CN108443423B

CN108443423B - Dual planetary gear mechanical differential

Info

Publication number: CN108443423B
Application number: CN201810248902.5A
Authority: CN
Inventors: 赵晓东
Original assignee: Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
Current assignee: Qingdao Yingkerun Transmission Technology Co ltd
Priority date: 2018-03-25
Filing date: 2018-03-25
Publication date: 2019-07-26
Anticipated expiration: 2038-03-25
Also published as: CN108443423A

Abstract

The present invention is a kind of dual planetary gear mechanical differential, is related to a kind of speed reducer, including support component, stator component, rotor part one, rotor part two, controller one, controller two, dual planetary gear differential part.In the speed reducer operational process, the output revolving speed of output shaft one is related to the rotational speed difference of two motor, two motor can be in high-speed cruising state always, in the state that two motor 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.The speed reducer meets specific loads device requirement motor can adjust the control requirement of output power of motor when exporting same rotational speed.

Description

Dual planetary gear mechanical differential

Technical field

The present invention is a kind of dual planetary gear mechanical differential, is related to a kind of speed reducer, more particularly to a kind of use Two motor respectively drive speed difference when two planetary reducers, obtain the dual planetary gear differential of slow-speed of revolution output 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.

In addition, there is also the spies that the output revolving speed and output power to motor match technical requirements under different operating statuses Different load device.For example, the clothing weight that intelligent washing machine can wash as needed injects the liquid detergent and water of corresponding weight, Under identical washing mode, the output revolving speed of motor be it is identical, clothes, liquid detergent and the water for needing to wash in washing machine Total weight is not identical, then requires motor output torque when exporting same rotational speed not identical, that is, require the output work of motor Rate is not identical.If motor cannot adjust the output power of motor, the motor of the washing machine when exporting same rotational speed Still it is not run under the higher 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.If two motor can adjust electronic simultaneously The output revolving speed and output power of machine, keep two motor drive retarders speed difference it is constant under the premise of, simultaneously Improve perhaps reduces by the output revolving speeds of two motor simultaneously improves simultaneously or reduces by two motor drives simultaneously this subtracts The output power of fast device, then the retarder meets specific loads device requirement motor can adjust electricity when exporting same rotational speed The control requirement of motivation output power.

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 that the dual planetary gear differential of high-efficiency operation when motor drive retarder slows down Machine.Embodiment of the present invention is as follows:

The speed reducer includes support component, stator component, rotor part one, rotor part two, controller one, controller Two, dual planetary gear differential part.Stator component includes joint stator core, winding coil one, winding coil two.Joint stator Iron core axial cross section is in oblong, and one end of joint stator core axial cross section is joint core packet one, and the other end is joint iron Core section two.Joint core packet one has a cylindrical joint iron core air gap inner cavity one, and joint one edge of iron core air gap inner cavity is equal Several stator slots one of cloth, several winding coils one are separately mounted in the stator slot one of joint stator core.Joint Core packet two has a cylindrical joint iron core air gap inner cavity two, and joint two edge of iron core air gap inner cavity is evenly distributed with several stators Wire casing two, several winding coils two are separately mounted in the stator slot two of joint stator core.

Alternatively, stator component includes stator component one, stator component two.Stator component one includes stator core one, winding Coil one.Stator component two includes stator core two, winding coil two.Stator core one, stator core two in a ring, stator iron Core one, two radially inner side of stator core are evenly distributed with several stator slots, several winding coils one are separately mounted to stator core In one stator slot, several winding coils two are separately mounted in the stator slot of stator core two.

Rotor part one is mounted in the joint iron core air gap inner cavity one of joint stator core of stator component, rotor part One forms motor one with the joint core packet one and winding coil one for combining stator core.Alternatively, rotor part one is mounted on One radially inner side of stator component, rotor part one and stator component one form motor one.Rotor part two is mounted on stator department In the joint iron core air gap inner cavity two of the joint stator core of part, rotor part two and the joint core packet two for combining stator core Motor two is formed with winding coil two.Alternatively, rotor part two is mounted on two radially inner side of stator component, rotor part two with Stator component two forms motor two.

Support component includes end cap one, base, end cap two, axle sleeve one, axle sleeve two, axle sleeve three, axle sleeve five.Stator component, Rotor part one, rotor part two, controller one, controller two, dual planetary gear differential part are mounted on base radially inner side. Dual planetary gear differential part includes planetary gear member one, planetary gear member two, bidentate gear ring one, bidentate gear ring two, turns Shaft member one, rotating axis component two.Rotor part one is mounted on one radial outside middle position of rotating axis component.Rotor part two is installed In two radial outside middle position of rotating axis component.Planetary gear member one includes several planet axis one, planetary gear one, positioning Plate one, positioning plate two.Several planet axis one are fixed on two axially inner side end face of end cap.Planetary gear member two includes row Prong frame two, axle sleeve four and several planet axis two, planetary gear two, positioning plate three, positioning plate four.Several planet axis two peace Dress is fixed on the axial side of planet stent two.Rotating axis component one includes shaft one, spline one, spline two, sun gear one, positioning Pin one.Rotating axis component two includes shaft two, spline three, spline four, sun gear two, positioning pin two.

When the speed reducer is run, controller one controls motor one and rotates, and controller one can adjust the rotation of motor one Rotary speed.Controller two controls motor two and rotates, and controller two can adjust two rotation speed of motor.Motor one and electricity Two direction of rotation of motivation is opposite.Motor one drives the planet of planetary gear member one by the sun gear one of rotating axis component one Gear one and bidentate gear ring one rotate, and bidentate gear ring one drives bidentate gear ring two to rotate, and bidentate gear ring two drives planetary gear two Rotation, motor two drives the planetary gear two of planetary gear member two to rotate by the sun gear two of rotating axis component two, double The linear velocity that the linear velocity of the gear ring internal tooth reference circle position rotation of toothed ring gear two and two reference circle position of sun gear rotate is not When identical, for planetary gear two while surrounding two axis rotation of planetary gear, planetary gear two can also surround planet stent two Axis revolution, planetary gear two drive two slow-speed of revolution of planet stent rotation.

Axle sleeve one, axle sleeve two, axle sleeve three, axle sleeve four, axle sleeve five are cylindrical.

Axial cross section is the shell of oblong among base, and base both ends are base flanges, and base flange radial outside is equal Several bolts hole of cloth.One axial cross section of end cap is in oblong, and there is cylindrical circular axle sleeve boss in one axially inner side end face of end cap One, axle sleeve boss three, axle sleeve one are mounted in axle sleeve boss one, and axle sleeve three is mounted in axle sleeve boss three.End cap two is axial to be cut Face is in oblong, and there are cylindrical circular axle sleeve boss five and axle sleeve boss two cylindrical, axis in two axially inner side end face of end cap Set five is mounted in axle sleeve boss five, and there is axle sleeve mounting hole two on two top of axle sleeve boss, and axle sleeve two is mounted on axle sleeve boss two In axle sleeve mounting hole two.Several uniformly distributed fixing lug boss cylindrical around the axle sleeve boss two of two axially inner side end face of end cap One, there is fixed shaft hole one on one top of fixing lug boss.

Rotor part one divides for permanent magnet rotor or cage rotor two types.Permanent magnet rotor component one includes turning Sub- iron core one, permanent magnet.Rotor core one in a ring, the cored keyway of iron core connection holes among rotor core one.Several The permanent magnet of tile shape is mounted on one radially-outer surface of rotor core, two adjacent permanent magnets radially-outer surface anisotropic magnetic each other Pole.Cage rotor component one includes cage rotor iron core one, rotor cage.Cage rotor iron core one in a ring, cage rotor The cored keyway of iron core connection holes among iron core one, there are also several mouse cage wire casings for one radial outside of cage rotor iron core, turn Sub- mouse cage is mounted in mouse cage wire casing.

