WO2022183838A1 - 抱闸电机、减速器及机器人 - Google Patents

抱闸电机、减速器及机器人 Download PDF

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Publication number
WO2022183838A1
WO2022183838A1 PCT/CN2021/144068 CN2021144068W WO2022183838A1 WO 2022183838 A1 WO2022183838 A1 WO 2022183838A1 CN 2021144068 W CN2021144068 W CN 2021144068W WO 2022183838 A1 WO2022183838 A1 WO 2022183838A1
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WO
WIPO (PCT)
Prior art keywords
rotor assembly
brake motor
brake
rotor
braking position
Prior art date
Application number
PCT/CN2021/144068
Other languages
English (en)
French (fr)
Inventor
罗程
孔兵
翟星
任睿奇
Original Assignee
达闼机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 达闼机器人股份有限公司 filed Critical 达闼机器人股份有限公司
Publication of WO2022183838A1 publication Critical patent/WO2022183838A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/12—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking
    • H02K7/125—Structural association with clutches, brakes, gears, pulleys or mechanical starters with auxiliary limited movement of stators, rotors or core parts, e.g. rotors axially movable for the purpose of clutching or braking magnetically influenced

Definitions

  • the present disclosure relates to the technical field of motors, and in particular, to a brake motor, a reducer equipped with the brake motor, and a robot equipped with the reducer.
  • robots and mechanical arms are usually used to replace manual work, and most robots or mechanical arms are driven by built-in motors.
  • the motors When a sudden power failure occurs, the motors will be under the action of rotational inertia. It will not be locked immediately, so the mechanical arm often sags naturally or continues to move, resulting in injury accidents.
  • a brake device is usually installed on the motor, so that the motor can be locked immediately after the power failure.
  • the second is an electromagnetic brake device, which installs two layers of iron sheets that can move axially on the motor, and installs a rotor hub at the output end of the motor.
  • the rotor hub is provided with a friction plate, which is sandwiched between two layers of iron plates. When the power is cut off, the two layers of iron plates are squeezed and clamped to the friction plates, thereby locking the motor.
  • the purpose of the present disclosure is to provide a brake motor, a reducer mounted with the brake motor, and a robot equipped with the reducer.
  • the brake motor can be quickly braked, and has a compact structure and small footprint.
  • a brake motor including a rotor assembly, a stator assembly and a brake device
  • the rotor assembly is axially movably disposed on the stator assembly and has a braking position and a non-braking position position
  • the rotor assembly includes a rotating shaft
  • the rotating shaft is located at the rotation center of the brake motor
  • the brake device includes a driving mechanism and a braking member
  • the driving mechanism is arranged around the rotating shaft for driving the The rotor assembly is switched between a braking position and a non-braking position, and the braking member is connected to the rotor assembly for restraining and cooperating with an external connecting member in the braking position to brake the rotor assembly.
  • the driving mechanism includes an electromagnetic induction coil and a magnetic attraction member, a mounting portion for mounting the magnetic induction coil is formed on the stator assembly, and the magnetic induction coil is spirally wound around the rotating shaft on the The installation part, the magnetic attraction piece is connected with the rotor assembly, the magnetic induction coil is used for connecting with a power source and generates a magnetic attraction force along its axial direction, the magnetic attraction piece makes the magnetic attraction force under the action of the magnetic attraction force The rotor assembly remains in the non-braking position.
  • the stator assembly includes a stator base, the stator base is configured as a cylindrical structure arranged around the rotating shaft, the mounting portion is configured as an annular groove opened on the stator base, the ring An annular groove extends axially from an end face of the stator base, and the magnetic induction coil is arranged in the annular groove.
  • the magnetic attraction member includes a cylindrical body and a suction portion, the cylindrical body is axially movably disposed inside the stator base, and the suction portion is disposed at an end of the cylindrical body And it is formed in the shape of a disc that protrudes outward in the radial direction, and the adsorption part is arranged corresponding to the opening of the annular groove.
  • the holding brake device further includes a first limiting structure, and the first limiting structure is arranged between the magnetic attraction piece and the stator base, and is used to limit the magnetic attraction piece and the stator base.
  • the circumferential displacement between the stator bases, the first limiting structure is a positioning pin, the inner side wall of the stator base is formed with at least one axially extending first limiting groove, the outer side wall of the cylindrical body is formed A second limit groove is formed, the first limit groove and the second limit groove are correspondingly arranged, and together enclose a cavity for accommodating the positioning pin, and the positioning pin is accommodated in the first limit groove and the second limit groove.
  • the rotating shaft is rotatably mounted on the inner side wall of the cylindrical body through a bearing
  • the bearing includes a first bearing and a second bearing
  • the first bearing and the second bearing are side by side in the axial direction It is sleeved between the rotating shaft and the cylindrical body
  • the holding brake device further includes a second limiting structure
  • the second limiting structure is a limiting protrusion
  • the limiting protrusion is formed on the The inner side wall of the magnetic attraction member is extended and arranged along the circumferential direction, and the limiting protrusion is sandwiched between the first bearing and the second bearing.
  • the drive mechanism further includes an elastic reset member
  • the elastic reset member is used to move the rotor assembly from the non-braking position to the braking position
  • the inner side wall of the stator base is formed with a shoulder
  • One end of the elastic reset member is abutted on the shoulder
  • the other end is abutted on the magnetic attraction member.
  • the braking member is a friction member
  • the friction member is disposed on the outer side wall of the rotor assembly and is used for frictionally contacting the external connecting member to brake the rotor assembly in the braking position .
  • the brake motor is an outer rotor motor
  • the outer rotor motor includes a rotor casing
  • the friction member is formed as a ring-shaped sheet
  • the friction member is arranged on the end face of the rotor casing around the rotating shaft .
  • the rotor assembly further includes a rotor casing and a magnetic member
  • the stator assembly further includes a stator core and coil windings, the coil windings are wound on the stator core, and the magnetic member is disposed on the rotor
  • the inside of the casing corresponds to the coil winding, and the coil winding is used for connecting with an external power source and driving the rotor casing to rotate.
  • Another embodiment of the present disclosure also provides a speed reducer including the above-mentioned brake motor.
  • Yet another embodiment of the present disclosure also provides a robot including the speed reducer as described above.
