CN218927867U - Planetary gear motor with high torque density and joint module - Google Patents

Abstract

The utility model discloses a high-torque-density planetary gear motor, which comprises a shell, an output flange arranged at one end of the shell, a planetary transmission mechanism, a motor stator and a motor rotor, wherein the planetary transmission mechanism is arranged in the shell and comprises a plurality of planetary shafts, a plurality of planetary gears, a plurality of sun gears and a planetary carrier, the planetary transmission mechanism also comprises a plurality of needle bearings, and each needle bearing is arranged between the corresponding planetary shaft and the corresponding planetary gear, so that the original sliding friction is changed into rolling friction, the abrasion is reduced, the transmission efficiency is improved, the service life of the whole structure is prolonged, and the joint module comprises the high-torque-density planetary gear motor, an encoder assembly and a gear assembly, and the input rotating speed of the high-torque-density planetary gear motor is read.

Description

Planetary gear motor with high torque density and joint module

Technical Field

The utility model belongs to the technical field of gear motors, and particularly relates to a planetary gear motor with high torque density and a joint module.

Background

The gear motor is an integrated body of a speed reducer and a motor, and the joint module generally consists of the speed reducer, the motor and an encoder. The speed reducing motor adopted by the device can be any one of a harmonic speed reducer, an RV speed reducer or a planetary speed reducer whether the device is a speed reducing motor or a joint module; the planetary reducer has the advantages of low price and good load, and is often applied to a small robot joint with low precision requirements.

At present, most planetary gears of planetary speed reducers in the market are driven in a mode of directly contacting with a planetary shaft, so that sliding friction exists between a shaft pin and the planetary gears, the shaft pin and the planetary gears are easy to wear in the driving process, the wear is large when the load is large, and meanwhile, the driving efficiency of the whole speed reducing part is reduced.

The existing gear motor or joint module adopts the design that the outer diameter of the gear part is the same as that of the motor part, and the motor and the speed reducer are independent components, so that the joint module is large in size, the joints of the robot are relatively bulky, and the space use requirement of the robot on the joint module cannot be met under many conditions.

And joint module among the prior art generally adopts two sets of cavity magnetic ring encoders to read above-mentioned data respectively, and its defect lies in: because the middle part of the hollow magnetic ring encoder is hollow, two groups of hollow magnetic ring encoders can only be arranged at two ends of the equipment respectively, so that the whole size is large, and the assembly is complex.

Disclosure of Invention

In order to solve the problems, the utility model provides a planetary reduction motor with high torque density and a joint module.

The technical scheme of the utility model is as follows:

the utility model provides a planetary gear motor with high torque density, which comprises a shell, an output flange arranged at one end of the shell, a planetary transmission mechanism, a motor stator and a motor rotor, wherein the planetary transmission mechanism is arranged in the shell and comprises a plurality of planetary shafts, a plurality of planetary gears, a plurality of sun gears and a planetary carrier, and the planetary transmission mechanism also comprises a plurality of needle bearings, and each needle bearing is arranged between the planetary gears of the corresponding planetary shafts, so that the original sliding friction is changed into rolling friction, the abrasion is reduced, the transmission efficiency is improved, and the service life of the whole structure is prolonged.

Further, the planetary transmission mechanism further comprises a fixed gear ring, a plurality of needle bearings, a plurality of planet shafts, a plurality of planet gears, a plurality of sun gears and a planet carrier, wherein each planet gear is meshed with the fixed gear ring, the problem that the integration level of an existing gear motor is low is solved, the inner gear ring of the speed reducer and the shell of the speed reducer are integrated, and meanwhile, the planetary transmission mechanism has the function of connecting a rotor of the fixed motor, so that the structure is more compact, the size is reduced, and the torque density of the speed reducer motor is improved.

Further, the planetary shaft comprises an input planetary shaft and an output planetary shaft, the planetary gear comprises an input planetary gear and an output planetary gear, the sun gear comprises an input sun gear and an output sun gear, the input planetary shaft and the output planetary shaft are respectively arranged in corresponding needle bearings, the input sun gear and the output sun gear are on the same axis, the input sun gear and the output sun gear are arranged on two sides of the central position of the planet carrier, the input planetary gear is meshed with the input sun gear, and the output planetary gear is meshed with the output sun gear.

