CN108400677A - Birotor input planet gear speed reducer - Google Patents
Birotor input planet gear speed reducer Download PDFInfo
- Publication number
- CN108400677A CN108400677A CN201810248940.0A CN201810248940A CN108400677A CN 108400677 A CN108400677 A CN 108400677A CN 201810248940 A CN201810248940 A CN 201810248940A CN 108400677 A CN108400677 A CN 108400677A
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- Prior art keywords
- gear
- axle sleeve
- stator
- component
- shaft
- Prior art date
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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
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
Abstract
The present invention is a kind of birotor input planet gear speed reducer, it is related to a kind of speed reducer, including case member, support component, controller one, controller two, stator component, outer rotor component, inner rotor part, rotating axis component, gear ring, planetary gear member.In the speed reducer operational process, the output rotating speed of output shaft one is related to the speed discrepancy of two motor rotors, two motor rotors can be in high-speed cruising state always, in the state that two motor rotor direction of rotation are constant, the direction of rotation of the speed reducer output shaft one can be changed, load device is driven to realize frequent acceleration, slow down, frequent to start, stop, the even frequent function of changing load device direction of rotation.The speed reducer can ensure that motor is run under the higher working condition of efficiency, and improve response speed when the speed reducer changes load device direction of rotation.
Description
Technical field
The present invention is a kind of birotor input planet gear speed reducer, is related to a kind of speed reducer, more particularly to one kind
The speed difference of two motor rotors input when driving planetary reducer using spinner motor, obtains slow-speed of revolution output
Birotor input planet gear speed reducer.
Background technology
The retarder of articulated robot mainly uses RV retarders.RV retarders have that transmission ratio is big, output torque is big
Advantage.RV reducer structures complexity, disadvantage of high cost, also constrain the popularization and application of RV retarders.In articulated robot
In, RV retarders gradually replace harmonic speed reducer.The flexible gear intensity of harmonic speed reducer is low, leads to harmonic speed reducer
Output torque is small, service life is short.The RV retarders articulated robot big for load torque, harmonic speed reducer turn for loading
The small articulated robot of square.Common planetary gear retarder is a kind of universal speed reducer.With RV retarders or harmonic speed reducer
It compares, the transmission ratio of planetary reducer is small, cannot be satisfied requirement of the articulated robot to transmission ratio.
Articulated robot, electric vehicle, Moped Scooter, washing machine operational process in, need frequently to accelerate, subtract
Speed, it is frequent to start, stop, even frequently changing the direction of rotation of its motor, these motion features make motor exist
It is run under less efficient working condition.
If having the advantages that, a kind of retarder is big with transmission ratio, output torque is big, and the motor drive retarder continuously revolves
When turning, and keeping motor direction of rotation constant, retarder driving load device can realize operation, stopping, Yi Jigai
The function of varying load device direction of rotation, then the retarder can ensure that motor is run under the higher working condition of efficiency,
And improve response speed when the retarder changes load device direction of rotation.
Invention content
The disadvantage that the purpose of the present invention is overcome common planetary gear retarder transmission ratio small provides a kind of with transmission ratio
Greatly, the big advantage of output torque, and ensure the birotor input planet gear of high-efficiency operation when motor drive retarder
Speed reducer.Embodiment of the present invention is as follows：
The speed reducer includes case member, support component, controller one, controller two, stator component, outer rotor component, interior
Rotor part, rotating axis component, gear ring, planetary gear member.Stator component, outer rotor component, inner rotor part form birotor
Motor.Case member includes shell, axle sleeve three.Support component includes engine base, axle sleeve one, axle sleeve four.Stator component includes fixed
Sub- iron core, winding coil one, winding coil two.Outer rotor component includes outer rotor holder, outer rotor iron core, external rotor permanent magnet
Body.Inner rotor part includes internal rotor iron core, internal rotor permanent-magnetic body.Rotating axis component includes shaft, spline one, spline two, the sun
Gear, positioning pin.Planetary gear member includes planet stent, axle sleeve two and several planet axis, planetary gear, positioning roller.
Several planet axis are fixed on planet stent axial direction side.Controller one, controller two, stator component are mounted on engine base portion
Part axial direction side, outer rotor component are mounted on stator component radial outside, and inner rotor part is mounted on stator component radially inner side.
Gear ring is fixed on outer rotor component axial direction side.Inner rotor part is mounted on rotating axis component radial outside centre position.Machine
Base member is installed together with case member, controller one, controller two, stator component, outer rotor component, inner rotor part,
Rotating axis component, gear ring, planetary gear member are mounted on case member radially inner side.
When the speed reducer operation, one control winding coil one of controller makes outer rotor component rotate, and controller one can
Adjust outer rotor component rotary speed.Two control winding coil two of controller makes inner rotor part rotate, and controller two can be adjusted
Save inner rotor part rotary speed.Outer rotor component is opposite with inner rotor part direction of rotation.Outer rotor component driven gear ring is revolved
Turn, inner rotor part drives the planetary gear of planetary gear member to rotate by the sun gear of rotating axis component, gear ring reference circle
When the linear velocity of position rotation and the linear velocity of sun gear reference circle position rotation differ, planetary gear is around planet tooth
While wheel axis rotation, planetary gear can also surround planet stent axis and revolve round the sun, the planet gear drives planet stent slow-speed of revolution
Rotation.
Axle sleeve one, axle sleeve two, axle sleeve three, axle sleeve four are cylindrical.
Shell is in the closed cylindrical shape in one end.Shell seal one end has cylindrical circular axle sleeve convex among axially inner side end face
Platform three is through-hole among axle sleeve boss three, and axle sleeve three is mounted in axle sleeve boss three, and the unclosed one end radial outside of shell is outer
Shell process is blue, and housing flange radial outside is evenly distributed with several bolts hole.
Engine base is in disk form, there is cylindrical circular axle sleeve boss one among engine base axially inner side end face, in axle sleeve boss one
Between be through-hole, axle sleeve one is mounted in axle sleeve boss one.One radial outside of axle sleeve boss has convex in the fixation of annular concentric successively
Platform two, axle sleeve boss four, two axially inner side end face of fixing lug boss are evenly distributed with several threaded holes one, and engine base radial outside is uniformly distributed several
A bolt hole.Axle sleeve four is mounted on four radially-outer surface of axle sleeve boss.Controller one is mounted on axle sleeve boss four and fixing lug boss
Space between two, controller two are mounted on the space between fixing lug boss two and axle sleeve boss one.