Rotor part two divides for permanent magnet rotor or cage rotor two types.Permanent magnet rotor component two includes turning Sub- iron core two, permanent magnet.Rotor core two in a ring, the cored keyway of iron core connection holes among rotor core two.Several The permanent magnet of tile shape is mounted on two radially-outer surface of rotor core, two adjacent permanent magnets radially-outer surface anisotropic magnetic each other Pole.Cage rotor component two includes cage rotor iron core two, rotor cage.Cage rotor iron core two in a ring, cage rotor The cored keyway of iron core connection holes among iron core two, there are also several mouse cage wire casings for two radial outside of cage rotor iron core, turn Sub- mouse cage is mounted in mouse cage wire casing.

In a ring, bidentate gear ring one, two radially inner side of bidentate gear ring are evenly distributed with several teeth for bidentate gear ring one, bidentate gear ring two Internal tooth is enclosed, bidentate gear ring one, two radial outside of bidentate gear ring are evenly distributed with several gear ring external tooths.Planetary gear one, planetary gear two It is external gear, is smooth gear shaft holes among planetary gear one, planetary gear two.Sun gear one, sun gear are second is that outer Gear, gear connection holes wheel key way with teeth among sun gear one, sun gear two, sun gear one, sun gear two There is dowel hole on gear hub.Positioning pin one, positioning pin two are cylindrical.Positioning plate one, positioning plate three, is determined positioning plate two Position plate four is in a ring.

Planet axis one is cylindrical, and after one one end of planet axis has the shaft shoulder, planetary gear member one to assemble, planet axis one is another End is fixed in the fixed shaft hole one on one top of fixing lug boss of end cap two.Planet axis one has one end of the shaft shoulder to the other end It is sequentially installed with positioning plate one, planetary gear one, positioning plate two, positioning plate one, planetary gear one, positioning plate two can be around rows The axis of star axis one rotates.

It is discoidal tray deck among two radial outside of planet stent, tray deck one end is cylindrical output shaft head One, the other end is columnar axle sleeve boss four, is axle sleeve mounting hole four among axle sleeve boss four, and axle sleeve four is mounted on axle sleeve peace Fill Kong Sizhong.The axle sleeve boss of planet stent two is all around evenly distributed with several columnar fixing lug boss two, in fixing lug boss two Between be fixed shaft hole two.The first close tray deck one end of output shaft is axle journal five.Two axis of planet stent and axle sleeve mounting hole four Axis be overlapped, planetary gear member two assemble after, two axis of planetary gear is overlapped with the axis of fixed shaft hole two.

Planet axis two is cylindrical, and after two one end of planet axis has the shaft shoulder, planetary gear member two to assemble, planet axis two is another End is fixed in the fixed shaft hole two of planet stent two.It is fixed that planet axis two has one end of the shaft shoulder to be sequentially installed with to the other end Position plate three, planetary gear two, positioning plate four, positioning plate three, planetary gear two, positioning plate four can surround the axis of planet axis two Rotation.Two axis of planetary gear is overlapped with the axis of planet axis two.

Shaft one is cylindrical, is positioning shaft shoulder one among one radial outside of shaft, one both ends of positioning shaft shoulder are axis respectively Duan Yi, shaft part two, shaft part one are axle journals one close to one one end of positioning shaft shoulder, and shaft part two is close to one one end radial direction appearance of positioning shaft shoulder There is keyway one in face, and the axially external one end of shaft part two is axle journal two, and shaft part two has keyway two close to two one end radially-outer surface of axle journal With pin hole one.

Rotating axis component one is mounted on spline one in the keyway one of shaft one in assembly, spline two is mounted on shaft In one keyway two, the shaft part two of shaft one is mounted in the iron core connection holes of rotor core one, spline one is mounted on and is turned In the iron core keyway of sub- iron core one, it is installed together rotor part one with rotating axis component one.Sun gear one is mounted on and is turned Two lateral ends of shaft part of axis one, spline two are mounted in the gear keyway of sun gear one, and one one end of positioning pin is installed In the dowel hole of sun gear one, one other end of positioning pin is mounted in the pin hole one of shaft one.

Shaft two is cylindrical, is positioning shaft shoulder two among two radial outside of shaft, two both ends of positioning shaft shoulder are axis respectively Section three, shaft part four, shaft part three is axle journal three close to two one end of positioning shaft shoulder, and shaft part four is close to two one end radial direction appearance of positioning shaft shoulder There is keyway three in face, and the axially external one end of shaft part four is axle journal four, and shaft part four has keyway four close to four one end radially-outer surface of axle journal With pin hole two.

Rotating axis component two is mounted on spline three in the keyway three of shaft two in assembly, spline four is mounted on shaft In two keyway four, the shaft part four of shaft two is mounted in the iron core connection holes of rotor core two, spline three is mounted on and is turned In the iron core keyway of sub- iron core two, it is installed together rotor part two with rotating axis component two.Sun gear two is mounted on and is turned Four lateral ends of shaft part of axis two, spline four are mounted in the gear keyway of sun gear two, and two one end of positioning pin is installed In the dowel hole of sun gear two, two other end of positioning pin is mounted in the pin hole two of shaft two.

Stator component is mounted on base inner cavity middle position, dual planetary gear differential in assembly by the speed reducer Component is mounted on stator component axial direction one end, and controller one, controller two are mounted on the stator component axial direction other end, pass through spiral shell Bolt is separately mounted to end cap one, end cap two on the base flange at base both ends.

The axle journal two of the shaft one of rotating axis component one is mounted on support component in assembly by dual planetary gear differential part Axle sleeve two in, the axle journal one of shaft one is mounted in the axle sleeve one of support component, the sun gear one of rotating axis component one is made It is intermeshed with several planetary gears one of planetary gear member one.It is outside that bidentate gear ring one is mounted on one diameter of planetary gear Side is intermeshed the gear ring internal tooth of bidentate gear ring one and several planetary gears one.One or two of end face of bidentate gear ring respectively with Positioning plate one and positioning plate biend contact with each other, and positioning plate one and positioning plate two limit bidentate gear ring one and move axially.

The axle journal five of the planet stent two of planetary gear member two is mounted in the axle sleeve five of support component, bidentate tooth Circle two is mounted on two radial outside of planetary gear, nibbles the gear ring internal tooth of bidentate gear ring two mutually with several planetary gears two It closes.The gear ring external tooth of the gear ring external tooth and bidentate gear ring one that make bidentate gear ring two is intermeshed.2 two end faces of bidentate gear ring point It does not contact with each other with positioning plate three and four end face of positioning plate, positioning plate three and positioning plate four limit bidentate gear ring two and move axially.

The axle journal four of the shaft two of rotating axis component two is mounted in the axle sleeve four of planetary gear member two, shaft two Axle journal three is mounted in the axle sleeve three of support component, makes the several of the sun gear two of rotating axis component two and planetary gear member two A planetary gear two is intermeshed.

In dual planetary gear differential part, planetary gear member one, bidentate gear ring one, sun gear one, support component End cap two forms planetary reducer one, the end cap of support component second is that planetary reducer one planet stent one.Row The fixing piece of star gear reduction unit one is planet stent one, and driving link is sun gear one, and driven member is bidentate gear ring one.Planet Gear reduction unit one does deceleration transmission.The direction of rotation of bidentate gear ring one is opposite with the direction of rotation of sun gear one.Sun tooth The direction of rotation of wheel one is identical as the direction of rotation of motor one.

In dual planetary gear differential part, planetary gear member two, bidentate gear ring two, sun gear two form planetary gear Retarder two.Planetary reducer two does not have fixing piece, and there are two driving links for planetary reducer two, and driving link is first is that double Toothed ring gear two, driving link is second is that sun gear two, driven member are the planet stents two of planetary gear member two.Planetary gear speed-reduction Device two does deceleration transmission.The linear velocity of two reference circle position of sun gear rotation is equal to the gear ring internal tooth reference circle of bidentate gear ring two When the linear velocity of position rotation, planet stent two does not rotate.The linear velocity of two reference circle position of sun gear rotation is greater than bidentate When the linear velocity of the gear ring internal tooth reference circle position rotation of gear ring two, two direction of rotation of planet stent and two side of rotation of sun gear To identical.The gear ring internal tooth reference circle position that the linear velocity of two reference circle position of sun gear rotation is less than bidentate gear ring two rotates Linear velocity when, two direction of rotation of planet stent is opposite with two direction of rotation of sun gear.The direction of rotation of sun gear two with The direction of rotation of motor two is identical.