Further, the motor rotor comprises a rotor fixing cover, wherein the rotor fixing cover is arranged in the fixed gear ring, and the rotor fixing cover is attached to the motor rotor.

Further, a first bearing is arranged on the output flange, a second bearing is arranged on the rotor fixing cover, and a third bearing is arranged in the motor rotor.

The utility model also discloses a joint module, which comprises the planetary reduction motor with high torque density, an encoder assembly and a gear assembly, wherein the gear assembly is arranged on a motor rotor, and the encoder assembly is positioned above the gear assembly.

Further, the motor rotor comprises a transmission shaft, one end of the transmission shaft is positioned at the center of the motor rotor, the other end of the transmission shaft is fixedly connected with the output flange, and the transmission shaft penetrates through the input sun gear and the output sun gear.

Further, the gear assembly comprises a first gear and a second gear, the first gear is arranged on the transmission shaft in a penetrating mode, the first gear is located at the center of the motor rotor, the second gear is arranged on the side edge of the first gear, and the second gear is meshed with the first gear.

Further, a first accommodating groove is formed in the first gear, a second accommodating groove is formed in the second gear, and the first accommodating groove is fixed to one end of the transmission shaft.

Further, the encoder assembly comprises a first encoder, a first magnet, a second encoder and a second magnet, wherein the first magnet is arranged in the first accommodating groove, the second magnet is arranged in the second accommodating groove, the first encoder is arranged opposite to the first magnet, and the second encoder is arranged opposite to the second magnet.

The planetary gear motor with high torque density has the beneficial effects that:

the needle roller bearing is additionally arranged between the planet wheel and the planet shaft, so that the original sliding friction is changed into rolling friction, the abrasion is reduced, the transmission efficiency is improved, and the service life of the whole structure is prolonged.

The joint module has the beneficial effects that:

through set up gear assembly on motor rotor, and set up the encoder subassembly on gear assembly, all locate same one side with the encoder subassembly, can read the input rotational speed and the output rotational speed of high torque density's planetary gear motor in real time simultaneously, need not to install in the both ends of joint module, whole volume reduces, and the assembly is also relatively simple.

Drawings

Fig. 1 is an exploded structural schematic view of embodiment 1;

fig. 2 is a schematic overall structure of embodiment 1 and embodiment 2;

FIG. 3 is an exploded view of the planetary transmission mechanism of embodiment 1 and embodiment 2;

fig. 4 is a schematic cross-sectional front view of embodiment 1;

fig. 5 is an exploded structure diagram of embodiment 2;

fig. 6 is a schematic cross-sectional front view of embodiment 2;

FIG. 7 is a schematic diagram of a planetary transmission mechanism and a gear assembly in embodiment 2;

FIG. 8 is a schematic view showing the structure of the other side of the output flange in embodiment 1 and embodiment 2;

reference numerals: 1. the housing, 11, housing body, 12, bottom cover, 2, planetary gear mechanism, 21, input planetary shaft, 22, input planetary gear, 23, input sun gear, 24, output planetary shaft, 25, output planetary gear, 26, output sun gear, 27, planet carrier, 28, needle bearing, 29, fixed ring gear, 3 output flange, 31, first bearing, 32, hole, 4, motor stator, 5, motor rotor, 51, third bearing, 52, boss, 6, rotor fixed cover, 61, second bearing, 7, transmission shaft, 8, encoder assembly, 81, first encoder, 82, first magnet, 83, second encoder, 84, second magnet, 9, gear assembly, 91, first gear, 911, first accommodation groove, 92, second gear, 921, second accommodation groove, 922, fourth bearing.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings.

It will be understood that when an element is referred to as being "mounted," "mounted," or "secured" to another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "on" or "penetrating" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "middle," "upper," "two ends," "between," "center," "periphery," "both sides," "inner," and the like are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate describing the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," "third," "fourth" and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", "a third" and a fourth "may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a number" is two or more, unless explicitly defined otherwise.

