CN218997873U

CN218997873U - Permanent magnet type brake with failure monitoring function

Info

Publication number: CN218997873U
Application number: CN202320128202.9U
Authority: CN
Inventors: 肖涛; 李勇; 王境; 李韦廷; 陈贤
Original assignee: Pingyang Intelligent Manufacturing Research Institute Of Wenzhou University
Current assignee: Pingyang Intelligent Manufacturing Research Institute Of Wenzhou University
Priority date: 2023-01-13
Filing date: 2023-01-13
Publication date: 2023-05-09
Anticipated expiration: 2033-01-13

Abstract

The utility model discloses a permanent magnet type brake with a failure monitoring function. The motor comprises a rotor component (1), wherein a stator component (2) is sleeved on the rotor component (1); the rotor component (1) comprises a rotor (3), the rotor (3) comprises a disc-shaped portion (301) and a tubular portion (302), a cross beam (303) is arranged between the disc-shaped portion (301) and the tubular portion (302), a plurality of torque sensing units (304) are arranged on the cross beam (303), a PCB (4) is arranged on the disc-shaped portion (301), a signal processing module connected with the torque sensing units is arranged on the PCB (4), an armature (5) is sleeved on the tubular portion (302), and a plate spring (6) is arranged between the rotor (3) and the armature (5). The rotor component of the utility model is integrated with the torque sensing unit and the signal processing module, can effectively monitor the performance state of the permanent magnet brake in the working process, and can respond to the monitoring result rapidly.

Description

Permanent magnet type brake with failure monitoring function

Technical Field

The utility model relates to a permanent magnet brake, in particular to a permanent magnet brake with a failure monitoring function.

Background

The permanent magnetic brake is a novel adjustable constant torque output device. The output shaft and the body are connected through a magnetic pair, and stable braking torque is provided on the output shaft. The tension can be preset and accurately controlled, the tension is stable and reliable, the structure is simple, the service life is long, and the installation and adjustment are convenient. In the robot joint, the permanent magnet brake can provide necessary safety for the mechanical arm, and when the mechanical joint suddenly loses power or suddenly drops due to faults, the industrial robot and the mechanical joint can be prevented from collision damage. The permanent magnet brake is also widely applied to automation equipment such as large-scale space mechanical arms, elevator lifters, machine tools and the like due to the advantages of small volume, quick response, stable performance and the like. At present, a coil of a conventional permanent magnet brake on the market is wound on the outer wall of an inner pole, the coil is enclosed by the outer circumferential surface of the inner pole and one inner circumferential surface of the outer pole, only one surface of the coil is exposed, the exposed surface faces an armature, the armature is connected with a flange through a fastening rivet and a reed, the reed is positioned between the armature and the flange, the inner pole is arranged in the outer pole, the outer pole is fixedly connected with a box body through a bolt, one inner surface of the outer pole is positioned with one outer surface of the inner pole through a positioning sleeve, a permanent magnet is arranged between the two positioning surfaces, and the permanent magnet is positioned between the outer circumferential surface of the positioning sleeve and one inner circumferential surface of the outer pole and one outer surface of the inner pole and is connected with the inner pole through a connecting rivet. The conventional permanent magnet brake can solve the problem of sudden falling caused by sudden power failure or failure of the mechanical joint, but the performance state of the permanent magnet brake in the working process is difficult to effectively monitor by the permanent magnet brake in the working process, so that the quick response to the monitoring result cannot be made.

Disclosure of Invention

The utility model aims to provide a permanent magnet type brake with a failure monitoring function. The rotor component of the utility model is integrated with the torque sensing unit and the signal processing module, can effectively monitor the performance state of the permanent magnet brake in the working process, and can respond to the monitoring result rapidly.

The technical scheme of the utility model is as follows: the permanent magnet brake with the failure monitoring function comprises a rotor part, wherein a stator part is sleeved on the rotor part; the rotor component comprises a rotor, the rotor comprises a disc-shaped part and a tubular part, a cross beam is arranged between the disc-shaped part and the tubular part, a plurality of torque sensing units are arranged on the cross beam, a PCB (printed circuit board) is arranged on the disc-shaped part, a signal processing module connected with the torque sensing units is arranged on the PCB, an armature is sleeved on the tubular part, and a plate spring is arranged between the rotor and the armature.

In the permanent magnet brake with the failure monitoring function, the plurality of torque sensing units are arranged on the cross beam in a full bridge mode.