  • the rotor assembly of the brake motor in the embodiment of the present disclosure is disposed on the stator assembly, and can be rotated relative to the stator assembly, so as to output torque to an external actuator (such as a robot or a mechanical arm, etc.) to provide power ;
  • an external actuator such as a robot or a mechanical arm, etc.
  • the drive mechanism can drive the rotor assembly to move from the non-braking position to the braking position, so that the rotor assembly can quickly move under the action of the brake. Stop the rotation, so as to ensure that the external actuators driven by the motor stop working immediately and prevent the occurrence of safety accidents.
  • the driving mechanism in the embodiment of the present disclosure is arranged around the rotating shaft, and has a compact structure and a small footprint.
  • FIG. 1 is a schematic diagram of an external structure of a brake motor in an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of the external structure of the brake motor in the embodiment of the present disclosure from another perspective;
  • FIG. 3 is an axial cross-sectional view of a brake motor in an embodiment of the present disclosure
  • FIG. 4 is an exploded schematic diagram of a brake motor in an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of the assembly of the brake motor and the external connection parts in the embodiment of the present disclosure
  • FIG. 6 is a cross-sectional view of the assembly of the brake motor and the external connector in the embodiment of the present disclosure, wherein the brake motor is in a non-braking position;
  • FIG. 7 is a cross-sectional view of the assembly of the brake motor and the external connector in the embodiment of the present disclosure, wherein the brake motor is in a braking position.
  • Rotor assembly 11. Rotary shaft; 12. First bearing; 13. Second bearing; 14.
  • orientation words are only used to explain and illustrate the present disclosure, and are not to be construed as limitations on the present disclosure.
  • terms such as “first,” “second,” etc. are used to distinguish one element from another and are not of order or importance.
  • the same reference numerals in different drawings represent the same elements.
  • the brake motor includes a rotor assembly 1 , a stator assembly 2 and a brake device 3 .
  • the rotor assembly 1 is axially movably disposed on the stator assembly. 2 and has a braking position and a non-braking position, the rotor assembly 1 includes a rotating shaft 11, and the rotating shaft 11 is located at the rotation center of the brake motor, and the braking device 3 includes a driving mechanism 31 and a braking member 32.
  • the driving mechanism 31 surrounds the rotating shaft 11 The setting is used to drive the rotor assembly 1 to switch between the braking position and the non-braking position.
  • the braking member 32 is connected to the rotor assembly 1 and is used to limit cooperation with the external connecting member 4 in the braking position to brake the rotor assembly.
  • the external connector 4 refers to an external component connected to the brake motor, such as a reducer, a manipulator and other actuators or other components; the brake motor can be installed inside the external connector 4, or can be connected with the external connector 4. Side-by-side docking, etc., which is not limited in the present disclosure.
  • the rotor assembly 1 of the brake motor in the embodiment of the present disclosure is provided on the stator assembly 2, and can be rotated relative to the stator assembly 2, so as to output torque to an external actuator (such as a robot or a mechanical arm, etc.) to Provide power; in order to ensure the safety of the motor, when the motor needs an emergency stop, such as power failure, failure, etc., the driving mechanism 31 can drive the rotor assembly 1 to move from the non-braking position to the braking position, so that the rotor assembly 1 is in the braking position. Under the action of the component 32, the rotation is quickly stopped, so as to ensure that the external actuator driven by the motor stops immediately and prevents the occurrence of safety accidents.
  • the driving mechanism 31 in the embodiment of the present disclosure is arranged around the rotating shaft 11 , and has a compact structure and a small footprint.
  • the driving mechanism 31 of the above-mentioned brake device 3 includes an electromagnetic induction coil 311 and a magnetic attraction member 312 , and a mounting portion for mounting the magnetic induction coil is formed on the stator assembly 2 , and the magnetic induction coil surrounds the rotating shaft. 11 is spirally wound on the mounting part, the magnetic attraction piece 312 is connected with the rotor assembly 1, the magnetic induction coil is used to connect with the power supply and generate a magnetic attraction force along its axial direction, and the magnetic attraction piece 312 makes the The rotor assembly 1 remains in the non-braking position.
  • the magnetic induction coil is energized to generate a magnetic attractive force, thereby attracting the magnetic attraction member 312, so that the rotor assembly 1 is kept in a non-braking position to rotate to output torque.
  • the magnetic induction coil requires less space when winding.
  • the magnetic attraction member 312 is mainly used to respond to the magnetic attraction force of the magnetic induction coil.
  • the function of the magnetic attraction member 312 has nothing to do with its specific shape. Therefore, the design of the magnetic attraction member 312 has high flexibility, and can be flexibly designed according to the internal structure or gap of the brake motor. It can be seen that the magnetic induction coil and the magnetic attraction member 312 can greatly simplify the structure of the driving mechanism 31. To reduce the size of the brake motor.
  • the stator assembly 2 includes a stator base 21 , the stator base 21 is configured as a cylindrical structure arranged around the rotating shaft 11 , and the stator base 21 is mainly used to provide support for the rotor assembly 1 . , and is also used for fixed connection with external actuators.
  • the above-mentioned magnetic induction coil can be arranged on the stator base 21.
  • the mounting portion is configured as an annular groove 211 opened on the stator base 21.
  • the annular groove 211 extends from the end face of the stator base 21 in the axial direction. Set in the annular groove 211 . In this way, the annular groove 211 can not only provide an accommodating space for the magnetic induction coil, but also protect the magnetic induction coil from both sides thereof to prevent the magnetic induction coil from being interfered by other components.
  • the above-mentioned stator base 21 may include a first end and a second end opposite to each other, the first end is used to be fixedly connected with the external actuator and can be exposed outside the brake motor, and the second end is located inside the brake motor. , and the end face of the second end is provided with the above-mentioned annular groove 211 , the annular groove 211 is axially extended from the end face of the second end to install the magnetic induction coil.
  • the above-mentioned stator base 21 is also provided with a through hole, one end of the through hole is communicated with the annular groove 211 , and the other end extends along the axial direction of the stator base 21 to the first position of the stator base 21 .
  • the through hole is used for accommodating the power line of the magnetic induction coil, and is connected to the external power supply through the power line.
  • the magnetic induction coils can also be wound in other ways, for example, the stator base 21 is formed into an I-shaped cylindrical shape, that is, the two end surfaces of the stator base 21 can be formed with radially outwardly protruding limits.
  • the position plate, the magnetic induction coil can be wound around the cylindrical portion and stopped by the limit plates on both sides, which is not limited in the present disclosure.