The speed reducer there are three output shaft, output shaft first is that the planet stent two of planetary gear member two output shaft head One.The first output revolving speed of the output shaft of planet stent two is the difference effect of the revolving speed of sun gear two and the revolving speed of bidentate gear ring two The revolving speed of planet stent two is driven on planetary gear two.Output shaft second is that the shaft one of rotating axis component one shaft part one, shaft One shaft part one exports the revolving speed that revolving speed is exactly motor one.Output shaft third is that the shaft two of rotating axis component two shaft part three, turn The shaft part three of axis two exports the revolving speed that revolving speed is exactly motor two.

The speed reducer operational process is:

When the speed reducer starts, controller one controls one slow-speed of revolution of motor starting, and motor one is gradually increased Revolving speed, at the same time, controller two control two slow-speed of revolution of motor starting, and two revolving speed of motor, motor is gradually increased One is opposite with two direction of rotation of motor.

Motor one drives the planetary gear one of planetary gear member one to rotate by the sun gear one of rotating axis component one, Planetary gear one drives bidentate gear ring one to rotate, and bidentate gear ring one drives bidentate gear ring two to revolve according to two direction of rotation of bidentate gear ring Turn.Bidentate gear ring two drives planetary gear two to rotate according to two direction of rotation of planetary gear.Motor two passes through rotating axis component two Sun gear two drive planetary gear member two planetary gear two according to two direction of rotation of planetary gear rotate.

If the linear velocity of two reference circle position of sun gear rotation is equal to the gear ring internal tooth reference circle position of bidentate gear ring two When the linear velocity of rotation, the linear velocity that sun gear two drives planetary gear two to rotate is equal to bidentate gear ring two and drives planetary gear The linear velocity of two rotations, planetary gear two surround two axis rotation of planetary gear, and two axis of planetary gear remains static, then The output revolving speed of planet stent two is equal to zero.

If the linear velocity of two reference circle position of sun gear rotation is greater than the gear ring internal tooth reference circle position of bidentate gear ring two When the linear velocity of rotation, sun gear two drives planetary gear two to be greater than bidentate around the linear velocity of two axis rotation of planetary gear Gear ring two drives planetary gear two to surround the linear velocity of two axis rotation of planetary gear, in order to offset the speed difference, then planet tooth Wheel two revolves around two axis of planet stent, also, two direction of rotation of planet stent is identical as two direction of rotation of sun gear.Row Prong frame two exports the slow-speed of revolution identical with two direction of rotation of motor.

If the linear velocity of two reference circle position of sun gear rotation is less than the gear ring internal tooth reference circle position of bidentate gear ring two When the linear velocity of rotation, sun gear two drives planetary gear two to be less than bidentate around the linear velocity of two axis rotation of planetary gear Gear ring two drives planetary gear two to surround the linear velocity of two axis rotation of planetary gear, in order to offset the speed difference, then planet tooth Wheel two revolves around two axis of planet stent, also, two direction of rotation of planet stent is opposite with two direction of rotation of sun gear.Row Prong frame two exports the slow-speed of revolution opposite with two direction of rotation of motor.

It is constant to need that output shaft one is maintained to export revolving speed in the process of running for the speed reducer, and it is defeated to improve output shaft one Out when power, motor one is improved by controller one and exports revolving speed, motor two is improved by controller two and exports revolving speed, i.e., simultaneously Motor one, two output power of motor are improved, and keeps motor one, the difference of two revolving speed of motor constant, the difference of the revolving speed It acts in the speed reducer, maintains output shaft one to export revolving speed constant.

It is constant to need that output shaft one is maintained to export revolving speed in the process of running for the speed reducer, and it is defeated to reduce output shaft one Out when power, motor one is reduced by controller one and exports revolving speed, motor two is reduced by controller two and exports revolving speed, i.e., simultaneously Motor one, two output power of motor are reduced, and keeps motor one, the difference of two revolving speed of motor constant, the difference of the revolving speed It acts in the speed reducer, maintains output shaft one to export revolving speed constant.

In the speed reducer operational process, the output revolving speed of output shaft one is related to the rotational speed difference of two motor, and two Motor can be in high-speed cruising state always, in the state that two motor direction of rotation are constant, can change described The direction of rotation of speed reducer output shaft one, driving load device realize frequent acceleration, slow down, and frequent starting stops, even It is the frequent function of changing load device direction of rotation.The speed reducer can ensure motor in the higher work shape of efficiency It is run under state, and improves response speed when the speed reducer changes load device direction of rotation.The speed reducer output shaft One output revolving speed is related to the rotational speed difference of two motor, then it is excellent to have that transmission ratio is big, output torque is big for the speed reducer Point, the speed reducer do not have flexible gear, then the speed reducer has big excellent of reliable for operation, long service life, output torque Point.The speed reducer, which meets specific loads device requirement motor, to adjust output power of motor when exporting same rotational speed Control requirement.

Detailed description of the invention

Fig. 1 is the axonometric drawing of the speed reducer.

Fig. 2 is the isometric cutaway view of the speed reducer.Only support component does section view processing in figure.

Fig. 3 is the isometric cutaway view of support component.

Fig. 4 is that planetary gear member one, axle sleeve two, axle sleeve five are mounted on the axonometric drawing of two inner side end of end cap.It is each in figure Hide a planet axis one, positioning plate two, planetary gear one, positioning plate one.

Fig. 5 is that joint stator component, rotor part one, rotating axis component one, rotor part two, rotating axis component two are mounted on one The axonometric drawing risen.

Fig. 6 is the axonometric drawing of joint stator core.

Fig. 7 is joint stator component, rotor part one, rotating axis component one, rotor part two, rotating axis component two, planet tooth The isometric cutaway view that wheel component one, planetary gear member two, bidentate gear ring one, bidentate gear ring two are installed together.

Fig. 8 is the axonometric drawing of dual planetary gear differential part.

Fig. 9 is the isometric cutaway view that rotor part one, rotating axis component one are installed together.

Figure 10 is the isometric cutaway view that rotor part two, rotating axis component two are installed together.

Figure 11 is the axonometric drawing of shaft one.

Figure 12 is the axonometric drawing of shaft two.

Figure 13 is the axonometric drawing of planetary gear member two.

Figure 14 is the axonometric drawing of planetary gear member two.

Figure 15 is the axonometric drawing of planet stent two.

Figure 16 is the axonometric drawing of bidentate gear ring one or bidentate gear ring two.

Figure 17 is the axonometric drawing of sun gear one or sun gear two.

Figure 18 is the axonometric drawing of planetary gear one or planetary gear two.

Figure 19 is the axonometric drawing that controller one, controller two are installed together.

Figure 20 is the axonometric drawing of stator core elements one or stator core elements two.

Figure 21 is the axial cut-away illustration of the speed reducer.

Figure 22 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 23 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 24 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 the gear ring internal tooth reference circle position rotation of bidentate gear ring two in figure, and U II is that sun gear two divides The linear velocity of circle position rotation is spent, U III is the linear velocity of two axial location of the planetary gear rotation on planet stent two.

