WO2021134846A1 - 内嵌有减速装置的电机 - Google Patents
内嵌有减速装置的电机 Download PDFInfo
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- WO2021134846A1 WO2021134846A1 PCT/CN2020/072960 CN2020072960W WO2021134846A1 WO 2021134846 A1 WO2021134846 A1 WO 2021134846A1 CN 2020072960 W CN2020072960 W CN 2020072960W WO 2021134846 A1 WO2021134846 A1 WO 2021134846A1
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- WIPO (PCT)
- Prior art keywords
- nutating
- nutating gear
- gear
- output shaft
- swash plate
- Prior art date
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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
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
Definitions
- the present disclosure designs a deceleration system using a motor and a deceleration device. More specifically, the present disclosure relates to a motor with a deceleration device embedded therein.
- the existing deceleration system includes a motor and a deceleration device.
- the motor drives the input part of the deceleration device through an input shaft.
- the deceleration device decelerates the input from the motor and transmits the decelerated motion to the output shaft.
- the driven device is connected.
- the motor, input shaft, deceleration device, output shaft and the setting to be driven are coaxially arranged in sequence, which takes up a relatively large volume of space.
- the motor, the reduction gear and the setting to be driven are arranged separately from each other and connected to each other through the input shaft and the output shaft, this undoubtedly increases the length of the reduction system along the input/output shaft direction.
- the motor rotates at a high speed, it increases.
- the large axial length has the problem of the stability of the input shaft and the output shaft deviating from the axial direction, which affects the performance of the reduction system.
- the purpose of the present invention is to solve the above-mentioned shortcomings of the existing deceleration system, and to provide a motor with a deceleration device embedded therein, which occupies a small space and has improved stability.
- this article provides a motor with a deceleration device embedded therein, including: a housing; an input mechanism disposed in the housing, the input mechanism including a stator and a rotor, the stator being attached to the housing
- the deceleration device is provided in the housing, the deceleration device includes a driving part and a driven part, wherein the driving part is located in the rotor of the input mechanism and is fixedly connected to the rotor; and the output shaft, It is driven by the driven part of the reduction gear.
- the speed reduction device is a nutation speed reducer, including: a nutation gear, one end surface of the nutation gear is formed with a tooth surface; a non-nutation gear, which is fixedly arranged On the housing, one end surface of the non-nutating gear is formed with a tooth surface, wherein the end surface of the non-nutating gear formed with the tooth surface and the end surface of the nutating gear formed with the tooth surface mesh with each other And a drive swash plate, connected to the input mechanism and driven by the input mechanism, the first side of the drive swash plate abuts against the other end surface of the nutating gear that is not formed with a tooth surface;
- the driving swash plate is the driving part, and the nutating gear is the driven part, and the first side of the driving swash plate is inclined with respect to a plane perpendicular to the rotation axis of the output shaft
- the output shaft passes through the inner peripheral side of the nutating gear and the non-nut
- the motor further includes a second nutating reducer
- the second nutating reducer includes: a second nutating gear, one of the second nutating gears A tooth surface is formed on the end surface; a second non-nutating gear is fixedly arranged on the housing, one end surface of the second non-nutating gear is formed with a tooth surface, wherein the second non-nutating gear is formed with The end surface of the tooth surface and the end surface formed with the tooth surface of the second nutating gear mesh with each other; wherein the second nutating gear is also the driven member; and the driving swash plate and the first side With respect to the second side in contact with the other end surface of the second nutating gear that is not formed with a tooth surface, and the second side is disposed obliquely with respect to a plane perpendicular to the rotation axis of the output shaft, the output The shaft further penetrates the inner peripheral side of the second nutating gear and the second non-nutating gear
- the motor according to one or more of the present invention, wherein the first side of the drive swash plate is in contact with the nutating gear through a thrust ball bearing, and the drive swash plate is opposite to the first side
- the second side is in contact with the housing through a thrust ball bearing.
- the motor according to one or more embodiments of the present invention, wherein the first side of the driving swash plate is in contact with the nutating gear through a thrust ball bearing, and the second side of the driving swash plate is passed through The thrust ball bearing is in contact with the second nutating gear.
- annular input mechanism is provided with a plurality of flanges on its inner wall, and the flanges extend radially from the axis of the output shaft for Position the drive swash plate.
