CN108400676A - Secondary restraint formula decelerating motor - Google Patents
Secondary restraint formula decelerating motor Download PDFInfo
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- CN108400676A CN108400676A CN201810180571.6A CN201810180571A CN108400676A CN 108400676 A CN108400676 A CN 108400676A CN 201810180571 A CN201810180571 A CN 201810180571A CN 108400676 A CN108400676 A CN 108400676A
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- China
- Prior art keywords
- level
- frustum
- cone
- internal gear
- shaft
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Classifications
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of secondary restraint formula decelerating motors, including motor and retarder, retarder includes primary speed-down transmission mechanism and double reduction transmission mechanism, primary speed-down transmission mechanism includes power input shaft, level-one driving gear and level-one driven gear, double reduction transmission mechanism includes power output shaft, two level external gear and two level internal gear disc, is provided between level-one driven gear and two level internal gear disc for driving two level internal gear disc to revolve round the sun around power output shaft and driving the eccentric drive component of two level external gear rotation；This invention removes the rotations of two level internal gear disc, internal gear pair is revolved round the sun by two level internal gear disc and transmits movement and power, have the characteristics that transmission ratio is big, transmission stiffness is big, by clockwork spring so that gearratio of cycloid axle formation and the frustum of a cone on constraint axis are fitted close always with two level internal gear disc conical bore, realize from the gap function that disappears.Structure of the invention is compact, transmission ratio is big, transmission stiffness is big, can be applied to the fields such as joint of robot.
Description
Technical field
The present invention relates to a kind of decelerating motor, more particularly to the two level few teeth difference that a kind of precision is higher, compact-sized is slowed down
Motor.
Background technology
It is higher and higher to the performance requirement of power source with being constantly progressive for science and technology, especially led in robot
Domain, structure size is limited, load is big, operating mode is complicated, transmission accuracy requirement is high.Joint of robot mainly by selecting respectively at present
Determine the form that retarder and motor assemble again, common retarder is harmonic speed reducer and RV retarders.Harmonic speed reducer due to
There are deformation of flexible wheel, and flexbile gear fatigue, poor, the not impact resistance of rigidity easily occurs, and application field is limited；RV retarders are due to crank
Make eccentric motion, bearing of the crank pin stress is big, and RV reducer structures are complicated, and processing requires high.And routine decelerating motor is general
Relatively low all over slowing down, structure size is big, is not suitable for joint of robot.Existing speed reducer can not eliminate in operational process because
The gap generated is worn, can be declined using a period of time precision.
Therefore a kind of decelerating motor is needed, with big retarding ratio, compact-sized, transmission stiffness is high, simple in structure, meets
The performance requirement of the devices such as joint of robot, space mechanism.
Invention content
In view of this, it is an object of the invention to provide a kind of secondary restraint formula decelerating motor, useless additional movement is avoided to deposit
There is big retarding ratio, disappear gap certainly, and transmission stiffness is high, compact-sized, meets the property of the devices such as joint of robot, space mechanism
It can demand.
The secondary restraint formula decelerating motor of the present invention, including motor and retarder, the motor shaft of the motor pass through locking
The power input shaft of ring and retarder connects, and the retarder includes the primary speed-down transmission mechanism and two being axially set up in parallel
Grade reduction gearing mechanism, primary speed-down transmission mechanism include power input shaft, are driven the level-one active for being coated at power input shaft
Gear and the level-one driven gear engaged with level-one driving gear, double reduction transmission mechanism include power output shaft, are driven outside
Be placed on power output shaft two level external gear and eccentric internal messing in the two level internal gear disc of two level external gear, the level-one is driven
It is provided between gear and two level internal gear disc for driving two level internal gear disc to revolve round the sun around power output shaft and driving two level external gear
The eccentric drive component of rotation, the eccentric drive component include constraining axis and eccentric wheel, in one end transmission of the constraint axis
It is placed on level-one driven gear, the eccentric wheel of other end fixed jacket is provided with drive hole, the eccentric wheel in two level internal gear disc
Inner sleeve drive hole, the both ends of the constraint axis is driven to extend the shell that simultaneously rotational support is installed on retarder, the eccentric drive
Component and level-one driven gear are circumferentially respectively provided with multiple.
