CN108400676B - Two-stage constraint type speed reducing motor - Google Patents
Two-stage constraint type speed reducing motor Download PDFInfo
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- CN108400676B CN108400676B CN201810180571.6A CN201810180571A CN108400676B CN 108400676 B CN108400676 B CN 108400676B CN 201810180571 A CN201810180571 A CN 201810180571A CN 108400676 B CN108400676 B CN 108400676B
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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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- 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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Abstract
The invention discloses a two-stage constraint type speed reducing motor which comprises a motor and a speed reducer, wherein the speed reducer comprises a first-stage speed reducing transmission mechanism and a second-stage speed reducing transmission mechanism, the first-stage speed reducing transmission mechanism comprises a power input shaft, a first-stage driving gear and a first-stage driven gear, the second-stage speed reducing transmission mechanism comprises a power output shaft, a second-stage external gear and a second-stage internal fluted disc, and an eccentric driving assembly for driving the second-stage internal fluted disc to revolve around the power output shaft and driving the second-stage external gear to rotate is arranged between the first-; the invention eliminates the autorotation of the secondary internal fluted disc, the internal gear pair transmits motion and power through the revolution of the secondary internal fluted disc, has the characteristics of large transmission ratio and large transmission rigidity, and realizes the function of self-backlash elimination by ensuring that the eccentric shaft section and the cone frustum on the restraint shaft are always tightly matched with the cone hole of the secondary internal fluted disc through the clockwork spring. The invention has compact structure, large transmission ratio and high transmission rigidity, and can be applied to the fields of robot joints and the like.
Description
Technical Field
The invention relates to a speed reducing motor, in particular to a two-stage small tooth difference speed reducing motor with higher precision and compact structure.
Background
With the continuous progress of science and technology, the performance requirement on a power source is higher and higher, and particularly in the field of robots, the structure size is limited, the load is large, the working condition is complex, and the requirement on transmission precision is high. At present, the robot joint is mainly assembled by respectively selecting a speed reducer and a motor, and the commonly used speed reducer is a harmonic speed reducer and an RV speed reducer. The harmonic reducer is easy to generate flexible gear fatigue due to the flexible gear deformation, has poor rigidity, is not impact-resistant and has limited application field; the RV reducer has the advantages that the crank moves eccentrically, the bearing capacity of the crank shaft is large, the structure of the RV reducer is complex, and the requirement on processing and production is high. And the common reduction ratio of the conventional speed reducing motor is low, the structure size is large, and the conventional speed reducing motor is not suitable for a robot joint. The existing speed reducer can not eliminate the gap generated by abrasion in the operation process, and the precision can be reduced after the speed reducer is used for a period of time.
Therefore, a gear motor is needed, which has a large reduction ratio, a compact structure, high transmission rigidity and a simple structure, and meets the performance requirements of devices such as robot joints and space mechanisms.
Disclosure of Invention
In view of the above, the present invention provides a two-stage constrained geared motor, which avoids the existence of useless additional motions, has a large reduction ratio, self-eliminates backlash, has high transmission stiffness and a compact structure, and meets the performance requirements of devices such as robot joints and space mechanisms.
The invention relates to a two-stage constraint type speed reducing motor, which comprises a motor and a speed reducer, wherein a motor shaft of the motor is connected with a power input shaft of the speed reducer through a locking ring, the speed reducer comprises a first-stage speed reducing transmission mechanism and a second-stage speed reducing transmission mechanism which are axially arranged in parallel, the first-stage speed reducing transmission mechanism comprises a power input shaft, a first-stage driving gear externally sleeved on the power input shaft and a first-stage driven gear meshed with the first-stage driving gear, the second-stage speed reducing transmission mechanism comprises a power output shaft, a second-stage external gear externally sleeved on the power output shaft in transmission and a second-stage internal gear eccentrically internally meshed with the second-stage external gear, an eccentric driving assembly used for driving the second-stage internal gear to revolve around the power output shaft and driving the second-stage external gear to rotate is arranged between the first-stage driven, the eccentric wheel of the fixed overcoat of the other end is provided with the drive hole on the second grade internal tooth dish, eccentric wheel drive endotheca drive hole, the both ends of restraint axle are extended and are rotated the support and install in the casing of reduction gear, eccentric drive assembly and one-level driven gear all set up a plurality ofly along circumference.
