TWI785874B - Transmission module - Google Patents

Abstract

A transmission module is disclosed. The transmission module includes a power driver, a first encoder, a reducer and the manual brake. The power driver is rotated by an electric power. The first encoder is electrically connected to the power driver to sense the operation information of the power driver. The reducer is driven by the power driver to rotate. The second encoder is electrically connected to the reducer to sense the operation information of the reducer. The manual brake is used to release or limit the rotation of the shaft of the power driver. The power driver, the first encoder, the reducer, the second encoder and the manual brake are located in the housing of the reducer. The reducer and the power driver are coaxially arranged.

Description

Transmission module

The present disclosure relates to a transmission module, in particular to a transmission module with a manual brake.

In transmission systems with large mechanical structures and high torque requirements, a reducer is usually installed to reduce the speed of the motor to increase the output power of the motor.

At present, most reducers are equipped with a single encoder, which is used to monitor the speed signal of the speed reducer, and calculate the speed of the motor according to the returned signal of the speed reducer. However, when the speed reducer is abnormal and the single encoder receives an error, or when a single encoder fails, it is impossible to determine the state of the speed reducer and the motor in real time, and it is also impossible to determine exactly where the fault is.

Generally speaking, this type of transmission system does not have the function of manually releasing the load. Therefore, when the power fails, it will self-lock and cannot be rotated by the load end. In addition, this type of transmission system does not have an integrated design, and the volume is usually relatively large.

Therefore, how to provide a "transmission module" has become a problem to be solved in the industry.

The disclosure provides a transmission module, including a power driver, which is rotated by an electric power; a first encoder, electrically connected to the power driver, to sense the operation information of the power driver; a reducer, driven by the power driver to rotate; The second encoder is electrically connected with the reducer to sense the operation information of the reducer; the manual brake is used to release or limit the rotation of the power driver; wherein the power driver, the first encoder, the reducer, the second encoder and The manual brake is located in the casing of the reducer, and the reducer and the power driver are arranged coaxially.

In order to make the present disclosure more comprehensible, the following specific embodiments are described in detail together with the accompanying drawings.

For the sake of clarity and convenience of drawing description, the size and proportion of each component in the drawing may be presented enlarged or reduced. In the following description and/or claims, when it is mentioned that an element is "connected" or "coupled" to another element, it may be directly connected or coupled to the other element or there may be an intervening element; When "directly connected" or "directly coupled" to another element, there are no intervening elements, and other words used to describe the relationship between elements or layers should be construed in the same way; "first", "second", Ordinal numbers such as "third" have no sequential relationship with each other, and are only used to mark and distinguish two different components with the same name. To facilitate understanding, the same components in the following embodiments are described with the same symbols.

First, please refer to FIG. 1 , which is a schematic diagram of the system architecture of the disclosed embodiment. As shown in FIG. 1 , the transmission module 100 with a manual brake includes a power driver 10 , a first encoder 20 , a reducer 30 , a manual brake 40 and a second encoder 50 .

The power driver 10 is located within a reducer housing 32 . The power driver 10 receives an electric drive to rotate along the axis. The electric power can be AC power or DC power. In practice, the powered drive 10 may be a motor. The power driver 10 includes a motor rotor 12 and a motor stator 14 . The motor rotor 12 is installed in the reducer casing 32 through the bearing parts. The motor stator 14 is fixed in the reducer casing 32 and is arranged around the periphery of the motor rotor 12 . In addition, the direction of the axis and the direction of the axis 66 (as shown by the dotted line in FIG. 2A ) are in the same direction.

The first encoder 20 is located in the reducer housing 32 . The first encoder 20 is electrically connected to the power driver 10 . The first encoder 20 is used to sense the operation information of the power driver 10 , such as rotation angle, rotation position, rotation speed and so on. For example, the operation information sensed by the first encoder 20 is the angle change of the reducer casing 32 relative to the motor rotor 12 .

The reducer 30 is located within a reducer housing 32 . The speed reducer 30 is connected with the power driver 10 . The reducer 30 is driven to rotate by the power driver 10 . The reducer 30 is used to reduce the speed of the power driver 10 to increase the output force of the power driver 10 .

One end of the hand brake 40 is located in the reducer housing 32 . The other end of the manual brake 40 is exposed outside the reducer casing 32 . The manual brake 40 is used to release or restrict the rotation of the power driver 10 . For example, when power is lost, the motor rotor 12 can be released to rotate through the manual brake 40 . In addition, the operation information sensed by the first encoder 20 and the second encoder 50 is not related to the actuation of the manual brake 40 and can be operated simultaneously without interfering with each other. However, when the manual brake 40 is released (i.e. released state), the output angle of the output end of the reducer 30 can be changed by the manual brake 40, and the angle information of the first encoder 20 and the second encoder 50 can still be read and recorded.