Further, the inner circle at the drive hole both ends is the first inner small and outside big circular conical surface, further includes sliding axially
And the circumferentially fixed frustum of a cone for being coated at constraint axis, the eccentric wheel and the frustum of a cone are located at two inner end of drive hole, the circle
The outer circle of frustum and the outer circle of eccentric wheel form the second inner small and outside big circular conical surface, and the frustum of a cone is provided with for making circular cone
Platform close to eccentric wheel axial pre tightening force, and the frustum of a cone under axial pretightening power drive so that the first circular conical surface and corresponding the
It is squeezed in an axial direction between two circular conical surfaces.
Further, further include pre-tightening mechanism for providing the axial pre tightening force, the pre-tightening mechanism includes being fixed on
The housing into rotation of the frustum of a cone is installed in the actuating sleeve, the clockwork spring for driving actuating sleeve to rotate and driving of shell and is placed on
Pretension bolt in actuating sleeve, the front end of the pretension bolt axially across the frustum of a cone and with the screw thread that is set on eccentric wheel
Hole is threadedly coupled.
Further, the retaining ring is made of opening annulus and bolt, and motor shaft is axially grooved body, described to subtract
It is placed in motor shaft in the power input shaft of fast device, makes opening annulus reducing by screwing bolts, and then drive motor shaft becomes
Diameter realizes that power transmits to make motor shaft be fitted close with reducer power input shaft by frictional force.
Further, the power input shaft of the retarder is embedded in by deep groove ball bearing is shaped in power output
In the same axle bed set of shaft rear end, power input, output shaft are arranged in by single deep groove ball bearing on babinet, to constitute two
End support.
Further, it is integrally formed between the eccentric wheel and constraint axis.
Further, the constraint axis arranges that deep groove ball bearing is mounted on reducer shell by both ends.
Further, it is 4 that the constraint axis is evenly arranged in circumferencial direction.
Further, the actuating sleeve outer circle forms axial limiting slot, and the actuating sleeve rotates inner sleeve by axial limiting slot
In shell, the end of actuating sleeve forms the driver slot of the conformal hexagonal (hexagon)nut for being coated at pre-loading screw.
Further, the motor, which is bolted, is arranged on reducer shell.
Beneficial effects of the present invention：The secondary restraint formula decelerating motor of the present invention, by secondary restraint formula reduction box and motor
It integrates, simplifies design, saves space, eliminate the rotation of retarder two level internal gear disc, internal gear pair passes through in two level
Movement and power are transmitted in fluted disc revolution, have the characteristics that transmission ratio is big, transmission stiffness is big, by clockwork spring so that constraint axis
On gearratio of cycloid axle formation and the frustum of a cone be fitted close always with two level internal gear disc conical bore, realize from disappearing gap function, be designed to two
Grade transmission so that gear pair parameter selection is more flexible, and constraint axle load distribution is more uniform.Structure of the invention is compact, is driven
Than big, transmission stiffness is big, the fields such as joint of robot, space mechanism are can be applied to.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure sectional view of the present invention；
Fig. 2 is Fig. 1 right views；
Fig. 3 is Fig. 1 along sectional view along A-A；
Fig. 4 is Fig. 1 along B-B direction sectional view；
Fig. 5 is Fig. 1 along the directions C partial view；
Fig. 6 is clockwork spring sectional view；
Fig. 7 is Fig. 6 along sectional view along A-A；
Fig. 8 is clockwork spring shaft side figure；
Fig. 9 is motor shaft and reducer power input shaft retaining ring connection figure；
Figure 10 is Fig. 8 shaft side figures；
Figure 11 is motor shaft partial view.
