CN103199650A - Three-phase inner rolling type meshing motor - Google Patents
Three-phase inner rolling type meshing motor Download PDFInfo
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- CN103199650A CN103199650A CN2013100814927A CN201310081492A CN103199650A CN 103199650 A CN103199650 A CN 103199650A CN 2013100814927 A CN2013100814927 A CN 2013100814927A CN 201310081492 A CN201310081492 A CN 201310081492A CN 103199650 A CN103199650 A CN 103199650A
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Abstract
The invention discloses a three-phase inner rolling type meshing motor. According to the three-phase inner rolling type meshing motor, a magnetic pole structure in which three stators drive one rotor is adopted, a coil is arranged on each stator, the three stators and the coils are arranged symmetrically in the radial direction, the rotor is arranged in the middle, a core shaft is fixedly installed in the center of the rotor, a crosshead shoe mechanism is connected with the rear end of the core shaft to restrain the spin motion of the rotor, an external gear is connected with the front end of the core shaft through a rolling bearing, the rotor can be driven to make revolution motion in a radial direction plane by controlling powering time and current direction of the coils properly, and the external gear is driven at the same time to be meshed with an inner gear ring fixed on a machine shell, and then the external gear drives an output shaft to make the spin motion through a hole pin restraining mechanism. The three-phase inner rolling type meshing motor is simple in structure, small in quantity of parts, easy to assemble, and big in output torque.
Description
Technical field
The present invention relates to rolling type meshing motor in a kind of three-phase, exactly, it is related to the magnetic field force produced between a kind of utilization stator and rotor, converts electrical energy into mechanical energy, and by the gearing motor of inside meshing gear speed reducer structure output torque, belong to the technical field of power driven equipment.
Background technology
Generally it is made up of in lightweight robotic joint driving mechanism in commercial Application servomotor with harmonic speed reducer, volume is larger, and cost is higher.In recent years, the reducing gear research integrated with motor progress is all achieved good progress by domestic and foreign scholars.For example, motor is merged with both harmonic wave speed reducing machines so that output torque increases and physical dimension is substantially reduced；Using the piezoelectricity cycloidal generator of the deceleration transmission principle engaged based on gear, it is the engagement by a pair of cycloid gears, the stretching motion of piezoelectric actuator is converted to the rotation of rotor, then the driving force exported by piezoelectric actuator promotes cycloidal generator to rotate and output torque.The speed reducing ratio of piezoelectricity cycloidal generator is its rotor and the ratio between the difference of the stator number of teeth and the number of teeth of rotor, and speed reducing ratio is very high.Meanwhile, because the friction loss of meshed transmission gear is small, transmission efficiency, thus piezoelectricity cycloidal generator with by the frictional force output slow-speed of revolution between rotor, the ultrasonic wave of high pulling torque, compared with harmonic motor, the former efficiency high, service life is longer.Simultaneously as the advantage of meshed transmission gear, a variety of engage gear is successively succeeded in developing with the low-speed high-torque motor that different types of driver is combined：Cycloidal generator, the bevel gear motor by air cylinder driven, the face gear motor by Driven by Hydraulic Cylinder, electromagnetism cycloidal generator and electromagnetism bevel gear motor for being driven by rubber deformation etc..
To sum up, above-mentioned various motors do not form integrated mechanism mostly, and structure is not still compact：Using cylinder and the motor of Driven by Hydraulic Cylinder, in addition to needing power driven equipment, in addition it is also necessary to which extra compressed air or hydraulic pressure is used as power source.Piezoelectricity or the motor of giant magnetostrictive material driving, then because the long stroke of its driver is too short (being only micron order), it is difficult to possess practical value.To meet the actual demand of stator movement stroke, also to increase a set of lever, to increase its long stroke.However, will install decelerator and its associated components for driven at low speed and the motor for loading larger occasion, which adds the component of drive device and weight, structure is too complicated, impracticable.
The content of the invention
It is an object of the invention to provide rolling type meshing motor in a kind of three-phase, using internal gear transmission mechanism as the slow-speed of revolution, the big torque of deceleration output block roller gearing motor, it is a kind of meshed transmission gear motor simple in construction, compact and practical, it is adaptable to which joint of robot etc. is to the conditional occasion of installing space.