In a ring, stator core radial outside is evenly distributed with several stator slots one, two neighboring stator slot to stator core
Magnetic pole of the stator one between one, stator core radially inner side is evenly distributed with several stator slots two, two neighboring stator slot two it
Between be magnetic pole of the stator two, be stator yoke in a ring, stator yoke axial end face between magnetic pole of the stator one and magnetic pole of the stator two
Several uniformly distributed stator fixing holes.Winding coil one is mounted in the stator slot one of stator core, and winding coil two is mounted on
In the stator slot two of stator core.Bolt one sequentially passes through the stator fixing hole of stator core and the threaded hole one of engine base,
Stator core is fixed on two axially inner side of fixing lug boss of engine base.
Gear ring is internal gear, and gear ring end face is evenly distributed with several gear ring bolts hole.
Outer rotor holder radial outside is cylindrical circular rack tube, and rack tube one end radially inner side is positioning in a ring
Ring, locating ring end face are evenly distributed with several threaded holes two, and rack tube other end radially inner side is axle journal four, in rack tube intermediate radial
Side is equipped with outer rotor iron core in a ring, and outer rotor iron core radially inner side is equipped with the external rotor permanent magnet that several are in tile shape
Body, two neighboring outer rotor permanent magnet inner radial surface opposite pole each other.Bolt two sequentially passes through the gear ring bolt hole of gear ring
With the threaded hole two of outer rotor holder, gear ring is fixed on outer rotor holder axial direction side.
Internal rotor iron core in a ring, the cored keyway of iron core connection holes among internal rotor iron core.Several tile shapes
Internal rotor permanent-magnetic body is mounted on internal rotor iron core radially-outer surface, and two neighboring internal rotor permanent-magnetic body radially-outer surface is anisotropic each other
Magnetic pole.
Sun gear is external gear, the gear connection holes wheel key way with teeth among sun gear, the gear wheel of sun gear
There is dowel hole on hub.Positioning pin is cylinder.
Shaft is cylinder, is positioning shaft shoulder one among shaft radial outside, one both ends of positioning shaft shoulder be respectively shaft part one,
Shaft part two, shaft part one are axle journals one close to one one end of positioning shaft shoulder, and shaft part two has close to one one end radially-outer surface of positioning shaft shoulder
Keyway one, two axially external one end of shaft part are axle journals two, and shaft part two has keyway two and pin close to two one end radially-outer surface of axle journal
Kong Yi.
Rotating axis component is mounted on spline one in assembly in the keyway one of shaft, spline two is mounted on the key of shaft
In slot two, the shaft part two of shaft is mounted in the iron core connection holes of internal rotor iron core, spline one is mounted on internal rotor iron core
Iron core keyway in, so that inner rotor part is installed together with rotating axis component.Sun gear is mounted on outside the shaft part two of shaft
Side one end is mounted on spline two in the gear keyway of sun gear, positioning pin one end is mounted on the positioning pin of sun gear
Kong Zhong is mounted on the positioning pin other end in the pin hole one of shaft.
Planetary gear is external gear, is smooth gear shaft holes among planetary gear.Positioning roller is cylinder, positioning rolling
It is smooth idler wheel axis hole among two end faces of wheel, is guide groove in a ring among positioning roller radial outside.
It is discoidal tray deck among planet stent radial outside, tray deck one end is the shaft part three of cylinder, another
End is columnar axle sleeve boss two, is axle sleeve mounting hole two among axle sleeve boss two, and axle sleeve two is mounted on axle sleeve mounting hole two
In.It is evenly distributed with several columnar fixing lug boss around the axle sleeve boss two of planet stent, is fixed shaft hole among fixing lug boss.
Shaft part three is axle journal three close to tray deck one end.Planet stent axis is overlapped with the axis of axle sleeve mounting hole two, planetary gear portion
After part assembly, planetary gear axis is overlapped with the axis of fixed shaft hole.
Planet axis is cylinder, and there is the shaft shoulder in planet axis one end, and after planetary gear member assembly, the installation of the planet axis other end is solid
It is scheduled in the fixed shaft hole of planet stent.Planet axis has one end of the shaft shoulder to be sequentially installed with positioning roller, planet tooth to the other end
Wheel, the axis that positioning roller, planetary gear can surround planet axis rotate.Planetary gear axis is overlapped with the axis of planet axis.
The speed reducer is mounted on the axle journal one of the shaft of rotating axis component in the axle sleeve one of support component in assembly,
Make one lateral ends of shaft part of shaft that the through-hole among axle sleeve boss one be passed through to be located at engine base axially external.At this point, inner rotor section
Internal rotor iron core, the internal rotor permanent-magnetic body of part are mounted on two radially inner side of magnetic pole of the stator of stator core, in interior rotor permanent magnet
Internal rotor magnetic gap is formed between two inner radial surface of radially-outer surface and magnetic pole of the stator.The axle journal of the shaft of rotating axis component
Two are mounted in the axle sleeve two of planetary gear member, make the sun gear of rotating axis component and several planets of planetary gear member
Gear is intermeshed.
The planetary gear of planetary gear member is mounted on gear ring radially inner side, keeps gear ring and several planetary gears mutual
Engagement.The locating ring radial inside edge of the outer rotor holder of outer rotor component is mounted on the positioning roller of planetary gear member
Guide groove in, locating ring radial inside edge can rotate in the guide groove of positioning roller, the guide groove of positioning roller limit
The axial movement of gear ring and outer rotor component processed.The axle journal four of outer rotor holder is mounted on four radially-outer surface of axle sleeve.At this point, outer
Outer rotor iron core, the outer rotor permanent magnet of rotor part are mounted on one radial outside of magnetic pole of the stator of stator core, in outer rotor
Outer rotor magnetic gap is formed between one radially-outer surface of permanent magnet inner radial surface and magnetic pole of the stator.Planetary gear member
The axle journal three of planet stent is mounted in the axle sleeve three of case member, and three lateral ends of shaft part of planet stent is made to pass through axle sleeve convex
It is axially external that through-hole among platform three is located at shell.Engine base is mounted on the housing flange of shell finally by bolt.
In the speed reducer, planetary gear member, gear ring, sun gear form planetary gear differential retarder.Planet tooth
Wheel differential speed reducer does not have fixing piece, and there are two driving links for planetary gear differential retarder, and driving link one is gear ring, driving link two
It is sun gear, driven member is the planet stent of planetary gear member.Planetary gear differential retarder does deceleration transmission.Sun tooth
When taking turns the linear velocity of reference circle position rotation equal to the linear velocity that gear ring reference circle position rotates, planet stent does not rotate.The sun
Gear compound graduation justify position rotation linear velocity be more than gear ring reference circle position rotation linear velocity when, planet stent direction of rotation with
Sun gear direction of rotation is identical.The linear velocity of sun gear reference circle position rotation is less than the line of gear ring reference circle position rotation
When speed, planet stent direction of rotation is opposite with sun gear direction of rotation.The direction of rotation of sun gear and inner rotor part
Direction of rotation it is identical.The direction of rotation of gear ring is identical as the direction of rotation of outer rotor component.