Specific implementation mode
As shown in Figure 1：The secondary restraint formula decelerating motor of this example, including motor 15 and retarder, the electricity of the motor
Arbor is connect by retaining ring 16 with the power input shaft 17 of retarder, and the retarder includes the level-one being axially set up in parallel
Reduction gearing mechanism and double reduction transmission mechanism, primary speed-down transmission mechanism include power input shaft 17, transmission be coated at it is dynamic
The level-one driving gear 13 of power input shaft and the level-one driven gear 9 engaged with level-one driving gear, double reduction transmission mechanism
Including power output shaft 1, transmission be coated at power output shaft two level external gear 4 and eccentric internal messing in two level external gear
Two level internal gear disc 7 is provided between the level-one driven gear 9 and two level internal gear disc 7 for driving two level internal gear disc around power
Output shaft revolves round the sun and drives the eccentric drive component of two level external gear rotation, and the eccentric drive component is including constraint axis 5 and partially
Heart wheel 5a, is placed on level-one driven gear 9 in one end transmission of the constraint axis 5, the eccentric wheel 5a of other end fixed jacket, and two
Drive hole is provided in grade internal gear disc 7, the eccentric wheel 5a drives inner sleeve drive hole, the both ends of the constraint axis 5 to extend and turn
It is dynamic that the shell for being installed on retarder, the eccentric drive component and level-one driven gear is supported circumferentially to be respectively provided with multiple；Slow down
Device shell includes left box body 3 and right case 10, and fixation is bolted in the left box body 3 and right case 10；Such as Figure 10 institutes
Show that motor shaft 15a connect 17 with power input shaft by retaining ring 16, retarder is two level, and one is installed on power input shaft 17
Grade driving gear 13 constitutes the first order with 9 external toothing of level-one driven gear on constraint axis 5, and constraint axis 5 presses circumference
Direction is arranged, eccentric wheel 5a on axis 5 (gearratio of cycloid axle formation that eccentric wheel is alternatively constraint axis is formed) and 7 center line of the frustum of a cone are constrained
Biased downward same distance makes 7 center line of two level internal gear disc being arranged on constraint axis 5 compared with the two level external gear 4 engaged
Biased downward a distance, two level external gear 4 are mounted on power output shaft 1, are nibbled in two level internal gear disc 7 and two level external gear 4
It closes and constitutes the second level, constraint axis 5 at least arranges 2 in circumferencial direction.
In the present embodiment, the inner circle at the drive hole both ends is inner small and outside big the first circular conical surface, further includes in an axial direction
It slides and the circumferentially fixed frustum of a cone for being coated at constraint axis, the eccentric wheel and the frustum of a cone are located at two inner end of drive hole, institute
The outer circle of the outer circle and eccentric wheel of stating the frustum of a cone forms the second inner small and outside big circular conical surface, and the frustum of a cone is provided with for making
The frustum of a cone close to eccentric wheel axial pre tightening force, and the frustum of a cone under axial pretightening power drive so that the first circular conical surface with it is corresponding
The second circular conical surface between squeeze in an axial direction；It constrains eccentric shaft shaft part 5a outer surface tapers and height is complete with 8 outer surface of the frustum of a cone
It is exactly the same；When the frustum of a cone 8 in operational process and the constraint eccentric shaft outer surfaces shaft part 5a generate mill with 7 mating surface of two level internal gear disc
When damage, the frustum of a cone 8 and constraint eccentric shaft shaft part 5a are close to each other under axial pretightening force effect, final to ensure 8 peace treaty of the frustum of a cone
The beam eccentric shaft outer surfaces shaft part 5a and the drive hole mating surface of two level internal gear disc 7 fit closely always, realize from the gap that disappears；
Further include the pre-tightening mechanism for providing the axial pre tightening force in the present embodiment, the pre-tightening mechanism includes solid
Due to the frustum of a cone housing into rotation be installed on shell actuating sleeve, for drive actuating sleeve rotate clockwork spring and driving in
The pretension bolt being placed in actuating sleeve, the front end of the pretension bolt axially across the frustum of a cone and be set on eccentric wheel
Threaded hole is threadedly coupled；Clockwork spring 11 is mounted in shell, applies a screwing force by actuating sleeve to pretension bolt 11d,
As shown in figs 6-8, pre-tightening mechanism includes shell 11a, pin 11b, clockwork spring 11c, pretension bolt 11d, actuating sleeve to its structure
11e, pretension bolt 11d are hex bolts, and bolt 11d bolt heads are embedded in the driver slot of rotation axis 11e, clockwork spring 11
For tightening pretension bolt 11d；The structure is stablized conducive to pretightning force, ensures that transmission cooperation precision is high.
In the present embodiment, the retaining ring 16 is made of opening annulus 16a and bolt 16b, and motor shaft 15a is axial opens
The body of slot 15b is placed in motor shaft in the power input shaft of the retarder, makes opening annulus reducing by screwing bolts,
And then drive motor shaft reducing realizes power to make motor shaft be fitted close with reducer power input shaft by frictional force
It transmits.
In the present embodiment, the power input shaft 17 is embedded in by deep groove ball bearing 19 on power output shaft 1, power
Input shaft 17 held by single deep-groove ball axis 18 be arranged on right case 10, power output shaft 1 passes through single deep groove ball bearing 2
It is arranged on left box body 3, to make power input shaft 17 and power output shaft 1 constitute both ends support.
In the present embodiment, it is integrally formed between the eccentric wheel and constraint axis；That is eccentric wheel 5a is the bias for constraining axis 5
Shaft part 5a.