Example 1

Referring to fig. 1 and 2, the present utility model provides a planetary gear motor with high torque density, which includes a housing 1, an output flange 3 disposed at one end of the housing 1, a planetary transmission mechanism 2 disposed in the housing 1, a motor stator 4, and a motor rotor 5, wherein the housing 1 includes a housing 11 and a bottom cover 12, the output flange 3 and the bottom cover 12 are disposed at two ends of the housing 11, the planetary transmission mechanism 2, the motor stator 4, and the motor rotor 5 are disposed in the housing 11, and the motor stator 4 is disposed in the motor rotor 5, the planetary transmission mechanism 2 is disposed in the motor stator 4, after the planetary gear motor is powered on, the motor stator 4 generates an induced electromotive force to serve as a rotating magnetic field, and generates electromagnetic torque to perform energy conversion, and the motor rotor 5 rotates at high speed to drive the planetary transmission mechanism 2 to perform power output after the planetary transmission mechanism 2 is decelerated.

Referring to fig. 3, the planetary transmission mechanism 2 includes a plurality of planetary shafts, a plurality of planetary gears, a plurality of sun gears, and a planetary carrier 27, the planetary gears and the sun gears being meshed with each other;

specifically, the planetary shafts comprise three input planetary shafts 21 and three output planetary shafts 24, the planetary gears comprise three input planetary gears 22 and three output planetary gears 25, the sun gears comprise an input sun gear 23 and an output sun gear 26, the input planetary shafts 21 and the output planetary shafts 24 are respectively arranged in corresponding needle bearings 28, the input planetary gears 21 are meshed with the input sun gear 23, and the output planetary gears 24 are meshed with the output sun gear 26; the input sun gear 23 and the output sun gear 26 are on the same axis, and the input sun gear 23 and the output sun gear 26 are arranged on two sides of the center position of the planet carrier 27, specifically, the input sun gear 23 is fixed in the center of the boss 52 of the motor rotor 5, and one end of the output sun gear 26 is inserted in the center of the planet carrier 27; referring to fig. 8, one face of the output flange 3 has three holes 32 with an included angle of 120 ° to be respectively engaged with the three output planetary shafts 24;

in order to solve the problems that the planetary gears of most planetary speed reducers in the market at present are driven in a mode of directly contacting with the planetary shafts, sliding friction is caused between the shaft pins and the planetary gears, the shaft pins and the planetary gears are easy to wear in the driving process, and the wear is large when the load is large.

Referring to fig. 3, the planetary transmission mechanism 2 further includes six needle bearings 28, each of which is disposed between a corresponding one of the planetary shafts and the planetary gears; namely, a needle bearing 28 is arranged between each input planetary shaft 21 and each input planetary gear 22, and a needle bearing 28 is also arranged between each output planetary shaft 24 and each output planetary gear 25; in practice, the mounting relationship between the planet axle, needle bearing and planet gear may be: firstly, arranging a planetary shaft in the circle center of a needle bearing, then arranging the needle bearing in the circle center of a planetary gear, and arranging three parts concentrically; six needle bearings 28 are correspondingly arranged, so that the original sliding friction is changed into rolling friction, the abrasion is reduced, the transmission efficiency is improved, and the service life of the whole structure is prolonged; the input planetary shaft 21, the input planetary gear 22 and the needle roller bearing 28 and the output planetary shaft 24, the output planetary gear 25 and the needle roller bearing 28 are respectively positioned at two sides of the planet carrier 27;

in addition, the inner gear ring and the outer shell of the existing speed reducer in the speed reducer motor are separately designed, so that the integration level is low.

The planetary transmission mechanism 3 further comprises a fixed gear ring 29, six needle bearings 28, six planetary shafts, six planetary gears, two sun gears and a planetary carrier 27 are all arranged in the fixed gear ring 29, each planetary gear is meshed with the fixed gear ring 29, the inner gear ring of the speed reducer and the shell of the speed reducer are integrated, namely the fixed gear ring 29, and meanwhile, the planetary transmission mechanism has the function of connecting a rotor 5 of a fixed motor, so that the structure is more compact, the volume is reduced, and the torque density of the speed reducing motor is improved.

