetic yoke comprises a shaft hole, the diameter of the shaft hole is b, the bottom thickness of the stator slot is W1, the maximum distance between the inner side wall of the protrusion and the central axis of the stator magnetic yoke is d/2, and b is not less than d and not more than a-W1/10.

Preferably, stator windings are provided within the stator slots.

Preferably, the brake further comprises a rotor magnetic yoke, a limiting column is arranged between the rotor magnetic yoke and the stator magnetic yoke, and the rotor magnetic yoke slides along the guiding direction of the limiting column.

Preferably, the stopper still includes limit baffle, and limit baffle sets up the one end of keeping away from the stator yoke at the active cell yoke.

Preferably, the limiting column is hollow, the limiting baffle is provided with a positioning screw, and the positioning screw penetrates through the limiting column and is fixedly connected with the stator magnet yoke.

Preferably, a friction plate is arranged between the limiting baffle and the rotor magnetic yoke.

According to another aspect of the present application, there is provided an electric machine including a brake, the brake being the brake described above.

Preferably, the motor comprises an end cover, one end of the end cover facing the stator magnetic yoke is provided with an annular groove, and the protrusion is installed in the annular groove.

According to another aspect of the present application, there is provided a robot comprising a brake, the brake being as described above.

The application provides a stopper, including the stator yoke, the stator yoke includes the stator wire casing, and the bottom of stator yoke is provided with the arch, and protruding direction to keeping away from the stator wire casing is protruding, and bellied inside wall is located the inside wall internal periphery side of stator wire casing, and bellied lateral wall is located between the inside wall and the lateral wall of stator wire casing. This stopper has carried out the institutional advancement to the position of the magnetic field density uneven distribution of stator yoke, utilizes the arch that this position increased to adjust the magnetic field density distribution state of stator yoke in this position for the magnetic field density greatly reduced of this position department, it is more even to distribute, has reduced the stopper magnetic resistance, and then has reduced the operating power of stopper, has reduced stopper power consumption greatly, has improved motor power density and operating efficiency, has improved robot efficiency.

Drawings

FIG. 1 is a schematic structural view of a brake according to an embodiment of the present application;

FIG. 2 is a dimensional block diagram of a brake according to one embodiment of the present application;

FIG. 3 is a magnetic field strength profile of a brake according to an embodiment of the present application;

FIG. 4 is a graph of brake power versus c for one embodiment of the present application;

FIG. 5 is a graph of brake power versus d for one embodiment of the present application;

FIG. 6 is an exploded view of a related art brake;

fig. 7 is a cross-sectional structural view of a related art brake;

FIG. 8 is a magnetic flux trend graph of a brake of the related art;

fig. 9 is a magnetic field intensity distribution diagram of a related art brake.

The reference numerals are represented as:

1. a stator yoke; 2. stator slots; 3. a protrusion; 4. a shaft hole; 5. a stator winding; 6. a rotor magnetic yoke; 7. a limiting column; 8. a limit baffle; 9. a set screw; 10. a friction plate; 11. an end cap; 12. an annular groove; 13. a spring.

Detailed Description

Referring to fig. 6 to 9 in combination, in the related art, the overall structure of the brake is as shown in fig. 6. The stator comprises a stator magnetic yoke 1, a rotor magnetic yoke 6, a stator winding 5, a spring 13, a friction plate 10, a limiting baffle 8, a limiting column 7, a positioning screw 9 and the like. The distance between the limiting baffle 8 and the stator magnetic yoke 1 is determined through the length of the limiting column 7, the positioning screw 9 penetrates through the limiting column 7 and is finally locked on the stator magnetic yoke 1 (the stator magnetic yoke 1 is provided with threads and is connected with the positioning screw 9), and finally the distance between the limiting baffle 8 and the stator magnetic yoke 1 is equal to the length of the limiting column 7. The stator magnetic yoke 1, the stator winding 5, the limiting baffle 8, the limiting column 7 and the positioning screw 9 are fixed parts, and the rotor magnetic yoke 6 and the friction plate 10 are movable parts. A plan view schematically showing the overall structure of the conventional brake is shown in fig. 7.