There are two output shafts for the speed reducer, and output shaft one is the shaft part three of the planet stent of planetary gear member, planet
The shaft part three of holder exports the difference that rotating speed is the rotating speed of sun gear and the rotating speed of gear ring and acts on planetary gear, drives planet
The rotating speed of holder.Output shaft second is that the shaft of rotating axis component shaft part one.It is exactly inner rotor section that the shaft part one of shaft, which exports rotating speed,
The rotating speed of part.
The speed reducer operational process is：
When the speed reducer starts, one control winding coil one of controller makes the outer rotor component slow-speed of revolution start, and gradually carries
High outer rotor component speed, at the same time, two control winding coil two of controller make the inner rotor part slow-speed of revolution start, and by
Inner rotor part rotating speed is gradually improved, outer rotor component is opposite with inner rotor part direction of rotation.Outer rotor component driven gear ring is revolved
Turn, gear ring direction of rotation is identical as outer rotor component direction of rotation, and gear ring drives planetary gear according to planetary gear direction of rotation
Rotation.Inner rotor part drives the planetary gear of planetary gear member to be revolved according to planetary gear by the sun gear of rotating axis component
Turn direction to rotate, sun gear direction of rotation is identical as inner rotor part direction of rotation.
If the linear velocity of sun gear reference circle position rotation is equal to the linear velocity of gear ring reference circle position rotation, the sun
Gear drives the linear velocity of planetary gear rotation to be equal to the linear velocity that gear ring driving planetary gear rotates, and planetary gear surrounds planet
Gear axis rotation, planetary gear axis remain static, then the output rotating speed of planet stent is equal to zero.
If the linear velocity of sun gear reference circle position rotation is more than the linear velocity of gear ring reference circle position rotation, the sun
Gear drives planetary gear to be more than gear ring driving planetary gear around the linear velocity of planetary gear axis rotation and surrounds planetary gear
The linear velocity of axis rotation, in order to offset the speed difference, then planetary gear revolves round the sun around planet stent axis, also, planet branch
Frame direction of rotation is identical as sun gear direction of rotation.Planet stent output is low turn identical with inner rotor part direction of rotation
Speed.
If the linear velocity of sun gear reference circle position rotation is less than the linear velocity of gear ring reference circle position rotation, the sun
Gear drives planetary gear to be less than gear ring driving planetary gear around the linear velocity of planetary gear axis rotation and surrounds planetary gear
The linear velocity of axis rotation, in order to offset the speed difference, then planetary gear revolves round the sun around planet stent axis, also, planet branch
Frame direction of rotation is opposite with sun gear direction of rotation.Planet stent exports low turn opposite with inner rotor part direction of rotation
Speed.
In the speed reducer operational process, the output rotating speed of output shaft one is related to the speed discrepancy of two motor rotors,
Two motor rotors can be in high-speed cruising state always, in the state that two motor rotor direction of rotation are constant,
The direction of rotation of the speed reducer output shaft one can be changed, driving load device realizes frequent acceleration, slows down, frequently opens
Dynamic, stopping, even frequently changing the function of load device direction of rotation.The speed reducer can ensure motor in efficiency
It is run under higher working condition, and response speed is improved when the speed reducer changes load device direction of rotation.It is described
The output rotating speed of speed reducer output shaft one is related to the speed discrepancy of two motor rotors, then the speed reducer has transmission ratio
Greatly, the big advantage of output torque, the speed reducer do not have flexible gear, then the speed reducer has reliable for operation, service life
Advantage long, output torque is big.
Description of the drawings
Fig. 1 is the isometric cutaway view of the speed reducer.Only case member does section view processing in figure.
Fig. 2 is the isometric cutaway view of the speed reducer.
Fig. 3 is the isometric cutaway view of case member.
Fig. 4 is the isometric cutaway view of the speed reducer.Case member is hidden in figure.
Fig. 5 is the isometric cutaway view that support component, controller one, controller two, stator component are installed together.
Fig. 6 is the isometric cutaway view that outer rotor component, gear ring are installed together.
Fig. 7 is the isometric cutaway view that support component, controller one, controller two are installed together.
Fig. 8 is the axonometric drawing of engine base.
Fig. 9 is the isometric cutaway view of outer rotor holder.
Figure 10 is the axonometric drawing of gear ring.
Figure 11 is the axonometric drawing of stator component.
Figure 12 is the axonometric drawing of stator core.
Figure 13 is the isometric cutaway view that inner rotor part, rotating axis component are installed together.
Figure 14 is the axonometric drawing of planetary gear member.
Figure 15 is the axonometric drawing of shaft.
Figure 16 is the axonometric drawing of planet stent.
Figure 17 is the axonometric drawing of sun gear.
Figure 18 is the axonometric drawing that planet axis, planetary gear, positioning roller are installed together.
Figure 19 is the axonometric drawing of planet axis.
Figure 20 is planetary axonometric drawing.
Figure 21 is the axonometric drawing of positioning roller.
Figure 22 is the axial cut-away illustration of the speed reducer.
Figure 23 is that the speed reducer runs slowly the schematic diagram of process.U II is equal to U I, then U III is equal to zero.
Figure 24 is that the speed reducer runs slowly the schematic diagram of process.U II is more than U I, then II direction of rotation phases of U III and U
Together.
Figure 25 is that the speed reducer runs slowly the schematic diagram of process.U II is less than U I, then II direction of rotation phases of U III and U
Instead.
U I is the linear velocity of gear ring reference circle position rotation in figure, and U II is the linear speed of sun gear reference circle position rotation
Degree, U III are the linear velocities of the planetary gear axial location rotation on planet stent.