  • the magnetic attraction member 312 includes a cylindrical body 3121 and an adsorption portion 3122 , the cylindrical body 3121 is axially movably disposed inside the stator base 21 , and the adsorption portion 3122 is disposed in the cylindrical body 3122 .
  • the end portion of the body 3121 is formed into a disc shape that protrudes outward in the radial direction, and the adsorption portion 3122 is arranged corresponding to the opening of the annular groove 211, so that the magnetic adsorption force generated by the magnetic induction coil when energized can act on the magnetic field.
  • the stability of adsorption between the magnetic induction coil and the magnetic attracting member 312 is improved.
  • the adsorption portion 3122 can resist against the second end of the stator base 21 to limit the axial displacement of the magnetic attraction member 312, so that the rotor assembly 1 is kept in the non-braking position and no longer generates
  • the axial displacement is convenient for the stable rotation of the rotor assembly 1 .
  • the brake device 3 further includes a first limiting structure 33 , and the first limiting structure 33 is disposed between the magnetic attraction member 312 and the stator base 21 for limiting the magnetic attraction
  • the circumferential displacement between the component 312 and the stator base 21 prevents the rotation of the rotor assembly 1 from driving the magnetic attraction member 312 to rotate relative to the stator base 21 , thereby improving the rotational stability of the rotor assembly 1 .
  • the first limiting structure 33 is a positioning pin
  • the inner side wall of the stator base 21 is formed with at least one axially extending first limiting groove 212
  • the cylinder of the magnetic attraction member 312 is formed.
  • the outer side wall of the shaped body 3121 is formed with a second limit groove 3123
  • the first limit groove 212 and the second limit groove 3123 are correspondingly arranged, and together enclose a cavity for accommodating the positioning pin, and the positioning pin is accommodated in the first limit.
  • the positioning slot 212 and the second limiting slot 3123 that is, at least part of the positioning pin is in stop and abutment with the first limiting slot 212, and the other part is in stop and abutment with the second limiting slot 3123, thereby limiting the magnetic attraction. Circumferential displacement between 312 and stator base 21 .
  • the above-mentioned positioning pin may be one or multiple, such as three or four, and the number of the first limiting slot 212 and the second limiting slot 3123 is equal to the number of positioning pins;
  • the position slots 212 may be arranged at intervals along the circumferential direction of the stator base 21
  • the second limiting slots 3123 may be arranged at intervals along the circumferential direction of the cylindrical body 3121 of the magnetic attraction member 312 , such as at equal intervals, which are not limited in the present disclosure.
  • the first limiting structure 33 may also be formed as a protrusion disposed on the outer sidewall of the cylindrical body 3121 of the magnetic attraction member 312 , and the protrusion is connected to the first axially extending first position on the stator base 21 .
  • the limiting groove 212 is matched, and the protrusion can slide along the first limiting groove 212 , that is, the protrusion only limits the circumferential displacement of the magnetic attraction member 312 relative to the stator base 21 , but does not limit its axial displacement.
  • the rotating shaft 11 of the rotor assembly 1 is rotatably assembled on the inner side wall of the cylindrical body 3121 through a bearing, and the bearing includes a first bearing 12 and a second bearing 13 .
  • the first bearing 12 and the second bearing 13 are sleeved between the rotating shaft 11 and the cylindrical body 3121 along the axial direction.
  • the bearing includes a relatively rotatable inner ring and an outer ring, the shaft 11 is matched with the inner ring of the bearing, and the cylindrical body 3121 of the magnetic attraction member 312 is matched with the outer ring of the bearing.
  • a rotor base 16 is also provided at the lower end of the rotating shaft 11 , the rotor base 16 is arranged coaxially with the rotating shaft 11 , and a flange for blocking the bearing is provided on the rotor base 16 , so that the first bearing 12 and the second bearing 13 are kept in on the shaft 11.
  • the end of the rotor base 16 away from the rotating shaft 11 is provided with an accommodating slot for accommodating and installing the magnetic counter 17 for establishing a signal connection with an external circuit board to calculate the rotational speed of the rotor assembly 1 .
  • the holding brake device 3 further includes a second limiting structure 34 .
  • the structure 34 is a limit protrusion.
  • the limit protrusion is formed on the inner side wall of the magnetic attraction member 312 and extends along the circumferential direction.
  • the limit protrusion is sandwiched between the outer rings of the first bearing 12 and the second bearing 13 . In this way, when the magnetic attraction member 312 moves in the axial direction, the limiting protrusion can drive the rotor assembly 1 to move relative to the stator assembly 2 in the axial direction.
  • the above-mentioned magnetic attraction member 312 may be a structural member made of metals such as iron, cobalt, nickel, or an alloy thereof, which is not limited in the present disclosure.
  • the above-mentioned magnetic induction coil and magnetic attraction member 312 are mainly used to keep the rotor assembly 1 in the non-braking position, so that it can rotate normally. Brake position to bring the rotor assembly 1 to a quick stop. Therefore, the driving mechanism 31 further includes an elastic restoring member 313 for moving the rotor assembly 1 from the non-braking position to the braking position.
  • a shoulder 213 is formed on the inner side wall of the stator base 21 , one end of the elastic restoring member 313 abuts on the shoulder 213 , and the other end abuts on the magnetic attraction member 312 , and the magnetic induction coil is energized
  • the elastic reset member 313 is forced to store energy, and when the magnetic induction coil is powered off, the elastic reset member 313 pushes the magnetic attraction member 312 to move in the axial direction under the action of the elastic restoring force.
  • the elastic reset member 313 pushes the magnetic attraction member 312 to move from the non-braking position to the braking position, so that the braking The moving member 32 brakes the rotor assembly 1 .
  • the elastic restoring member 313 may be a disc spring, a coil spring, or an elastic pad such as rubber, silicone, etc., which is not limited in the present disclosure.
  • the braking member 32 is a friction member, and the friction member is arranged on the outer side wall of the rotor assembly 1 and is used for connecting with the external connecting member in the braking position. 4 Frictional contact to brake rotor assembly 1.
  • the external connector 4 refers to the structural component connected to the brake motor. For example, if the brake motor is installed in the reducer, the external connector 4 is the reducer. If the gate motor is installed in the mechanical arm, the external connecting member The external connecting member 4 is the mechanical arm, which is not limited in the present disclosure.