The working principle of the brake is as follows: when the stator winding 5 is not electrified, the brake pushes the rotor magnetic yoke 6 to be in contact with the friction plate 10 through the spring force F1, an air gap is formed between the stator magnetic yoke 1 and the rotor magnetic yoke 6, and the friction plate 10 is attached to the limit baffle 8 under the limit action of the limit baffle 8. Finally, the extrusion force between the rotor yoke 6 and the friction plate 10 is equal to the spring force F1 of the brake, the extrusion force and the friction coefficient between the friction plate 10 and the rotor yoke 6 act together to generate braking torque, and the friction plate 10 and the motor shaft are fixed together through bonding, keys or other forms. The braking torque finally acts on the motor shaft to realize motor braking. When the stator winding 5 is electrified, current generates an electromagnetic field, the brake structure related to the electromagnetic field is a stator magnetic yoke 1 and a rotor magnetic yoke 6, and the magnetic path of the brake magnetic field is as shown in fig. 8. The electromagnetic attraction force F2 generated between the stator magnetic yoke 1 and the rotor magnetic yoke 6 overcomes the spring force F1, the rotor magnetic yoke 6 is finally pulled to be attached to the stator magnetic yoke 1 (the air gap is 0 at the moment), the rotor magnetic yoke 6 is finally separated from the friction plate 10 of the brake, the motor shaft is not braked any more, and the motor shaft can freely rotate.

The stator magnetic yoke 1, the stator winding 5 and the rotor magnetic yoke 6 form the most basic electromagnetic structure of the brake. When the stator winding 5 passes a current, the stator yoke 1 and the rotor yoke 6 generate a magnetic flux, and if the leakage magnetic flux is not considered, a magnetic flux path forms a loop from the bottom of the stator yoke 1 → the outside of the stator yoke 1 → the outer air gap of the stator yoke 1 → the rotor yoke 6 → the inner air gap of the stator yoke 1 → the inside of the stator yoke 1.

In the process of attracting and releasing the rotor magnet yoke 6, the air gap is changed continuously, and the magnetic saturation degrees of all parts of the magnetic circuit are different.

The distribution of the magnetic field strength of the stator magnetic yoke 1 when the brake works is as shown in fig. 9, and the magnetic field distribution is dense (as shown in the position circled by Q in the figure) at the position close to the bottom of the stator magnetic yoke 1 and the outer diameter of the inner ring, and the magnetic field density at the position can reach more than 1.5 times of the magnetic field density at other positions. The large magnetic field density leads to the increase of the integral magnetic resistance of the brake, and finally, the power supply required by the brake is larger and the power consumption is larger.

The brake power density distribution analysis method is based on the analysis and is especially provided for solving the problems that the brake power consumption is large and the motor power density is low due to the fact that the working magnetic field density distribution of the traditional brake is not uniform.

Referring to fig. 1 to 5 in combination, according to the embodiment of the present application, the brake includes stator yoke 1, stator yoke 1 includes stator slot 2, the bottom of stator yoke 1 is provided with protrusion 3, protrusion 3 is convex towards the direction of keeping away from stator slot 2, the inside wall of protrusion 3 is located the inside wall inner peripheral side of stator slot 2, the outside wall of protrusion 3 is located between the inside wall and the outside wall of stator slot 2.

As is clear from the above analysis, the magnetic field distribution-dense portion of the stator yoke 1 is mainly concentrated at a position close to the bottom of the stator yoke 1 and the outer diameter of the inner ring, and therefore, this situation can be improved by modifying the structure thereof.

With reference to fig. 3, the brake in this embodiment improves the structure of the position (i.e., the Q position) of the stator yoke 1 with uneven magnetic field density distribution, the raised portion 3 added at this position is used to adjust the magnetic field density distribution state of the stator yoke 1 at this position, and the magnetic force lines at this position are distributed in a dispersed manner, so that the magnetic field density at this position is greatly reduced, the distribution is more uniform, the magnetic resistance of the brake is reduced, the operating power of the brake is reduced, the power consumption of the brake is greatly reduced, the power density and the operating efficiency of the motor are improved, and the robot efficiency is improved.

The arrangement of the protrusions 3 causes both an increase in the volume of the brake and a waste of material. The structure size of the protrusion 3 needs to be optimally designed by comprehensively considering the magnetic field utilization rate of the protrusion 3 and the structure volumes of the brake and the motor.

In one embodiment, the protrusion 3 is an annular protrusion.

The magnetic force line trend and the distribution of the magnetic field density are related to the inner circle diameter a and the shaft hole diameter b of the stator wire slot 2 of the stator yoke 1 of the brake, the bottom structure thickness W1 of the stator yoke 1 of the brake, the outer diameter c of the protrusion 3, the inner diameter d of the protrusion 3 and the like.