- the motor according to one or more embodiments of the present invention, wherein the output shaft is connected to the nutating gear via a torque transmission member, and is connected to the non-nutating gear via a bearing.
- the motor according to one or more embodiments of the present invention, wherein the torque transmission component is a ball and cage universal joint, and the torque transmission component is connected to the nutating gear and the output shaft through an end face corrugated spline Connected.
- the reducer is a harmonic reducer
- the harmonic reducer includes: a rigid wheel fixedly connected to the housing; a flexible wheel arranged at the On the inner circumference side of the rigid wheel, the output shaft is fixedly connected to the flex wheel; and a wave generator is arranged on the inner side of the flex wheel and presses against the inner side of the flex wheel, the wave generator Connected to and driven by the ring input mechanism, wherein the wave generator is the active part, and the flexspline is the driven part.
- the motor according to one or more embodiments of the present invention, wherein the input mechanism is a rope drum or a cylindrical motor.
- Fig. 1A is a cross-sectional view of a built-in motor according to an embodiment of the present invention.
- Fig. 1B is an exploded view of the built-in motor of Fig. 1A.
- Fig. 2A is a perspective view of a nutating reducer according to an embodiment of the present invention.
- Fig. 2B is a side view of the nutating gear of the nutating reducer in Fig. 2A.
- Fig. 2C is a partial enlarged view of the nutating reducer in Fig. 2A.
- Fig. 2D is a schematic diagram of the meshing relationship of gears of a nutating reducer according to an embodiment of the present invention.
- Fig. 3 is a schematic diagram of the driving swash plate of the nutating reducer in Fig. 1.
- Fig. 4 is a cross-sectional view of a built-in motor according to another embodiment of the present invention.
- Fig. 5 is a cross-sectional view of a built-in motor according to another embodiment of the present invention.
- FIG. 1A is a cross-sectional view of the in-line motor 100 according to an embodiment of this document
- FIG. 1B is an exploded view of the in-line motor 100.
- the structure of the built-in motor 100 will be described in detail below with reference to FIGS. 1A and 1B.
- the motor 100 generally includes a housing 110, an input mechanism 120 and a reduction gear 130.
- the housing 110 includes a side wall 111 and a top wall 112 provided at one end of the side wall 111.
- the housing 110 defines an internal space 113 enclosed in the side wall 111 and the top wall 112.
- an input mechanism 120 is provided, and the input mechanism 120 is provided on the inner side of the side wall 111.
- the input mechanism 120 may include a stator 121 and a rotor 122, wherein the stator 121 is fixedly connected to the side wall 111, and the rotor 122 is fixedly connected to the deceleration device 130 (the active component of the deceleration device 130), thereby driving the deceleration device 130.
- the active part of the reduction gear is fixedly connected to the inner opening of the ring-shaped rotor 122, so that the active part of the reduction gear is formed to be embedded in the rotor 122. in.
- the deceleration device 130 decelerates the movement input from the input mechanism 120, and outputs the decelerated movement to other devices to be driven through the output shaft 150 connected to the driven part of the deceleration device 130.
- the deceleration device 130 has a substantially annular shape and has an opening at the center thereof.
- the output shaft 150 is positioned to pass through the central opening of the reduction gear 130 and is positioned in the central opening, and passes through the inner space 113 in the central axial direction of the annular side wall 111.
- One end of the output shaft 150 is positioned in the top wall 112 via the stop cover 114, and is connected to the top wall 112 through, for example, a sleeve 143 and a bearing 144, so that the output shaft 150 can rotate relative to the housing 110.
- the other end of the output shaft 150 is exposed from the housing 110 from the side opposite to the top wall 112 so as to be connected with other devices to be driven by the output shaft 150.
- the housing 110 may have a bottom wall opposite to the top wall 112, and the output shaft 150 is exposed from the bottom wall and connected to the bottom wall through a sleeve and a bearing, so that The output shaft 150 is positioned on the bottom wall and can rotate relative to the bottom wall.
- the built-in motor 100 thus constructed makes full use of the internal space of the motor 100.
- the input member 120 composed of the rotor 122 and the stator 121 is disposed on the side wall 111, and the active part of the deceleration device 130 is embedded in the radially inward space of the rotor 122, instead of inserting
- the conventional structure in which the deceleration device and the motor are separated and connected to each other through the input shaft greatly reduces the space occupied by the deceleration system with the deceleration device and the motor.
