TWI785874B - Transmission module - Google Patents
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- TWI785874B TWI785874B TW110140737A TW110140737A TWI785874B TW I785874 B TWI785874 B TW I785874B TW 110140737 A TW110140737 A TW 110140737A TW 110140737 A TW110140737 A TW 110140737A TW I785874 B TWI785874 B TW I785874B
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Abstract
Description
本揭露是有關於一種傳動模組,特別是關於一種具手動制動器之傳動模組。The present disclosure relates to a transmission module, in particular to a transmission module with a manual brake.
在大型機械結構與大扭力需求的傳動系統中,通常會設置一台減速機來降低馬達的轉速,以使馬達輸出力量變大。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.
目前減速機多以設置單一編碼器為主,用來監測減速機轉速訊號,並根據回傳的減速機訊號推算出馬達的轉速。然而,當減速機出現異常而使單一編碼器接收有誤,或者當單一編碼器故障時,除了無法即時判斷減速機與馬達的狀態外,也無法確切判斷故障位置為何。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.
一般來說,此類的傳動系統,並無手動釋放負載的功能。因此,會造成當動力失效則自鎖,無法由負載端轉動的問題。另外,此類的傳動系統,並無一體式設計,體積通常較為龐大。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.
因此,如何提供一種『傳動模組』,成為業界所待解決之課題。Therefore, how to provide a "transmission module" has become a problem to be solved in the industry.
本揭露提供一種傳動模組,包含一動力驅動器,受一電力進行轉動;第一編碼器,與動力驅動器電性連接,以感測動力驅動器的運轉資訊;減速機,透過動力驅動器驅動進行轉動;第二編碼器,與減速機電性連接,以感測減速機的運轉資訊;手動制動器,用以釋放或限制動力驅動器進行轉動;其中動力驅動器、第一編碼器、減速機、第二編碼器與手動制動器位於減速機之外殼內,且減速機與動力驅動器係同軸設置。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.
為讓本揭露能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。In order to make the present disclosure more comprehensible, the following specific embodiments are described in detail together with the accompanying drawings.
為了清楚與方便圖式說明之故,圖式中的各部件在尺寸與比例上可能會被擴大或縮小地呈現。在以下描述及/或申請專利範圍中,當提及元件「連接」或「耦合」至另一元件時,其可直接連接或耦合至該另一元件或可存在介入元件;而當提及元件「直接連接」或「直接耦合」至另一元件時,不存在介入元件,用於描述元件或層之間之關係之其他字詞應以相同方式解釋;「第一」、「第二」、「第三」等序數,彼此之間並沒有順序上的先後關係,其僅用於標示區分兩個具有相同名字之不同元件。為使便於理解,下述實施例中之相同元件係以相同之符號標示來說明。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.
首先,請參照第1圖,係為本揭露實施例之系統架構示意圖。如第1圖所示,具手動制動器之傳動模組100包含動力驅動器10、第一編碼器20、減速機30、手動制動器40與第二編碼器50。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
