CN108400677B - Birotor input planet gear speed reducer - Google Patents
Birotor input planet gear speed reducer Download PDFInfo
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- CN108400677B CN108400677B CN201810248940.0A CN201810248940A CN108400677B CN 108400677 B CN108400677 B CN 108400677B CN 201810248940 A CN201810248940 A CN 201810248940A CN 108400677 B CN108400677 B CN 108400677B
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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
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
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 revolving speed of output shaft one is related to the rotational speed difference 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 starting stops, 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 technique
The retarder of articulated robot mainly uses RV retarder.RV retarder has that transmission ratio is big, output torque is big
Advantage.RV reducer structure complexity, disadvantage at high cost, also constrain the popularization and application of RV retarder.In articulated robot
In, RV retarder gradually replaces 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 retarder 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 retarder or harmonic speed reducer
It compares, the transmission ratio of planetary reducer is small, is unable to satisfy requirement of the articulated robot to transmission ratio.
Articulated robot, electric car, Moped Scooter, washing machine operational process in, need frequently to accelerate, subtract
Speed, frequent starting stop, and even frequently change the direction of rotation of its motor, these motion features make motor exist
It is run under the lower working condition of efficiency.
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 be realized 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 response speed is improved when the retarder changes load device direction of rotation.
Summary of the invention
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 portion
Part, inner rotor part, rotating axis component, gear ring, planetary gear member.Stator component, outer rotor component, inner rotor part group are in pairs
Rotor electromotor.Case member includes shell, axle sleeve three.Support component includes base, axle sleeve one, axle sleeve four.Stator component packet
Include stator core, winding coil one, winding coil two.Outer rotor component include outer rotor bracket, outer rotor iron core, outer rotor forever
Magnet.Inner rotor part includes internal rotor iron core, internal rotor permanent-magnetic body.Rotating axis component includes shaft, spline one, spline two, too
Positive gear, positioning pin.Planetary gear member includes planet stent, axle sleeve two and several planet axis, planetary gear, positioning rolling
Wheel.Several planet axis are fixed on planet stent axial direction side.Controller one, controller two, stator component are mounted on machine
Base member axial direction side, outer rotor component are mounted on stator component radial outside, and inner rotor part is mounted on stator component radial direction
Inside.Gear ring is fixed on outer rotor component axial direction side.Inner rotor part is mounted on rotating axis component radial outside interposition
It sets.Support component is installed together with case member, controller one, controller two, stator component, outer rotor component, internal rotor
Component, rotating axis component, gear ring, planetary gear member are mounted on case member radially inner side.
When the speed reducer is run, one control winding coil one of controller rotates outer rotor component, and controller one can
Adjust outer rotor component rotation speed.Two control winding coil two of controller rotates inner rotor part, and controller two can be adjusted
Save inner rotor part rotation speed.Outer rotor component is opposite with inner rotor part direction of rotation.The rotation of outer rotor component driven gear ring
Turn, inner rotor part drives the planetary gear rotation of planetary gear member, gear ring reference circle by the sun gear of rotating axis component
When the linear velocity of position rotation and the not identical linear velocity of sun gear reference circle position rotation, planetary gear is surrounding planet tooth
While wheel axis rotation, planetary gear can also revolve around planet stent axis, 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 cylindrical shape closed at 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.
Base is in disk form, there is cylindrical circular axle sleeve boss one among 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 successively has convex in the fixation of annular concentric
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 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 base,
Stator core is fixed on two axially inner side of fixing lug boss of base.
Gear ring is internal gear, and gear ring end face is evenly distributed with several gear ring bolts hole.
Outer rotor bracket radial outside is cylindrical circular rack tube, and rack tube one end radially inner side is positioning in a ring
Ring, positioning 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 bracket, gear ring is fixed on outer rotor bracket 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 cylindrical.
Shaft is cylindrical, 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, the axially external one end of shaft part two 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 the keyway one of shaft in assembly, 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, be installed together inner rotor part 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 cylindrical, positioning rolling
Taking turns is smooth idler wheel axis hole among two end faces, 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 cylindrical shaft part three, 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 cylindrical, 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, positioning roller, planetary gear can be rotated around the axis of planet axis.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,
Through-hole of one lateral ends of shaft part of shaft among axle sleeve boss one is set to be located at 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 intermeshing.