Rolling type meshing motor is provided with the three-phase of the present invention：The stator of motor, winding, rotor, ring gear and external gear, the translation constraint mechanism being made up of mandrel, crosshead shoe, slider bracket and sliding block bonnet, the hole pin mechanism being made up of output shaft and external gear, and casing, cylindrical pins and the end cap at two ends；Wherein external gear is connected by bearing with mandrel, is engaged revolution motion by rotor banding moving mandrel and external gear and is engaged with ring gear so that external gear exports spinning motion, and drives output shaft to export spinning motion by hole pin mechanism, it is characterised in that：
The motor is provided with radially symmetrical 3 stators, winding and 1 rotor, rotor center is fixedly mounted with a mandrel, mandrel front end is packed in the brearing bore inlayed on external gear, the other end is provided with boss, groove on boss is engaged with the projection on crosshead shoe, and the raised of the crosshead shoe other end loads in the groove on slider bracket, and slider bracket is then covered after spiral shell consolidates sliding block, rotor can only make revolution motion under the constraint of mandrel, crosshead shoe and sliding block end cap, and be unable to rotation；After 3 stator coil windings are according to setting sequence power on, just driving rotor does the revolution motion of radial direction under crosshead shoe constraint, at the same time, rotor drives external gear to rotate together, external gear exports low speed, the rotation of big torque after being engaged with ring gear, simultaneously using the hole pin mechanism between output shaft and external gear, output shaft output is driven to rotate.
The motor is arranged symmetrically provided with 3 stators, 3 stators, and the half slot at two ends is relative two-by-two, and centre is radially fixed through cylindrical pins formation stator, by the shaft shoulder formation positioning in the projection and rear end cap on casing inner wall on axial direction.
The motor, which is provided with the middle of a rotor, rotor, the mandrel that a semi-circular cross-section is fixedly mounted with semi-circular through hole, hole, and mandrel one end is provided with boss, and the other end installs shaft block ring fixed rotor.
Motor mandrel rear end boss is provided with groove, and groove is engaged with the projection on a crosshead shoe, and in the groove on raised loading slider bracket on the crosshead shoe other end, slider bracket is fixed at after sliding block and covered；Mandrel, crosshead shoe, slider bracket and sliding block bonnet formation cross slides so that rotor can only move radially and be unable to spinning motion；In the brearing bore installed on the front loaded external gear of mandrel.
Described output shaft one end is fixedly mounted with the bearing hole on motor front end cover, 4 straight pins are evenly equipped with the output shaft rear end card, it is respectively charged into 4 holes on external gear, the semidiameter of hole and straight pin is equal to the revolution-radius of external gear, external gear the rotary motion of itself can be passed into output shaft to export, and output shaft is without limitation on the revolution motion of external gear.
The casing is outside square inner circular through hole component, and its inwall is packed in groove provided with 3 semi-circular recesses, cylindrical pins.
The end cap is the square tabular component corresponding with casing, and inner side has round boss to coordinate with casing inner wall, and centre is provided with the bearing block hole for being fixedly mounted with output shaft, and surrounding is uniformly distributed 3 blind holes, for being fixedly mounted with cylindrical pins.
The cylindrical pins have 3, are each passed through 3 stators and the semi-circular hole on ring gear, and the two ends of these cylindrical pins are packed in the blind hole on the end cap at casing two ends respectively, and 3 cylindrical pins secure the position of stator and ring gear in sagittal plane.
Described external gear one end is boss structure, and raised head face is provided with annular groove, and the other end is through hole, and inside is fixedly mounted with bearing.
Uniform 3 semicircle orifices of ring gear surrounding, are fixedly mounted with 3 straight pins to ring gear radial positioning respectively.
The present invention is a kind of slow-speed of revolution, rolling type meshing motor in the three-phase of big torque, and motor is really merged into one with reductor, but also with following innovation advantages：
Electric machine structure and its simple, translation member only has 4, substantially reduces inertia, has simplified mechanism, reduces processing and assembly difficulty.