- the deceleration device 130 has a substantially annular shape, the output shaft 150 can be inserted in the central opening of the deceleration device 130 and penetrate the motor 100.
- This design makes the input member 120, the reduction gear 130 and the output shaft 130 of the motor 100 overlap each other in thickness, instead of the coaxially arranged mechanism of the motor, input shaft, reduction gear, and output shaft in the traditional structure, thereby significantly shortening the reduction
- the length of the system along the direction of the input/output shaft increases the stability of the deceleration system at work and improves the performance of the deceleration system.
- the circular input mechanism 120 may be a rope drum or a cylindrical motor, but the present invention is not limited to this, and may also be other input mechanisms with circular rotating parts.
- the deceleration device 130 may be a nutating decelerator.
- the present invention is not limited to this, and the deceleration device 130 may also be other deceleration devices having a ring shape, for example, a harmonic reducer.
- the reduction gear 130 is a nutating speed reducer
- the reduction gear 130 has a nutating gear 131, a non-nutating gear 132, and a drive swash plate 133.
- the input mechanism 120 is connected with the drive swash plate 133 to drive the drive swash plate 133 to rotate, so when the speed reduction device is a nutating reducer, the drive swash plate 133 is used as an active component.
- the driving swash plate 133 is in contact with the nutating gear 131 to drive the nutating gear 131 to perform a nutating motion along with the rotation of the driving swash plate 133.
- FIG. 2A shows a nutating gear 210 and a non-nutating gear 220 of a nutating reducer 200 according to an embodiment of this document, wherein the nutating gear 210 and the non-nutating gear 220 are respectively equivalent to FIGS. 1A and The nutating gear 131 and the non-nutating gear 132 in 1B.
- the nutating gear 210 is a face gear, that is, the tooth surface 230 of the nutating gear 210 is formed on one end surface of the nutating gear 210 instead of being formed on the outer circumference or the inner circumference of the nutating gear 210.
- the force on the gear with the tooth surface formed on the end surface of the gear during operation is spread over the entire thickness direction of the gear, because the gear has a better thickness in the thickness direction. Therefore, the gear with tooth surface formed on one side can effectively prevent the deformation caused during operation.
- the non-nutating gear 220 has a tooth surface 240 on one end surface thereof.
- the tooth surface 240 and the tooth surface 230 face each other and mesh with each other in a nutation transmission manner during operation.
- the number of teeth on the tooth surface 230 and the number of teeth on the tooth surface 240 generally differ by one tooth.
- the tooth surface 230 may have 1 tooth less than the tooth surface 240, or the tooth surface 230 may have 1 tooth more than the tooth surface 240.
- FIG. 2B shows a side view of the nutating gear 210.
- the straight line OP is placed along the tooth surface 230 around the center O.
- the surface formed by one revolution in the circumferential direction is called the indexing surface of the nutating gear 210, and the center O is the center point of the indexing surface.
- Any generatrix on the indexing surface of the nutating gear 210 (for example, the straight line PO in FIG. 2B) has an included angle ⁇ POO' with the central axis OO' of the nutating gear 210.
- the non-nutating gear 220 also has a similar indexing surface, and any generatrix on it also has an angle with its axis.
- the angle between the index surface and the axis of the gear depends on the number of teeth formed on the tooth surface. For example, for a gear with 45 teeth, the angle between the index surface and the axis is either greater than 90° or smaller than 90°.
- the index surface is formed as an inner conical surface with the center of the index surface concave toward the gear or a convex conical surface convex outward.
- the angle between the indexing surface and the axis is getting closer and closer to 90°, that is, as the number of teeth of the gear increases, the indexing surface is getting closer and closer to the plane.
- one of the nutating gear and the non-nutating gear is formed as an internal bevel gear, and the other gear is formed as an external bevel gear.
- the precise machining of internal bevel gears is very challenging.
- CNC machine tools are generally used for machining, which brings increased costs.
- at each instant during the nutation cycle of the nutation gear only a small part of the teeth between the two gears mesh with each other, and most of the teeth do not contact (for example, The part surrounded by dotted line B in Fig. 2A is the same).
- the traditional nutation reducer have the problems of small bearing capacity and unstable transmission.
- the inventor found that the indexing surfaces of the two gears in the nutation reducer are forcibly set to be roughly flat, independent of the number of teeth of the gears, which can significantly increase the number of teeth that mesh with each other during nutation.