Positioning roller 1, planet axis 2, sun gear 3, axle sleeve 34, planet stent 5, axle sleeve 26, planet are labeled in figure
Gear 7, shell 8, gear ring 9, bolt 2 10, outer rotor holder 11, outer rotor iron core 12, outer rotor permanent magnet 13, axle sleeve 4 14,
Engine base 15, internal rotor iron core 16, axle sleeve 1, shaft 18, internal rotor permanent-magnetic body 19, controller 2 20, controller 1, bolt
One 22, stator core 23, winding coil 1, winding coil 2 25, axle sleeve boss 3 26, axle sleeve boss 4 27, fixing lug boss
2 28, axle sleeve boss 1, threaded hole 1, threaded hole 2 31, locating ring 32, rack tube 33, gear ring bolt hole 34, stator line
Slot 2 35, magnetic pole of the stator 2 36, stator yoke 37, stator fixing hole 38, stator slot 1, magnetic pole of the stator 1, positioning pin
41, spline 2 42, spline 1, axle journal 2 44, pin hole 1, keyway 2 46, shaft part 2 47, keyway 1, positioning shaft shoulder one
49, axle journal 1, shaft part 1, axle sleeve mounting hole 2 52, axle sleeve boss 2 53, fixed shaft hole 54, fixing lug boss 55, shaft part three
56, axle journal 3 57, tray deck 58, planetary gear axis 59, planet stent axis 60, gear keyway 61, gear connection holes 62, fixed
Position pin hole 63, axle journal 4 64, gear shaft holes 65, idler wheel axis hole 66, guide groove 67, planet stent direction of rotation 68, planet stent
Rotational trajectory 69, gear ring direction of rotation 70, gear ring rotational trajectory 71, planetary gear direction of rotation 72, planetary gear rotational trajectory
73, sun gear direction of rotation 74, sun gear rotational trajectory 75.
Specific implementation mode
The present invention is further discussed below below in conjunction with the accompanying drawings.
Referring to Fig.1, Fig. 2, Figure 22, the speed reducer include case member, support component, controller 1, controller two
20, stator component, outer rotor component, inner rotor part, rotating axis component, gear ring 9, planetary gear member.Stator component, outer rotor
Component, inner rotor part form spinner motor.Case member includes shell 8, axle sleeve 34.Support component include engine base 15,
Axle sleeve 1, axle sleeve 4 14.Stator component includes stator core 23, winding coil 1, winding coil 2 25.Outer rotor component
Including outer rotor holder 11, outer rotor iron core 12, outer rotor permanent magnet 13.Inner rotor part include internal rotor iron core 16, interior turn
Sub- permanent magnet 19.Rotating axis component includes shaft 18, spline 1, spline 2 42, sun gear 3, positioning pin 41.Planetary gear portion
Part includes planet stent 5, axle sleeve 26 and several planet axis 2, planetary gear 7, positioning roller 1.Several planet axis 2 are installed
It is fixed on the axial side of planet stent 5.Controller 1, controller 2 20, stator component are mounted on support component axial direction side,
Outer rotor component is mounted on stator component radial outside, and inner rotor part is mounted on stator component radially inner side.The installation of gear ring 9 is solid
It is scheduled on outer rotor component axial direction side.Inner rotor part is mounted on rotating axis component radial outside centre position.Support component with it is outer
Case member is installed together, controller 1, controller 2 20, stator component, outer rotor component, inner rotor part, shaft
Part, gear ring 9, planetary gear member are mounted on case member radially inner side.
When the speed reducer operation, one 21 control winding coil 1 of controller makes outer rotor component rotate, controller one
21 can adjust outer rotor component rotary speed.2 20 control winding coil 2 25 of controller makes inner rotor part rotate, control
Device 2 20 can adjust inner rotor part rotary speed.Outer rotor component is opposite with inner rotor part direction of rotation.Outer rotor portion
Part driven gear ring 9 rotates, and inner rotor part drives the planetary gear 7 of planetary gear member by the sun gear 3 of rotating axis component
Rotation, when the linear velocity and the linear velocity of 3 reference circle position of sun gear rotation of the rotation of 9 reference circle position of gear ring differ, row
While around planetary gear 59 rotation of axis, planetary gear 7 can also surround planet stent axis 60 and revolve round the sun star gear 7, row
Star gear 7 drives 5 slow-speed of revolution of planet stent rotation.
Referring to figs. 1 to Figure 22, axle sleeve 1, axle sleeve 26, axle sleeve 34, axle sleeve 4 14 are cylindrical.
Shell 8 is in the closed cylindrical shape in one end.Shell 8, which is closed among the axially inner side end face of one end, cylindrical circular axle sleeve
Boss 3 26 is through-hole among axle sleeve boss 3 26, and axle sleeve 34 is mounted in axle sleeve boss 3 26,8 unclosed one end diameter of shell
It is housing flange outward, housing flange radial outside is evenly distributed with several bolts hole.
Engine base 15 is in disk form, and engine base has cylindrical circular axle sleeve boss 1 among 15 axially inner side end face, and axle sleeve is convex
It is through-hole among platform 1, axle sleeve 1 is mounted in axle sleeve boss 1.One 29 radial outside of axle sleeve boss has successively in same
The fixing lug boss 2 28 of thimble shape, axle sleeve boss 4 27,2 28 axially inner side end face of fixing lug boss are evenly distributed with several threaded holes one
30,15 radial outside of engine base is evenly distributed with several bolts hole.Axle sleeve 4 14 is mounted on 4 27 radially-outer surface of axle sleeve boss.Controller
One 21 are mounted on space between axle sleeve boss 4 27 and fixing lug boss 2 28, controller 2 20 be mounted on fixing lug boss 2 28 with
Space between axle sleeve boss 1.
In a ring, 23 radial outside of stator core is evenly distributed with several stator slots 1 to stator core 23, two neighboring fixed
It is magnetic pole of the stator 1 between sub-line slot 1,23 radially inner side of stator core is evenly distributed with several stator slots 2 35, and adjacent two
It is magnetic pole of the stator 2 36 between a stator slot 2 35, is stator in a ring between magnetic pole of the stator 1 and magnetic pole of the stator 2 36
Yoke 37,37 axial end face of stator yoke are evenly distributed with several stator fixing holes 38.Winding coil 1 is mounted on stator core 23
Stator slot 1 in, winding coil 2 25 be mounted on stator core 23 stator slot 2 35 in.Bolt 1 is worn successively
The stator fixing hole 38 of stator core 23 and the threaded hole 1 of engine base 15 are crossed, stator core 23 is fixed on engine base 15
2 28 axially inner side of fixing lug boss.
Gear ring 9 is internal gear, and 9 end face of gear ring is evenly distributed with several gear ring bolts hole 34.