The permanent magnet brake with the failure monitoring function comprises the stator component, wherein the inner magnetic yoke is sleeved with the outer magnetic yoke, a supporting frame is arranged between the inner magnetic yoke and the outer magnetic yoke, a permanent magnet is arranged in the supporting frame, a coil is arranged in the outer magnetic yoke, and an insulating layer is arranged between the outer magnetic yoke and the coil.

In the permanent magnet brake with the failure monitoring function, the key groove is arranged in the tubular part of the rotor.

In the permanent magnet brake with the failure monitoring function, the disc-shaped part of the rotor is provided with the first threaded hole; the PCB is provided with a boss, a first threaded through hole is formed in the boss, the first threaded through hole of the PCB corresponds to the first threaded hole of the disc-shaped portion, a first screw is arranged in the first threaded through hole in a penetrating mode, the PCB is fixed with the disc-shaped portion through the first screw, and the surface of the boss is in contact with the surface of the disc-shaped portion.

The permanent magnet brake with the failure monitoring function is characterized in that an arc-shaped notch is formed in the inner circle of the PCB.

In the permanent magnet brake with the failure monitoring function, the disc-shaped part of the rotor is provided with a first countersunk through hole; the plate spring is provided with a rivet through hole; the armature is provided with a second countersunk through hole; the second countersunk through hole of the armature and the rivet through hole of the plate spring correspond to the first countersunk through hole of the disc-shaped part, rivets penetrate through the first countersunk through hole, the rivet through hole and the second countersunk through hole, and the rotor, the plate spring and the armature are fixed through the rivets.

The inner magnetic yoke of the permanent magnet brake with the failure monitoring function comprises a first step part, a second step part and a third step part; the support frame is provided with permanent magnet frames which are distributed in the circumferential direction, the permanent magnets are embedded in the permanent magnet frames, and the permanent magnets and the support frame are sleeved on the second step part of the inner magnetic yoke; the outer magnetic yoke comprises an outer magnetic yoke body and a coil cavity, the outer magnetic yoke body is sleeved on the second step part of the inner magnetic yoke, and the bottom of the outer magnetic yoke body is contacted with the surface of the support frame; the insulating layer laminating is in the bottom in coil chamber, and the coil cover is established in the coil chamber, and the bottom of coil contacts with the insulating layer.

The bottom of the coil cavity is flush with the end part of the second step part of the inner magnetic yoke, and the top of the coil cavity is flush with the end part of the third step part of the inner magnetic yoke.

In the permanent magnet brake with the failure monitoring function, the first step part of the inner magnetic yoke is provided with the second threaded through hole; the support frame is provided with a third threaded through hole; the outer magnetic yoke is provided with a second threaded hole; the second threaded through hole, the third threaded through hole correspond to the second threaded hole, second screws are arranged in the second threaded through hole and the third threaded through hole in a penetrating mode, and the inner magnetic yoke, the support frame and the outer magnetic yoke are fixed through the second screws.

Compared with the prior art, the utility model has the following beneficial effects: 1. the utility model provides a permanent magnet brake with a failure monitoring function, wherein a rotor component of the permanent magnet brake is integrated with a torque sensing unit and a signal processing module, the torque sensing unit is composed of a V-shaped strain gauge, the working state and the performance condition of the brake in the braking process can be monitored, abnormal braking conditions can be rapidly captured, and the abnormal braking conditions can be fed back to a control system of the whole machine, so that the damage of the brake and other equipment is avoided.

2. According to the utility model, the torque sensor for detecting the braking torque of the permanent magnet type brake is integrated in the rotor of the permanent magnet type brake, so that the volume of the torque detection equipment of the original brake is greatly reduced, and the integration and the miniaturization are realized.

3. The rotor component is designed based on a spoke type structure, the torque sensing unit is arranged on the cross beam of the rotor, the stress concentration at the cross beam structure is obvious, and the sensitivity of the torque sensing unit can be improved.

4. The torque sensing units are connected in a Wheatstone bridge mode, are arranged on the cross beams of the spoke type structure in a full-bridge mode, have an automatic compensation function on external interference, and are high in braking torque acquisition precision.

5. The inner yoke of the stator component is provided with a plurality of stepped parts, so that the arrangement of the outer yoke and the rotor component can be well adapted.