  • the braking member 32 adopts a friction member, which can gradually consume the kinetic energy of the rotor assembly 1 through frictional force during the braking of the rotor assembly 1, so as to avoid the occurrence of stress concentration.
  • the friction parts mainly generate friction through the roughness of the surface, and there are no requirements for the shape and size of the friction parts, so they can be designed into thin sheets, which saves the space occupied and is conducive to reducing the size of the brake motor.
  • the outer connecting member 4 is provided with a limit matching structure 41 that is connected with the braking member 32 of the brake motor.
  • the limiting matching structure 41 has different forms according to the type of the braking member 32.
  • the braking member 32 is a friction member, and correspondingly, the limit matching structure 41 can also be a friction structure with a certain roughness, and its surface shape toward the friction member is adapted to the friction member, For example, it can be formed in a ring shape.
  • the braking member 32 may also be a limit slider with certain elasticity, and correspondingly, the limit matching structure 41 may be a limit groove or the like matched with the limit slider.
  • the surface roughness of the friction member and the surface roughness of the limit matching structure 41 can be designed to generate a relatively large friction force, so that the rotor assembly 1 can be braked in a short period of time to avoid safety accidents.
  • the brake motor in the embodiment of the present disclosure is an outer rotor motor
  • the outer rotor motor includes a rotor casing 14, the friction member is formed as a ring-shaped sheet, and the friction member is arranged on the end face of the rotor casing 14 around the rotating shaft 11, so as to minimize the The space occupied by the friction parts.
  • the friction member may also cover the entire end face of the rotor housing 14 to increase the contact area with the external connection member and the external connection member 4 , thereby increasing the friction force and shortening the braking time of the rotor assembly 1 to stop. .
  • the braking position of the rotor assembly 1 refers to the movement of the rotor assembly 1 to a position where the friction member abuts against the external connecting member 4 of the external connecting member, while the non-braking position refers to the movement of the rotor assembly 1 to a position that causes the friction member to abut.
  • the position where the external connector 4 is disengaged from the external connector is not limited in the present disclosure.
  • the brake motor can work normally in the non-braking position, and output torque to the external actuator.
  • the rotor assembly 1 further includes a rotor housing 14 and a magnetic member 15
  • the stator assembly 2 further includes a stator core 22 and coil windings, the coil windings are wound on the stator core 22, the magnetic member 15 is arranged inside the rotor casing 14, and corresponds to the coil windings, and the coil windings are used to connect with an external power supply and