Be labeled in figure end cap 1, base 2, positioning plate 33, bidentate gear ring 24, planetary gear 25, positioning plate 46, Planet axis 27, sun gear 28, planet stent 29, axle sleeve 5 10, axle sleeve 4 11, bidentate gear ring 1, axle sleeve 2 13, row Star axis 1, end cap 2 15, positioning plate 2 16, planetary gear 1, positioning plate 1, sun gear 1, controller 1, Rotor core 1, axle sleeve 1, shaft 1, winding coil 1, joint stator core 25, winding coil 2 26, shaft 2 27, axle sleeve 3 28, rotor core 2 29, controller 2 30, one direction of rotation 31 of sun gear, one direction of rotation of planetary gear 32, one direction of rotation 33 of bidentate gear ring, axle sleeve boss 5 34, fixing lug boss 1, fixed shaft hole 1, axle sleeve boss 2 37, Axle sleeve boss 1, axle sleeve boss 3 39, permanent magnet 40, joint core packet 2 41, joint iron core air gap inner cavity 2 42, stator line Slot 2 43, joint iron core air gap inner cavity 1, stator slot 1, joint core packet 1, positioning pin 2 47, positioning pin one 48, spline 1, spline 2 50, spline 3 51, spline 4 52, pin hole 1, axle journal 2 54, keyway 2 55, shaft part 2 56, key Slot 1, positioning shaft shoulder 1, axle journal 1, shaft part 1, pin hole 2 61, axle journal 4 62, keyway 4 63, shaft part 4 64, key Slot 3 65, positioning shaft shoulder 2 66, axle journal 3 67, shaft part 3 68, axle sleeve boss 4 69, axle journal 5 70, tray deck 71, fixing lug boss 2 72, axle sleeve mounting hole 4 73, fixed shaft hole 2 74, output shaft be first 75, two axis 76 of planetary gear, two axis of planet stent 77, gear ring external tooth 78, gear ring internal tooth 79, gear connection holes 80, gear keyway 81, dowel hole 82, gear shaft holes 83, planet branch Two direction of rotation 84 of frame, two rotational trajectory 85 of planet stent, two direction of rotation 86 of bidentate gear ring, two rotational trajectory of bidentate gear ring 87, two direction of rotation 88 of planetary gear, two rotational trajectory 89 of planetary gear, two direction of rotation 90 of sun gear, sun gear two Rotational trajectory 91.

Specific embodiment

The present invention is further discussed below with reference to the accompanying drawing.

Referring to Fig.1, Fig. 2, Figure 21, the speed reducer include support component, stator component, rotor part one, rotor part Two, controller 1, controller 2 30, dual planetary gear differential part.Stator component includes joint stator core 25, winding wire Enclose one 24, winding coil 2 26.25 axial cross section of joint stator core is in oblong, combines the one of 25 axial cross section of stator core End is joint core packet 1, and the other end is joint core packet 2 41.Joint core packet 1 has a cylindrical joint iron Core air gap inner cavity 1, joint one 44 edge of iron core air gap inner cavity are evenly distributed with several stator slots 1, several winding coils One 24 are separately mounted in the stator slot 1 of joint stator core 25.Joint core packet 2 41 has a cylindrical joint Iron core air gap inner cavity 2 42, joint 2 42 edge of iron core air gap inner cavity are evenly distributed with several stator slots 2 43, several winding wires 2 26 are enclosed to be separately mounted in the stator slot 2 43 of joint stator core 25.

Alternatively, stator component includes stator component one, stator component two.Stator component one includes stator core one, winding Coil 1.Stator component two includes stator core two, winding coil 2 26.Stator core one, stator core two are in a ring, fixed Sub- iron core one, two radially inner side of stator core are evenly distributed with several stator slots, several winding coils 1 are separately mounted to fixed In the stator slot of sub- iron core one, several winding coils 2 26 are separately mounted in the stator slot of stator core two.

Rotor part one is mounted in the joint iron core air gap inner cavity 1 of joint stator core 25 of stator component, rotor Component one forms motor one with the joint core packet 1 and winding coil 1 for combining stator core 25.Alternatively, rotor portions Part one is mounted on one radially inner side of stator component, and rotor part one and stator component one form motor one.Rotor part two is pacified Mounted in stator component joint stator core 25 joint iron core air gap inner cavity 2 42 in, rotor part two with combine stator core 25 joint core packet 2 41 and winding coil 2 26 forms motor two.Alternatively, rotor part two is mounted on stator component two Radially inner side, rotor part two and stator component two form motor two.

Support component includes end cap 1, base 2, end cap 2 15, axle sleeve 1, axle sleeve 2 13, axle sleeve 3 28, axle sleeve five 10.Stator component, rotor part one, rotor part two, controller 1, controller 2 30, dual planetary gear differential part peace Mounted in 2 radially inner side of base.Dual planetary gear differential part includes planetary gear member one, planetary gear member two, bidentate tooth Enclose one 12, bidentate gear ring 24, rotating axis component one, rotating axis component two.Rotor part one is mounted in one radial outside of rotating axis component Between position.Rotor part two is mounted on two radial outside middle position of rotating axis component.Planetary gear member one includes several rows Star axis 1, planetary gear 1, positioning plate 1, positioning plate 2 16.Several planet axis 1 are fixed on end cap two 15 axially inner side end faces.Planetary gear member two includes planet stent 29, axle sleeve 4 11 and several planet axis 27, planet tooth Take turns 25, positioning plate 33, positioning plate 46.Several planet axis 27 are fixed on the axial side of planet stent 29.Shaft Part one includes shaft 1, spline 1, spline 2 50, sun gear 1, positioning pin 1.Rotating axis component two includes shaft 2 27, spline 3 51, spline 4 52, sun gear 28, positioning pin 2 47.

When the speed reducer is run, controller 1 controls motor one and rotates, and controller 1 can adjust motor One rotation speed.Controller 2 30 controls motor two and rotates, and controller 2 30 can adjust two rotation speed of motor.It is electronic Machine one is opposite with two direction of rotation of motor.Motor one drives planetary gear portion by the sun gear 1 of rotating axis component one The planetary gear 1 and bidentate gear ring 1 of part one rotate, and bidentate gear ring 1 drives bidentate gear ring 24 to rotate, bidentate gear ring 24 driving planetary gears 25 rotate, and motor two drives planetary gear member two by the sun gear 28 of rotating axis component two Planetary gear 25 rotate, the linear velocity and sun gear 28 of the rotation of the 79 reference circle position of gear ring internal tooth of bidentate gear ring 24 When the linear velocity of reference circle position rotation is not identical, planetary gear 25 is while surrounding two 76 rotation of axis of planetary gear, row Star gear 25 can also revolve around two axis 77 of planet stent, and planetary gear 25 drives 29 slow-speed of revolution of planet stent rotation.

Referring to figs. 1 to Figure 21, axle sleeve 1, axle sleeve 2 13, axle sleeve 3 28, axle sleeve 4 11, axle sleeve 5 10 are cylindrical.

The intermediate axial cross section of base 2 is the shell of oblong, and 2 both ends of base are base flange, base flange radial outside Several uniformly distributed bolts hole.One 1 axial cross section of end cap is in oblong, and there is cylindrical circular axle sleeve in one 1 axially inner side end face of end cap Boss 1, axle sleeve boss 3 39, axle sleeve 1 are mounted in axle sleeve boss 1, and axle sleeve 3 28 is mounted on axle sleeve boss 3 39 In.2 15 axial cross section of end cap is in oblong, and there is cylindrical circular axle sleeve boss 5 34 in 2 15 axially inner side end face of end cap and is in Cylindrical axle sleeve boss 2 37, axle sleeve 5 10 are mounted in axle sleeve boss 5 34, and there is axle sleeve installation on 2 37 top of axle sleeve boss Hole two, axle sleeve 2 13 are mounted in the axle sleeve mounting hole two of axle sleeve boss 2 37.The axle sleeve of 2 15 axially inner side end face of end cap is convex Several uniformly distributed fixing lug boss 1 cylindrical around platform 2 37, there is fixed shaft hole 1 on one 35 top of fixing lug boss.

Rotor part one divides for permanent magnet rotor or cage rotor two types.Permanent magnet rotor component one includes turning Sub- iron core 1, permanent magnet 40.Rotor core 1 in a ring, the cored key of iron core connection holes among rotor core 1 Slot.The permanent magnet 40 of several tile shapes is mounted on one 21 radially-outer surface of rotor core, and 40 diameter of two adjacent permanent magnets is outside Surface opposite pole each other.Cage rotor component one includes cage rotor iron core one, rotor cage.Cage rotor iron core one is in Annular, the cored keyway of iron core connection holes of one centre of cage rotor iron core, there are also several for one radial outside of cage rotor iron core A mouse cage wire casing, rotor cage are mounted in mouse cage wire casing.