Description of the drawings: FIG. 1 is a schematic cross-sectional view of the structure of the present utility model; FIG. 2 is an exploded view of the present utility model; fig. 3 is a schematic structural view of the rotor.

The marks in the drawings are: 1-rotor part, 2-stator part, 3-rotor, 301-disk part, 302-tubular part, 303-beam, 304-torque sensing unit, 305-keyway, 306-threaded hole, 307-first countersunk through hole, 308-rivet, 4-PCB board, 401-boss, 402-first threaded through hole, 403-arc notch, 404-first screw, 5-armature, 501-second countersunk through hole, 6-leaf spring, 601-rivet through hole, 7-inner yoke, 701-first step, 702-second step, 703-third step, 704-second threaded through hole, 705-second screw, 8-outer yoke, 801-outer yoke body, 802-coil cavity, 803-second threaded hole, 9-support, 901-permanent magnet frame, 902-third threaded through hole, 10-permanent magnet, 11-coil, 12-insulating layer.

Detailed Description

The utility model is further illustrated by the following figures and examples, which are not intended to be limiting.

Examples: the permanent magnet type brake with the failure monitoring function is shown in the figure 1, and structurally comprises a rotor component 1, wherein the rotor component 1 is a main rotating component of the permanent magnet type brake, a stator component 2 is sleeved on the rotor component 1, and the stator component 2 is a static part of the permanent magnet type brake; the rotor component 1 comprises a rotor 3, the rotor 3 comprises a disc-shaped part 301 and a tubular part 302, a PCB 4 is arranged on the disc-shaped part 301, a signal processing module is integrated on the PCB 4, and a voltage stabilizing power supply module, an amplifying circuit, a low-pass filter circuit and a shaping circuit are sequentially connected with a circuit module on the PCB 4; the tubular part 302 is sleeved with an armature 5, and the armature 5 is attracted by the magnet to move and then forms a closed magnetic circuit with the magnet; a plate spring 6 is arranged between the rotor 3 and the armature 5, when the coil 11 is electrified, the armature 5 is attracted to be connected, at the moment, the plate spring 6 stretches, other parts are kept still, and abrasion or loosening can be avoided. When the power is off, the armature 5 is restored to the original position due to the action of the plate spring 6, so that the armature 5 maintains a proper clearance with the rotor 3; the stator part 2 comprises an inner magnetic yoke 7, an outer magnetic yoke 8 is sleeved on the inner magnetic yoke 7, and the inner magnetic yoke 7 and the outer magnetic yoke 8 do not produce magnetic force lines, but only play a role in magnetic line transmission in a magnetic circuit; a support frame 9 is arranged between the inner magnetic yoke 7 and the outer magnetic yoke 8, and the support frame 9 is used for placing a permanent magnet 10; the support frame 9 is internally provided with a permanent magnet 10, the outer magnetic yoke 8 is internally provided with a coil 11, and an insulating layer 12 is arranged between the outer magnetic yoke 8 and the coil 11.

As shown in fig. 2, the rotor component 1 is provided with a first threaded hole 306 on the disc-shaped part 301 of the rotor 3, and the first threaded hole 306 is used for connecting the rotor 3 with the PCB 4 through a first screw 404; a boss 401 is arranged on the PCB 4, the surface of the boss 401 is contacted with the surface of the disc-shaped part 301, the boss 401 enables the PCB 4 to be separated from the disc-shaped part 301 of the rotor 3 by a certain gap, and circuit elements of the PCB 4 are prevented from being damaged by the disc-shaped part 301; a first threaded through hole 402 is formed in the boss 401, and the first threaded through hole 402 is used for enabling the rotor 3 to be connected with the PCB 4 through a first screw 404; the first threaded through hole 402 of the PCB 4 corresponds to the first threaded hole 306 of the disc 301, a first screw 404 is threaded in the first threaded through hole 402, and the PCB 4 is fixed to the disc 301 through the first screw 404. The inner circle of the PCB 4 is provided with an arc notch 403, and the arc notch 403 can enable the PCB 4 to be easily taken and placed. The disc-shaped part 301 of the rotor 3 is provided with a first countersunk through hole 307, and the first countersunk through hole 307 is used for installing a rivet 308; the plate spring 6 is provided with a rivet through hole 601, and the rivet through hole 601 is used for installing a rivet 308; the armature 5 is provided with a second countersunk through hole 501, and the second countersunk through hole 501 is used for installing the rivet 308; the second countersunk through hole 501 of the armature 5 and the rivet through hole 601 of the plate spring 6 correspond to the first countersunk through hole 307 of the disc-shaped part 301, the rivet 308 is penetrated in the first countersunk through hole 307, the rivet through hole 601 and the second countersunk through hole 501, the rotor 3, the plate spring 6 and the armature 5 are fixed through the rivet 308, the rivet 308 enables the armature 5, the plate spring 4 and the rotor 3 not to rotate relatively radially, but the armature 5 and the plate spring 4 can do a trace axial movement along the axial direction of the rivet 308.