  • the rotor housing 14 is driven to rotate.
  • the magnetic element 15 drives the rotor casing 14 to rotate under the action of the magnetic field force generated by the coil winding, thereby outputting torque.
  • a plurality of mounting holes may be opened on the rotor housing 14, and the mounting holes are used for mounting an output shaft or an external actuator to output power.
  • the rotor housing 14 includes a rotor end cover 141 and a rotor side wall 142 .
  • the rotor end cover 141 is integrally formed with the rotating shaft 11 ; the rotor side wall 142 is used for installing the magnetic parts 15 , which are multiple and fixed on the inner wall of the rotor side wall 142 at intervals along the circumferential direction.
  • the center of the rotor end cover 141 is provided with a positioning groove 143 arranged in line with the rotating shaft 11 .
  • Another embodiment of the present disclosure also provides a speed reducer including the above-mentioned brake motor.
  • the brake motor can quickly brake when the power is turned off, so that the reducer can quickly stop the operation and avoid safety accidents caused by the continuous movement of the external actuators.
  • the brake motor can be arranged inside the reducer, and the inside of the reducer is provided with a brake matching part corresponding to the brake part 32 of the brake motor.
  • the reducer Corresponding friction parts can also be set on the brake matching part of the brake, or the corresponding surface can be processed into a relatively rough surface, so that the brake motor can brake quickly when the power is turned off.
  • Yet another embodiment of the present disclosure also provides a robot including the speed reducer as described above.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

本公开提供一种抱闸电机、减速器及机器人，该抱闸电机包括转子组件、定子组件和抱闸装置，所述转子组件可轴向移动地设置在所述定子组件上且具有制动位置和非制动位置，所述转子组件包括转轴，所述转轴位于所述抱闸电机的旋转中心，所述抱闸装置包括驱动机构和制动件，所述驱动机构围绕所述转轴设置，用于驱动所述转子组件在制动位置和非制动位置之间切换，所述制动件与所述转子组件相连，用于在所述制动位置与外部连接件限位配合以制动所述转子组件。上述驱动机构能够驱动转子组件从非制动位置移动到制动位置，使转子组件在制动件的作用下快速停止转动，防止安全事故的发生。并且，驱动机构围绕转轴设置，其结构紧凑、占用空间小。

Description

抱闸电机、减速器及机器人
交叉引用
本申请要求2021年03月03日递交的、申请号为“202110236287.8”、发明名称为“抱闸电机、减速器及机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及电机技术领域，具体地，涉及一种抱闸电机、安装有该抱闸电机的减速器，以及安装有该减速器的机器人。
背景技术
在智能化制造业或服务业中，通常会使用的机器人、机械臂以代替人力作业，而大部分机器人或机械臂通过内置的电机进行驱动，当突然断电时，电机在转动惯性的作用下不会立即锁死，因此常出现机械臂自然下垂或继续运动导致伤人事故。为了提高在断电后机器人或机械臂的安全性，通常会在电机上设置抱闸装置，以在电机断电后能够立即锁死，目前机器人领域常见的抱闸装置分为两种，第一种齿轮机械抱闸装置，通过机械结构完成断电锁死功能，第二种是电磁抱闸装置，在电机上安装可轴向移动的上下两层铁片，并且在电机输出端加装转子毂，转子毂上设置有摩擦片，摩擦片夹设在两层铁片之间，在断电时两层铁片向摩擦片挤压并夹紧，从而锁死电机。
根据上述结构特征，无论是哪种抱闸装置，都不可避免的占用电机的很大一部分体积空间，甚至会影响到机器人和机械臂的外观结构和使用体验。
发明内容
本公开的目的是提供一种抱闸电机、安装有该抱闸电机的减速器，以及安装有该减速器的机器人，该抱闸电机能够快速制动，并且结构紧凑、占用空间 小。
为了实现上述目的，本公开提供一种抱闸电机，包括转子组件、定子组件和抱闸装置，所述转子组件可轴向移动地设置在所述定子组件上且具有制动位置和非制动位置，所述转子组件包括转轴，所述转轴位于所述抱闸电机的旋转中心，所述抱闸装置包括驱动机构和制动件，所述驱动机构围绕所述转轴设置，用于驱动所述转子组件在制动位置和非制动位置之间切换，所述制动件与所述转子组件相连，用于在所述制动位置与外部连接件限位配合以制动所述转子组件。
可选地，所述驱动机构包括电磁感应线圈和磁吸引件，所述定子组件上形成有用于安装所述磁感应线圈的安装部，所述磁感应线圈围绕所述转轴呈螺旋状绕接在所述安装部，所述磁吸引件与所述转子组件相连，所述磁感应线圈用于与电源相连并产生沿其轴向的磁吸引力，所述磁吸引件在所述磁吸引力的作用下使得所述转子组件保持在所述非制动位置。