11 radial outside of outer rotor holder is cylindrical circular rack tube 33, and 33 one end radially inner side of rack tube is in a ring
Locating ring 32,32 end face of locating ring is evenly distributed with several threaded holes 2 31, and 33 other end radially inner side of rack tube is axle journal 4 64,
Outer rotor iron core 12 in a ring is installed, 12 radially inner side of outer rotor iron core is equipped with several on the inside of 33 intermediate radial of rack tube
A outer rotor permanent magnet 13 in tile shape, 13 inner radial surface of two neighboring outer rotor permanent magnet opposite pole each other.Bolt
2 10 sequentially pass through the threaded hole 2 31 of the gear ring bolt hole 34 of gear ring 9 and outer rotor holder 11, gear ring 9 are fixed on outer
The axial side of rotor field spider 11.
Internal rotor iron core 16 in a ring, the cored keyway of iron core connection holes among internal rotor iron core 16.Several tiles
The internal rotor permanent-magnetic body 19 of shape is mounted on 16 radially-outer surface of internal rotor iron core, the radial appearance of two neighboring internal rotor permanent-magnetic body 19
Face opposite pole each other.
Sun gear 3 is external gear, 62 wheel key way 61 with teeth of gear connection holes among sun gear 3, sun gear 3
There is dowel hole 63 on gear hub.Positioning pin 41 is cylinder.
Shaft 18 is cylinder, is positioning shaft shoulder 1, one 49 both ends of positioning shaft shoulder difference among 18 radial outside of shaft
It is shaft part 1, shaft part 2 47, shaft part 1 is axle journal 1 close to one 49 one end of positioning shaft shoulder, and shaft part 2 47 is close to locating shaft
It is axle journal 2 44 that one 49 one end radially-outer surface of shoulder, which has keyway 1,2 47 axially external one end of shaft part, and shaft part 2 47 is by paraxial
2 44 one end radially-outer surface of neck has keyway 2 46 and pin hole 1.
Rotating axis component is mounted on spline 1 in the keyway 1 of shaft 18 in assembly, spline 2 42 is mounted on
In the keyway 2 46 of shaft 18, the shaft part 2 47 of shaft 18 is mounted in the iron core connection holes of internal rotor iron core 16, spline
One 43 are mounted in the iron core keyway of internal rotor iron core 16, and inner rotor part is made to be installed together with rotating axis component.Sun tooth
Wheel 3 is mounted on 2 47 lateral ends of shaft part of shaft 18, spline 2 42 is mounted in the gear keyway of sun gear 3, fixed
Position 41 one end of pin is mounted in the dowel hole 63 of sun gear 3,41 other end of positioning pin is mounted on the pin hole one of shaft 18
In 45.
Planetary gear 7 is external gear, is smooth gear shaft holes 65 among planetary gear 7.Positioning roller 1 is cylinder,
It is smooth idler wheel axis hole 66 among 1 two end faces of positioning roller, is guide groove in a ring among 1 radial outside of positioning roller
67。
It is discoidal tray deck 58 among 5 radial outside of planet stent, 58 one end of tray deck is the shaft part three of cylinder
56, the other end is columnar axle sleeve boss 2 53, is axle sleeve mounting hole 2 52 among axle sleeve boss 2 53, and axle sleeve 26 is installed
In axle sleeve mounting hole 2 52.Several uniformly distributed columnar fixing lug boss 55 around the axle sleeve boss 2 53 of planet stent 5, Gu
Determine to be fixed shaft hole 54 among boss 55.Shaft part 3 56 is axle journal 3 57 close to 58 one end of tray deck.Planet stent axis 60 with
The axis of axle sleeve mounting hole 2 52 overlaps, after planetary gear member assembly, the axis of planetary gear axis 59 and fixed shaft hole 54
It overlaps.
Planet axis 2 is cylinder, and there is the shaft shoulder in 2 one end of planet axis, after planetary gear member assembly, 2 other end of planet axis peace
Dress is fixed in the fixed shaft hole 54 of planet stent 5.Planet axis 2 has one end of the shaft shoulder to be sequentially installed with positioning roller to the other end
1, planetary gear 7, the axis that positioning roller 1, planetary gear 7 can surround planet axis 2 rotate.Planetary gear axis 59 and planet
The axis of axis 2 overlaps.
The speed reducer is mounted on the axle journal 1 of the shaft 18 of rotating axis component on the axle sleeve one of support component in assembly
In 17, make one 51 lateral ends of shaft part of shaft 18 that the through-hole among axle sleeve boss 1 be passed through to be located at engine base 15 axially external.
At this point, the internal rotor iron core 16 of inner rotor part, internal rotor permanent-magnetic body 19 are mounted on 2 36 diameter of magnetic pole of the stator of stator core 23
Inwardly, internal rotor magnetic field gas is formed between 2 36 inner radial surface of 19 radially-outer surface of interior rotor permanent magnet and magnetic pole of the stator
Gap.The axle journal 2 44 of the shaft 18 of rotating axis component is mounted in the axle sleeve 26 of planetary gear member, the sun of rotating axis component is made
Gear 3 and several planetary gears 7 of planetary gear member are intermeshed.
The planetary gear 7 of planetary gear member is mounted on 9 radially inner side of gear ring, makes gear ring 9 and several planetary gears 7
Intermeshing.32 radial inside edge of locating ring of the outer rotor holder 11 of outer rotor component is mounted on planetary gear member
In the guide groove 67 of positioning roller 1,32 radial inside edge of locating ring can rotate in the guide groove 67 of positioning roller 1, fixed
The guide groove 67 of position idler wheel 1 limits the axial movement of gear ring 9 and outer rotor component.The axle journal 4 64 of outer rotor holder 11 is mounted on
4 14 radially-outer surface of axle sleeve.At this point, the outer rotor iron core 12 of outer rotor component, outer rotor permanent magnet 13 are mounted on stator core
23 one 40 radial outside of magnetic pole of the stator, 13 inner radial surface of outer rotor permanent magnet and one 40 radially-outer surface of magnetic pole of the stator it
Between formed outer rotor magnetic gap.The axle journal 3 57 of the planet stent 5 of planetary gear member is mounted on the axle sleeve of case member
In 34, make 3 56 lateral ends of shaft part of planet stent 5 that the through-hole among axle sleeve boss 3 26 be passed through to be located at 8 axis of shell outside
Side.Engine base 15 is mounted on the housing flange of shell 8 finally by bolt.
In the speed reducer, planetary gear member, gear ring 9, sun gear 3 form planetary gear differential retarder.Planet
Gear differential retarder does not have fixing piece, and there are two driving links for planetary gear differential retarder, and driving link one is gear ring 9, actively
Part is second is that sun gear 3, driven member are the planet stents 5 of planetary gear member.Planetary gear differential retarder does deceleration transmission.