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 positioning ring radial inside edge of the outer rotor bracket of outer rotor component is mounted on the positioning roller of planetary gear member
Guide groove in, positioning 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 bracket 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, so that three lateral ends of shaft part of planet stent is passed through axle sleeve convex
It is axially external that through-hole among platform three is located at shell.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 is first is that 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 circle position rotation linear velocity be greater 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.
The speed reducer there are two output shaft, output shaft first is that the planet stent of planetary gear member shaft part three, planet
The shaft part three of bracket exports the difference that revolving speed is the revolving speed of sun gear and the revolving speed of gear ring, and planetary gear surrounds planet stent axis
Revolution revolving speed is exactly the difference of the revolving speed, the rotation of planet gear drives planet stent.Output shaft second is that the shaft of rotating axis component axis
Duan Yi.The shaft part one of shaft exports the revolving speed that revolving speed is exactly inner rotor part.
The speed reducer operational process is:
When the speed reducer starts, one control winding coil one of controller starts the outer rotor component slow-speed of revolution, and by
Outer rotor component speed is gradually improved, at the same time, two control winding coil two of controller starts the inner rotor part slow-speed of revolution, and
And inner rotor part revolving speed is gradually increased, outer rotor component is opposite with inner rotor part direction of rotation.Outer rotor component sliding tooth
Circle rotation, gear ring direction of rotation is identical as outer rotor component direction of rotation, and gear ring driving planetary gear is rotated according to planetary gear
Direction rotates.Inner rotor part drives the planetary gear of planetary gear member according to planet tooth by the sun gear of rotating axis component
Direction of rotation rotation is taken turns, 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 revolving speed of planet stent is equal to zero.
If the linear velocity of sun gear reference circle position rotation is greater than the linear velocity of gear ring reference circle position rotation, the sun
Gear drives planetary gear to be greater 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 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 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 revolving speed of output shaft one is related to the rotational speed difference 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 improves response speed when the speed reducer changes load device direction of rotation.It is described
The output revolving speed of speed reducer output shaft one is related to the rotational speed difference 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.
Detailed description of the invention
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 base.
Fig. 9 is the isometric cutaway view of outer rotor bracket.
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 gear 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 greater than U I, then II direction of rotation phase 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 phase 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 bracket 11, outer rotor iron core 12, outer rotor permanent magnet 13, axle sleeve 4 14,
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, positioning 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 embodiment
The present invention is further discussed below with reference to the accompanying drawing.
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 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 bracket 11, outer rotor iron core 12, outer rotor permanent magnet 13.Inner rotor part includes 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.The installation of several planet axis 2
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 middle position.Support component and 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 is run, one 21 control winding coil 1 of controller rotates outer rotor component, controller one
21 can adjust outer rotor component rotation speed.2 20 control winding coil 2 25 of controller rotates inner rotor part, control
Device 2 20 can adjust inner rotor part rotation 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
When rotation, the linear velocity of 9 reference circle position of gear ring rotation and the not identical linear velocity of 3 reference circle position of sun gear rotation, row
While surrounding 59 rotation of planetary gear axis, planetary gear 7 can also revolve star gear 7 around planet stent axis 60, 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 cylindrical shape closed at one end.Shell 8, which is closed among one end axially inner side end face, 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, the unclosed one end diameter of shell 8
It is housing flange outward, housing flange radial outside is evenly distributed with several bolts hole.
Base 15 is in disk form, and 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 successively has 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 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 the 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
Magnetic 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 is mounted in the stator slot 2 35 of stator core 23.Bolt 1 is successively worn
The stator fixing hole 38 of stator core 23 and the threaded hole 1 of base 15 are crossed, stator core 23 is fixed on 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 bracket is cylindrical circular rack tube 33, and 33 one end radially inner side of rack tube is in a ring
Positioning ring 32,32 end face of positioning 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, two neighboring 13 inner radial surface of 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 bracket 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, the wheel key way 61 with teeth of gear connection holes 62 among sun gear 3, sun gear 3
There is dowel hole 63 on gear hub.Positioning pin 41 is cylindrical.