In the present embodiment, constraint 5 left end of axis installation deep groove ball bearing 6 is arranged on left box body 3, constraint 5 right end of axis installation
Deep groove ball bearing 12 is arranged on right case 10；
In the present embodiment, the frustum of a cone 8 is mounted on constraint axis 5, and 8 mounting hole of the frustum of a cone is biased with 8 centre of gyration of the frustum of a cone
Distance is equal to constraint eccentric shaft shaft part 5a and constraint 5 centre of gyration offset or dish of axis, constrains eccentric shaft shaft part 5a and the frustum of a cone 8
It is connected by bolt 11d, the frustum of a cone 8 and the constraint eccentric shaft outer surfaces shaft part 5a is made to be fitted closely with 7 mating surface of two level internal gear disc
Realize the axially position of two level internal gear disc 7；
In the present embodiment, constraint axis 5 is evenly arranged 4 in circumferencial direction；
In the present embodiment, motor 5 is arranged in by the connection of bolt 20 on reducer shell；The reducing gearbox upper edge diameter
To radial through-hole 14 is provided with, conveniently to 16 locking operation of retaining ring.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the right of invention.
Claims (10)
1. a kind of secondary restraint formula decelerating motor, including motor and retarder, the motor shaft of the motor by retaining ring with subtract
The power input shaft of fast device connects, it is characterised in that：The retarder includes the primary speed-down transmission mechanism being axially set up in parallel
With double reduction transmission mechanism, primary speed-down transmission mechanism includes power input shaft, is driven the level-one for being coated at power input shaft
Driving gear and the level-one driven gear engaged with level-one driving gear, double reduction transmission mechanism include power output shaft, pass
The dynamic two level external gear for being coated at power output shaft and eccentric internal messing in the two level internal gear disc of two level external gear, the level-one from
It is provided between moving gear and two level internal gear disc for driving two level internal gear disc to revolve round the sun around power output shaft and driving two level external tooth
The eccentric drive component of rotation is taken turns, the eccentric drive component includes constraint axis and eccentric wheel, one end transmission of the constraint axis
Inside it is placed on level-one driven gear, the eccentric wheel of other end fixed jacket is provided with drive hole, the eccentric wheel in two level internal gear disc
Inner sleeve drive hole, the both ends of the constraint axis is driven to extend the shell that simultaneously rotational support is installed on retarder, the eccentric drive
Component and level-one driven gear are circumferentially respectively provided with multiple.
2. secondary restraint formula decelerating motor according to claim 1, it is characterised in that：The inner circle at the drive hole both ends is equal
Further include sliding axially and the circumferentially fixed frustum of a cone for being coated at constraint axis for the first inner small and outside big circular conical surface, it is described inclined
Heart wheel and the frustum of a cone are located at two inner end of drive hole, and the outer circle of the frustum of a cone and the outer circle of eccentric wheel form inner small and outside big
Second circular conical surface, the frustum of a cone is provided with the axial pre tightening force for making the frustum of a cone close to eccentric wheel, and the frustum of a cone is in axial direction
It pre-tightens under power drive so that being squeezed in an axial direction between the first circular conical surface and corresponding second circular conical surface.
3. secondary restraint formula decelerating motor according to claim 2, it is characterised in that：Further include for providing the axial direction
The pre-tightening mechanism of pretightning force, the pre-tightening mechanism include be fixed on the frustum of a cone housing into rotation be installed on shell actuating sleeve, use
In the pretension bolt being placed in the clockwork spring of driving actuating sleeve rotation and driving in actuating sleeve, the front end axis of the pretension bolt
It is threadedly coupled to across the frustum of a cone and with the threaded hole being set on eccentric wheel.
4. secondary restraint formula decelerating motor according to claim 1, it is characterised in that：The retaining ring by opening annulus and
Bolt is constituted, and motor shaft is axially grooved body, is placed in motor shaft in the power input shaft of the retarder, by screwing
Bolt makes opening annulus reducing, and then drive motor shaft reducing, to make motor shaft be fitted close with reducer power input shaft,
Realize that power transmits by frictional force.
5. secondary restraint formula decelerating motor according to claim 2, it is characterised in that：The power input shaft of the retarder
It is embedded in by deep groove ball bearing in the same axle bed set for being shaped in power output shaft rear end, power input, output shaft pass through
Single deep groove ball bearing is arranged on babinet, to constitute both ends support.