Brief description of the drawings
Fig. 1 is the inside composition structure chart of rolling type meshing motor in three-phase of the present invention；
Fig. 2,3,4 (A), (B) are the magnetic pole attracting mode and reductor engaged transmission schematic diagram of gearing motor of the present invention respectively；
Fig. 5 is the axial sectional view of rolling type meshing motor in three-phase of the present invention；
Fig. 6 (A), (B) are the front view and axonometric drawing of the ring gear in gearing motor of the present invention respectively；
Fig. 7 (A), (B), (C) are the front view and axonometric drawing of the external gear in gearing motor of the present invention respectively；
Fig. 8 (A), (B) are the stator front view and axonometric drawing in gearing motor of the present invention respectively；
Fig. 9 (A), (B) are the rotor front view and axonometric drawing in gearing motor of the present invention respectively；
Figure 10 (A), (B) are the output shaft front view and axonometric drawing in gearing motor of the present invention respectively；
Figure 11 (A), (B) are the mandrel front view and axonometric drawing of gearing motor of the present invention respectively；
Figure 12 (A), (B) are the crosshead shoe front view and axonometric drawing of gearing motor of the present invention respectively；
Figure 13 (A), (B) are the slider bracket front view and axonometric drawing of gearing motor of the present invention respectively；
Figure 14 (A), (B) are the sliding block bonnet front view and axonometric drawing of gearing motor of the present invention respectively；
Figure 15 (A), (B) are the front view and axonometric drawing of the casing of gearing motor of the present invention respectively；
Figure 16 (A), (B) are the front view and axonometric drawing of the drive end bearing bracket of gearing motor of the present invention respectively；
Figure 17 (A), (B) are the front view and axonometric drawing of the rear end cap of gearing motor of the present invention respectively.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is described in further detail with reference to the accompanying drawings and examples.
Referring to Fig. 1~Figure 17, the structure composition of rolling type meshing motor in three-phase of the present invention is introduced：It is that motor and speed reducer becomes one, and can export with certain self-locking, braking and directly the slow-speed of revolution, the motor of high pulling torque.The motor is provided with：The stator 9 of motor, winding 8, rotor 1, ring gear 7, external gear 5 and the output shaft 3 of gear reduction unit, mandrel 12 constitute translation constraint mechanism with crosshead shoe 13 and slider bracket 14, and support section is casing 10, drive end bearing bracket 6 and rear end cap 11.Borehole jack is on the straight pin of the rear end of output shaft 3 wherein on external gear 5, by the relative revolution motion with ring gear 5 of external gear 7 so that external gear 5 drives the output of output shaft 3 low speed, the spinning motion of big torque；Three two ends of cylindrical pins 16 through ring gear and stator upper half circular hole are all packed in the hole on electric motor end cap 6,11；Output shaft 3 is installed in the bearing 4 at the center of motor front end cover 6, and bearing 4 is then arranged in the bearing block on end cap 6.After stator winding 8 is according to setting sequence power on, its rotor 1 is diametrically moved, while doing radial direction revolution motion under the constraint of crosshead shoe 13 with moving mandrel 12；At the same time, mandrel 12 drives external gear 5 to do revolution motion together and engaged with fixed ring gear 7, drives output shaft 3 to export low speed by external gear 5, the rotation of big torque is rotated；Meanwhile, in motion process, the no spinning motion of rotor 1, only revolution motion make the magnetic pole strength of stator and rotor be parallel to each other all the time, air gap change is uniform, facilitates motor control.
Referring to Fig. 1 and Fig. 2, the structure composition and operation principle of the electromagnetism winding in motor of the present invention are introduced：
Motor of the present invention is provided with three stators 9 (referring to Fig. 8) and a rotor 1 (referring to Fig. 9), and coil 8 is wound on the high spot at the middle part of stator 9.Three stators 9 symmetrically stagger 120 degree (referring to Fig. 2) in sagittal plane, the powering order and the sense of current of control coil winding, driving rotor 1 diametrically → lower-left → bottom right → on order loopy moving；Subdivide circuit, it becomes possible to realize rotor 1 and the revolution motion around electrical axis work at the uniform velocity.
