CN102808721B - Cycloid hydraulic motor structure - Google Patents

Abstract

The invention relates to motor technology and aims to provide a cycloidal hydraulic motor structure. The output shaft of the motor runs through the front end cover, wear plate, cycloidal gear meshing structure, auxiliary flow plate and main flow plate, and then connected to the rear end cover. The bottom end and the middle part of the shaft are respectively fixed on the rear end cover and the front end cover through bearings; the epicycloid of the epicycloid gear meshes with the inner circle of the floating outer stator through the outer circle of the meshing roller, and the outer circle of the floating outer stator The circle and the inner circle of the outer fixed disk are partially meshed through the outer circle of the anti-rotation roller, the outer circle of the anti-rotation ball is tangent to the groove of the outer fixed disk, and the epicycloid gear is directly connected with the output shaft of the motor through a spline. The invention greatly simplifies the structure of the traditional cycloidal motor, so that the axial dimension of the cycloidal motor is significantly reduced; the oil pressure part of the cycloidal motor can perform a 360° rotary motion, and can also achieve smooth forward and reverse rotation switch.

Description

A cycloidal hydraulic motor structure

technical field

The invention relates to motor technology, in particular to the structure of a cycloidal hydraulic motor. In addition to meeting the low-speed and high-torque characteristics of the traditional cycloidal hydraulic motor, the motor can also greatly reduce the axial size of the cycloidal hydraulic motor and make the structure more compact. .

Background technique

Nowadays, manipulators can be seen everywhere, whether in scientific investigation sites or industrial production sites. The manipulator has powerful functions and can perform various complex operations. Hydraulic manipulators occupy a large proportion in all kinds of manipulators. The rotation and swing of each joint of the hydraulic manipulator are realized by hydraulic motors and cylinders.

With its large output power and compact structure, hydraulic manipulators are widely used in harsh working environments. The hydraulic motor, which is usually used as the actuator of the rotary motion of the wrist joint of the manipulator, not only requires a high torque output but also requires a low speed. Although low-speed high-torque motors that are widely used today can output relatively high torque, their structural size is relatively large and their low-speed performance is not good enough. The cycloidal hydraulic motor can reliably output a large torque at a stable low speed. These characteristics make the cycloidal motor suitable for use as the actuator for the continuous rotation of the manipulator.

However, the existing cycloidal motor, whether it is the shaft distribution type or the end face distribution type, uses a spline coupling to eliminate the revolution of the cycloidal rotor and retain the output mode of rotation, and this mechanical structure greatly increases the speed of the cycloidal motor. axial dimension. As an actuator applied to the wrist joint of the manipulator to provide rotational power, the excessively large axial size of the motor undoubtedly reduces the movement space of the manipulator. At the same time, no matter in use or in vision, the manipulator becomes more cumbersome and not flexible enough. Therefore, it is an urgent problem to be solved whether to design a hydraulic cycloid motor with a smaller axial size so that the wrist joint of the hydraulic manipulator can be short and compact.

There are many manufacturers and product models of orbital motors at home and abroad. However, the structure of the orbital motors is similar, and there is no finished motor that meets the needs of the manipulator wrist joint at low speed and high torque and has a small axial dimension.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a novel cycloidal hydraulic motor structure. The present invention proposes the conception of the floating type high-voltage cycloidal hydraulic motor with end-face distribution and outer stator, and develops it. The cycloid hydraulic motor is a new type of cycloid hydraulic motor with different mechanical structure, flow distribution scheme and motion mode.

For solving technical problem, solution of the present invention is:

A cycloidal hydraulic motor structure is provided, including a motor output shaft; the motor output shaft runs through a front end cover, a wear-resistant plate, a cycloidal gear meshing structure, an auxiliary distribution plate and a main distribution plate, and is connected to the rear end cover, and the main flow distribution plate is connected to the rear end cover. The outer part of the disc is sleeved with a spacer ring of the main distribution disc; the bottom end and the middle part of the motor output shaft are respectively fixed on the rear end cover and the front end cover through bearings; Linear gears, meshing rollers, floating outer stators, anti-rotation rollers and external fixed disks; among them, the epicycloid of the epicycloid gears meshes with the inner circle of the floating outer stator through the outer circle of the meshing rollers, and the floating type The outer circle of the outer stator and the inner circle of the outer fixed disk are partially meshed through the outer circle of the anti-rotation roller, the outer circle of the anti-rotation ball is tangent to the groove of the outer fixed disk, and the epicycloidal gear is connected to the output shaft of the motor through a spline directly connected.

In the present invention, the front end cover, the wear plate, the outer fixed plate, the auxiliary flow distribution plate, the spacer ring of the main flow distribution plate and the rear end cover are fastened and connected by bolts.

In the present invention, three oil holes communicating with the main distribution plate are provided on the rear end cover, and are respectively connected to the oil supply circuit through oil pipes; the three oil holes are respectively an oil inlet, an oil outlet and an oil drain.