- the angles between the respective indexing surfaces of the nutating gear 210 and the non-nutating gear 220 and the respective axes are both 88° to 91° , Specifically between 88° and 90°.
- the sum of the angles between the respective indexing surfaces of the nutating gear 210 and the non-nutating gear 220 and the respective axes is less than 180°.
- the indexing surface of one of the nutating gear 210 and the non-nutating gear 220 is a flat surface (that is, the included angle is 90°), and the indexing surface of the other gear is a slightly convex convex conical surface (that is, clamping The angle is greater than 88° and less than 90°), or both the nutating gear 210 and the non-nutating gear 220 are slightly convex convex conical surfaces.
- the nutating gear 210 is There will be more teeth meshing and transmission between the non-nutating gear 220 and each other.
- the nutating reducer 200 has simple machining processing and low manufacturing cost.
- FIG. 2C shows a partial enlarged schematic view of the nutation reducer 200 surrounded by the dashed line A in FIG. 2A. As shown in FIG. 2C, when the tooth surface 230 is partially meshed with the tooth surface 240, the part 231 of the tooth surface 230 and the part 241 of the tooth surface 240 are in contact with each other.
- the working tooth surface 241 of the nutating gear 220, and the other part 232 of the tooth surface 230 and the other part 242 of the tooth surface 240 are separated from each other, which are called the non-working tooth surface 232 and the non-nutating gear of the nutating gear 210 220 of the non-working tooth surface 242.
- the nutating gear 210 can perform a nutating motion. Under the action of the nutating motion of the nutating gear 210 and the meshing of the tooth surface 230 and the tooth surface 240, the nutating gear 210 and the non-chapting
- the movable gears 220 can rotate relative to each other.
- the nutation reducer 200 can decelerate the rotational motion input thereto, and output the decelerated rotational motion.
- the nutating gear 210 makes one rotation of the nutating gear, and the contacting working tooth surface 231 and the working tooth surface 241 contact each other in a sliding manner. Therefore, the nutating gear 210 only pushes the non-nutating gear 220 to rotate a small amount per nutation. Angle, so as to achieve a larger transmission ratio between the nutating gear 210 and the non-nutating gear 220. In the case where the nutating gear 210 and the non-nutating gear 220 differ by one tooth, the pin gear rotates by one tooth every time the nutating gear 210 rotates one revolution.
- FIG. 2D shows that the tooth surface 230 of the nutating gear 210 and the tooth surface 140 of the non-nutating gear 220 are in contact with each other at point P and engage in meshing transmission.
- the line PM shows the normal direction of the tooth surface 240 at point P
- the line PN shows that the non-nutating gear 220 is at point P when the tooth surface 230 is in contact with the tooth surface 240 at point P. Relative to the direction of movement of the nutating gear 210.
- the tooth surface 230 pushes the tooth surface 140 at point P to make the non-nutating gear 220 rotate in the Y direction, so the line PN is parallel In the Y direction.
- the tooth surface 240 forces the tooth surface 230 to move at point P, thereby forcing the non-nutating gear 220 to rotate in a direction opposite to the Y direction.
- the angle ⁇ formed between the line PM and PN is the pressure angle when the tooth surface 230 and the tooth surface 240 are in contact.
- the size of the pressure angle indicates the work efficiency between the tooth surface 230 and the tooth surface 240 when they are in contact (ie, transmission efficiency).
- transmission efficiency the work efficiency between the tooth surface 230 and the tooth surface 240 when they are in contact.
- ⁇ indicates the pressure angle when the tooth surface 230 and the tooth surface 240 are in contact
- ⁇ indicates the friction angle between the tooth surface 230 and the tooth surface 240.
- the friction angle is the inherent property of the tooth surface 230 and the tooth surface 240. It depends on the material used to make the nutating gear 210 and the non-nutating gear 220 and the lubricating material used, and it is generally between 3° and 5°. For example, if the friction angle between the tooth surface 230 and the tooth surface 240 is 3°, the pressure angle when the tooth surface 230 and the tooth surface 240 are in contact is preferably between 37° and 47°. The friction angle between the two is 5°, and the pressure angle when the tooth surface 230 and the tooth surface 240 are in contact is preferably between 35° and 45°.
- nutation reducer 200 with a specific index surface and pressure angle is described in conjunction with FIGS. 2A-2D, the conventional nutation reducer can also be used, and the present invention is not limited to this.