動力驅動器10位於減速機外殼32內。動力驅動器10接受一電力驅動,以沿著軸心進行旋轉運動。所述的電力可以是交流電源或直流電源。實際上,動力驅動器10可以是馬達。動力驅動器10包含有馬達轉子12與馬達定子14。馬達轉子12透過軸承零件安裝於減速機外殼32內。馬達定子14固定於減速機外殼32內,並環設於馬達轉子12的外圍。另外,軸心方向與軸線66方向(如第2A圖所繪示的虛線)為同方向。The
第一編碼器20位於減速機外殼32內。第一編碼器20與動力驅動器10電性連接。第一編碼器20用以感測動力驅動器10的運轉資訊,如旋轉角度、旋轉位置、旋轉速度等。舉例來說,第一編碼器20所感測到的運轉資訊係由減速機外殼32相對於馬達轉子12的角度變化。The
減速機30位於減速機外殼32內。減速機30與動力驅動器10連接。減速機30透過動力驅動器10驅動進行轉動。減速機30用以降低動力驅動器10的轉速,以提升動力驅動器10的輸出力量。The
手動制動器40的一端位於減速機外殼32內。手動制動器40的另一端露出減速機外殼32外。手動制動器40用以釋放或限制動力驅動器10進行轉動。舉例來說,當失去電力時,透過手動制動器40可釋放馬達轉子12進行轉動。另外,第一編碼器20與第二編碼器50所感測到的運轉資訊與手動制動器40的作動不相關,可同時操作,互不干涉。然而,當手動制動器40解除時(即釋放狀態),減速機30輸出端可由手動制動器40改變輸出角度,而第一編碼器20與第二編碼器50的角度資訊依然可以被讀取與記錄。One end of the
第二編碼器50位於減速機外殼32內。第二編碼器50與減速機30電性連接。第二編碼器50用以感測減速機30的運轉資訊,如旋轉角度、旋轉位置、旋轉速度等。舉例來說,第二編碼器50所感測到的運轉資訊係由減速機外殼32相對於減速機30輸出端的角度變化。 實際上,第一編碼器20與第二編碼器50可由絕對型(absolute)編碼器或增量型(incremental)編碼器所構成。The
第一轉接板60位於減速機外殼32外。第一轉接板60與減速機外殼32連接。第一轉接板60用以與不同的機械介面進行固定。舉例來說,第一轉接板60可針對不同安裝孔位之基座外殼、結合板、閂鎖或法蘭面(Flange )進行連接。第二轉接板62位於減速機外殼32外。第二轉接板62與減速機30連接。第二轉接板62用以與不同傳動介面進行輸出。舉例來說,第二轉接板62可針對各式樣栓槽軸/孔、鍵槽/座、半圓鍵、鳩尾槽座或鎖附法蘭面進行動力輸出。藉此,第一轉接板60與第二轉接板62可提升具手動制動器之傳動模組100的安裝便利性與靈活度。在一些實施例中,第一轉接板60與第二轉接板62可以省略。The
值得說明的是,動力驅動器10、第一編碼器20、減速機30、手動制動器40與第二編碼器50均設置在減速機外殼32內。因此,緊湊的設計可使具手動制動器之傳動模組100的體積變小,進而改善習知技術中,傳動系統體積較為龐大的問題。It should be noted that the
接下來,請參照第2A圖,係為本揭露第一實施例之剖面結構示意圖。如第2A圖所示,具手動制動器之傳動模組110包含有動力驅動器10、第一編碼器20、減速機30、手動制動器40與第二編碼器50。動力驅動器10、第一編碼器20、減速機30、手動制動器40與第二編碼器50位於減速機外殼32內。動力驅動器10靠近手動制動器40的一端設置有第一編碼器20。動力驅動器10與減速機30之間設置有第二編碼器50。減速機30的輸入端與動力驅動器10的輸出端連接。減速機30的輸出端為扭力輸出端64。在一些實施例中,扭力輸出端64可安裝第一轉接板60與第二轉接板62。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
手動制動器40包含有電磁鐵41、電樞板42、手把43、彈簧44與煞車片45。電磁鐵41與電樞板42相隔一段距離。電樞板42設置於電磁鐵41之一側。電磁鐵41分別位於手把43的兩側。手把43設置於電磁鐵41之另一側。手把43的一端連接至電樞板42。手把43的另一端露出減速機外殼32外。彈簧44套設於手把43上使彈簧44設置於電樞板42與手把43之間。彈簧44之一端為固定端,而彈簧44之另一端推抵電樞板42。煞車片45連接至馬達轉子12的輸入端。The
當電磁鐵41接受電力驅動時,將產生磁吸力。電樞板42受電磁鐵41產生的磁吸力影響,而靠近電磁鐵41。更具體的說,當電磁鐵41產生磁吸力時,將吸附電樞板42不接觸煞車片45,以釋放馬達轉子12進行轉動。當電磁鐵41不接受電力驅動,而停止產生磁吸力時,彈簧44之另一端推動電樞板42抵住煞車片45,以鎖定馬達轉子12停止轉動。When the