可选地，所述定子组件包括定子底座，所述定子底座构造为围绕所述转轴设置的筒状结构，所述安装部构造为开设在所述定子底座上的环状凹槽，所述环状凹槽从所述定子底座的端面沿轴向延伸，所述磁感应线圈设置在所述环状凹槽中。
可选地，所述磁吸引件包括筒状本体和吸附部，所述筒状本体可轴向移动地设置在所述定子底座的内部，所述吸附部设置在所述筒状本体的端部且形成为沿径向向外凸出的盘状，所述吸附部与所述环状凹槽的开口对应设置。
可选地，所述抱闸装置还包括第一限位结构，所述第一限位结构设置在所述磁吸引件和所述定子底座之间，用于限制所述磁吸引件与所述定子底座之间的周向位移，所述第一限位结构为定位销，所述定子底座的内侧壁形成有至少一个沿轴向延伸的第一限位槽，所述筒状本体的外侧壁形成有第二限位槽，所述第一限位槽和第二限位槽对应设置，并且共同围合出容纳所述定位销的腔室，所述定位销容纳在所述第一限位槽和所述第二限位槽中。
可选地，所述转轴通过轴承可转动地装配在所述筒状本体的内侧壁，所述 轴承包括第一轴承和第二轴承，所述第一轴承和所述第二轴承沿轴向并排套设在所述转轴和所述筒状本体之间，所述抱闸装置还包括第二限位结构，所述第二限位结构为限位凸起，所述限位凸起形成在所述磁吸引件的内侧壁，且沿周向延伸布置，所述限位凸起夹设在所述第一轴承和所述第二轴承之间。
可选地，所述驱动机构还包括弹性复位件，该弹性复位件用于将所述转子组件从非制动位置移动至所述制动位置，所述定子底座的内侧壁形成有台肩，所述弹性复位件的一端抵接在台肩上，另一端抵接在所述磁吸引件上，在所述磁感应线圈通电时，所述弹性复位件受力储能，在所述磁感应线圈断电时，所述弹性复位件在弹性恢复力的作用下推动所述磁吸引件沿轴向移动。
可选地，所述制动件为摩擦件，所述摩擦件设置在所述转子组件的外侧壁上，用于在所述制动位置时与外部连接件摩擦接触以制动所述转子组件。
可选地，所述抱闸电机为外转子电机，所述外转子电机包括转子外壳，所述摩擦件形成为环状薄片，且所述摩擦件绕所述转轴布置在所述转子外壳的端面。
可选地，所述转子组件还包括转子外壳和磁性件，所述定子组件还包括定子芯体和线圈绕组，所述线圈绕组绕接在定子芯体上，所述磁性件设置在所述转子外壳的内部，并与所述线圈绕组对应，所述线圈绕组用于与外部电源连接并驱动所述转子外壳转动。
本公开的另一实施例还提供一种减速器，所述减速器包括如上所述的抱闸电机。
本公开的又一实施例还提供一种机器人，所述机器人包括如上所述的减速器。
通过上述技术方案，本公开实施例中的抱闸电机的转子组件设置在定子组件上，且可以相对于定子组件转动，用于向外部执行件(例如机器人或机械臂等)输出扭矩以提供动力；为了保证电机的安全，在电机需要急停时，例如断电、故障等情况，驱动机构可以驱动转子组件从非制动位置移动到制动位置，使转子组件在制动件的作用下快速停止转动，从而保证电机驱动的外部执行件 立即停止作业，防止安全事故的发生。并且，本公开实施例中的驱动机构围绕转轴设置，其结构紧凑、占用空间小。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是本公开实施例中的抱闸电机的外部结构示意图；
图2是本公开实施例中的抱闸电机从另一视角的外部结构示意图；
图3是本公开实施例中的抱闸电机的轴向剖视图；
图4是本公开实施例中的抱闸电机的爆炸示意图；
图5是本公开实施例中的抱闸电机与外部连接件的装配示意图；
图6是本公开实施例中的抱闸电机与外部连接件的装配剖视图，其中，抱闸电机处于非制动位置；
图7是本公开实施例中的抱闸电机与外部连接件的装配剖视图，其中，抱闸电机处于制动位置。
附图标记说明
1、转子组件；11、转轴；12、第一轴承；13、第二轴承；14、转子外壳；141、转子端盖；142、转子侧壁；143、定位槽；15、磁性件；16、转子底座；17、磁性计数器；2、定子组件；21、定子底座；211、环状凹槽；212、第一限位槽；213、台肩；22、定子芯体；3、抱闸装置；31、驱动机构；311、电磁感应线圈；312、磁吸引件；3121、筒状本体；3122、吸附部；3123、第二限位槽；313、弹性复位件；32、制动件；33、第一限位结构；34、第二限位结构；4、外部连接件；41、限位配合结构。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
在本公开中，在未作相反说明的情况下，使用的方位词如“内、外”则是指相应部件或结构的轮廓的内外。上述方位词仅用于解释和说明本公开，并不解释为对本公开的限制。此外，所使用的术语如“第一”“第二”等是为了区别一个要素和另一个要素，不具有顺序性和重要性。另外，在参考附图的描述中，不同附图中的同一标记表示相同的要素。
本公开实施例提供一种抱闸电机，如图1至图47所示，该抱闸电机包括转子组件1、定子组件2和抱闸装置3，转子组件1可轴向移动地设置在定子组件2上且具有制动位置和非制动位置，转子组件1包括转轴11，转轴11位于抱闸电机的旋转中心，抱闸装置3包括驱动机构31和制动件32，驱动机构31围绕转轴11设置，用于驱动转子组件1在制动位置和非制动位置之间切换，制动件32与转子组件1相连，用于在制动位置与外部连接件4限位配合以制动转子组件1。其中，外部连接件4是指与抱闸电机连接的外部构件，例如减速器、机械臂等执行件或其他构件等；抱闸电机可以安装在外部连接件4的内部，也可以与外部连接件4并排对接等，本公开对此不作限制。
根据上述方案，本公开实施例中的抱闸电机的转子组件1设置在定子组件2上，且可以相对于定子组件2转动，用于向外部执行件(例如机器人或机械臂等)输出扭矩以提供动力；为了保证电机的安全，在电机需要急停时，例如断电、故障等情况，驱动机构31可以驱动转子组件1从非制动位置移动到制动位置，使转子组件1在制动件32的作用下快速停止转动，从而保证电机驱动的外部执行件立即停止作业，防止安全事故的发生。并且，本公开实施例中的驱动机构31围绕转轴11设置，其结构紧凑、占用空间小。
下面将结合附图1至图4详细介绍本公开实施例中的抱闸电机的示例性实施方式。
具体地，如图3和图4所示，上述抱闸装置3的驱动机构31包括电磁感应线圈311和磁吸引件312，定子组件2上形成有用于安装磁感应线圈的安装部，磁感应线圈围绕转轴11呈螺旋状绕接在安装部，磁吸引件312与转子组件1相连，磁感应线圈用于与电源相连并产生沿其轴向的磁吸引力，磁吸引件312在磁吸引力的作用下使得转子组件1保持在非制动位置。在抱闸电机正常工作过程中，磁感应线圈通电而产生磁吸引力，从而吸附磁吸引件312，使转子组件1保持在非制动位置转动，以输出扭矩。
通过磁感应线圈和磁吸引件312的配合，磁感应线圈在缠绕时所需的空间较小，磁吸引件312主要用于响应磁感应线圈的磁吸附力，磁吸引件312的功能和其具体形状无关，因此，磁吸引件312的设计具有很高的灵活性，可以根据抱闸电机的内部结构或间隙进行灵活设计，可见，磁感应线圈和磁吸引件312可以很大程度上简化驱动机构31的结构，以减小抱闸电机的体积。
在本公开实施例中，如图3和图4所示，定子组件2包括定子底座21，定子底座21构造为围绕转轴11设置的筒状结构，定子底座21主要用于为转子组件1提供支撑，并且还用于与外部执行件固定相连。上述磁感应线圈可以设置在定子底座21上，示例地，安装部构造为开设在定子底座21上的环状凹槽211，该环状凹槽211从定子底座21的端面沿轴向延伸，磁感应线圈设置在环状凹槽211中。这样，环状凹槽211不仅可以为磁感应线圈提供容纳空间，还可以从磁感应线圈的两侧对其进行保护，防止磁感应线圈受其他部件的干涉。