The utility model provides a planetary gear motor with high torque density, which further comprises a rotor fixing cover 6, wherein the rotor fixing cover 6 is arranged in a fixed gear ring 29, the rotor fixing cover 6 is attached to a motor rotor 5, a planetary transmission mechanism 2 is positioned between an output flange 3 and the rotor fixing cover 6, and an input sun gear 23 penetrates through the centers of the rotor fixing cover 6 and the motor rotor 5.

For smoother rotation of the output flange 3, the rotor fixing cover 6 and the motor rotor 5, a first bearing 31 is arranged on the output flange 3, a second bearing 61 is arranged on the rotor fixing cover 6, a third bearing 51 is arranged in the motor rotor 5, and the first bearing 31, the second bearing 61 and the third bearing 51 can be deep groove ball bearings or angular contact ball bearings.

The utility model relates to a working principle of a planetary gear motor with high torque density, which comprises the following steps: the speed reducing motor is electrified, and power is transmitted to the input sun gear 23 from the motor rotor 5, so that the power is input into the planetary transmission mechanism 2; the input sun gear 23 is meshed with the transmission driving input planetary gear 22 to rotate, the input planetary gear 22 rotates, and meanwhile the input planetary gear 22 revolves around the input sun gear 23 and also drives the input planetary shaft 21 to revolve around the input sun gear 23; the input planetary shaft 21 drives the planetary carrier 27 to rotate, and the output sun gear 26 rotates along with the rotation of the planetary carrier 27; the output sun gear 26 is meshed with the transmission output planetary gear 25 to rotate, the output planetary gear 25 revolves around the output sun gear 26 while rotating, the output planetary shaft 24 is driven to revolve around the output sun gear 26, and the output planetary shaft 24 drives the output flange 3 to rotate.

Example 2

Referring to fig. 2, 5 and 6, the present utility model also discloses a joint module, which comprises the planetary gear motor with high torque density of embodiment 1, an encoder assembly 8 and a gear assembly 9, wherein the gear assembly 9 is arranged on the motor rotor 5, and the encoder assembly 8 is positioned above the gear assembly 9, so that the joint module needs to accurately control, and therefore, the input rotation speed and the output rotation speed of the gear motor need to be read in real time.

The motor further comprises a transmission shaft 7, one end of the transmission shaft 7 is positioned at the center of the motor rotor 5, the other end of the transmission shaft 7 is fixedly connected with the output flange 3, and the transmission shaft 7 penetrates through the input sun gear 23 and the output sun gear 26.

Referring to fig. 7, the gear assembly 9 includes a first gear 91 and a second gear 92, the first gear 91 is disposed on the transmission shaft 7 in a penetrating manner, the first gear 91 is located at the center of the motor rotor 5, the second gear 92 is disposed at a side edge of the first gear 91, and the second gear 92 is meshed with the first gear 91, so that the input rotation speed of the motor rotor 5 is transmitted to the second gear 92 by the meshing of the first gear 91.

The first gear 91 is provided with a first accommodating groove 911, the second gear 92 is provided with a second accommodating groove 921, and the first accommodating groove 911 is fixed at one end of the transmission shaft 7.

The encoder assembly 8 includes a first encoder 81, a first magnet 82, a second encoder 83, and a second magnet 84, wherein the first magnet 82 is disposed in the first accommodating groove 911, the second magnet 84 is disposed in the second accommodating groove 921, the first encoder 81 is disposed opposite to the first magnet 82, and the second encoder 83 is disposed opposite to the second magnet 84.

Referring to fig. 6, both ends of the driving shaft 7 are respectively fixed to the first receiving groove 911 and the output flange 3, the diameter of the driving shaft 7 is smaller than the diameters of the centers of the input sun gear 23 and the output sun gear 26, the driving shaft 7 functions to transmit the rotation speed of the output flange 3, and the first encoder 81 and the first magnet 82 are used to read the output rotation speed;

when the first magnet 82 or the second magnet 84 rotates one turn, the corresponding first encoder 81 or second encoder 83 outputs a pulse, and the rotation speed of the first magnet 82 or the second magnet 84 is measured by combining with a frequency meter, and the rotation speed is correspondingly the output rotation speed of the output flange 3 and the input rotation speed of the motor rotor 5.