When the linear velocity of 3 reference circle position of sun gear rotation is equal to the linear velocity of 9 reference circle position of gear ring rotation, planet stent 5 is not
Rotation.When the linear velocity of 3 reference circle position of sun gear rotation is more than the linear velocity of 9 reference circle position of gear ring rotation, planet branch
Frame direction of rotation 68 is identical as sun gear direction of rotation 74.The linear velocity of 3 reference circle position of sun gear rotation is less than gear ring 9
When the linear velocity of reference circle position rotation, planet stent direction of rotation 68 is opposite with sun gear direction of rotation 74.Sun gear 3
Direction of rotation it is identical as the direction of rotation of inner rotor part.The direction of rotation phase of the direction of rotation of gear ring 9 and outer rotor component
Together.
There are two output shafts for the speed reducer, and output shaft one is the shaft part 3 56 of the planet stent 5 of planetary gear member, row
The shaft part 3 56 of prong frame 5 exports the difference that rotating speed is the rotating speed of sun gear 3 and the rotating speed of gear ring 9 and acts on planetary gear 7,
Drive the rotating speed of planet stent 5.Output shaft second is that the shaft 18 of rotating axis component shaft part 1.The shaft part 1 of shaft 18 exports
Rotating speed is exactly the rotating speed of inner rotor part.
With reference to Figure 22 to Figure 25, the speed reducer operational process is：
When the speed reducer starts, one 21 control winding coil 1 of controller makes the outer rotor component slow-speed of revolution start, and by
Outer rotor component speed is gradually improved, at the same time, 2 20 control winding coil 2 25 of controller makes the inner rotor part slow-speed of revolution open
It is dynamic, and inner rotor part rotating speed is gradually increased, outer rotor component is opposite with inner rotor part direction of rotation.Outer rotor component drives
Moving teeth circle 9 rotates, and 9 direction of rotation of gear ring is identical as outer rotor component direction of rotation, and gear ring 9 drives planetary gear 7 according to planet
Gear direction of rotation 72 rotates.Inner rotor part drives the planet tooth of planetary gear member by the sun gear 3 of rotating axis component
Wheel 7 is rotated according to planetary gear direction of rotation 72, and sun gear direction of rotation 74 is identical as inner rotor part direction of rotation.
If the linear velocity of 3 reference circle position of sun gear rotation is equal to the linear velocity of 9 reference circle position of gear ring rotation, too
The linear velocity that positive gear 3 drives planetary gear 7 to rotate is equal to the linear velocity that gear ring 9 drives planetary gear 7 to rotate, planetary gear 7
Around 59 rotation of planetary gear axis, planetary gear axis 59 remains static, then the output rotating speed of planet stent 5 is equal to
Zero.
If the linear velocity of 3 reference circle position of sun gear rotation is more than the linear velocity of 9 reference circle position of gear ring rotation, too
Positive gear 3 drives planetary gear 7 to be more than the driving planetary gear 7 of gear ring 9 around the linear velocity of 59 rotation of planetary gear axis and surrounds
The linear velocity of 59 rotation of planetary gear axis, in order to offset the speed difference, then planetary gear 7 is public around planet stent axis 60
Turn, also, planet stent direction of rotation 68 is identical as sun gear direction of rotation 74.Planet stent 5 exports and inner rotor part
The identical slow-speed of revolution in direction of rotation.
If the linear velocity of 3 reference circle position of sun gear rotation is less than the linear velocity of 9 reference circle position of gear ring rotation, too
Positive gear 3 drives planetary gear 7 to be less than the driving planetary gear 7 of gear ring 9 around the linear velocity of 59 rotation of planetary gear axis and surrounds
The linear velocity of 59 rotation of planetary gear axis, in order to offset the speed difference, then planetary gear 7 is public around planet stent axis 60
Turn, also, planet stent direction of rotation 68 is opposite with sun gear direction of rotation 74.Planet stent 5 exports and inner rotor part
The opposite slow-speed of revolution in direction of rotation.
In the speed reducer operational process, the output rotating speed of output shaft one is related to the speed discrepancy of two motor rotors,
Two motor rotors can be in high-speed cruising state always, in the state that two motor rotor direction of rotation are constant,
The direction of rotation of the speed reducer output shaft one can be changed, driving load device realizes frequent acceleration, slows down, frequently opens
Dynamic, stopping, even frequently changing the function of load device direction of rotation.The speed reducer can ensure motor in efficiency
It is run under higher working condition, and response speed is improved when the speed reducer changes load device direction of rotation.It is described
The output rotating speed of speed reducer output shaft one is related to the speed discrepancy of two motor rotors, then the speed reducer has transmission ratio
Greatly, the big advantage of output torque, the speed reducer do not have flexible gear, then the speed reducer has reliable for operation, service life
Advantage long, output torque is big.