Rotor part two divides for permanent magnet rotor or cage rotor two types.Permanent magnet rotor component two includes turning Sub- iron core 2 29, permanent magnet 40.Rotor core 2 29 in a ring, the cored key of iron core connection holes among rotor core 2 29 Slot.The permanent magnet 40 of several tile shapes is mounted on 2 29 radially-outer surface of rotor core, and 40 diameter of two adjacent permanent magnets is outside Surface opposite pole each other.Cage rotor component two includes cage rotor iron core two, rotor cage.Cage rotor iron core two is in Annular, the cored keyway of iron core connection holes of two centre of cage rotor iron core, there are also several for two radial outside of cage rotor iron core A mouse cage wire casing, rotor cage are mounted in mouse cage wire casing.

Bidentate gear ring 1, bidentate gear ring 24 in a ring, if bidentate gear ring 1,24 radially inner side of bidentate gear ring are uniformly distributed Dry gear ring internal tooth 79, bidentate gear ring 1,24 radial outside of bidentate gear ring are evenly distributed with several gear ring external tooths 78.Planetary gear One 17, planetary gear 25 is external gear, is smooth gear shaft holes 83 among planetary gear 1, planetary gear 25.The sun Gear 1, sun gear 28 are external gears, and the gear connection holes 80 among sun gear 1, sun gear 28 have gear Keyway 81, sun gear 1, sun gear 28 gear hub on have dowel hole 82.Positioning pin 1, positioning pin 2 47 It is cylindrical.Positioning plate 1, positioning plate 2 16, positioning plate 33, positioning plate 46 are in a ring.

Planet axis 1 is cylindrical, after one 14 one end of planet axis has the shaft shoulder, planetary gear member one to assemble, planet axis one 14 other ends are fixed in the fixed shaft hole 1 on one 35 top of fixing lug boss of end cap 2 15.Planet axis 1 has the shaft shoulder One end be sequentially installed with positioning plate 1, planetary gear 1, positioning plate 2 16, positioning plate 1, planet tooth to the other end Taking turns one 17, positioning plate 2 16 can rotate around the axis of planet axis 1.

It is discoidal tray deck 71 among 29 radial outside of planet stent, 71 one end of tray deck is cylindrical output Spindle nose 1, the other end are columnar axle sleeve boss 4 69, are axle sleeve mounting hole 4 73, axle sleeve four among axle sleeve boss 4 69 11 are mounted in axle sleeve mounting hole 4 73.Several uniformly distributed columnar fixations around the axle sleeve boss 4 69 of planet stent 29 Boss 2 72 is fixed shaft hole 2 74 among fixing lug boss 2 72.Output shaft first 75 is axle journal five close to 71 one end of tray deck 70.Two axis 77 of planet stent is overlapped with the axis of axle sleeve mounting hole 4 73, after planetary gear member two assembles, planetary gear two Axis 76 is overlapped with the axis of fixed shaft hole 2 74.

Planet axis 27 is cylindrical, after 27 one end of planet axis has the shaft shoulder, planetary gear member two to assemble, planet axis 27 The other end is fixed in the fixed shaft hole 2 74 of planet stent 29.Planet axis 27 have one end of the shaft shoulder to the other end successively Positioning plate 33, planetary gear 25, positioning plate 46 are installed, positioning plate 33, planetary gear 25, positioning plate 46 can surround The axis of planet axis 27 rotates.Two axis 76 of planetary gear is overlapped with the axis of planet axis 27.

Shaft 1 is cylindrical, is positioning shaft shoulder 1, one 58 both ends of positioning shaft shoulder among one 23 radial outside of shaft It is shaft part 1, shaft part 2 56 respectively, shaft part 1 is axle journal 1 close to one 58 one end of positioning shaft shoulder, and shaft part 2 56 is close to fixed Position one 58 one end radially-outer surface of the shaft shoulder has keyway 1, and the axially external one end of shaft part 2 56 is axle journal 2 54, and shaft part 2 56 leans on Paraxial 2 54 one end radially-outer surface of neck has keyway 2 55 and pin hole 1.

Rotating axis component one is mounted on spline 1 in the keyway 1 of shaft 1 in assembly, and spline 2 50 is pacified In the keyway 2 55 of shaft 1, the shaft part 2 56 of shaft 1 is mounted on the iron core connection holes of rotor core 1 In, spline 1 is mounted in the iron core keyway of rotor core 1, rotor part one and rotating axis component one is made to be mounted on one It rises.Sun gear 1 is mounted on 2 56 lateral ends of shaft part of shaft 1, spline 2 50 is mounted on sun gear one In 19 gear keyway 81, one 48 one end of positioning pin is mounted in the dowel hole 82 of sun gear 1, positioning pin one 48 other ends are mounted in the pin hole 1 of shaft 1.

Shaft 2 27 is cylindrical, is positioning shaft shoulder 2 66,2 66 both ends of positioning shaft shoulder among 2 27 radial outside of shaft It is shaft part 3 68, shaft part 4 64 respectively, shaft part 3 68 is axle journal 3 67 close to 2 66 one end of positioning shaft shoulder, and shaft part 4 64 is close to fixed Position 2 66 one end radially-outer surface of the shaft shoulder has keyway 3 65, and the axially external one end of shaft part 4 64 is axle journal 4 62, and shaft part 4 64 leans on Paraxial 4 62 one end radially-outer surface of neck has keyway 4 63 and pin hole 2 61.

Rotating axis component two is mounted on spline 3 51 in the keyway 3 65 of shaft 2 27 in assembly, and spline 4 52 is pacified In the keyway 4 63 of shaft 2 27, the shaft part 4 64 of shaft 2 27 is mounted on the iron core connection holes of rotor core 2 29 In, spline 3 51 is mounted in the iron core keyway of rotor core 2 29, rotor part two and rotating axis component two is made to be mounted on one It rises.Sun gear 28 is mounted on 4 64 lateral ends of shaft part of shaft 2 27, spline 4 52 is mounted on sun gear 28 Gear keyway 81 in, 2 47 one end of positioning pin is mounted in the dowel hole 82 of sun gear 28, positioning pin 2 47 is another One end is mounted in the pin hole 2 61 of shaft 2 27.

Stator component is mounted on 2 inner cavity middle position of base, dual planetary gear differential in assembly by the speed reducer Component is mounted on stator component axial direction one end, and controller 1, controller 2 30 are mounted on the stator component axial direction other end, leads to Bolt is crossed to be separately mounted to end cap 1, end cap 2 15 on the base flange at 2 both ends of base.

The axle journal 2 54 of the shaft 1 of rotating axis component one is mounted on base in assembly by dual planetary gear differential part In the axle sleeve 2 13 of component, the axle journal 1 of shaft 1 is mounted in the axle sleeve 1 of support component, rotating axis component one is made Sun gear 1 and planetary gear member one several planetary gears 1 be intermeshed.Bidentate gear ring 1 is installed In one 17 radial outside of planetary gear, nibble the gear ring internal tooth 79 of bidentate gear ring 1 mutually with several planetary gears 1 It closes.One 12 two end faces of bidentate gear ring contact with each other with positioning plate 1 and 2 16 end face of positioning plate respectively, one 18 He of positioning plate Positioning plate 2 16 limits bidentate gear ring 1 and moves axially.

The axle journal 5 70 of the planet stent 29 of planetary gear member two is mounted in the axle sleeve 5 10 of support component, Bidentate gear ring 24 is mounted on 25 radial outside of planetary gear, makes the gear ring internal tooth 79 and several planet teeth of bidentate gear ring 24 Take turns 25 intermeshings.The gear ring external tooth 78 of the gear ring external tooth 78 and bidentate gear ring 1 that make bidentate gear ring 24 is intermeshed.It is double 24 two end faces of toothed ring gear contact with each other with positioning plate 33 and 46 end face of positioning plate respectively, positioning plate 33 and positioning plate 46 Bidentate gear ring 24 is limited to move axially.