As shown in fig. 2, the stator part 2 includes the inner yoke 7 including a first step 701, a second step 702, and a third step 703; the support frame 9 is provided with permanent magnet frames 901 distributed circumferentially, the permanent magnet frames 901 are used for arranging permanent magnets 10, the permanent magnets 10 are embedded in the permanent magnet frames 901, and the permanent magnets 10 and the support frame 9 are sleeved on the second step portion 702 of the inner magnetic yoke 7. The outer yoke 8 comprises an outer yoke body 801 and a coil cavity 802, wherein the coil cavity 802 is used for arranging a coil 11; the outer yoke body 801 is fitted over the second stepped portion 702 of the inner yoke 7, and the bottom of the outer yoke body 801 is in contact with the surface of the holder 9. The bottom of the coil cavity 802 is flush with the end of the second stepped portion 702 of the inner yoke 7, and the top of the coil cavity 802 is flush with the end of the third stepped portion 703 of the inner yoke 7. The insulating layer 12 is attached to the bottom of the coil cavity 802, and the insulating layer 12 can insulate the coil 11 from the outer magnetic yoke 8, so that the outer magnetic yoke 8 is prevented from being damaged by electrification; the coil 11 is sleeved in the coil cavity 802, and the bottom of the coil 11 is in contact with the insulating layer 12. A second threaded through hole 704 is arranged on the first step part 701 of the inner magnetic yoke 7, and the second threaded through hole 704 is used for installing a second screw 705; the support frame 9 is provided with a third threaded through hole 902, and the third threaded through hole 902 is used for installing a second screw 705; the outer magnetic yoke 8 is provided with a second threaded hole 803, and the second threaded hole 803 is used for installing a second screw 705; the second threaded through hole 704 and the third threaded through hole 902 correspond to the second threaded hole 803, a second screw 705 is arranged in the second threaded through hole 704 and the third threaded through hole 902 in a penetrating manner, the inner magnetic yoke 7, the support frame 9 and the outer magnetic yoke 8 are fixed through the second screw 705, and relative rotation and relative movement among the inner magnetic yoke 7, the support frame 9 and the outer magnetic yoke 8 are prevented.

As shown in fig. 3, the rotor 3 includes a disc portion 301 and a tubular portion 302, the disc portion 301 is used for mounting a torque sensing unit 304 and a PCB board 4, and the torque sensing unit 304 is formed by a V-shaped strain gauge; the tubular portion 302 is for connection with the stator part 2 and to the shaft; a cross beam 303 is fixed between the disc-shaped portion 301 and the tubular portion 302, and the cross beam 303 is used for fixedly connecting the disc-shaped portion 301 and the tubular portion 302, so that the weight of the rotor component 1 is reduced while the structural strength is ensured; the beam 303 is provided with the torque sensing units 304, and the torque sensing units 304 are arranged on the beam 303 with a spoke type structure in a full bridge mode, so that interference of external power frequency and frequency multiplication can be effectively avoided; the torque sensing unit 304 is connected in a wheatstone bridge form and is connected with a circuit of the PCB board 4; a key groove 305 is provided in the tubular portion 302 of the rotor 3, and the key groove 305 is used for mounting a key and is connected to a shaft.

Working principle: the utility model can utilize the torque sensing unit 304 and the signal processing module integrated on the PCB 4 to monitor the working state and performance of the brake in the braking process, and can rapidly capture abnormal braking conditions and feed back the abnormal braking conditions to the control system of the whole machine, thereby avoiding the damage of the brake and other equipment.