6. secondary restraint formula decelerating motor according to claim 1, it is characterised in that：Between the eccentric wheel and constraint axis
It is integrally formed.
7. secondary restraint formula decelerating motor according to claim 1, it is characterised in that：The constraint axis is arranged by both ends
Deep groove ball bearing is mounted on reducer shell.
8. secondary restraint formula decelerating motor according to claim 1, it is characterised in that：The constraint axis is equal in circumferencial direction
It is even to be arranged as 4.
9. secondary restraint formula decelerating motor according to claim 3, it is characterised in that：The actuating sleeve outer circle forms axial direction
Limiting slot, the actuating sleeve by axial limiting slot rotate in be placed on shell, the end of actuating sleeve, which is formed, conformal is coated at preload
The driver slot of the hexagonal (hexagon)nut of screw.
10. secondary restraint formula decelerating motor according to claim 1, it is characterised in that：The motor is bolted
It is arranged on reducer shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180571.6A CN108400676B (en) | 2018-03-05 | 2018-03-05 | Two-stage constraint type speed reducing motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180571.6A CN108400676B (en) | 2018-03-05 | 2018-03-05 | Two-stage constraint type speed reducing motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108400676A true CN108400676A (en) | 2018-08-14 |
| CN108400676B CN108400676B (en) | 2020-02-07 |
Family
ID=63092372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810180571.6A Active CN108400676B (en) | 2018-03-05 | 2018-03-05 | Two-stage constraint type speed reducing motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108400676B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546199A (en) * | 2019-02-08 | 2020-08-18 | 盖多·瓦伦蒂尼 | Hand-held and hand-guided random orbital burnishing or sanding power tool |
| CN112439858A (en) * | 2020-10-29 | 2021-03-05 | 斯特智能控制技术(沈阳)有限公司 | Servo press's servo motor mounting structure |
| TWI759148B (en) * | 2020-04-22 | 2022-03-21 | 易碼電控股份有限公司 | Motor unit and motor-driven device for anti-lock braking system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915286A (en) * | 2010-08-30 | 2010-12-15 | 重庆大学 | Constrained speed reducer with small teeth difference |
| CN203225626U (en) * | 2013-05-07 | 2013-10-02 | 石家庄华燕交通科技有限公司 | Special motor speed reducer for automobile brake test bed |
| CN203562881U (en) * | 2013-11-29 | 2014-04-23 | 四川阿克拉斯电动车有限公司 | Secondary-transmission brushless motor assembly |
| CN206775318U (en) * | 2017-03-06 | 2017-12-19 | 浙江佳雪微特电机集团有限责任公司 | A kind of high-power vertical toothed gearing electric motor |
| CN206904088U (en) * | 2017-05-15 | 2018-01-19 | 杭州慧翔电液技术开发有限公司 | A kind of device for sealing magnetic fluid fluting clasping structure |
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2018
- 2018-03-05 CN CN201810180571.6A patent/CN108400676B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915286A (en) * | 2010-08-30 | 2010-12-15 | 重庆大学 | Constrained speed reducer with small teeth difference |
| CN203225626U (en) * | 2013-05-07 | 2013-10-02 | 石家庄华燕交通科技有限公司 | Special motor speed reducer for automobile brake test bed |
| CN203562881U (en) * | 2013-11-29 | 2014-04-23 | 四川阿克拉斯电动车有限公司 | Secondary-transmission brushless motor assembly |
| CN206775318U (en) * | 2017-03-06 | 2017-12-19 | 浙江佳雪微特电机集团有限责任公司 | A kind of high-power vertical toothed gearing electric motor |
| CN206904088U (en) * | 2017-05-15 | 2018-01-19 | 杭州慧翔电液技术开发有限公司 | A kind of device for sealing magnetic fluid fluting clasping structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546199A (en) * | 2019-02-08 | 2020-08-18 | 盖多·瓦伦蒂尼 | Hand-held and hand-guided random orbital burnishing or sanding power tool |
| US11969850B2 (en) | 2019-02-08 | 2024-04-30 | Guido Valentini | Hand-held and hand-guided random orbital polishing or sanding power tool |
| TWI759148B (en) * | 2020-04-22 | 2022-03-21 | 易碼電控股份有限公司 | Motor unit and motor-driven device for anti-lock braking system |
| CN112439858A (en) * | 2020-10-29 | 2021-03-05 | 斯特智能控制技术(沈阳)有限公司 | Servo press's servo motor mounting structure |
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|---|---|
| CN108400676B (en) | 2020-02-07 |
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