The axle journal 4 62 of the shaft 2 27 of rotating axis component two is mounted in the axle sleeve 4 11 of planetary gear member two, turn The axle journal 3 67 of axis 2 27 is mounted in the axle sleeve 3 28 of support component, makes the sun gear 28 and planet tooth of rotating axis component two Several planetary gears 25 of wheel component two are intermeshed.

In dual planetary gear differential part, planetary gear member one, bidentate gear ring 1, sun gear 1, base portion The end cap 2 15 of part forms planetary reducer one, and the end cap 2 15 of support component is the planet branch of planetary reducer one Frame one.The fixing piece of planetary reducer one is planet stent one, and driving link is sun gear 1, and driven member is bidentate tooth Enclose 1.Planetary reducer one does deceleration transmission.The direction of rotation of bidentate gear ring 1 and the rotation of sun gear 1 It is contrary.The direction of rotation of sun gear 1 is identical as the direction of rotation of motor one.

In dual planetary gear differential part, planetary gear member two, bidentate gear ring 24, sun gear 28 form planet tooth Wheel decelerator two.Planetary reducer two does not have fixing piece, planetary reducer two there are two driving link, driving link first is that Bidentate gear ring 24, driving link is second is that sun gear 28, driven member are the planet stents 29 of planetary gear member two.Planet tooth Wheel decelerator two does deceleration transmission.The linear velocity of 28 reference circle position of sun gear rotation is equal in the gear ring of bidentate gear ring 24 When the linear velocity of tooth reference circle position rotation, planet stent 29 does not rotate.The linear speed of 28 reference circle position of sun gear rotation When the linear velocity that the gear ring internal tooth reference circle position that degree is greater than bidentate gear ring 24 rotates, two direction of rotation 84 of planet stent with too Positive two direction of rotation 90 of gear is identical.The linear velocity of 28 reference circle position of sun gear rotation is less than the gear ring of bidentate gear ring 24 When the linear velocity of internal tooth reference circle position rotation, two direction of rotation 84 of planet stent is opposite with two direction of rotation 90 of sun gear. The direction of rotation of sun gear 28 is identical as the direction of rotation of motor two.

The speed reducer there are three output shaft, output shaft first is that the planet stent 29 of planetary gear member two output shaft First 75.The first 75 output revolving speed of the output shaft of planet stent 29 is the revolving speed of sun gear 28 and turning for bidentate gear ring 24 The difference of speed acts on planetary gear 25 revolving speed for driving planet stent 29.Output shaft second is that rotating axis component one shaft 1 Shaft part 1, the shaft part 1 of shaft 1 exports the revolving speed that revolving speed is exactly motor one.Output shaft is third is that rotating axis component two Shaft 2 27 shaft part 3 68, the shaft part 3 68 of shaft 2 27 exports the revolving speed that revolving speed is exactly motor two.

Referring to Figure 21 to Figure 24, the speed reducer operational process is:

When the speed reducer starts, controller 1 controls one slow-speed of revolution of motor starting, and motor is gradually increased One revolving speed, at the same time, controller 2 30 control two slow-speed of revolution of motor starting, and two revolving speed of motor is gradually increased, electricity Motivation one is opposite with two direction of rotation of motor.

Motor one drives the planetary gear 1 of planetary gear member one by the sun gear 1 of rotating axis component one Rotation, planetary gear 1 drive bidentate gear ring 1 to rotate, and bidentate gear ring 1 drives bidentate gear ring 24 according to bidentate gear ring The rotation of two direction of rotation 86.Bidentate gear ring 24 drives planetary gear 25 to rotate according to two direction of rotation 88 of planetary gear.It is electronic Machine two drives the planetary gear 25 of planetary gear member two according to planetary gear two by the sun gear 28 of rotating axis component two Direction of rotation 88 rotates.

If the linear velocity of 28 reference circle position of sun gear rotation is equal to 79 reference circle of gear ring internal tooth of bidentate gear ring 24 When the linear velocity of position rotation, the linear velocity that sun gear 28 drives planetary gear 25 to rotate drives equal to bidentate gear ring 24 The linear velocity that planetary gear 25 rotates, planetary gear 25 surround two axis of planetary gear, 76 rotation, two axis 76 of planetary gear It remains static, then the output revolving speed of planet stent 29 is equal to zero.

If the linear velocity of 28 reference circle position of sun gear rotation is greater than 79 reference circle of gear ring internal tooth of bidentate gear ring 24 When the linear velocity of position rotation, sun gear 28 drives planetary gear 25 around the linear velocity of two axis of planetary gear, 76 rotation Drive planetary gear 25 around the linear velocity of two axis of planetary gear, 76 rotation greater than bidentate gear ring 24, in order to offset the speed Difference, then planetary gear 25 revolves around two axis 77 of planet stent, also, two direction of rotation 84 of planet stent and sun gear Two direction of rotation 90 are identical.Planet stent 29 exports the slow-speed of revolution identical with two direction of rotation of motor.

If the linear velocity of 28 reference circle position of sun gear rotation is less than 79 reference circle of gear ring internal tooth of bidentate gear ring 24 When the linear velocity of position rotation, sun gear 28 drives planetary gear 25 around the linear velocity of two axis of planetary gear, 76 rotation Drive planetary gear 25 around the linear velocity of two axis of planetary gear, 76 rotation less than bidentate gear ring 24, in order to offset the speed Difference, then planetary gear 25 revolves around two axis 77 of planet stent, also, two direction of rotation 84 of planet stent and sun gear Two direction of rotation 90 are opposite.Planet stent 29 exports the slow-speed of revolution opposite with two direction of rotation of motor.

It is constant to need that output shaft one is maintained to export revolving speed in the process of running for the speed reducer, and it is defeated to improve output shaft one Out when power, motor one is improved by controller 1 and exports revolving speed, motor two is improved by controller 2 30 and exports revolving speed, i.e., Motor one, two output power of motor are improved simultaneously, and keeps motor one, the difference of two revolving speed of motor constant, the revolving speed Difference act in the speed reducer, maintain output shaft one export revolving speed it is constant.

It is constant to need that output shaft one is maintained to export revolving speed in the process of running for the speed reducer, and it is defeated to reduce output shaft one Out when power, motor one is reduced by controller 1 and exports revolving speed, motor two is reduced by controller 2 30 and exports revolving speed, i.e., Motor one, two output power of motor are reduced simultaneously, and keeps motor one, the difference of two revolving speed of motor constant, the revolving speed Difference act in the speed reducer, maintain output shaft one export revolving speed it is constant.

Claims

1. a kind of dual planetary gear mechanical differential, it is characterised in that the speed reducer includes support component, stator component, rotor Component one, rotor part two, controller one (20), controller two (30), dual planetary gear differential part；Stator component includes connection Close stator core (25), winding coil one (24), winding coil two (26)；Joint stator core (25) axial cross section is in oval One end of shape, joint stator core (25) axial cross section is joint core packet one (46), and the other end is joint core packet two (41)； Joint core packet one (46) has a cylindrical joint iron core air gap inner cavity one (44), combines iron core air gap inner cavity one (44) side Edge is evenly distributed with several stator slots one (45), several winding coils one (24) are separately mounted to determining for joint stator core (25) In sub-line slot one (45)；Joint core packet two (41) has a cylindrical joint iron core air gap inner cavity two (42), combines iron core Air gap inner cavity two (42) edge is evenly distributed with several stator slots two (43), several winding coils two (26) are separately mounted to combine In the stator slot two (43) of stator core (25)；

Alternatively, stator component includes stator component one, stator component two；Stator component one includes stator core one, winding coil One (24)；Stator component two includes stator core two, winding coil two (26)；Stator core one, stator core two are in a ring, fixed Sub- iron core one, two radially inner side of stator core are evenly distributed with several stator slots, several winding coils one (24) are separately mounted to In the stator slot of stator core one, several winding coils two (26) are separately mounted in the stator slot of stator core two；