The mandrel 12 of motor of the present invention is connected firmly by shaft block ring with rotor 1, the front end of mandrel 12 is packed in the endoporus of the upper bearing (metal) 4 of external gear 5 simultaneously, when rotor 1 is doing revolution motion, will be with moving mandrel 12 and the translational motion together of external gear 5, external gear 5 then produces gear motion with fixed ring gear 5 simultaneously, according to Principles of Gear Connection, external gear 5 will also export the spinning motion of low speed while revolution, and the borehole jack of the end face of external gear 5, on the straight pin on output shaft 3, the spinning motion of external gear 5 is exported by output shaft 3.
Referring to each accompanying drawing, lower mask body introduces the structure composition of each part of motor of the present invention, and its part includes：The rotor 1 of motor, stator 9, winding 8, cycloid external gear 5 and ring gear 7, mandrel 12, shaft block ring 2, rolling bearing 4, output shaft 3, cylindrical pins 16, casing 10, end cap 6 and 11, crosshead shoe 13 and slider bracket 14, sliding block bonnet 15 etc..
The rotor 1 of motor is trident component (referring to Fig. 9), and the 12B sections that centre is provided with the middle of semicircle orifice 1A, mandrel 12 load in semicircle orifice 1A and connected as one by shaft block ring 2 and rotor 1；Rear end boss is provided with groove 12C on mandrel 12, the bossing 13A loaded in groove 12C on the end face of crosshead shoe 13, the raised 13B of crosshead shoe other end loads in the groove 14A of slider bracket 14, simultaneously, trip bolt is screwed in screwed hole 14B through the hole 15A on sliding block bonnet 15, slider bracket 14 is connected firmly with sliding block bonnet 15 together with；Screwed in the hole 15B covered after sliding block through screw in the screwed hole 11B on bonnet 11, sliding block bonnet is connected firmly with motor rear cover 11；Under the crosshead shoe constraint that mandrel 12, crosshead shoe 14B, slider bracket 14 and sliding block bonnet 15 are constituted, the rotor 1 makees revolution translation in sagittal plane relative to electric machine main shaft axis, and restricted from making spinning motion.
Inventions have been l-G simulation test, every design parameter of the experimental prototype and the performance of realization are：The ring gear number of teeth：65, the external gear number of teeth：64, gearratio：64: 1, motor height 40mm, motor height 40mm, motor overall length 37.5mm, theoretical output torque is reachable：2Nm.Although experimental prototype, which still has some, needs improvements, overall result of the test is successful, realizes goal of the invention.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements done etc. should be included within the scope of protection of the invention.
Claims (10)
1. rolling type meshing motor in a kind of three-phase, is big torque, the motor of the slow-speed of revolution that motor and speed reducer becomes one, it is characterised in that：
The motor is diametrically arranged with three stators, and three stator intermediate arrangements, one rotor, stator and rotor are all made up of soft magnetic materials.Rotor shapes are Trident Type, and center, which has, passes through a mandrel in semicircle type hole, hole, the boss of mandrel shaft rear end and the back-up ring of front end fix rotor axial；Groove is provided with the rear end boss of mandrel, is engaged with the bossing on a circular cross-shaped sliding block, the fit depressions on the bossing and slider bracket of crosshead shoe opposite side, slider bracket is connected firmly by screw and covered after sliding block；Mandrel under the constraint of crosshead shoe and slider bracket, can only diametrically make plane motion with rotor, and can not make autobiography motion；The front end of mandrel is packed in the endoporus of 1 rolling bearing, bearing outer ring is packed in external gear back-end central hole, 4 holes are provided with external gear, through straight pin fixed on an output shaft rear end face in each hole, both form hole pin constraint mechanism, and external gear can make revolution motion relative to output shaft and can not do rotation movement；Stator is that a long cylinder pin is passed through between semi-circular intermediate projections structure, each two stator, and each pin is also cross end face of ring gear upper half circular hole, and pin two ends are arranged in the blind hole on motor front and rear cover；Stator intermediate raised portion is provided with winding, and after winding is powered up, rotor is moved by electromagnetic force, while being moved with moving mandrel and external gear；After three stator winding are powered up according to setting order and the sense of current, rotor will make revolution motion under the constraint of crosshead shoe in sagittal plane, at the same time, rotor drives external gear to be meshed with the ring gear connected firmly on casing, and external gear passes through hole pin constraint mechanism drive output shaft output low speed, the rotation of big torque.
2. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：The stator is semi-circular Intermediate Gray bulge-structure, and annular two end, which respectively has, install winding in a semicircle groove, intermediate projections, after winding is powered, and the electromagnetic force driving rotor of generation is radially moved in motor.
3. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：The rotor is trident shape, is made up of silicon steel plate stacking, and rotor center is provided with semicircle type hole.
4. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：The mandrel and rotor engagement section radial section are semi-circular, and boss is provided with close to motor rear portion one end, and are provided with table top straight trough.
5. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：The external gear axial rearward end side center have installed in hole, hole rolling bearing and mandrel front end to cooperatively form rotation is secondary to be connected.
6. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：External tooth wheel shaft one end, which has on cylinder boss, raised head face, annular groove, for storing lubricating oil.
7. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：It is square on the outside of the casing, inner side is to have 3 half slots and 3 cylindrical pins to coordinate on circular through hole component, inwall axial direction.
8. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：Respectively there are loading cylindrical pins in 3 blind holes, hole on the inside of forward and backward end cap.
9. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：The rear end of output shaft is dish-type, upper 4 straight pins of setting.
10. rolling type meshing motor in three-phase according to claim 1, it is characterised in that：End face of ring gear upper rim is evenly equipped with loading long cylinder pin in 3 semicircle orifices, hole, for the radially fixed of ring gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100814927A CN103199650A (en) | 2013-01-05 | 2013-03-14 | Three-phase inner rolling type meshing motor |
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| CN201310006432 | 2013-01-05 | ||
| CN201310006432.9 | 2013-01-05 | ||
| CN2013100814927A CN103199650A (en) | 2013-01-05 | 2013-03-14 | Three-phase inner rolling type meshing motor |
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| CN103199650A true CN103199650A (en) | 2013-07-10 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103490555A (en) * | 2013-09-24 | 2014-01-01 | 许昌学院 | Single-eccentric-shaft-type meshing motor |
| WO2015109470A1 (en) * | 2014-01-23 | 2015-07-30 | 马勤荣 | Absolute torque reaction power device |
| CN106941295A (en) * | 2017-05-04 | 2017-07-11 | 郑州轻工业学院 | A kind of mechanism for weakening torque ripple of permanent-magnet motor |
| CN112510908A (en) * | 2020-04-26 | 2021-03-16 | 韩建辉 | Quick-start excitation efficient alternating current motor |
| CN114222060A (en) * | 2021-11-29 | 2022-03-22 | 新思考电机有限公司 | Output assembly, optical drive device and security equipment |
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2013
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103490555A (en) * | 2013-09-24 | 2014-01-01 | 许昌学院 | Single-eccentric-shaft-type meshing motor |
| CN103490555B (en) * | 2013-09-24 | 2015-07-29 | 许昌学院 | A kind of single eccentric shaft formula engagement motor |
| WO2015109470A1 (en) * | 2014-01-23 | 2015-07-30 | 马勤荣 | Absolute torque reaction power device |
| CN106941295A (en) * | 2017-05-04 | 2017-07-11 | 郑州轻工业学院 | A kind of mechanism for weakening torque ripple of permanent-magnet motor |
| CN106941295B (en) * | 2017-05-04 | 2018-06-29 | 郑州轻工业学院 | A kind of mechanism for weakening torque ripple of permanent-magnet motor |
| CN112510908A (en) * | 2020-04-26 | 2021-03-16 | 韩建辉 | Quick-start excitation efficient alternating current motor |
| CN114222060A (en) * | 2021-11-29 | 2022-03-22 | 新思考电机有限公司 | Output assembly, optical drive device and security equipment |
| CN114222060B (en) * | 2021-11-29 | 2023-12-26 | 新思考电机有限公司 | Output assembly, optical driving device and security equipment |
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Inventor after: Ding Ruihua Inventor after: Li Ruihua Inventor after: Ge Xinfeng Inventor after: Zhang Yuanmin Inventor after: Zhao Zhongbiao Inventor before: Zhao Zhongbiao Inventor before: Ding Ruihua Inventor before: Li Ruihua Inventor before: Ge Xinfeng Inventor before: Zhang Yuanmin |
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