- FIG. 3 shows a schematic diagram of the driving swash plate 133 in the nutating reducer 130.
- Figure 3 omits other parts to make it clearer.
- the driving swash plate 133 is connected to the rotor 122 of the input mechanism 120 at its outer periphery, so that the input mechanism 110 can drive the driving swash plate 133 to rotate.
- the annular input mechanism 110 is formed with a plurality of flanges 123 on its inner peripheral side, and these flanges 123 extend radially inward from the inner peripheral side of the rotor 122, and the drive swash plate 133 is driven by a fastener 124 (For example, bolts) are connected to the flange 123.
- the output shaft 150 passes through the central opening of the drive swash plate 133 through the bearing 145, so that the output shaft 150 and the drive swash plate 133 rotate independently of each other.
- the drive swash plate 133 has a first side surface 136 and a second side surface 137, the first side surface 136 and the bottom wall 112 contact, for example, by using a thrust ball bearing 141 to abut the first side surface 136 to the bottom wall 112 , So that the drive swash plate 133 can rotate independently of the bottom wall 112 and always abuts against the bottom wall 112 during the rotation.
- the second side surface 137 of the driving swash plate 133 is inclined with respect to the plane 151, and the second side surface 137 and the plane 151 form an included angle ⁇ (ie, nutation angle).
- the plane 151 is perpendicular to the rotation axis 152 of the output shaft 150.
- the second side surface 137 is in contact with the end surface of the nutating gear 131 without a tooth surface.
- the driving swash plate 133 and the nutating gear 131 can be It rotates independently, and the nutating gear 131 always abuts on the second side surface 137 of the driving swash plate 133 during the rotation.
- the second side surface 137 of the driving swash plate 133 is inclined with respect to the plane 151, when the driving swash plate 133 is rotated, the nutation gear 131 abutting on the driving swash plate 133 will be on the drive swash plate 133.
- the nutation movement is driven by the inclined second side surface 137.
- the non-nutating gear 132 is fixed to the side wall 111.
- the non-nutating gear 132 may be further fixed to the inner side of the top wall.
- the top wall may not be provided.
- the end surface of the non-nutating gear 132 without a tooth surface may be used as a part of the housing to surround the internal space 113.
- the output shaft 150 passes through the central opening of the non-nutating gear 132 through the bearing 146 so that the output shaft 150 can rotate independently of the non-nutating gear 132.
- the input mechanism 120 drives the swash plate 133 to rotate, and the drive swash plate 133 further drives the nutating gear 131 to perform a nutating motion, so that the nutating gear 131 performs a nutating motion every time the input mechanism 120 rotates one circle.
- the nutating gear 131 and the non-nutating gear 132 Through the meshing transmission between the nutating gear 131 and the non-nutating gear 132, each time the nutating gear 131 performs a nutating motion, the nutating gear 131 and the non-nutating gear 132 relatively rotate at a reduced speed.
- the nutating gear 131 Since the non-nutating gear 132 is fixed, the nutating gear 131 performs a nutating motion relative to the non-nutating gear through the meshing transmission between the nutating gear 131 and the non-nutating gear 132.
- the output shaft 150 passes through the central opening of the nutating gear 131, and the output shaft 150 is connected to the central opening of the nutating gear 131 at its outer periphery, so that the nutating gear 131 further drives the output shaft 150 to rotate synchronously, so it is used as a reduction gear
- the nutating gear 131 serves as a driven member. In this way, the higher rotational movement of the input mechanism 120 can be decelerated to a lower rotational movement by the nutating reducer 130 and the decelerated rotational movement can be transmitted to the output shaft.
- the output shaft 150 is connected to the nutating gear 131 through a torque transmitting member 134 so as to transmit the rotational torque of the nutating gear 131 to the output shaft 150.
- the torque transmission component 134 may be a ball and cage universal joint or a Hooke hinge. Of course, it can also be other torque transmitting components, such as flexible components (such as bellows, corrugated membranes, and spring diaphragms). Compared with the torque transmission component of the ball cage or the Hooke hinge, the torque transmission component using the flexible component has a smaller volume, and the vibration between it and another component due to the nutating motion of the nutating gear is caused by the flexible component Absorption, thereby increasing the transmission stability.