The second encoder 50 is located in the reducer housing 32 . The second encoder 50 is electrically connected to the reducer 30 . The second encoder 50 is used to sense the operation information of the reducer 30 , such as rotation angle, rotation position, rotation speed and so on. For example, the operation information sensed by the second encoder 50 is the angle change of the reducer casing 32 relative to the output end of the reducer 30 . Actually, the first encoder 20 and the second encoder 50 may be constituted by absolute encoders or incremental encoders.

The first adapter plate 60 is located outside the reducer casing 32 . The first adapter plate 60 is connected to the reducer housing 32 . The first adapter plate 60 is used for fixing with different mechanical interfaces. For example, the first adapter plate 60 can be connected to base shells, joint plates, latches or flanges with different mounting holes. The second adapter plate 62 is located outside the reducer housing 32 . The second adapter plate 62 is connected with the speed reducer 30 . The second adapter plate 62 is used for outputting with different transmission interfaces. For example, the second adapter plate 62 can provide power output for various styles of bolted shafts/holes, keyways/seats, half-round keys, dovetail sockets or locking flange surfaces. In this way, the first adapter plate 60 and the second adapter plate 62 can improve the installation convenience and flexibility of the transmission module 100 with a manual brake. In some embodiments, the first adapter plate 60 and the second adapter plate 62 may be omitted.

It should be noted that the power driver 10 , the first encoder 20 , the reducer 30 , the manual brake 40 and the second encoder 50 are all disposed in the reducer housing 32 . Therefore, the compact design can reduce the volume of the transmission module 100 with the manual brake, thereby improving the problem of relatively bulky transmission system in the prior art.

Next, please refer to FIG. 2A , which is a schematic cross-sectional structure diagram of the first embodiment of the present disclosure. As shown in FIG. 2A , the transmission module 110 with a manual brake includes a power driver 10 , a first encoder 20 , a reducer 30 , a manual brake 40 and a second encoder 50 . The power driver 10 , the first encoder 20 , the reducer 30 , the manual brake 40 and the second encoder 50 are located in the reducer housing 32 . One end of the power driver 10 close to the hand brake 40 is provided with a first encoder 20 . A second encoder 50 is arranged between the power driver 10 and the reducer 30 . The input end of the speed reducer 30 is connected with the output end of the power driver 10 . The output end of the speed reducer 30 is a torque output end 64 . In some embodiments, the torque output end 64 can be installed with the first adapter plate 60 and the second adapter plate 62 .

The manual brake 40 includes an electromagnet 41 , an armature plate 42 , a handle 43 , a spring 44 and a brake pad 45 . The electromagnet 41 is separated from the armature plate 42 by a certain distance. The armature plate 42 is disposed on one side of the electromagnet 41 . The electromagnets 41 are respectively located on both sides of the handle 43 . The handle 43 is disposed on the other side of the electromagnet 41 . One end of the handle 43 is connected to the armature plate 42 . The other end of the handle 43 is exposed outside the reducer housing 32 . The spring 44 is sheathed on the handle 43 such that the spring 44 is disposed between the armature plate 42 and the handle 43 . One end of the spring 44 is a fixed end, and the other end of the spring 44 pushes against the armature plate 42 . Brake pads 45 are connected to the input of the motor rotor 12 .

When the electromagnet 41 is driven by electricity, it will generate magnetic attraction force. The armature plate 42 is affected by the magnetic attraction force generated by the electromagnet 41 and is close to the electromagnet 41 . More specifically, when the electromagnet 41 generates a magnetic attraction force, it will attract the armature plate 42 out of contact with the brake pad 45 to release the motor rotor 12 to rotate. When the electromagnet 41 does not accept electric drive and stops generating magnetic attraction force, the other end of the spring 44 pushes the armature plate 42 against the brake pad 45 to lock the motor rotor 12 to stop rotating.

It is worth mentioning that when the power is lost, the armature plate 42 is affected by the elastic force of the spring 44 and resists the brake pad 45 , and the axis of the motor rotor 12 is affected by the brake pad 45 and cannot rotate. In the first embodiment of the present disclosure, the handle 43 can drive the armature plate 42 out of contact with the brake pad 45 to release the motor rotor 12 to rotate. In this way, the problem of self-locking caused by power failure in the prior art can be solved.

In addition, the motor rotor 12 , the reducer 30 and the manual brake 40 of the first embodiment of the present disclosure are located on the same axis 66 . In other words, the motor rotor 12 , the speed reducer 30 and the manual brake 40 are arranged coaxially. Thereby, an integrated compact design is achieved, which can effectively reduce the volume of the transmission module.