The brake output electromagnetic force F2 is calculated as follows (where I is the current and n is the correction factor associated with the air gap, the brake rotor yoke, etc.):

the magnetic field distribution dense region shown in fig. 9 is located between two straight lines L1 and L2 parallel to the axis LL, the distance between L1 and the central axis LL is h1, and the distance between L2 and the central axis LL is h 2. Through magnetic field density analysis and electromagnetic force F calculation, the distance between L1 and the central axis LL is h1, which is less than or equal to (a + 2W 1)/2 and is more than or equal to (a + W1/10)/2; the distance between L2 and the central axis LL is h2 which is not more than (a-W1/10)/2 and not less than b/2.

Therefore, the protrusions 3 of the embodiment of the present application can disperse the magnetic field at the bottom position of the brake stator yoke 1 as long as the protrusions are located between L1 and L2, thereby reducing the brake power, improving the brake efficiency, and improving the motor power density.

In one embodiment, the bottom thickness of the stator winding slot 2 is W1, the maximum distance between the outer sidewall of the protrusion 3 and the central axis of the stator yoke 1 is c/2, and the maximum distance between the inner sidewall of the stator winding slot 2 and the central axis of the stator yoke 1 is a/2. Through analysis, the relationship between the brake power consumption and c is shown in fig. 4, wherein the larger the c, the smaller the brake power consumption. And when a + W1/10 is larger than or equal to c is smaller than or equal to a + 2W 1, the power of the brake is greatly reduced, the magnetic field utilization rate of the convex structure is the highest, and the power density of the motor is the maximum, which is consistent with the conclusion obtained above.

In one embodiment, the stator yoke 1 includes a shaft hole 4, the diameter of the shaft hole 4 is b, the bottom thickness of the stator slot 2 is W1, and the maximum distance between the inner sidewall of the protrusion 3 and the central axis of the stator yoke 1 is d/2. The brake power is related to d as shown in fig. 5, and the smaller d, the smaller the brake power. When b is more than or equal to d and less than or equal to a-W1/10, the brake power is greatly reduced, the magnetic field utilization rate of the convex structure is the highest, and the power density of the motor is the maximum, which is consistent with the conclusion obtained above.

Therefore, when a + W1/10 is more than or equal to c and less than or equal to a + 2W 1 and b is more than or equal to d and less than or equal to a-W1/10, the protrusion 3 can play the maximum magnetic field dispersion effect, the material utilization rate of the protrusion 3 is highest, and the power of the brake is greatly reduced.

In one embodiment, stator windings 5 are provided within the stator slots 2.

In one embodiment, the brake further comprises a rotor yoke 6, a limiting post 7 is arranged between the rotor yoke 6 and the stator yoke 1, and the rotor yoke 6 slides along the guiding of the limiting post 7.

In one embodiment, the brake further comprises a limit baffle 8, and the limit baffle 8 is arranged at one end of the rotor yoke 6 far away from the stator yoke 1.

In one embodiment, the limiting column 7 is hollow, the limiting baffle 8 is provided with a positioning screw 9, and the positioning screw 9 penetrates through the limiting column 7 and is fixedly connected with the stator magnetic yoke 1.

In one embodiment, a friction plate 10 is disposed between the limit stop 8 and the mover yoke 6.

In one embodiment, a spring 13 is further disposed between the stator yoke 1 and the rotor yoke 6, the spring 13 is capable of exerting an elastic action on the rotor yoke 6 towards the limit baffle 8, a spring groove is disposed on an end surface of the stator yoke 1 towards the rotor yoke 6, the spring 13 is disposed in the spring groove, and one end of the spring abuts against the bottom of the spring groove and the other end abuts against the rotor yoke 6.

The projections 3 may have other shapes, for example, a plurality of arc projections 3 arranged along the circumferential direction at intervals, and the plurality of arc projections 3 may be uniformly arranged along the circumferential direction, and only by locating the positions thereof in the aforementioned limited region, the magnetic field density distribution may be improved, the power consumption of the brake may be reduced, and the motor efficiency may be improved.

According to an embodiment of the application, the motor comprises a brake, which is the brake described above.

The motor is, for example, a servo motor.

In one embodiment, the motor comprises a brake part and a motor part, wherein an end cover 11 is arranged between the brake part and the motor part, an end of the end cover 11 facing the stator yoke 1 is provided with an annular groove 12, and the protrusion 3 is arranged in the annular groove 12. This embodiment holds arch 13 through set up annular groove 12 on end cover 11, can avoid protruding 13's setting to increase the total axial length of stopper, consequently can make the motor of this application embodiment, reduce stopper service power under the unchangeable condition of servo motor length and volume, improve servo motor operating efficiency, improve servo motor power density.

According to an embodiment of the application, the robot comprises a brake, which is the brake 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 intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.