Claims (1)
1. a kind of birotor input planet gear speed reducer, it is characterised in that the speed reducer include case member, support component,
Controller one (21), controller two (20), stator component, outer rotor component, inner rotor part, rotating axis component, gear ring (9), row
Star geared parts；Stator component, outer rotor component, inner rotor part form spinner motor；Case member includes shell
(8), axle sleeve three (4)；Support component includes engine base (15), axle sleeve one (17), axle sleeve four (14)；Stator component includes stator core
(23), winding coil one (24), winding coil two (25)；Outer rotor component includes outer rotor holder (11), outer rotor iron core
(12), outer rotor permanent magnet (13)；Inner rotor part includes internal rotor iron core (16), internal rotor permanent-magnetic body (19)；Rotating axis component
Including shaft (18), spline one (43), spline two (42), sun gear (3), positioning pin (41)；Planetary gear member includes row
Prong frame (5), axle sleeve two (6) and several planet axis (2), planetary gear (7), positioning roller (1)；Several planet axis (2)
It is fixed on the axial side of planet stent (5)；Controller one (21), controller two (20), stator component are mounted on engine base portion
Part axial direction side, outer rotor component are mounted on stator component radial outside, and inner rotor part is mounted on stator component radially inner side；
Gear ring (9) is fixed on outer rotor component axial direction side；Inner rotor part is mounted on rotating axis component radial outside centre position；
Support component is installed together with case member, controller one (21), controller two (20), stator component, outer rotor component, interior
Rotor part, rotating axis component, gear ring (9), planetary gear member are mounted on case member radially inner side；
When the speed reducer operation, controller one (21) control winding coil one (24) makes outer rotor component rotate, controller one
(21) outer rotor component rotary speed can be adjusted；Controller two (20) control winding coil two (25) makes inner rotor part revolve
Turn, controller two (20) can adjust inner rotor part rotary speed；Outer rotor component is opposite with inner rotor part direction of rotation；
Outer rotor component driven gear ring (9) rotates, and inner rotor part drives planetary gear member by the sun gear (3) of rotating axis component
Planetary gear (7) rotation, linear velocity and sun gear (3) reference circle position rotation of gear ring (9) reference circle position rotation
When linear velocity differs, while around planetary gear axis (59) rotation, planetary gear (7) can also enclose planetary gear (7)
It revolves round the sun around planet stent axis (60), planetary gear (7) drives planet stent (5) slow-speed of revolution rotation；
Axle sleeve one (17), axle sleeve two (6), axle sleeve three (4), axle sleeve four (14) are cylindrical；
Shell (8) is in the closed cylindrical shape in one end；Shell (8) closing has cylindrical circular axle sleeve among the axially inner side end face of one end
Boss three (26), intermediate axle sleeve boss three (26) is through-hole, and axle sleeve three (4) is mounted in axle sleeve boss three (26), and shell (8) is not
It is housing flange to close one end radial outside, and housing flange radial outside is evenly distributed with several bolts hole；
Engine base (15) is in disk form, there is cylindrical circular axle sleeve boss one (29), axle sleeve among engine base (15) axially inner side end face
It is through-hole among boss one (29), axle sleeve one (17) is mounted in axle sleeve boss one (29)；Axle sleeve boss one (29) radial outside
There are the fixing lug boss two (28) in annular concentric, axle sleeve boss four (27), fixing lug boss two (28) axially inner side end face equal successively
Several threaded holes one (30) of cloth, engine base (15) radial outside are evenly distributed with several bolts hole；It is convex that axle sleeve four (14) is mounted on axle sleeve
Platform four (27) radially-outer surface；Controller one (21) is mounted on the sky between axle sleeve boss four (27) and fixing lug boss two (28)
Between, controller two (20) is mounted on the space between fixing lug boss two (28) and axle sleeve boss one (29)；
In a ring, stator core (23) radial outside is evenly distributed with several stator slots one (39) to stator core (23), two neighboring
It is magnetic pole of the stator one (40) between stator slot one (39), stator core (23) radially inner side is evenly distributed with several stator slots two
(35), between two neighboring stator slot two (35) it is magnetic pole of the stator two (36), magnetic pole of the stator one (40) and magnetic pole of the stator two
(36) it is stator yoke (37) in a ring between, stator yoke (37) axial end face is evenly distributed with several stator fixing holes (38)；
Winding coil one (24) is mounted in the stator slot one (39) of stator core (23), and winding coil two (25) is mounted on stator iron
In the stator slot two (35) of core (23)；Bolt one (22) sequentially passes through the stator fixing hole (38) and engine base of stator core (23)
(15) threaded hole one (30) is fixed on stator core (23) fixing lug boss two (28) axially inner side of engine base (15)；
Gear ring (9) is internal gear, and gear ring (9) end face is evenly distributed with several gear ring bolts hole (34)；
Outer rotor holder (11) radial outside is cylindrical circular rack tube (33), and rack tube (33) one end radially inner side is in ring
The locating ring (32) of shape, locating ring (32) end face are evenly distributed with several threaded holes two (31), rack tube (33) other end radially inner side
It is axle journal four (64), outer rotor iron core (12) in a ring, outer rotor iron core is installed on the inside of rack tube (33) intermediate radial
(12) radially inner side is equipped with the outer rotor permanent magnet (13) that several are in tile shape, two neighboring outer rotor permanent magnet (13) diameter
Inner surface opposite pole each other；Bolt two (10) sequentially passes through the gear ring bolt hole (34) and outer rotor holder of gear ring (9)
(11) gear ring (9) is fixed on the axial side of outer rotor holder (11) by threaded hole two (31)；
Internal rotor iron core (16) in a ring, the intermediate cored keyway of iron core connection holes of internal rotor iron core (16)；Several tiles
The internal rotor permanent-magnetic body (19) of shape is mounted on internal rotor iron core (16) radially-outer surface, two neighboring internal rotor permanent-magnetic body (19) diameter
Exterior surface opposite pole each other；
Sun gear (3) is external gear, intermediate gear connection holes (62) wheel key way with teeth (61) of sun gear (3), sun tooth
Taking turns on the gear hub of (3) has dowel hole (63)；Positioning pin (41) is cylinder；
Shaft (18) is cylinder, is positioning shaft shoulder one (49), positioning shaft shoulder one (49) both ends among shaft (18) radial outside
It is shaft part one (51), shaft part two (47) respectively, shaft part one (51) is axle journal one (50), shaft part close to one (49) one end of positioning shaft shoulder
There are keyway one (48) in two (47) close to one (49) one end radially-outer surface of positioning shaft shoulder, and the axially external one end of shaft part two (47) is axis
Neck two (44), shaft part two (47) have keyway two (46) and pin hole one (45) close to two (44) one end radially-outer surface of axle journal；
Rotating axis component is mounted on spline one (43) in assembly in the keyway one (48) of shaft (18), and spline two (42) is pacified
In the keyway two (46) of shaft (18), the iron core for the shaft part two (47) of shaft (18) being mounted on internal rotor iron core (16) joins
It connects in hole, spline one (43) is mounted in the iron core keyway of internal rotor iron core (16), inner rotor part is made to pacify with rotating axis component
It is fitted together；Sun gear (3) is mounted on shaft part two (47) lateral ends of shaft (18), spline two (42) is mounted on too
In the gear keyway of positive gear (3), positioning pin (41) one end is mounted in the dowel hole (63) of sun gear (3), fixed