- the torque transmission component 134 may be connected to the output shaft 150 through the corrugated end face spline to transmit torque. The present invention is not limited to this, and other connection methods may also be used.
- FIG. 4 shows a schematic diagram of a built-in motor 300 according to another embodiment of the present invention.
- the motor 300 has a structure similar to that of the motor 100.
- the motor 300 generally includes a housing 310, an input mechanism 320, and a deceleration device 330.
- the housing 310 includes an annular side wall 311.
- the housing 310 defines an internal space enclosed in the side wall 311.
- an input mechanism 320 having a ring shape is provided, and the input mechanism 320 has the same structure as the input mechanism 120 shown in FIGS. 1A and 1B, and will not be repeated here.
- the rotor 322 of the input mechanism 320 is coupled with the deceleration device 330 to drive the deceleration device 330.
- the deceleration device 330 decelerates the movement input from the input mechanism 320, and outputs the decelerated movement to other devices to be driven through the output shaft 350 connected to the deceleration device 330.
- the deceleration device 330 has a substantially annular shape and has an opening at the center thereof.
- the output shaft 350 is positioned to pass through the central opening of the reduction gear 330 and is positioned in the central opening, and passes through the inner space in the central axial direction of the annular side wall 311.
- the output shaft 330 is exposed from the housing 310 for connection with other devices to be driven by the output shaft 330.
- the reduction gear 330 is also a nutating reducer. However, the reduction device 330 is different from the reduction device 130 shown in FIGS. 1A and 1B in that the reduction device 330 has two nutating gears 331 and 334 and two non-nutating gears 332 and 335.
- the structures of the nutating gears 331, 334 and the non-nutating gears 332, 335 are the same as the nutating gear 131 and the non-nutating gear 132 shown in FIGS. 1A and 1B, and will not be repeated here.
- the outer circumference of the driving swash plate 333 is connected to the input mechanism 320 so that the driving swash plate 333 is driven by the input mechanism 320 to rotate.
- the output shaft 350 passes through the central opening of the drive swash plate 333 via the bearing 345, so that the output shaft 350 and the drive swash plate 333 can rotate independently of each other.
- the two side surfaces of the drive swash plate 333 respectively contact the end surfaces of the nutating gears 331 and 334 where tooth surfaces are not formed.
- the nutating gears 331, 334 abut on the driving swash plate 333 via thrust ball bearings 341 and 342, so that the driving swash plate 333 and the nutating gears 331, 334 can rotate independently, and during rotation
- the nutating gears 331 and 334 always abut on the side of the driving swash plate 333.
- Both side surfaces of the driving swash plate 333 are inclined with respect to a plane perpendicular to the central axis of the output shaft 350, and the two side surfaces of the driving swash plate 333 are at an included angle (ie, nutation angle) with the plane. Therefore, when the driving swash plate 333 rotates, the nutation gears 331 and 334 abutting on the driving swash plate 333 will simultaneously perform a nutating motion under the driving of the two inclined sides of the driving swash plate 133.
- the non-nutating gears 332 and 335 are fixed to the side wall 311.
- the end surfaces of the non-nutating gears 332 and 335 without tooth surfaces may be used as a part of the housing to surround the internal space.
- the output shaft 350 is positioned on the non-nutating gear 335 via the stop cover 312, and is further fixed on the side wall 311 In the defined internal space.
- the output shaft 350 passes through the central opening of the non-nutating gear 335 through a sleeve 343 and a bearing 344, for example, so that the output shaft 350 can rotate relative to the non-nutating gear 335.
- the output shaft 350 passes through the central opening of the non-nutating gear 332 through the bearing 346 so that the output shaft 350 can rotate independently of the non-nutating gear 332.
- the input mechanism 320 drives the swash plate 333 to rotate, and the drive swash plate 333 further drives the nutating gears 331 and 334 to perform a nutating motion, so that every time the input mechanism 320 rotates one revolution, the nutating gears 331 and 334 perform a nutating motion.
- the nutating gears 331, 334 and the non-nutating gears 332, 335 reduce speed The latter rotation speed performs relative rotation. Similar to the reduction gear 130 shown in FIGS.
- the nutation gears 331 and 334 will be driven by the meshing transmission between the nutation gear and the non-nutation gear.
- the nutating motion rotates at a decelerated speed with respect to the non-nutating gears 332 and 335 while rotating.