Furthermore, the inner circles at the two ends of the driving hole are first conical surfaces with small inside and large outside, the driving hole further comprises a cone frustum which slides along the axial direction and is circumferentially fixed on the restraining shaft in an sleeved mode, the eccentric wheel and the cone frustum are respectively located at the two inner ends of the driving hole, the outer circle of the cone frustum and the outer circle of the eccentric wheel form a second conical surface with small inside and large outside, the cone frustum is provided with an axial pre-tightening force used for enabling the cone frustum to be close to the eccentric wheel, and the cone frustum enables the first conical surface and the corresponding second conical surface to be axially extruded under the driving of the axial pre-tightening force.
The pre-tightening mechanism comprises a driving sleeve, a clockwork spring and a pre-tightening bolt, wherein the driving sleeve is fixed on the shell of the truncated cone, the driving sleeve is rotatably arranged on the shell, the clockwork spring is used for driving the driving sleeve to rotate, the pre-tightening bolt drives the inner sleeve to be arranged in the driving sleeve, and the front end of the pre-tightening bolt axially penetrates through the truncated cone and is in threaded connection with a threaded hole formed in the eccentric wheel.
Furthermore, the locking ring is composed of an opening ring and a bolt, the motor shaft is a sleeve body with an axial groove, the power input shaft of the speed reducer is sleeved in the motor shaft, the opening ring is reduced by screwing the bolt, and then the motor shaft is driven to be reduced, so that the motor shaft is tightly matched with the power input shaft of the speed reducer, and power transmission is realized through friction force.
Furthermore, a power input shaft of the speed reducer is embedded in a coaxial seat sleeve integrally formed at the rear end of the power output shaft through a deep groove ball bearing, and the power input shaft and the power output shaft are arranged on the box body through a single deep groove ball bearing, so that two ends of the box body are supported.
Further, the eccentric wheel and the constraint shaft are integrally formed.
Further, the restraining shaft is installed on the reducer shell through deep groove ball bearings arranged at two ends of the restraining shaft.
Further, the restraining shafts are evenly arranged in 4 in the circumferential direction.
Further, an axial limiting groove is formed in the outer circle of the driving sleeve, the driving sleeve rotates to be sleeved in the shell through the axial limiting groove, and a driving groove for the hexagonal nut of the pre-tightening screw to fit with the outer sleeve is formed in the end portion of the driving sleeve.
Further, the motor is arranged on the reducer housing through bolt connection.
The invention has the beneficial effects that: the two-stage constraint type speed reducing motor integrates the two-stage constraint type speed reducing box and the motor together, simplifies the design, saves the space, eliminates the rotation of a two-stage inner fluted disc of the speed reducing device, has the characteristics of large transmission ratio and high transmission rigidity because an inner gear pair transmits motion and power through the revolution of the two-stage inner fluted disc, realizes the self-backlash elimination function because an eccentric shaft section and a cone frustum on a constraint shaft are always tightly matched with a conical hole of the two-stage inner fluted disc through a clockwork spring, is designed into two-stage transmission, ensures that the parameter selection of the gear pair is more flexible and the distribution of the load of the constraint shaft is more uniform. The invention has compact structure, large transmission ratio and high transmission rigidity, and can be applied to the fields of robot joints, space mechanisms and the like.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a structural cross-sectional view of the present invention;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 1;
FIG. 5 is a partial view of FIG. 1 taken along direction C;
FIG. 6 is a cross-sectional view of a power spring;
FIG. 7 is a cross-sectional view taken along line A-A of FIG. 6;
FIG. 8 is a side view of the clockwork spring shaft;
FIG. 9 is a connection diagram of a motor shaft and a locking ring of a power input shaft of a speed reducer;
FIG. 10 is an isometric view of FIG. 8;
fig. 11 is a partial view of a motor shaft.