In the present invention, the oil supply surface of the main flow plate is attached to the rear end cover, the oil distribution surface of the main flow plate is attached to the oil supply surface of the auxiliary flow plate; the oil distribution surface of the auxiliary flow plate is connected to the epicycloid gear and the floating The cavities formed by the meshing of the external stators are connected. The oil enters the oil supply surface of the main distribution plate, and then enters the oil supply surface of the auxiliary distribution plate from the oil distribution surface of the main distribution plate, and finally the oil enters the epicycloid gear and the floating outer stator from the oil distribution surface of the auxiliary distribution plate Engagement cavity between.

In the present invention, a seal is provided between the output shaft of the motor and the front end cover; a seal is provided between the fixing bolt and the rear end cover. The motor output shaft and the end cover are sealed with an O-ring, and the rest of the contact parts are also sealed with an O-ring.

In the present invention, the bearings between the motor output shaft and the rear end cover and front end cover are deep groove ball bearings.

The hydraulic oil enters the meshing cavity of the epicycloid gear through the oil pipe, the epicycloid gear performs rotational motion, the floating outer stator performs translational motion, and the motor output shaft is connected with the epicycloid gear through a spline to output speed and torque.

The beneficial effects of the present invention are:

1. As a result, the present invention greatly simplifies the structure of the traditional cycloidal motor, so that the axial dimension of the cycloidal motor is significantly reduced;

2. The oil pressure part of the cycloidal motor used in the present invention can perform 360° rotary motion, and can also realize smooth switching between forward and reverse.

Description of drawings

Fig. 1 is a schematic sectional view of the present invention;

Fig. 2 is a structural diagram of the meshing part of the epicycloid gear;

Fig. 3 is the outline drawing of the product in Fig. 1;

Fig. 4 is a right side view of the product in Fig. 3 .

Detailed ways

The present invention will be described in more detail below in conjunction with accompanying drawing:

Using the structure of a six-tooth epicycloid gear as the description object, combined with Figure 1, the present invention consists of an epicycloid gear 1, meshing rollers 2, floating outer stator 3, anti-rotation rollers 4, outer fixed disk 5, rear end cover 6. The main distribution plate 7, the main distribution plate spacer 8, the auxiliary distribution plate 9, the wear plate 10, the deep groove ball bearing 11, the motor output shaft 12, the sealing material 13, the front cover 14, and the fixing bolt 15; the rear end The oil pipe joint on the cover 6 is connected with the rear end cover 6 through threads, and the fixing bolt 15 is connected with the front end cover 14 through threads; the angular contact ball bearings 11 are respectively installed in the front and rear end covers 6 and the rear end cover 14, and the sealing material 13 is installed In the front end cover 14, the motor output shaft 12 is connected with the epicycloid gear 1 and is in contact with the deep groove ball bearing 11 at the same time; the oil supply surface of the main distribution plate 7 is attached to the rear end cover 6; The oil surface is in close contact with the oil supply surface of the auxiliary flow plate 8; the oil distribution side of the auxiliary flow plate 8 is connected with the cavity formed by the meshing of the epicycloid gear 1 and the floating outer stator 3.

2, the epicycloid of the epicycloid gear 1 meshes with the inner circle of the floating outer stator 3 through the outer circle of the meshing roller 2; the outer circle of the floating outer stator 3 and the inner circle of the outer fixed disk 5 pass through the anti The outer circle of the rotating roller 4 is partially meshed; the outer circle of the anti-rotation ball 4 is tangent to the groove of the outer fixed disk 5; The key teeth mesh; the outer fixed plate 5, the rear end cover 6, the main distribution plate spacer 8, the wear-resistant plate 10, and the front end cover 14 are connected by fixing bolts 15.

Claims (1)

1. a cycloid hydraulic motor structure, comprises motor output shaft; It is characterized in that, motor output shaft is connected to rear end cover, the sheathed main thrust plate spacer ring in outside of main thrust plate after running through front cover, Wear resistance disk, cycloidal gear meshing engagement structure, auxiliary thrust plate and the main thrust plate arranged successively; The bottom of motor output shaft and middle part are fixed on rear end cover and front cover respectively by bearing;

Described cycloidal gear meshing engagement structure comprises: epicycloidal gear sheathed successively from inside to outside, engagement roller, float type external stator, anti-rotation roller and extenal fixation dish; Wherein, the epicycloid of epicycloidal gear is engaged by the cylindrical engaging roller with the inner circle of float type external stator, the cylindrical of float type external stator engages with the cylindrical local of the inner circle of extenal fixation dish by anti-rotation roller, the cylindrical of anti-rotation ball and the groove of extenal fixation dish tangent, epicycloidal gear is directly connected with motor output shaft by spline;

Described front cover, Wear resistance disk, extenal fixation dish, auxiliary thrust plate, main thrust plate spacer ring and rear end cover realize being fastenedly connected by bolt;

Rear end cover is provided with 3 oilholes communicated with main thrust plate, and is connected to oil supply loop respectively by oil pipe; 3 oilholes are respectively filler opening, oil outlet and drain tap;

Fitting for pasta and rear end cover of main thrust plate, point pasta of main thrust plate and fitting for pasta of auxiliary thrust plate; Point pasta of auxiliary thrust plate and epicycloidal gear and the float type external stator cavity volume formed that is meshed is connected;

Sealing is provided with between motor output shaft and front cover; Sealing is established between fixing bolt and rear end cover;

Described motor output shaft and the bearing between rear end cover and front cover are deep groove ball bearings.