Claims

1. A permanent magnet brake with failure monitoring function comprises a rotor component (1), wherein a stator component (2) is sleeved on the rotor component (1); the method is characterized in that: rotor part (1) includes rotor (3), rotor (3) are including disk portion (301) and tubular portion (302), are equipped with crossbeam (303) between disk portion (301) and tubular portion (302), are equipped with a plurality of moment of torsion sensing unit (304) on crossbeam (303), are equipped with PCB board (4) on disk portion (301), are equipped with the signal processing module who is connected with moment of torsion sensing unit (304) on PCB board (4), and the cover is equipped with armature (5) on tubular portion (302), is equipped with leaf spring (6) between rotor (3) and armature (5).

2. The permanent magnet brake with failure monitoring function according to claim 1, wherein: the plurality of torque sensor units (304) are arranged on the cross beam (303) in a full bridge manner.

3. The permanent magnet brake with failure monitoring function according to claim 1, wherein: the stator part (2) comprises an inner magnetic yoke (7), an outer magnetic yoke (8) is sleeved on the inner magnetic yoke (7), a support frame (9) is arranged between the inner magnetic yoke (7) and the outer magnetic yoke (8), a permanent magnet (10) is arranged in the support frame (9), a coil (11) is arranged in the outer magnetic yoke (8), and an insulating layer (12) is arranged between the outer magnetic yoke (8) and the coil (11).

4. The permanent magnet brake with failure monitoring function according to claim 1, wherein: a key groove (305) is provided in the tubular part (302) of the rotor (3).

5. The permanent magnet brake with failure monitoring function according to claim 1, wherein: a first threaded hole (306) is formed in the disc-shaped part (301) of the rotor (3); be equipped with boss (401) on PCB board (4), be equipped with first screw through-hole (402) in boss (401), first screw through-hole (402) of PCB board (4) correspond with first screw hole (306) of disk portion (301), wear to be equipped with first screw (404) in first screw through-hole (402), PCB board (4) are fixed with disk portion (301) through first screw (404), boss (401) surface contacts with disk portion (301) surface.

6. The permanent magnet brake with failure monitoring function according to claim 1, wherein: an arc-shaped notch (403) is formed in the inner circle of the PCB (4).

7. The permanent magnet brake with failure monitoring function according to claim 1, wherein: a first countersunk through hole (307) is formed in the disc-shaped part (301) of the rotor (3); the plate spring (6) is provided with a rivet through hole (601); the armature (5) is provided with a second countersunk through hole (501); the second countersunk through hole (501) of the armature (5) and the rivet through hole (601) of the plate spring (6) correspond to the first countersunk through hole (307) of the disc-shaped part (301), rivets (308) are arranged in the first countersunk through hole (307), the rivet through hole (601) and the second countersunk through hole (501) in a penetrating mode, and the rotor (3), the plate spring (6) and the armature (5) are fixed through the rivets (308).

8. A permanent magnet brake with failure monitoring function according to claim 3, characterized in that: the inner yoke (7) comprises a first step part (701), a second step part (702) and a third step part (703); the support frame (9) is provided with permanent magnet frames (901) which are circumferentially distributed, the permanent magnets (10) are embedded in the permanent magnet frames (901), and the permanent magnets (10) and the support frame (9) are sleeved on the second step part (702) of the inner magnetic yoke (7); the outer magnetic yoke (8) comprises an outer magnetic yoke body (801) and a coil cavity (802), the outer magnetic yoke body (801) is sleeved on a second step part (702) of the inner magnetic yoke (7), and the bottom of the outer magnetic yoke body (801) is contacted with the surface of the support frame (9); the insulating layer (12) is attached to the bottom of the coil cavity (802), the coil (11) is sleeved in the coil cavity (802), and the bottom of the coil (11) is in contact with the insulating layer (12).

9. The permanent magnet brake with failure monitoring function according to claim 8, wherein: the bottom of the coil cavity (802) is flush with the end of the second step part (702) of the inner yoke (7), and the top of the coil cavity (802) is flush with the end of the third step part (703) of the inner yoke (7).

10. The permanent magnet brake with failure monitoring function according to claim 8, wherein: a second threaded through hole (704) is formed in the first step part (701) of the inner magnetic yoke (7); a third threaded through hole (902) is formed in the support frame (9); the outer magnetic yoke (8) is provided with a second threaded hole (803); the second threaded through hole (704) and the third threaded through hole (902) correspond to the second threaded hole (803), a second screw (705) is arranged in the second threaded through hole (704) and the third threaded through hole (902) in a penetrating mode, and the inner magnetic yoke (7), the support frame (9) and the outer magnetic yoke (8) are fixed through the second screw (705).