Detailed Description
As shown in fig. 1: the second-stage constraint type speed reducing motor comprises a motor 15 and a speed reducer, wherein a motor shaft of the motor is connected with a power input shaft 17 of the speed reducer through a locking ring 16, the speed reducer comprises a first-stage speed reducing transmission mechanism and a second-stage speed reducing transmission mechanism which are axially arranged in parallel, the first-stage speed reducing transmission mechanism comprises the power input shaft 17, a first-stage driving gear 13 externally sleeved on the power input shaft in a transmission mode and a first-stage driven gear 9 meshed with the first-stage driving gear, the second-stage speed reducing transmission mechanism comprises a power output shaft 1, a second-stage external gear 4 externally sleeved on the power output shaft in a transmission mode and a second-stage internal toothed disc 7 eccentrically and internally meshed with the second-stage external gear, an eccentric driving assembly used for driving the second-stage internal toothed disc to revolve around the power output shaft and driving the second-stage external gear, one end of the restraint shaft 5 is sleeved in the primary driven gear 9 in a transmission mode, the other end of the restraint shaft is fixedly provided with an eccentric wheel 5a of the outer sleeve, a driving hole is formed in the secondary internal fluted disc 7, the eccentric wheel 5a drives the driving hole of the inner sleeve, two ends of the restraint shaft 5 extend and are rotatably supported and installed on a shell of the speed reducer, and a plurality of eccentric driving assemblies and a plurality of primary driven gears are arranged along the circumferential direction; the speed reducer shell comprises a left box body 3 and a right box body 10, and the left box body 3 and the right box body 10 are fixedly connected through bolts; as shown in fig. 10, the motor shaft 15a is connected with a power input shaft 17 through a locking ring 16, the speed reducer is of a second stage, a first-stage driving gear 13 is mounted on the power input shaft 17 and externally meshed with a first-stage driven gear 9 mounted on a restraining shaft 5 to form a first stage, the restraining shaft 5 is arranged in the circumferential direction, an eccentric wheel 5a (which can also be formed by an eccentric shaft section of the restraining shaft) on the restraining shaft 5 and a central line of a cone table 7 are downwards offset by the same distance, so that the central line of a second-stage internal toothed disc 7 arranged on the restraining shaft 5 is downwards offset by a distance compared with a second-stage external gear 4 meshed with the second-stage internal toothed disc 7, the second-stage internal toothed disc 7 and the second-stage external gear 4 are internally meshed to form a second.
In this embodiment, inner circles at two ends of the driving hole are first conical surfaces with a small inside and a large outside, the driving hole further comprises a truncated cone which slides along the axial direction and is circumferentially fixed on the restraining shaft in an sleeved mode, the eccentric wheel and the truncated cone are respectively located at two inner ends of the driving hole, a second conical surface with a small inside and a large outside is formed by the outer circle of the truncated cone and the outer circle of the eccentric wheel, the truncated cone is provided with an axial pre-tightening force for enabling the truncated cone to be close to the eccentric wheel, and the truncated cone enables the first conical surface and the corresponding second conical surface to be axially extruded under the driving of the axial pre-tightening force; the taper and the height of the outer surface of the eccentric shaft section 5a of the restraint shaft are completely the same as those of the outer surface of the cone frustum 8; when the matching surfaces of the outer surfaces of the cone frustum 8 and the eccentric shaft section 5a of the restraining shaft and the secondary inner fluted disc 7 are abraded in the operation process, the cone frustum 8 and the eccentric shaft section 5a of the restraining shaft are close to each other under the action of axial pre-tightening force, and finally the matching surfaces of the outer surfaces of the cone frustum 8 and the eccentric shaft section 5a of the restraining shaft and the driving hole of the secondary inner fluted disc 7 are always tightly attached to realize self-backlash elimination;
in the embodiment, the device further comprises a pre-tightening mechanism for providing the axial pre-tightening force, the pre-tightening mechanism comprises a driving sleeve, a clockwork spring and a pre-tightening bolt, the driving sleeve is fixed on the shell of the truncated cone, the driving sleeve is rotatably arranged on the shell, the clockwork spring is used for driving the driving sleeve to rotate, the pre-tightening bolt drives the inner sleeve to be arranged in the driving sleeve, and the front end of the pre-tightening bolt axially penetrates through the truncated cone and is in threaded; the spring 11 is arranged in the shell, a tightening force is applied to the pre-tightening bolt 11d through the driving sleeve, the structure of the spring 11d is shown in fig. 6-8, the pre-tightening mechanism comprises a shell 11a, a pin 11b, a spring 11c, a pre-tightening bolt 11d and a driving sleeve 11e, the pre-tightening bolt 11d is a hexagon bolt, the bolt head of the bolt 11d is embedded in a driving groove of the rotating shaft 11e, and the spring 11 is used for tightening the pre-tightening bolt 11 d; the structure is beneficial to the stability of pretightening force and ensures high transmission matching precision.