Rotor part one is mounted in the joint iron core air gap inner cavity one (44) of joint stator core (25) of stator component, rotor Component one forms motor one with the joint core packet one (46) and winding coil one (24) for combining stator core (25)；Alternatively, Rotor part one is mounted on one radially inner side of stator component, and rotor part one and stator component one form motor one；Rotor portions Part two is mounted in the joint iron core air gap inner cavity two (42) of joint stator core (25) of stator component, rotor part two and connection The joint core packet two (41) and winding coil two (26) for closing stator core (25) form motor two；Alternatively, rotor part two It is mounted on two radially inner side of stator component, rotor part two and stator component two form motor two；

Support component includes end cap one (1), base (2), end cap two (15), axle sleeve one (22), axle sleeve two (13), axle sleeve three (28), axle sleeve five (10)；Stator component, rotor part one, rotor part two, controller one (20), controller two (30), duplicate rows Star gear differential component is mounted on base (2) radially inner side；Dual planetary gear differential part includes planetary gear member one, planet Geared parts two, bidentate gear ring one (12), bidentate gear ring two (4), rotating axis component one, rotating axis component two；Rotor part one is installed In one radial outside middle position of rotating axis component；Rotor part two is mounted on two radial outside middle position of rotating axis component；Planet Geared parts one include several planet axis one (14), planetary gear one (17), positioning plate one (18), positioning plate two (16)；If A dry planet axis one (14) is fixed on end cap two (15) axially inner side end face；Planetary gear member two includes planet stent two (9), axle sleeve four (11) and several planet axis two (7), planetary gear two (5), positioning plate three (3), positioning plate four (6)；It is several A planet axis two (7) is fixed on the axial side of planet stent two (9)；Rotating axis component one includes shaft one (23), spline one (49), spline two (50), sun gear one (19), positioning pin one (48)；Rotating axis component two includes shaft two (27), spline three (51), spline four (52), sun gear two (8), positioning pin two (47)；

When the speed reducer is run, controller one (20) controls motor one and rotates, and controller one (20) can adjust motor One rotation speed；Controller two (30) controls motor two and rotates, and controller two (30) can adjust two rotation speed of motor； Motor one is opposite with two direction of rotation of motor；Motor one drives planet by the sun gear one (19) of rotating axis component one The planetary gear one (17) and bidentate gear ring one (12) of geared parts one rotate, and bidentate gear ring one (12) drives bidentate gear ring two (4) it rotates, bidentate gear ring two (4) drives planetary gear two (5) rotation, and motor two passes through the sun gear two of rotating axis component two (8) planetary gear two (5) rotation of planetary gear member two, gear ring internal tooth (79) reference circle position of bidentate gear ring two (4) are driven When the linear velocity of the linear velocity and the rotation of sun gear two (8) reference circle position of setting rotation is not identical, planetary gear two (5) is enclosing While around two axis of planetary gear (76) rotation, planetary gear two (5) can also revolve around two axis of planet stent (77), row Star gear two (5) drives planet stent two (9) slow-speed of revolution rotation；

Axle sleeve one (22), axle sleeve two (13), axle sleeve three (28), axle sleeve four (11), axle sleeve five (10) are cylindrical；

The intermediate axial cross section of base (2) is the shell of oblong, and base (2) both ends are base flange, base flange radial outside Several uniformly distributed bolts hole；End cap one (1) axial cross section is in oblong, and end cap one (1) axially inner side end face has cylindrical circular Axle sleeve boss one (38), axle sleeve boss three (39), axle sleeve one (22) are mounted in axle sleeve boss one (38), axle sleeve three (28) installation In axle sleeve boss three (39)；End cap two (15) axial cross section is in oblong, and end cap two (15) axially inner side end face has in cylinder The axle sleeve boss five (34) of shape and axle sleeve boss two (37) cylindrical, axle sleeve five (10) are mounted on axle sleeve boss five (34) In, there is axle sleeve mounting hole two on axle sleeve boss two (37) top, and axle sleeve two (13) is mounted on the axle sleeve installation of axle sleeve boss two (37) Kong Erzhong；Several fixing lug boss cylindrical are evenly distributed with around the axle sleeve boss two (37) of end cap two (15) axially inner side end face There is fixed shaft hole one (36) on one (35), fixing lug boss one (35) top；

Rotor part one divides for permanent magnet rotor or cage rotor two types；Permanent magnet rotor component one includes rotor iron Core one (21), permanent magnet (40)；In a ring, the intermediate iron core connection holes of rotor core one (21) are cored for rotor core one (21) Keyway；The permanent magnet (40) of several tile shapes is mounted on rotor core one (21) radially-outer surface, two adjacent permanent magnets (40) radially-outer surface opposite pole each other；Cage rotor component one includes cage rotor iron core one, rotor cage；Mouse cage turns In a ring, the cored keyway of iron core connection holes among cage rotor iron core one, one diameter of cage rotor iron core is outside for sub- iron core one There are also several mouse cage wire casings, rotor cages to be mounted in mouse cage wire casing for side；

Rotor part two divides for permanent magnet rotor or cage rotor two types；Permanent magnet rotor component two includes rotor iron Core two (29), permanent magnet (40)；In a ring, the intermediate iron core connection holes of rotor core two (29) are cored for rotor core two (29) Keyway；The permanent magnet (40) of several tile shapes is mounted on rotor core two (29) radially-outer surface, two adjacent permanent magnets (40) radially-outer surface opposite pole each other；Cage rotor component two includes cage rotor iron core two, rotor cage；Mouse cage turns In a ring, the cored keyway of iron core connection holes among cage rotor iron core two, two diameter of cage rotor iron core is outside for sub- iron core two There are also several mouse cage wire casings, rotor cages to be mounted in mouse cage wire casing for side；

In a ring, bidentate gear ring one (12), bidentate gear ring two (4) radially inner side are equal for bidentate gear ring one (12), bidentate gear ring two (4) Several gear ring internal tooths (79) of cloth, bidentate gear ring one (12), bidentate gear ring two (4) radial outside are evenly distributed with several gear ring external tooths (78)；Planetary gear one (17), planetary gear two (5) are external gears, are among planetary gear one (17), planetary gear two (5) Smooth gear shaft holes (83)；Sun gear one (19), sun gear two (8) are external gear, sun gear one (19), sun tooth Take turns intermediate gear connection holes (80) wheel key way with teeth (81) in two (8), the gear of sun gear one (19), sun gear two (8) There are dowel hole (82) on wheel hub；Positioning pin one (48), positioning pin two (47) are cylindrical；Positioning plate one (18), positioning plate two (16), positioning plate three (3), positioning plate four (6) be in a ring；

Planet axis one (14) is cylindrical, after planet axis one (14) one end has the shaft shoulder, planetary gear member one to assemble, planet axis one (14) other end is fixed in the fixed shaft hole one (36) on fixing lug boss one (35) top of end cap two (15)；Planet axis one (14) one end of the shaft shoulder is sequentially installed with positioning plate one (18), planetary gear one (17), positioning plate two (16) to the other end, it is fixed Position plate one (18), planetary gear one (17), positioning plate two (16) can be rotated around the axis of planet axis one (14)；

It is discoidal tray deck (71) among planet stent two (9) radial outside, tray deck (71) one end is the defeated of cylinder Shaft is first (75), and the other end is columnar axle sleeve boss four (69), and it is axle sleeve mounting hole four that axle sleeve boss four (69) is intermediate (73), axle sleeve four (11) is mounted in axle sleeve mounting hole four (73)；It is uniformly distributed around the axle sleeve boss four (69) of planet stent two (9) Several columnar fixing lug boss two (72), it is fixed shaft hole two (74) that fixing lug boss two (72) is intermediate；Output shaft is first It (75) is axle journal five (70) close to tray deck (71) one end；The axis of two axis of planet stent (77) and axle sleeve mounting hole four (73) It is overlapped, after planetary gear member two assembles, two axis of planetary gear (76) is overlapped with the axis of fixed shaft hole two (74)；