进一步地，上述定子底座21可以包括彼此相对的第一端和第二端，第一端用于与外部执行件固定相连，可以露出于抱闸电机的外部，第二端位于抱闸电机的内部，且第二端的端面开设有上述环状凹槽211，该环状凹槽211从第二端的端面沿轴向延伸设置，以安装磁感应线圈。
此外，在本公开的实施例中，上述定子底座21上还开设有通孔，该通孔的一端与环状凹槽211连通，另一端沿定子底座21的轴向延伸至定子底座21的第二端，该通孔用于容纳磁感应线圈的电源线，通过电源线与外部电源 相连。
在本公开其他实施方式中，磁感应线圈也可以以其他方式绕接，例如定子底座21形成为工字型的筒状，即定子底座21的两端面可以形成有沿径向向外凸出的限位盘，磁感应线圈可以绕接在筒状部并通过两侧的限位盘止挡，本公开对此不作限制。
在本公开实施例中，如图3所示，磁吸引件312包括筒状本体3121和吸附部3122，筒状本体3121可轴向移动地设置在定子底座21的内部，吸附部3122设置在筒状本体3121的端部且形成为沿径向向外凸出的盘状，吸附部3122与环状凹槽211的开口对应设置，以便于磁感应线圈在通电时产生的磁吸附力能够作用在磁吸引件312上，提高磁感应线圈和磁吸引件312两者之间吸附的稳定性。
并且，吸附部3122在磁吸附力的作用下，可以抵挡在定子底座21的第二端，以限制磁吸引件312的轴向位移，这样，转子组件1保持在非制动位置且不再产生轴向位移，便于转子组件1稳定转动。
在本公开实施例中，如图3所示，抱闸装置3还包括第一限位结构33，第一限位结构33设置在磁吸引件312和定子底座21之间，用于限制磁吸引件312与定子底座21之间的周向位移，避免转子组件1的转动带动磁吸引件312相对于定子底座21转动，从而提高转子组件1的转动稳定性。
示例地，如图3和图4所示，第一限位结构33为定位销，定子底座21的内侧壁形成有至少一个沿轴向延伸的第一限位槽212，磁吸引件312的筒状本体3121的外侧壁形成有第二限位槽3123，第一限位槽212和第二限位槽3123对应设置，并且共同围合出容纳定位销的腔室，定位销容纳在第一限位槽212和第二限位槽3123中，即该定位销的至少部分与第一限位槽212止挡抵接，另一部分与第二限位槽3123止挡抵接，从而限制磁吸引件312和定子底座21之间的周向位移。
可选地，上述定位销可以为一个，也可以为多个，例如三个、四个，第一限位槽212和第二限位槽3123的数量与定位销的数量相等；且第一限位槽 212可以沿定子底座21的周向间隔设置，第二限位槽3123可以沿磁吸引件312的筒状本体3121的周向间隔设置，例如等间隔设置等，本公开对此不作限制。
在本公开其他实施方式中，第一限位结构33也可以形成为设置在磁吸引件312的筒状本体3121的外侧壁的凸起，该凸起与定子底座21上轴向延伸的第一限位槽212配合，且该凸起可以沿第一限位槽212滑动，即该凸起仅限制磁吸引件312相对于定子底座21的周向位移，而不限制其的轴向位移。
在本公开实施例中，如图3所示，转子组件1的转轴11通过轴承可转动地装配在筒状本体3121的内侧壁，轴承包括第一轴承12和第二轴承13，第一轴承12和第二轴承13沿轴向并排套设在转轴11和筒状本体3121之间。轴承包括可相对转动的内圈和外圈，转轴11与轴承内圈配合，磁吸引件312的筒状本体3121与轴承的外圈配合，这样，转轴11可相对于磁吸引件312平稳转动。
在转轴11的下端还设置有转子底座16，转子底座16与转轴11同轴布置，且转子底座16上设置有用于封挡轴承的凸缘，以使得第一轴承12和第二轴承13保持在转轴11上。转子底座16远离转轴11的一端开设有容纳槽，该容纳槽用于容纳和安装磁性计数器17，用于与外部电路板建立信号连接，从而计算转子组件1的转速。
为了让转子组件1和磁吸引件312能沿轴向同步运动，在本公开实施例中，如图3和图4所示，抱闸装置3还包括第二限位结构34，第二限位结构34为限位凸起，限位凸起形成在磁吸引件312的内侧壁，且沿周向延伸布置，限位凸起夹设在第一轴承12和第二轴承13的外圈之间。这样，当磁吸引件312沿轴向移动时，限位凸起能够带动转子组件1一起相对于定子组件2沿轴向移动。
在本公开实施例中，上述磁吸引件312可以是铁、钴、镍等金属或其合金制成的结构件，本公开对此不作限制。
上述磁感应线圈和磁吸引件312的主要用于将转子组件1保持在非制动 位置，以使其正常转动，当出现断电等需要急停的情况时，驱动机构31将转子组件1驱动至制动位置，以使转子组件1快速停止。因此，驱动机构31还包括弹性复位件313，该弹性复位件313用于将转子组件1从非制动位置移动至制动位置。
具体地，如图3所示，定子底座21的内侧壁形成有台肩213，弹性复位件313的一端抵接在台肩213上，另一端抵接在磁吸引件312上，在磁感应线圈通电时，弹性复位件313受力储能，在磁感应线圈断电时，弹性复位件313在弹性恢复力的作用下推动磁吸引件312沿轴向移动。这样，当电机出现断电时，磁感应线圈断电，因此对磁吸引件312的约束力消失，此时弹性复位件313推动磁吸引件312从非制动位置移动到制动位置，从而使得制动件32对转子组件1制动。
在本公开可选地实施方式中，该弹性复位件313可以是碟片弹簧、螺旋弹簧、或者可以是橡胶、硅胶等弹性垫，本公开对此不作限制。
在本公开实施例中，如图1和图47所示，制动件32为摩擦件，摩擦件设置在转子组件1的外侧壁上，用于在制动位置时与外部连接件外部连接件4摩擦接触以制动转子组件1。其中，如上文所述，外部连接件外部连接件4是指与抱闸电机相连的结构件，例如若抱闸电机安装在减速器内，则外部连接件外部连接件4为减速器，若抱闸电机安装在机械臂内，则外部连接件外部连接件4为机械臂，本公开对此不作限制。
制动件32采用摩擦件，在制动转子组件1的过程中可以通过摩擦力逐渐消耗转子组件1的动能，可以避免产生应力集中现象。且摩擦件主要通过表面的粗糙度来产生摩擦力，对摩擦件的形状、尺寸没有要求，因此可以设计为较薄的薄片状，节约了占用空间，有利于减小抱闸电机的尺寸。
本公开实施例中的外部连接件4内设置有与抱闸电机的制动件32对接的限位配合结构41，在限位配合结构41根据制动件32的类型具有不同的形式，本公开对此不作限制。在本公开的一种示例中，制动件32为摩擦件，则相应地，限位配合结构41也可以为具有一定粗糙度的摩擦结构，其朝向摩擦件的 表面形状与摩擦件适配，例如可以构造为环形。在本公开的其他示例中，制动件32也可以是具有一定弹性的限位滑块，相应地，限位配合结构41可以为与限位滑块配合的限位槽等。
此外，摩擦件的表面粗糙度和限位配合结构41的表面粗糙度可以设计为能够产生较大的摩擦力，使得转子组件1在短暂的时间内能够被制动，以避免产生安全事故。
本公开实施例中的抱闸电机为外转子电机，外转子电机包括转子外壳14，摩擦件形成为环状薄片，且摩擦件绕转轴11布置在转子外壳14的端面，这样，能够尽量减小摩擦件占用的空间。
如图6所示，当抱闸电机处于非制动位置时，摩擦件与外部连接件4的限位配合结构41之间保持一定的间隙，使两者分离开，这时转子组件可以正常工作以向外部连接件4输出扭矩；如图7所示，当抱闸电机处于制动位置时，摩擦件与外部连接件4的限位配合结构41之间紧密贴合，两者在短暂的相对滑动之后，在摩擦力的作用下使得转子组件快速静止，以保证外部执行件的即刻停止。
在本公开的其他实施方式中，摩擦件也可以覆盖转子外壳14的整个端面，以增加与外部连接件外部连接件4的接触面积，从而增大摩擦力，缩短转子组件1制动停止的时间。