In this embodiment, the locking ring 16 is composed of an opening ring 16a and a bolt 16b, the motor shaft 15a is a sleeve body with an axial slot 15b, the power input shaft of the speed reducer is sleeved in the motor shaft, the opening ring is reduced by screwing the bolt, and the motor shaft is driven to be reduced, so that the motor shaft is tightly matched with the power input shaft of the speed reducer, and power transmission is realized through friction force.
In the embodiment, the power input shaft 17 is embedded in the power output shaft 1 through the deep groove ball bearing 19, the power input shaft 17 is arranged on the right box body 10 through a single deep groove ball bearing 18, and the power output shaft 1 is arranged on the left box body 3 through a single deep groove ball bearing 2, so that the power input shaft 17 and the power output shaft 1 form two-end support.
In the embodiment, the eccentric wheel and the constraint shaft are integrally formed; i.e. the eccentric 5a is an eccentric shaft section 5a of the restraint shaft 5.
In the embodiment, the deep groove ball bearing 6 arranged at the left end of the restraint shaft 5 is arranged on the left box body 3, and the deep groove ball bearing 12 arranged at the right end of the restraint shaft 5 is arranged on the right box body 10;
in the embodiment, the cone frustum 8 is arranged on the restraint shaft 5, the offset distance between the mounting hole of the cone frustum 8 and the rotation center of the cone frustum 8 is equal to the offset distance between the eccentric shaft section 5a of the restraint shaft and the rotation center of the restraint shaft 5, and the eccentric shaft section 5a of the restraint shaft and the cone frustum 8 are connected through the bolt 11d, so that the matching surfaces of the outer surfaces of the cone frustum 8 and the eccentric shaft section 5a of the restraint shaft and the secondary inner fluted disc 7 are tightly attached to realize the axial positioning of the secondary inner fluted disc 7;
in this embodiment, 4 constraint shafts 5 are uniformly arranged in the circumferential direction;
in the embodiment, the motor 5 is connected and arranged on the reducer shell through the bolt 20; the reducer casing is provided with radial through holes 14 along the radial direction, so that the locking operation of the locking ring 16 is facilitated.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (9)
1. The utility model provides a two-level restraint formula gear motor, includes motor and reduction gear, the motor shaft of motor passes through the power input shaft of locking ring and reduction gear, its characterized in that: the reducer comprises a first-stage reduction transmission mechanism and a second-stage reduction transmission mechanism which are axially arranged in parallel, the first-stage reduction transmission mechanism comprises a power input shaft, a first-stage driving gear and a first-stage driven gear, the first-stage driving gear is sleeved on the power input shaft in a transmission mode, the first-stage driven gear is meshed with the first-stage driving gear, the second-stage reduction transmission mechanism comprises a power output shaft, a second-stage external gear and a second-stage internal fluted disc, the second-stage external gear is sleeved on the power output shaft in a transmission mode, the second-stage internal fluted disc is eccentrically meshed with the second-stage external gear in an eccentric mode, an eccentric driving assembly used for driving the second-stage internal fluted disc to revolve around the power output shaft and drive the second-stage external gear to rotate is arranged between the first-stage driven gear and the, two ends of the restraint shaft extend and are rotatably supported and mounted on a shell of the speed reducer, and a plurality of eccentric driving assemblies and a plurality of primary driven gears are arranged along the circumferential direction;
the inner circles at two ends of the driving hole are first conical surfaces with small inside and large outside, the driving hole further comprises a conical table which slides along the axial direction and is circumferentially fixed on the restraining shaft in an sleeved mode, the eccentric wheel and the conical table are located at two inner ends of the driving hole respectively, a second conical surface with small inside and large outside is formed by the outer circle of the conical table and the outer circle of the eccentric wheel, the conical table is provided with an axial pre-tightening force used for enabling the conical table to be close to the eccentric wheel, and the conical table enables the first conical surface and the corresponding second conical surface to be axially extruded under the driving of the axial pre-tightening force.