Shaft 18 is cylindrical, 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
One 49 one end radially-outer surface of shoulder has keyway 1, and the axially external one end of shaft part 2 47 is axle journal 2 44, 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, are installed together inner rotor part with rotating axis component.Sun tooth
Wheel 3 is mounted on 2 47 lateral ends of shaft part of shaft 18, and 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 cylindrical,
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 cylindrical shaft part three
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 is overlapped, after planetary gear member assembly, the axis of planetary gear axis 59 and fixed shaft hole 54
It is overlapped.
Planet axis 2 is cylindrical, 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, positioning roller 1, planetary gear 7 can be rotated around the axis of planet axis 2.Planetary gear axis 59 and planet
The axis of axis 2 is overlapped.
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, through-hole of one 51 lateral ends of shaft part of shaft 18 among axle sleeve boss 1 is set to be located at 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 interior 19 radially-outer surface of rotor permanent magnet and 2 36 inner radial surface of 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
Several planetary gears 7 of gear 3 and 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 positioning ring of the outer rotor bracket 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 positioning 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 bracket 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, through-hole of 3 56 lateral ends of shaft part of planet stent 5 among axle sleeve boss 3 26 is set to be located at 8 axis of shell outside
Side.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 planetary gear differential retarder is there are two driving link, and driving link is first is that gear ring 9, active
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 greater 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.
The speed reducer there are two output shaft, output shaft first is that the planet stent 5 of planetary gear member shaft part 3 56, row
The shaft part 3 56 of prong frame 5 exports the difference that revolving speed is the revolving speed of sun gear 3 and the revolving speed of gear ring 9, and planetary gear 7 surrounds planet
The revolution revolving speed of bracket axis 60 is exactly the difference of the revolving speed, and planetary gear 7 drives planet stent 5 to rotate.Output shaft is second is that shaft
The shaft part 1 of the shaft 18 of part.The shaft part 1 of shaft 18 exports the revolving speed that revolving speed is exactly inner rotor part.
Referring 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 starts the outer rotor component slow-speed of revolution, and
And outer rotor component speed is gradually increased, at the same time, 2 20 control winding coil 2 25 of controller makes low turn of inner rotor part
Speed starting, and inner rotor part revolving speed is gradually increased, outer rotor component is opposite with inner rotor part direction of rotation.Outer rotor portion
Part driven gear ring 9 rotate, 9 direction of rotation of gear ring is identical with outer rotor component direction of rotation, gear ring 9 driving planetary gear 7 according to
Planetary gear direction of rotation 72 rotates.Inner rotor part drives the row of planetary gear member by the sun gear 3 of rotating axis component
Star gear 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 revolving speed of planet stent 5 is equal to
Zero.
If the linear velocity of 3 reference circle position of sun gear rotation is greater than the linear velocity of 9 reference circle position of gear ring rotation, too
Positive gear 3 drives planetary gear 7 to be greater 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.The output of planet stent 5 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.The output of planet stent 5 and inner rotor part
The opposite slow-speed of revolution in direction of rotation.
In the speed reducer operational process, the output revolving speed of output shaft one is related to the rotational speed difference 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 improves response speed when the speed reducer changes load device direction of rotation.It is described
The output revolving speed of speed reducer output shaft one is related to the rotational speed difference 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 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 bracket (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 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 middle 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 is run, controller one (21) control winding coil one (24) rotates outer rotor component, controller one
(21) outer rotor component rotation speed can be adjusted；Controller two (20) control winding coil two (25) revolves inner rotor part
Turn, controller two (20) can adjust inner rotor part rotation speed；Outer rotor component is opposite with inner rotor part direction of rotation；
Outer rotor component driven gear ring (9) rotation, inner rotor part drive planetary gear member by the sun gear (3) of rotating axis component
Planetary gear (7) rotation, gear ring (9) reference circle position rotation linear velocity and sun gear (3) reference circle position rotation
When linear velocity is not identical, while surrounding planetary gear axis (59) rotation, planetary gear (7) can also enclose planetary gear (7)
It revolves 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 cylindrical shape closed at one end；Shell (8) closing has cylindrical circular axle sleeve among one end axially inner side end face