Further, the fourth bearing 922 is sleeved on the second accommodating groove 921, so that friction between the second accommodating groove 921 and the shell 11 can be reduced, the second accommodating groove 921 rotates more smoothly, and energy consumption is reduced;

and the first encoder 81 and the second encoder 83 are both arranged on a circuit board, and the circuit board is provided with a chip which performs signal conversion and outputs the measured output rotation speed of the output flange 3 and the measured input rotation speed of the motor rotor 5.

The above examples illustrate only one embodiment of the utility model, which is described in more detail and is not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. The utility model provides a planetary gear motor of high torque density, includes casing (1), locates output flange (3) of casing (1) one end and locates planetary gear mechanism (2), motor stator (4), motor rotor (5) in casing (1), planetary gear mechanism (2) include a plurality of planetary axles, a plurality of planetary gear, a plurality of sun gear and planet carrier (27), its characterized in that, planetary gear mechanism (2) still include a plurality of bearing (28), every between corresponding planetary axle and the planetary gear that sets up are located to bearing (28).

2. The high torque density planetary gear motor according to claim 1, wherein the planetary transmission mechanism (2) further comprises a stationary ring gear (29), and a plurality of needle bearings (28), a plurality of planetary shafts, a plurality of planetary gears, a plurality of sun gears and a planet carrier (27) are all disposed in the stationary ring gear (29), and each planetary gear is respectively engaged with the stationary ring gear (29).

3. The high torque density planetary gear motor according to claim 2, characterized in that the planetary shaft comprises an input planetary shaft (21) and an output planetary shaft (24), the planetary gears comprise an input planetary gear (22) and an output planetary gear (25), the sun gear comprises an input sun gear (23) and an output sun gear (26), the input planetary shaft (21) and the output planetary shaft (24) are respectively arranged in corresponding needle bearings (28), the input sun gear (23) and the output sun gear (26) are on the same axis, the input sun gear (23) and the output sun gear (26) are on two sides of the central position of the planet carrier (27), the input planetary gear (22) is meshed with the input sun gear (23), and the output planetary gear (25) is meshed with the output sun gear (26).

4. A planetary reduction motor with high torque density according to claim 3, characterized by further comprising a rotor fixing cover (6), said rotor fixing cover (6) being provided in a stationary ring gear (29), and said rotor fixing cover (6) being in contact with the motor rotor (5).

5. The planetary gear motor with high torque density according to claim 4, wherein the output flange (3) is provided with a first bearing (31), the rotor fixing cover (6) is provided with a second bearing (61), and the motor rotor (5) is internally provided with a third bearing (51).

6. A joint module comprising a planetary reduction motor with high torque density according to any one of claims 1-5, further comprising an encoder assembly (8) and a gear assembly (9), said gear assembly (9) being arranged on the motor rotor (5), said encoder assembly (8) being located above the gear assembly (9).

7. The joint module according to claim 6, further comprising a transmission shaft (7), wherein one end of the transmission shaft (7) is located at the center of the motor rotor (5), the other end of the transmission shaft (7) is fixedly connected with the output flange (3), and the transmission shaft (7) penetrates through the input sun gear (23) and the output sun gear (26).

8. The joint module according to claim 7, wherein the gear assembly (9) comprises a first gear (91) and a second gear (92), the first gear (91) is arranged on the transmission shaft (7) in a penetrating manner, the first gear (91) is arranged on the center of the motor rotor (5), the second gear (92) is arranged on the side edge of the first gear (91), and the second gear (92) is meshed with the first gear (91).

9. The joint module according to claim 8, wherein the first gear (91) is provided with a first accommodating groove (911), the second gear (92) is provided with a second accommodating groove (921), and the first accommodating groove (911) is fixed at one end of the transmission shaft (7).

10. The joint module according to claim 9, wherein the encoder assembly (8) comprises a first encoder (81), a first magnet (82), a second encoder (83) and a second magnet (84), the first magnet (82) is disposed on the first accommodating groove (911), the second magnet (84) is disposed on the second gear (92), the first encoder (81) is disposed opposite to the first magnet (82), and the second encoder (83) is disposed opposite to the second magnet (84).

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