2. The two-stage restraint type reduction motor according to claim 1, wherein: the pre-tightening mechanism comprises a driving sleeve, a clockwork spring and a pre-tightening bolt, wherein the driving sleeve is fixed on the shell of the truncated cone, the driving sleeve is rotatably arranged on the shell, the clockwork spring is used for driving the driving sleeve to rotate, the pre-tightening bolt is used for driving the inner sleeve to be arranged in the driving sleeve, and the front end of the pre-tightening bolt axially penetrates through the truncated cone and is in threaded connection with a threaded hole formed in the eccentric wheel.
3. The two-stage restraint type reduction motor according to claim 1, wherein: the locking ring is composed of an opening ring and a bolt, the motor shaft is a sleeve body with an axial groove, the power input shaft of the speed reducer is sleeved in the motor shaft, the opening ring is changed in diameter by screwing the bolt, the motor shaft is further driven to change in diameter, the motor shaft is tightly matched with the power input shaft of the speed reducer, and power transmission is achieved through friction force.
4. The two-stage restraint type reduction motor according to claim 1, wherein: the power input shaft of the speed reducer is embedded in a coaxial seat sleeve integrally formed at the rear end of the power output shaft through a deep groove ball bearing, and the power input shaft and the power output shaft are arranged on the box body through a single deep groove ball bearing, so that two ends of the box body are supported.
5. The two-stage restraint type reduction motor according to claim 1, wherein: the eccentric wheel and the constraint shaft are integrally formed.
6. The two-stage restraint type reduction motor according to claim 1, wherein: the restraint shaft is arranged on the speed reducer shell through deep groove ball bearings arranged at two ends of the restraint shaft.
7. The two-stage restraint type reduction motor according to claim 1, wherein: the restraint shafts are uniformly arranged in 4 in the circumferential direction.
8. The two-stage constrained reduction motor according to claim 2, wherein: the outer circle of the driving sleeve forms an axial limiting groove, the driving sleeve rotates the inner sleeve in the shell through the axial limiting groove, and the end of the driving sleeve forms a driving groove for the conformal outer sleeve to be arranged on a hexagon nut of the pre-tightening screw.
9. The two-stage restraint type reduction motor according to claim 1, wherein: the motor is arranged on the speed reducer shell through bolt connection.
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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810180571.6A CN108400676B (en) | 2018-03-05 | 2018-03-05 | Two-stage constraint type speed reducing motor |
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| CN108400676A CN108400676A (en) | 2018-08-14 |
| CN108400676B true CN108400676B (en) | 2020-02-07 |
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| CN201810180571.6A Active CN108400676B (en) | 2018-03-05 | 2018-03-05 | Two-stage constraint type speed reducing motor |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3693132B1 (en) | 2019-02-08 | 2023-09-06 | Guido Valentini | Hand-held and hand-guided random orbital polishing or sanding power tool |
| CN113541366B (en) * | 2020-04-22 | 2022-09-20 | 易码电控股份有限公司 | Motor set and motor brake device |
| 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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| 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 |
-
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 |
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