Please refer to FIG. 2B , which is a schematic cross-sectional structure diagram of the second embodiment of the present disclosure. As shown in FIG. 2B , the transmission module 120 with a manual brake includes a power driver 10 , a first encoder 20 , a speed reducer 30 , a manual brake 40 and a second encoder 50 . The first encoder 20 and the second encoder 50 are located between the power driver 10 and the reducer 30 . More specifically, the first encoder 20 is located at the output end of the power driver 10 , and the second encoder 50 is located at the input end of the reducer 30 . The first encoder 20 and the second encoder 50 share an encoder read head 25 . In addition, since the first encoder 20 and the second encoder 50 share the same encoder head 25 , the manufacturing cost of the transmission module can be reduced.

Likewise, the structure, connection method, and action principle of the hand brake 40 in the second embodiment of the present disclosure are the same as those in the first embodiment, and will not be repeated here. Similarly, the motor rotor 12 , the reducer 30 and the manual brake 40 of the second embodiment of the present disclosure are located on the same axis 66 . In other words, the motor rotor 12 , the speed reducer 30 and the manual brake 40 are arranged coaxially. Thereby, an integrated compact design is achieved, which can effectively reduce the volume of the transmission module.

Please refer to FIG. 2C , which is a schematic cross-sectional structure diagram of the third embodiment of the present disclosure. As shown in FIG. 2C , the transmission module 130 with a manual brake includes a power driver 10 , a first encoder 20 , a reducer 30 , a manual brake 40 , a second encoder 50 and a first bushing 70 . The first sleeve 70 runs through the power driver 10 and the speed reducer 30 . More specifically, the first sleeve 70 passes through the motor rotor 12 of the power driver 10 and the reducer 30 .

The first encoder 20 and the second encoder 50 are located at the input end of the power driver 10 . More specifically, the first encoder 20 and the second encoder 50 are located at the input end of the motor rotor 12 . The second encoder 50 is electrically connected to the reducer 30 through the first sleeve 70 . The first encoder 20 and the second encoder 50 share an encoder read head 25 . In addition, because the first encoder 20 and the second encoder 50 share the same encoder head 25 , the manufacturing cost of the transmission module can be reduced.

Likewise, the structure, connection method, and action principle of the hand brake 40 of the third embodiment of the present disclosure are substantially the same as those of the first embodiment, and will not be repeated here. Similarly, the motor rotor 12 , the reducer 30 and the manual brake 40 of the third embodiment of the present disclosure are located on the same axis 66 . In other words, the motor rotor 12 , the speed reducer 30 and the manual brake 40 are arranged coaxially. Thereby, an integrated compact design is achieved, which can effectively reduce the volume of the transmission module.

Please refer to FIG. 2D , which is a schematic cross-sectional structure diagram of the fourth embodiment of the present disclosure. As shown in Figure 2D, the transmission module 140 with a manual brake includes a power driver 10, a first encoder 20, a reducer 30, a manual brake 40, a second encoder 50, a first shaft sleeve 70 and a second shaft Set of 72. The first sleeve 70 runs through the power driver 10 , the reducer 30 and the manual brake 40 . The second bushing 72 is sheathed on the periphery of the first bushing 70 and passes through the power driver 10 , the speed reducer 30 and the manual brake 40 . The first sleeve 70 and the second sleeve 72 are not in contact with each other.

More specifically, the first sleeve 70 runs through the motor rotor 12 of the power driver 10 , the speed reducer 30 and the hand brake 40 . The second sleeve 72 runs through the motor rotor 12 of the power driver 10 , the speed reducer 30 and the manual brake 40 . The length of the second sleeve 72 is slightly shorter than that of the first sleeve 70 . The first sleeve 70 is electrically connected to the second encoder 50 . The second sleeve 72 is electrically connected to the first encoder 20 . The first encoder 20 is located between the handle 43 and the second encoder 50 . The handle 43 is located between the electromagnet 41 and the first encoder 20 .

The first encoder 20 and the second encoder 50 share an encoder read head 25 . In addition, because the first encoder 20 and the second encoder 50 share the same encoder head 25 , the manufacturing cost of the transmission module can be reduced. Likewise, the structure, connection method, and action principle of the hand brake 40 of the fourth embodiment of the present disclosure are substantially the same as those of the first embodiment, and will not be repeated here.

To sum up, the transmission module with the manual brake in the embodiment of the present disclosure, when the power is lost, the power driver is released through the manual brake to rotate. In this way, the problem of self-locking caused by power failure in the prior art can be solved.