Boss three (26), it is through-hole that axle sleeve boss three (26) is intermediate, and axle sleeve three (4) is mounted in axle sleeve boss three (26), and shell (8) is not
Closing one end radial outside is housing flange, and housing flange radial outside is evenly distributed with several bolts hole；
Base (15) is in disk form, has cylindrical circular axle sleeve boss one (29), axle sleeve among base (15) axially inner side end face
It is through-hole that boss one (29) is intermediate, and axle sleeve one (17) is mounted in axle sleeve boss one (29)；Axle sleeve boss one (29) radial outside
Successively 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 is equal
Several threaded holes one (30) of cloth, 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
It (35), is magnetic pole of the stator two (36), magnetic pole of the stator one (40) and magnetic pole of the stator two between two neighboring stator slot two (35)
It (36) 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 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 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 bracket (11) radial outside is cylindrical circular rack tube (33), and rack tube (33) one end radially inner side is in ring
The positioning ring (32) of shape, positioning 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 bracket of gear ring (9)
(11) gear ring (9) is fixed on the axial side of outer rotor bracket (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 cylindrical；
Shaft (18) is cylindrical, 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 positioning shaft shoulder one (49) one end
There are keyway one (48) in two (47) close to positioning shaft shoulder one (49) one end radially-outer surface, 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 axle journal two (44) one end radially-outer surface；
Rotating axis component is mounted on spline one (43) in the keyway one (48) of shaft (18) in assembly, and spline two (42) is pacified
In the keyway two (46) of shaft (18), the iron core that the shaft part two (47) of shaft (18) is mounted on internal rotor iron core (16) is joined
It connects in hole, spline one (43) is mounted in the iron core keyway of internal rotor iron core (16), pacify inner rotor part and 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, and it is smooth gear shaft holes (65) that planetary gear (7) is intermediate；Positioning roller (1) is in cylinder
Shape is smooth idler wheel axis hole (66) among (1) two end face of positioning roller, is in ring 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 cylindrical shaft part
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) of set are 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 cylindrical, 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), positioning roller (1), planetary gear (7) can be rotated around the axis of planet axis (2)；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, so that shaft part one (51) lateral ends of shaft (18) is passed through the intermediate through-hole of axle sleeve boss one (29) and be located at 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) and planetary gear member that make rotating axis component 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；Positioning ring (32) radial inside edge of the outer rotor bracket (11) of outer rotor component is mounted on planet
In the guide groove (67) of the positioning roller (1) of geared parts, positioning 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) are mounted on magnetic pole of the stator one (40) radial outside of stator core (23), 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 among axle sleeve boss three (26) is located at shell (8)；Finally by bolt handle
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 for planetary gear differential retarder there are two driving link, driving link is main first is that gear ring (9)
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 greater 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；
The speed reducer there are two output shaft, output shaft first is that the planet stent (5) of planetary gear member shaft part three (56), row
Shaft part three (56) the output revolving speed of prong frame (5) is the difference of the revolving speed of sun gear (3) and the revolving speed of gear ring (9), planetary gear
(7) difference that planet stent axis (60) revolution revolving speed is exactly the revolving speed is surrounded, planetary gear (7) drives planet stent (5) rotation；
Output shaft second is that the shaft (18) of rotating axis component shaft part one (51)；Shaft part one (51) the output revolving speed of shaft (18) turns in being exactly
The revolving speed of subassembly.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109027176B (en) * | 2018-08-17 | 2020-01-14 | 大连碧蓝节能环保科技有限公司 | Joint differential speed reducer |
| CN110729851A (en) * | 2018-09-04 | 2020-01-24 | 郭成武 | Double-rotor variable-frequency variable-voltage power generation device |
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| CN109378933B (en) * | 2018-11-28 | 2021-02-19 | 华南智能机器人创新研究院 | Planetary gear type brushless direct current motor |
| CN109733209B (en) * | 2019-02-14 | 2020-06-26 | 大连碧蓝节能环保科技有限公司 | Control method of differential speed reduction system of vehicle double-bevel gear |
| TWI742725B (en) * | 2020-06-16 | 2021-10-11 | 國立臺北科技大學 | Joint module and reducer |
| CN113280089B (en) * | 2021-06-22 | 2024-05-14 | 南京玛格耐特智能科技有限公司 | Rear-mounted speed reduction speed regulation formula permanent magnet coupler |
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| JPH08111963A (en) * | 1994-10-11 | 1996-04-30 | Nippondenso Co Ltd | Two-shaft output type motor |
| CN1397103A (en) * | 2000-01-28 | 2003-02-12 | 奥斯卡·瓦绍尔 | Electric drive for a vehicle |
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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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