应理解的是，转子组件1的制动位置是指转子组件1移动到使得摩擦件与外部连接件外部连接件4抵接的位置，而非制动位置是指转子组件1移动到使得摩擦件与外部连接件外部连接件4脱离的位置，本公开对此不作限制。
在本公开实施例中，抱闸电机在非制动位置时能够正常工作，并向外部执行件输出扭矩，如图3和图4所示，转子组件1还包括转子外壳14和磁性件15，定子组件2还包括定子芯体22和线圈绕组，线圈绕组绕接在定子芯体22上，磁性件15设置在转子外壳14的内部，并与线圈绕组对应，线圈绕组用于与外部电源连接并驱动转子外壳14转动。当线圈绕组通电时，磁性件15在线圈绕组产生的磁场力的作用下带动转子外壳14转动，从而将扭矩输 出。
在本公开实施例中，转子外壳14上可以开设多个安装孔，该安装孔用于安装输出轴或外部执行件，以将动力输出。可选地，如图3所述，转子外壳14包括转子端盖141和转子侧壁142，转子端盖141与转轴11一体成型；转子侧壁142用于安装磁性件15，磁性件15为多个，且沿周向间隔固定在转子侧壁142的内壁上。
此外，转子端盖141的中心开设有与转轴11共线布置的定位槽143，该定位槽143用于在安装外部的输出轴时提供定位，保证输出轴和转轴11的同轴性。
本公开的另一实施例还提供一种减速器，该减速器包括如上所述的抱闸电机。该抱闸电机能够在断电时快速制动，使得减速器快速停止作业，避免外部执行件的继续运动导致安全事故。
其中，该抱闸电机可以设置在减速器的内部，并且减速器内部设置有与抱闸电机的制动件32对应的制动配合部，对于设置有摩擦件的抱闸电机而言，减速器的制动配合部也可以设置对应的摩擦件，或者将对应的表面加工为较为粗糙的表面，以使得抱闸电机在断电时能够快速制动。
本公开的又一实施例还提供一种机器人，该机器人包括如上所述的减速器。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (15)

  1. 一种抱闸电机，其特征在于，包括转子组件(1)、定子组件(2)和抱闸装置(3)；
    其中，所述转子组件(1)可轴向移动地设置在所述定子组件(2)上且具有制动位置和非制动位置，所述转子组件(1)包括转轴(11)，所述转轴(11)位于所述抱闸电机的旋转中心；
    所述抱闸装置(3)包括驱动机构(31)和制动件(32)，所述驱动机构(31)围绕所述转轴(11)设置，用于驱动所述转子组件(1)在制动位置和非制动位置之间切换，所述制动件(32)与所述转子组件(1)相连，用于在所述制动位置与外部连接件(4)限位配合以制动所述转子组件(1)。
  2. 根据权利要求1所述的抱闸电机，其特征在于，所述驱动机构(31)包括电磁感应线圈(311)和磁吸引件(312)；
    所述定子组件(2)上形成有用于安装所述磁感应线圈的安装部，所述磁感应线圈(311)围绕所述转轴(11)呈螺旋状绕接在所述安装部；
    所述磁感应线圈用于与电源相连并产生沿其轴向的磁吸引力，所述磁吸引件(312)与所述转子组件(1)相连，所述磁吸引件(312)在所述磁吸引力的作用下使得所述转子组件(1)保持在所述非制动位置。
  3. 根据权利要求2所述的抱闸电机，其特征在于，所述定子组件(2)包括定子底座(21)；
    所述定子底座(21)构造为围绕所述转轴(11)设置的筒状结构；
    所述安装部构造为开设在所述定子底座(21)上的环状凹槽(211)；
    所述环状凹槽(211)从所述定子底座(21)的端面沿轴向延伸；
    所述磁感应线圈设置在所述环状凹槽(211)中。
  4. 根据权利要求3所述的抱闸电机，其特征在于，所述磁吸引件(312)包括筒状本体(3121)和吸附部(3122)；
    所述筒状本体(3121)可轴向移动地设置在所述定子底座(21)的内部；
    所述吸附部(3122)设置在所述筒状本体(3121)的端部且形成为沿径向向外凸出的盘状，所述吸附部(3122)与所述环状凹槽(211)的开口对应设置。
  5. 根据权利要求4所述的抱闸电机，其特征在于，所述抱闸装置(3)还包括第一限位结构(33)；
    所述第一限位结构(33)设置在所述磁吸引件(312)和所述定子底座(21)之间，所述第一限位结构(33)为定位销。
  6. 根据权利要求5所述的抱闸电机，其特征在于，所述定子底座(21)的内侧壁形成有至少一个沿轴向延伸的第一限位槽(212)，所述筒状本体(3121)的外侧壁形成有第二限位槽(3123)；
    所述第一限位槽(212)和第二限位槽(3123)对应设置，并且共同围合出容纳所述定位销的腔室，所述定位销容纳在所述第一限位槽(212)和所述第二限位槽(3123)中。
  7. 根据权利要求4所述的抱闸电机，其特征在于，所述转轴(11)通过轴承可转动地装配在所述筒状本体(3121)的内侧壁；
    所述轴承包括第一轴承(12)和第二轴承(13)，所述第一轴承(12)和所述第二轴承(13)沿轴向并排套设在所述转轴(11)和所述筒状本体(3121)之间。
  8. 根据权利要求7所述的抱闸电机，其特征在于，所述抱闸装置(3)还包括第二限位结构(34)；
    所述第二限位结构(34)为限位凸起，所述限位凸起形成在所述磁吸引 件(312)的内侧壁，且沿周向延伸布置，所述限位凸起夹设在所述第一轴承(12)和所述第二轴承(13)之间。
  9. 根据权利要求3所述的抱闸电机，其特征在于，所述驱动机构(31)还包括弹性复位件(313)；
    所述弹性复位件(313)用于将所述转子组件(1)从非制动位置移动至所述制动位置，所述定子底座(21)的内侧壁形成有台肩(213)，所述弹性复位件(313)的一端抵接在台肩(213)上，另一端抵接在所述磁吸引件(312)上。
  10. 根据权利要求9所述的抱闸电机，其特征在于，在所述磁感应线圈通电时，所述弹性复位件(313)受力储能，在所述磁感应线圈断电时，所述弹性复位件(313)在弹性恢复力的作用下推动所述磁吸引件(312)沿轴向移动。
  11. 根据权利要求1所述的抱闸电机，其特征在于，所述制动件(32)为摩擦件，所述摩擦件设置在所述转子组件(1)的外侧壁上，用于在所述制动位置时与所述外部连接件(4)摩擦接触以制动所述转子组件(1)。
  12. 根据权利要求11所述的抱闸电机，其特征在于，所述抱闸电机为外转子电机，所述外转子电机包括转子外壳(14)，所述摩擦件形成为环状薄片，且所述摩擦件绕所述转轴(11)布置在所述转子外壳(14)的端面。
  13. 根据权利要求1所述的抱闸电机，其特征在于，所述转子组件(1)还包括转子外壳(14)和磁性件(15)，所述定子组件(2)还包括定子芯体(22)和线圈绕组；
    所述线圈绕组绕接在定子芯体(22)上，所述磁性件(15)设置在所述转子外壳(14)的内部，并与所述线圈绕组对应，所述线圈绕组用于与外部 电源连接并驱动所述转子外壳(14)转动。
  14. 一种减速器，其特征在于，所述减速器包括如权利要求1-13中任一项所述的抱闸电机。
  15. 一种机器人，其特征在于，所述机器人包括如权利要求14所述的减速器。
PCT/CN2021/144068 2021-03-03 2021-12-31 抱闸电机、减速器及机器人 WO2022183838A1 (zh)

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