According to the transmission module with a manual brake according to the embodiment of the present disclosure, the first encoder and the second encoder can share one encoder head, so as to reduce the manufacturing cost of the transmission module.

The first adapter plate and the second adapter plate according to the embodiments of the present disclosure can provide different fixing interfaces and output interfaces, so as to improve the convenience and flexibility of the transmission module installation.

According to the transmission module with manual brake in the embodiment of the present disclosure, the dual encoders are used to monitor and compare the power driver and the reducer respectively to obtain the deviation between the input angle and the actual angle, and correct the angle to maintain or improve the control. precision.

Although the present disclosure has been disclosed above with the embodiment, it is not intended to limit the present disclosure. Anyone with ordinary knowledge in the technical field may make some changes and modifications without departing from the spirit and scope of the present disclosure. The scope of protection of this disclosure should be defined by the scope of the appended patent application.

10: Power drive 20: First Encoder 25: Encoder reading head 30: reducer 32: Reducer housing 40: Hand Brake 41: electromagnet 42: Armature plate 43: handle 44: Spring 45:brake pads 50: Second encoder 60: The first adapter board 62: Second adapter board 64: Torque output terminal 66: axis 70: The first shaft sleeve 72: Second shaft sleeve 100, 110, 120, 130, 140: transmission module with manual brake

FIG. 1 is a schematic diagram of the system architecture of an embodiment of the present disclosure. FIG. 2A is a schematic cross-sectional structure diagram of the first embodiment of the present disclosure. FIG. 2B is a schematic cross-sectional structure diagram of the second embodiment of the present disclosure. FIG. 2C is a schematic cross-sectional structure diagram of the third embodiment of the present disclosure. FIG. 2D is a schematic cross-sectional structure diagram of the fourth embodiment of the present disclosure.

10: Power drive

12: Motor rotor

14: Motor stator

20: First Encoder

30: reducer

32: Reducer housing

40: Hand Brake

50: Second encoder

60: The first adapter board

62: Second adapter board

100: Transmission module with manual brake

Claims (13)

A transmission module, including: a power driver, driven by an electric power to rotate; a first encoder, electrically connected to the power driver, to sense the operation information of the power driver; a reducer, through the power The driver is driven to rotate; a second encoder is electrically connected with the reducer to sense the operation information of the reducer; and a manual brake is used to release or restrict the power driver to rotate; wherein the power driver, the The first encoder, the speed reducer, the second encoder and the manual brake are located in a housing of the speed reducer, and the speed reducer and the power driver are arranged coaxially. The transmission module as described in Claim 1, wherein the reducer further includes a first adapter plate for fixing with different mechanical interfaces, and a second adapter plate for outputting with different transmission interfaces. The transmission module as claimed in claim 1, wherein the first encoder and the second encoder are located between the power driver and the reducer. The transmission module according to claim 3, wherein the first encoder and the second encoder share an encoder read head. The transmission module according to claim 1, further comprising a shaft sleeve passing through the power driver and the reducer. The transmission module according to claim 5, wherein the second encoder is electrically connected to the reducer through the bushing. The transmission module according to claim 1, wherein the power driver is a motor, and the motor includes a motor rotor and a motor stator. The transmission module as described in claim 7, which also includes: A first shaft sleeve runs through the motor rotor, the speed reducer and the manual brake; and a second shaft sleeve is sheathed on the periphery of the first shaft sleeve and passes through the motor rotor, the speed reducer and the manual brake. The transmission module as described in claim 7, wherein the manual brake further includes: at least one electromagnet; an armature plate disposed on one side of the electromagnet; a handle disposed on the other side of the electromagnet , and connected to the armature plate; a spring, sleeved on the handle so that the spring is set between the armature plate and the handle, one end of the spring is a fixed end, and the other end of the spring pushes against the armature plate; and a brake pad connected to one end of the motor rotor. The transmission module as described in claim 9, wherein when the at least one electromagnet is driven by the electric power to generate a magnetic attraction force, the at least one electromagnet attracts the armature plate so that the armature plate does not contact the brake pad , to release the motor rotor to rotate, and when the at least one electromagnet is not driven by the electric power, the other end of the spring pushes the armature plate against the brake pad to lock the motor rotor to stop rotating. The transmission module as claimed in claim 9, wherein the handle is located between the at least one electromagnet and the first encoder. The transmission module as claimed in item 9, wherein one end of the handle is exposed from the casing of the reducer. The transmission module as described in Claim 9, wherein when the electric power is lost, the armature plate is driven by the handle to not contact the brake pad, so as to release the motor rotor to rotate.

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