值得一提的是,當失去電力時,電樞板42受彈簧44的彈力影響而抵住煞車片45,馬達轉子12之軸心受煞車片45影響而無法轉動。本揭露第一實施例可透過手把43帶動電樞板42不接觸煞車片45,以釋放馬達轉子12進行轉動。藉此,可解決習知技術中,當動力失效時導致自鎖的問題。It is worth mentioning that when the power is lost, the
另外,本揭露第一實施例之馬達轉子12、減速機30與手動制動器40位於同一軸線66上。換句話說,馬達轉子12、減速機30與手動制動器40係同軸設置。藉此,達成一體化緊湊設計,可有效縮小傳動模組的體積。In addition, the
請參照第2B圖,係為本揭露第二實施例之剖面結構示意圖。如第2B圖所示,具手動制動器之傳動模組120包含有動力驅動器10、第一編碼器20、減速機30、手動制動器40與第二編碼器50。第一編碼器20與第二編碼器50位於動力驅動器10與減速機30之間。更具體的說,第一編碼器20位於動力驅動器10的輸出端,而第二編碼器50位於減速機30的輸入端。第一編碼器20與第二編碼器50共用一個編碼器讀頭25。另外,由於第一編碼器20與第二編碼器50共用一個編碼器讀頭25的關係,可降低傳動模組的製造成本。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
同樣的,本揭露第二實施例之手動制動器40的構造、連接方式、動作原理與第一實施例相同,於此不再贅述。同樣的,本揭露第二實施例之馬達轉子12、減速機30與手動制動器40位於同一軸線66上。換句話說,馬達轉子12、減速機30與手動制動器40係同軸設置。藉此,達成一體化緊湊設計,可有效縮小傳動模組的體積。Likewise, the structure, connection method, and action principle of the
請參照第2C圖,係為本揭露第三實施例之剖面結構示意圖。如第2C圖所示,具手動制動器之傳動模組130包含有動力驅動器10、第一編碼器20、減速機30、手動制動器40、第二編碼器50與第一軸套70。第一軸套70貫穿動力驅動器10與減速機30。更具體的說,第一軸套70貫穿動力驅動器10的馬達轉子12與減速機30。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
第一編碼器20與第二編碼器50位於動力驅動器10之輸入端。更具體的說,第一編碼器20與第二編碼器50位於馬達轉子12的輸入端。第二編碼器50透過第一軸套70與減速機30電性連接。第一編碼器20與第二編碼器50共用一個編碼器讀頭25。另外,由於第一編碼器20與第二編碼器50共用一個編碼器讀頭25的關係,可降低傳動模組的製造成本。The
同樣的,本揭露第三實施例之手動制動器40的構造、連接方式、動作原理大致上與第一實施例相同,於此不再贅述。同樣的,本揭露第三實施例之馬達轉子12、減速機30與手動制動器40位於同一軸線66上。換句話說,馬達轉子12、減速機30與手動制動器40係同軸設置。藉此,達成一體化緊湊設計,可有效縮小傳動模組的體積。Likewise, the structure, connection method, and action principle of the
請參照第2D圖,係為本揭露第四實施例之剖面結構示意圖。如第2D圖所示,具手動制動器之傳動模組140包含有動力驅動器10、第一編碼器20、減速機30、手動制動器40、第二編碼器50、第一軸套70與第二軸套72。第一軸套70貫穿動力驅動器10、減速機30與手動制動器40。第二軸套72套設於第一軸套70的外圍,並貫穿動力驅動器10、減速機30與手動制動器40。第一軸套70與第二軸套72彼此不接觸。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
更具體的說,第一軸套70貫穿動力驅動器10的馬達轉子12、減速機30與手動制動器40。第二軸套72貫穿動力驅動器10的馬達轉子12、減速機30與手動制動器40。第二軸套72的長度略短於第一軸套70。第一軸套70與第二編碼器50電性連接。第二軸套72與第一編碼器20電性連接。第一編碼器20位於手把43與第二編碼器50之間。手把43位於電磁鐵41與第一編碼器20之間。More specifically, the
第一編碼器20與第二編碼器50共用一個編碼器讀頭25。另外,由於第一編碼器20與第二編碼器50共用一個編碼器讀頭25的關係,可降低傳動模組的製造成本。同樣的,本揭露第四實施例之手動制動器40的構造、連接方式、動作原理大致上與第一實施例相同,於此不再贅述。The
綜上所述,本揭露實施例之具手動制動器之傳動模組,當失去電力時,透過手動制動器釋放動力驅動器進行轉動。藉此,可解決習知技術中,當動力失效時導致自鎖的問題。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.