Position pin (41) other end is mounted in the pin hole one (45) of shaft (18)；
Planetary gear (7) is external gear, is smooth gear shaft holes (65) among planetary gear (7)；Positioning roller (1) is in cylinder
Shape is smooth idler wheel axis hole (66) among (1) two end face of positioning roller, and it is in ring to be among positioning roller (1) radial outside
The guide groove (67) of shape；
It is discoidal tray deck (58) among planet stent (5) radial outside, tray deck (58) one end is the shaft part of cylinder
Three (56), the other end are columnar axle sleeve boss two (53), and it is axle sleeve mounting hole two (52), axis that axle sleeve boss two (53) is intermediate
Two (6) are covered to be mounted in axle sleeve mounting hole two (52)；Several cylinders are evenly distributed with around the axle sleeve boss two (53) of planet stent (5)
The fixing lug boss (55) of shape, it is fixed shaft hole (54) that fixing lug boss (55) is intermediate；Shaft part three (56) is close to tray deck (58) one end
It is axle journal three (57)；Planet stent axis (60) is overlapped with the axis of axle sleeve mounting hole two (52), after planetary gear member assembly,
Planetary gear axis (59) is overlapped with the axis of fixed shaft hole (54)；
Planet axis (2) is cylinder, and there is the shaft shoulder in planet axis (2) one end, after planetary gear member assembly, planet axis (2) other end
It is fixed in the fixed shaft hole (54) of planet stent (5)；Planet axis (2) has one end of the shaft shoulder to be sequentially installed with to the other end
Positioning roller (1), planetary gear (7), the axis that positioning roller (1), planetary gear (7) can surround planet axis (2) rotate；Row
Star Gear axis (59) is overlapped with the axis of planet axis (2)；
The speed reducer is mounted on the axle journal one (50) of the shaft (18) of rotating axis component on the axle sleeve one of support component in assembly
(17) in, the through-hole that shaft part one (51) lateral ends of shaft (18) pass through axle sleeve boss one (29) intermediate is made to be located at engine base (15)
It is axially external；At this point, the internal rotor iron core (16) of inner rotor part, internal rotor permanent-magnetic body (19) are mounted on stator core (23)
Magnetic pole of the stator two (36) radially inner side, in interior rotor permanent magnet (19) radially-outer surface and magnetic pole of the stator two (36) inner radial surface
Between formed internal rotor magnetic gap；The axle journal two (44) of the shaft (18) of rotating axis component is mounted on the axis of planetary gear member
It covers in two (6), several planetary gears (7) of the sun gear (3) for making rotating axis component and planetary gear member are intermeshed；
The planetary gear (7) of planetary gear member is mounted on gear ring (9) radially inner side, makes gear ring (9) and several planet teeth
Take turns (7) intermeshing；Locating ring (32) radial inside edge of the outer rotor holder (11) of outer rotor component is mounted on planet
In the guide groove (67) of the positioning roller (1) of geared parts, locating ring (32) radial inside edge can be in positioning roller (1)
Rotation in guide groove (67), the axial movement of guide groove (67) limitation gear ring (9) and outer rotor component of positioning roller (1)；Outside
The axle journal four (64) of rotor field spider (11) is mounted on axle sleeve four (14) radially-outer surface；At this point, the outer rotor iron of outer rotor component
Core (12), outer rotor permanent magnet (13) be mounted on stator core (23) magnetic pole of the stator one (40) radial outside, outer rotor forever
Outer rotor magnetic gap is formed between magnet (13) inner radial surface and magnetic pole of the stator one (40) radially-outer surface；Planetary gear
The axle journal three (57) of the planet stent (5) of component is mounted in the axle sleeve three (4) of case member, makes the shaft part of planet stent (5)
It is axially external that the through-hole that three (56) lateral ends pass through axle sleeve boss three (26) intermediate is located at shell (8)；Finally by bolt handle
Engine base (15) is mounted on the housing flange of shell (8)；
In the speed reducer, planetary gear member, gear ring (9), sun gear (3) form planetary gear differential retarder；Planet
Gear differential retarder does not have fixing piece, and there are two driving links for planetary gear differential retarder, and driving link one is gear ring (9), main
Moving part is second is that sun gear (3), driven member are the planet stents (5) of planetary gear member；Planetary gear differential retarder, which is done, to be subtracted
Speed transmission；When the linear velocity of sun gear (3) reference circle position rotation is equal to the linear velocity of gear ring (9) reference circle position rotation,
Planet stent (5) does not rotate；The linear velocity of sun gear (3) reference circle position rotation is rotated more than gear ring (9) reference circle position
Linear velocity when, planet stent direction of rotation (68) are identical as sun gear direction of rotation (74)；Sun gear (3) reference circle position
When setting the linear velocity of rotation less than the linear velocity that gear ring (9) reference circle position rotates, planet stent direction of rotation (68) and the sun
Gear direction of rotation (74) is opposite；The direction of rotation of sun gear (3) is identical as the direction of rotation of inner rotor part；Gear ring (9)
Direction of rotation it is identical as the direction of rotation of outer rotor component；
There are two output shafts for the speed reducer, and output shaft one is the shaft part three (56) of the planet stent (5) of planetary gear member, row
Shaft part three (56) the output rotating speed of prong frame (5) is that the difference of the rotating speed of sun gear (3) and the rotating speed of gear ring (9) acts on planet
On gear (7), the rotating speed of driving planet stent (5)；Output shaft second is that the shaft (18) of rotating axis component shaft part one (51)；Shaft
(18) shaft part one (51) output rotating speed is exactly the rotating speed of inner rotor part.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109027176A (en) * | 2018-08-17 | 2018-12-18 | 大连碧蓝节能环保科技有限公司 | A kind of joint mechanical differential |
| CN109378933A (en) * | 2018-11-28 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of planetary gear type brshless DC motor |
| CN109412375A (en) * | 2018-10-22 | 2019-03-01 | 武汉大通窑炉机械设备有限公司 | Stepper is set in a kind of accurate positioning of brief and practical |
| CN109733209A (en) * | 2019-02-14 | 2019-05-10 | 大连碧蓝节能环保科技有限公司 | Automobile-used bipyramid tooth differential deceleration system control methods |
| CN110729851A (en) * | 2018-09-04 | 2020-01-24 | 郭成武 | Double-rotor variable-frequency variable-voltage power generation device |
| TWI742725B (en) * | 2020-06-16 | 2021-10-11 | 國立臺北科技大學 | Joint module and reducer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109027176A (en) * | 2018-08-17 | 2018-12-18 | 大连碧蓝节能环保科技有限公司 | A kind of joint mechanical differential |
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| CN109412375A (en) * | 2018-10-22 | 2019-03-01 | 武汉大通窑炉机械设备有限公司 | Stepper is set in a kind of accurate positioning of brief and practical |
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| CN109733209A (en) * | 2019-02-14 | 2019-05-10 | 大连碧蓝节能环保科技有限公司 | Automobile-used bipyramid tooth differential deceleration system control methods |
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| TWI742725B (en) * | 2020-06-16 | 2021-10-11 | 國立臺北科技大學 | Joint module and reducer |
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Effective date of registration: 20190606 Address after: 226571 No. 15 Xiaokang Road, Dongchen Town, Rugao City, Nantong City, Jiangsu Province Applicant after: Rugao Jiuyuan Transmission Machinery Co., Ltd. Address before: 116600 No. 34-3 Harbin Road, Dalian Economic and Technological Development Zone, Liaoning Province Applicant before: The dark blue energy-conserving and environment-protective Science and Technology Ltd. in Dalian |
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