- the output shaft 350 passes through the central openings of the nutating gears 331, 334, and the output shaft 350 is connected to the central openings of the nutating gears 331, 334 at its outer periphery, so that the nutating gears 331, 334 simultaneously drive the output shaft 350 for synchronization Spin.
- the output shaft 350 is connected to the nutating gears 331 and 334 through torque transmitting members 336 and 337, respectively, so as to transmit the rotational torque of the nutating gears 331 and 334 to the output shaft 350.
- the torque transmitting members 336 and 337 have the same structure as the torque transmitting member 134 shown in FIGS. 1A and 1B, and will not be repeated here.
- the reduction gear 330 Compared with the reduction gear 130 of FIGS. 1A and 1B, the reduction gear 330 has two nutating gears and two non-nutating gears, so the transmission efficiency of the nutating reducer can be improved and energy loss can be reduced. At the same time, the symmetrical layout design can balance the axial force of the drive swash plate and improve the stability of the nutation reducer.
- FIG. 5 shows a cross-sectional view of an in-line motor 400 according to another embodiment.
- the motor 400 generally includes a housing 410, an input mechanism 420 and a deceleration device 430.
- the housing 410 includes a side wall 411 and a top wall 412 and a bottom wall 413 provided at both ends of the side wall 411 to surround the internal space 414.
- an input mechanism 420 is provided, and the input mechanism 420 is provided on the inner side of the side wall 411.
- the annular input mechanism 420 is further designed in a bowl-like shape.
- the deceleration device 430 decelerates the movement input from the input mechanism 420, and outputs the decelerated movement to other devices to be driven through the output shaft 450 connected to the output part of the deceleration device 430.
- the deceleration device 430 has a substantially annular shape and has an opening at the center thereof.
- the output shaft 450 is positioned to pass through the central opening of the reduction gear 430 and is positioned in the central opening, and passes through the inner space 414 in the central axial direction of the annular side wall 411.
- One end of the output shaft 450 is positioned in the top wall 412 via the stop cover 415, and is connected to the top wall 412 by, for example, a sleeve 443 and a bearing 441, so that the output shaft 450 can rotate relative to the housing 410.
- the other end of the output shaft 450 is connected to the bottom wall 413 through the bearing 442 and exposed from the bottom wall, so that the output shaft 450 can rotate relative to the housing 410.
- the speed reduction device 430 is a harmonic speed reducer
- the harmonic speed reducer 430 includes a rigid wheel, a flexible wheel and a wave generator.
- the rigid wheel is fixedly connected to the housing 410
- the flexible wheel is arranged on the inner peripheral side of the rigid wheel and is connected to the output shaft 450 so as to transmit the rotational motion decelerated by the deceleration device 430 to the output shaft 450.
- the wave generator is arranged on the inner peripheral side of the flexspline and is connected to the input mechanism 420 at its outer periphery, so that the input mechanism 420 can drive the wave generator to rotate.
- the output shaft 450 is inserted in the harmonic reducer 430 through the sleeve 444 and the bearing 445, so that the output shaft 450 can rotate independently of the wave generator and the input mechanism 420.
- the rigid wheel is a rigid gear with an inner ring gear
- the flexspline is a flexible gear with an outer ring gear.
- the wave generator is a component that makes the flexspline produce controllable elastic deformation.
- the wave generator forces the cross-section of the flexspline from a circular shape to an ellipse shape.
- the teeth near the two ends of the long axis are completely meshed with the teeth of the rigid wheel, while the teeth near the ends of the short shaft are completely meshed. Then it is completely disengaged from the rigid wheel, and the teeth of other sections are in a transitional state of meshing and disengagement.
- the built-in motor 400 thus constructed makes full use of the internal space 414 of the motor 400.
- the input member 420 is disposed on the annular side wall 411, and the deceleration device 430 is embedded in the further radially inward space of the input member 420, instead of separating the deceleration device from the motor and Through the traditional structure in which the input shafts are connected to each other, this greatly reduces the space occupied by the reduction system with the reduction gear and the motor.
- the deceleration device 430 has a substantially annular shape, the input shaft 430 can be inserted in the central opening of the deceleration device 430 and pass through the housing of the motor 400.
- This design makes the input part and output part of the motor 400 overlap each other, instead of the coaxially arranged mechanism of the motor, input shaft, reduction gear, and output shaft in the traditional structure, thereby significantly shortening the reduction system along the input/output shaft.