根據本揭露實施例之具手動制動器之傳動模組,第一編碼器與第二編碼器可共用一個編碼器讀頭,以降低傳動模組的製造成本。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.
根據本揭露實施例之第一轉接板與第二轉接板,可提供不同的固定介面與輸出介面,以提升傳動模組的安裝便利性與靈活度。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.
根據本揭露實施例之具手動制動器之傳動模組,透過雙編碼器分別對動力驅動器與減速機進行監控比對,以取得輸入角度與實際角度的偏差量,並修正角度以維持或提升控制的精準度。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.
雖然本揭露已以實施例揭露如上,然其並非用以限定本揭露,任何所屬技術領域中具有通常知識者,在不脫離本揭露之精神和範圍內,當可作些許之更動與潤飾,故本揭露之保護範圍當視後附之申請專利範圍所界定者為準。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:動力驅動器
20:第一編碼器
25:編碼器讀頭
30:減速機
32:減速機外殼
40:手動制動器
41:電磁鐵
42:電樞板
43:手把
44:彈簧
45:煞車片
50:第二編碼器
60:第一轉接板
62:第二轉接板
64:扭力輸出端
66:軸線
70:第一軸套
72:第二軸套
100、110、120、130、140:具手動制動器之傳動模組
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:
第1圖係為本揭露實施例之系統架構示意圖。 第2A圖係為本揭露第一實施例之剖面結構示意圖。 第2B圖係為本揭露第二實施例之剖面結構示意圖。 第2C圖係為本揭露第三實施例之剖面結構示意圖。 第2D圖係為本揭露第四實施例之剖面結構示意圖。 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:動力驅動器 10: Power drive
12:馬達轉子 12: Motor rotor
14:馬達定子 14: Motor stator
20:第一編碼器 20: First Encoder
30:減速機 30: reducer
32:減速機外殼 32: Reducer housing
40:手動制動器 40: Hand Brake
50:第二編碼器 50: Second encoder
60:第一轉接板 60: The first adapter board
62:第二轉接板 62: Second adapter board
100:具手動制動器之傳動模組 100: Transmission module with manual brake
Claims (13)
Priority Applications (1)
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TW110140737A TWI785874B (en) | 2021-11-02 | 2021-11-02 | Transmission module |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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TW110140737A TWI785874B (en) | 2021-11-02 | 2021-11-02 | Transmission module |
Publications (2)
Publication Number | Publication Date |
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TWI785874B true TWI785874B (en) | 2022-12-01 |
TW202319666A TW202319666A (en) | 2023-05-16 |
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TW110140737A TWI785874B (en) | 2021-11-02 | 2021-11-02 | Transmission module |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101615824A (en) * | 2008-06-16 | 2009-12-30 | 费尔菲尔德制造公司 | Gear reduction unit electric motor assembly with inner brake |
TW201441512A (en) * | 2013-04-22 | 2014-11-01 | Su-Hsien Lee | Floating motor with brake device |
CN105940246A (en) * | 2014-01-28 | 2016-09-14 | Ntn株式会社 | Reduction gear with brake |
-
2021
- 2021-11-02 TW TW110140737A patent/TWI785874B/en active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101615824A (en) * | 2008-06-16 | 2009-12-30 | 费尔菲尔德制造公司 | Gear reduction unit electric motor assembly with inner brake |
TW201441512A (en) * | 2013-04-22 | 2014-11-01 | Su-Hsien Lee | Floating motor with brake device |
CN105940246A (en) * | 2014-01-28 | 2016-09-14 | Ntn株式会社 | Reduction gear with brake |
Also Published As
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TW202319666A (en) | 2023-05-16 |
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