- the length of the deceleration system increases the stability of the deceleration system at work and improves the performance of the deceleration system.
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Abstract
Description
Claims (10)
- 一种内嵌有减速装置的电机,包括:壳体;输入机构,设置在所述壳体内,所述输入机构包括定子和转子,所述定子附接至所述壳体的内壁;减速装置,设置在所述壳体内,所述减速装置包括主动部件和从动部件,其中所述主动部件位于所述输入机构的转子内并与所述转子固接;以及输出轴,其由所述减速装置的从动部件驱动。
- 根据权利要求1所述的电机,其特征在于,所述减速装置为章动减速器,包括:章动齿轮,所述章动齿轮的一个端面形成有齿面;非章动齿轮,固定设置于所述壳体上,所述非章动齿轮的一个端面形成有齿面,其中所述非章动齿的形成有齿面的端面和所述章动齿轮的形成有齿面的端面彼此啮合;以及驱动斜盘,与所述输入机构相连并受所述输入机构驱动,所述驱动斜盘的第一侧抵靠至所述章动齿轮的未形成有齿面的另一端面;其中所述驱动斜盘是所述主动部件,并且所述章动齿轮是所述从动部件,并且所述驱动斜盘的所述第一侧相对于与所述输出轴的旋转轴垂直的平面倾斜设置,所述输出轴穿设在所述章动齿轮和所述非章动齿轮的内周侧,并与所述章动齿轮的内周侧固定连接。
- 根据权利要求2所述的电机,其特征在于,进一步包括第二章动减速器,所述第二章动减速器包括:第二章动齿轮,所述第二章动齿轮的一个端面形成有齿面;第二非章动齿轮,固定设置于所述壳体上,所述第二非章动齿轮的一个端面形成有齿面,其中所述第二非章动齿的形成有齿面的端面和所述第二章动齿轮的形成有齿面的端面彼此啮合;其中所述第二章动齿轮也是所述从动部件;并且所述驱动斜盘的与所述第一侧相对于第二侧与所述第二章动齿轮的未形成有齿面的另一端面接触,并且所述第二侧相对于与所述输出轴的旋转轴垂直的平面倾斜设置,所述输出轴进一步穿设在所述第二章动齿轮和所述第二非章动齿轮的内周侧,并与所述第二章动齿轮的内周侧固定连接。
- 根据权利要求2所述的电机,其特征在于,所述驱动斜盘的所述第一侧通过推力球轴承与所述章动齿轮接触,所述驱动斜盘的与所述第一侧相对的第二侧通过推力球轴承与所述壳体接触。
- 根据权利要求3所述的电机,其特征在于,所述驱动斜盘的所述第一侧通过推力球轴承与所述章动齿轮接触,所述驱动斜盘的所述第二侧通过推力球轴承与所述第二章动齿轮接触。
- 根据权利要求2或3所述的电机,其特征在于,所述环形输入机构在其内壁上设置有多个凸缘,所述凸缘从向所述输出轴的轴心径向延伸,用于定位所述驱动斜盘。
- 根据权利要求2或3所述的电机,其特征在于,所述输出轴经由扭矩传递部件与所述章动齿轮连接,并经由轴承与所述非章动齿轮连接。
- 根据权利要求7所述的电机,其特征在于,所述扭矩传递部件是球笼式万向节,并且所述扭矩传递部件通过端面波纹花键与所述章动齿轮和所述输出轴相连。
- 根据权利要求1所述的电机,其特征在于,所述减速器是谐波减速器,所述谐波减速器包括:刚轮,固定连接于所述壳体;柔轮,设置在所述刚轮的内圆周侧,所述输出轴与所述柔轮固定连接;以 及波发生器,设置在所述柔轮的内侧并与所述柔轮的内侧相互压紧,所述波发生器与所述环形输入机构连接并受所述环形输入机构的驱动,其中所述波发生器是所述主动部件,所述柔轮是所述从动部件。
- 根据权利要求1所述的电机,其特征在于,所述输入机构是绳筒或筒形电机。
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EP4273420A4 (en) * | 2021-12-22 | 2024-07-10 | Jiang Hong | PAIR OF GEARS AND NUTATION SPEED REDUCER |
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CN116044958A (zh) * | 2022-12-05 | 2023-05-02 | 浙江夏厦精密制造股份有限公司 | 一种减速器 |
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