Planet axis two (7) is cylindrical, after planet axis two (7) one end has the shaft shoulder, planetary gear member two to assemble, planet axis two (7) other end is fixed in the fixed shaft hole two (74) of planet stent two (9)；Planet axis two (7) have one end of the shaft shoulder to The other end is sequentially installed with positioning plate three (3), planetary gear two (5), positioning plate four (6), positioning plate three (3), planetary gear two (5), positioning plate four (6) can be rotated around the axis of planet axis two (7)；Two axis of planetary gear (76) and planet axis two (7) Axis be overlapped；

Shaft one (23) is cylindrical, is positioning shaft shoulder one (58), positioning shaft shoulder one (58) among shaft one (23) radial outside Both ends are shaft part one (60), shaft part two (56) respectively, and shaft part one (60) is axle journal one (59) close to positioning shaft shoulder one (58) one end, Shaft part two (56) has keyway one (57), the axially external one end of shaft part two (56) close to positioning shaft shoulder one (58) one end radially-outer surface It is axle journal two (54), shaft part two (56) has keyway two (55) and pin hole one (53) close to axle journal two (54) one end radially-outer surface；

Rotating axis component one is mounted on spline one (49) in the keyway one (57) of shaft one (23), in assembly spline two (50) it is mounted in the keyway two (55) of shaft one (23), the shaft part two (56) of shaft one (23) is mounted on rotor core one (21) in iron core connection holes, spline one (49) is mounted in the iron core keyway of rotor core one (21), makes rotor part one It is installed together with rotating axis component one；Sun gear one (19) is mounted on shaft part two (56) lateral ends of shaft one (23), Spline two (50) is mounted in the gear keyway (81) of sun gear one (19), positioning pin one (48) one end is mounted on the sun In the dowel hole (82) of gear one (19), positioning pin one (48) other end is mounted on the pin hole one (53) of shaft one (23) In；

Shaft two (27) is cylindrical, is positioning shaft shoulder two (66), positioning shaft shoulder two (66) among shaft two (27) radial outside Both ends are shaft part three (68), shaft part four (64) respectively, and shaft part three (68) is axle journal three (67) close to positioning shaft shoulder two (66) one end, Shaft part four (64) has keyway three (65), the axially external one end of shaft part four (64) close to positioning shaft shoulder two (66) one end radially-outer surface It is axle journal four (62), shaft part four (64) has keyway four (63) and pin hole two (61) close to axle journal four (62) one end radially-outer surface；

Rotating axis component two is mounted on spline three (51) in the keyway three (65) of shaft two (27), in assembly spline four (52) it is mounted in the keyway four (63) of shaft two (27), the shaft part four (64) of shaft two (27) is mounted on rotor core two (29) in iron core connection holes, spline three (51) is mounted in the iron core keyway of rotor core two (29), makes rotor part two It is installed together with rotating axis component two；Sun gear two (8) is mounted on shaft part four (64) lateral ends of shaft two (27), Spline four (52) is mounted in the gear keyway (81) of sun gear two (8), and positioning pin two (47) one end is mounted on sun tooth In the dowel hole (82) for taking turns two (8), positioning pin two (47) other end is mounted in the pin hole two (61) of shaft two (27)；

Stator component is mounted on base (2) inner cavity middle position, dual planetary gear differential portion in assembly by the speed reducer Part is mounted on stator component axial direction one end, and controller one (20), controller two (30) are mounted on the stator component axial direction other end, End cap one (1), end cap two (15) are separately mounted on the base flange at base (2) both ends by bolt；

The axle journal two (54) of the shaft one (23) of rotating axis component one is mounted on base in assembly by dual planetary gear differential part In the axle sleeve two (13) of component, the axle journal one (59) of shaft one (23) is mounted in the axle sleeve one (22) of support component, makes to turn The sun gear one (19) of shaft member one and several planetary gears one (17) of planetary gear member one are intermeshed；Bidentate Gear ring one (12) is mounted on planetary gear one (17) radial outside, make bidentate gear ring one (12) gear ring internal tooth (79) and several Planetary gear one (17) intermeshing；Two end faces of bidentate gear ring one (12) respectively with positioning plate one (18) and positioning plate two (16) End face contacts with each other, positioning plate one (18) and positioning plate two (16) limitation bidentate gear ring one (12) axial movement；

The axle journal five (70) of the planet stent two (9) of planetary gear member two is mounted in the axle sleeve five (10) of support component, Bidentate gear ring two (4) is mounted on planetary gear two (5) radial outside, make the gear ring internal tooth (79) of bidentate gear ring two (4) if with Dry planetary gear two (5) intermeshing；Make the gear ring of gear ring external tooth (78) and bidentate gear ring one (12) of bidentate gear ring two (4) External tooth (78) intermeshing；Two end faces of bidentate gear ring two (4) are mutual with positioning plate three (3) and positioning plate four (6) end face respectively Contact, positioning plate three (3) and positioning plate four (6) limitation bidentate gear ring two (4) axial movement；

The axle journal four (62) of the shaft two (27) of rotating axis component two is mounted in the axle sleeve four (11) of planetary gear member two, The axle journal three (67) of shaft two (27) is mounted in the axle sleeve three (28) of support component, makes the sun gear two of rotating axis component two (8) it is intermeshed with several planetary gears two (5) of planetary gear member two；

In dual planetary gear differential part, planetary gear member one, bidentate gear ring one (12), sun gear one (19), base portion The end cap two (15) of part forms planetary reducer one, and the end cap two (15) of support component is the row of planetary reducer one Prong frame one；The fixing piece of planetary reducer one is planet stent one, and driving link is sun gear one (19), and driven member is Bidentate gear ring one (12)；Planetary reducer one does deceleration transmission；The direction of rotation of bidentate gear ring one (12) and sun gear The direction of rotation of one (19) is opposite；The direction of rotation of sun gear one (19) is identical as the direction of rotation of motor one；

In dual planetary gear differential part, planetary gear member two, bidentate gear ring two (4), sun gear two (8) form planet tooth Wheel decelerator two；Planetary reducer two does not have fixing piece, planetary reducer two there are two driving link, driving link first is that Bidentate gear ring two (4), driving link is second is that sun gear two (8), driven member are the planet stents two (9) of planetary gear member two； Planetary reducer two does deceleration transmission；The linear velocity of sun gear two (8) reference circle position rotation is equal to bidentate gear ring two (4) when the linear velocity of gear ring internal tooth reference circle position rotation, planet stent two (9) does not rotate；Sun gear two (8) reference circle When the linear velocity that the gear ring internal tooth reference circle position that the linear velocity of position rotation is greater than bidentate gear ring two (4) rotates, planet stent Two direction of rotation (84) are identical as sun gear two direction of rotation (90)；The linear speed of sun gear two (8) reference circle position rotation When the linear velocity that the gear ring internal tooth reference circle position that degree is less than bidentate gear ring two (4) rotates, two direction of rotation of planet stent (84) It is opposite with sun gear two direction of rotation (90)；The direction of rotation of sun gear two (8) is identical as the direction of rotation of motor two；

The speed reducer there are three output shaft, output shaft first is that the planet stent two (9) of planetary gear member two output shaft head One (75)；The output shaft of planet stent two (9) first (75) output revolving speed is the revolving speed and bidentate gear ring two of sun gear two (8) (4) difference of revolving speed acts on planetary gear two (5) revolving speed for driving planet stent two (9)；Output shaft is second is that rotating axis component The shaft part one (60) of one shaft one (23), shaft part one (60) the output revolving speed of shaft one (23) are exactly the revolving speed of motor one； Output shaft third is that the shaft two (27) of rotating axis component two shaft part three (68), shaft two (27) shaft part three (68) output revolving speed just It is the revolving speed of motor two.

2. a kind of dual planetary gear mechanical differential according to claim 1, it is characterised in that the speed reducer was run Cheng Shi:

When the speed reducer starts, controller one (20) controls one slow-speed of revolution of motor starting, and motor one is gradually increased Revolving speed, at the same time, controller two (30) control two slow-speed of revolution of motor starting, and two revolving speed of motor is gradually increased, electricity Motivation one is opposite with two direction of rotation of motor；

Motor one drives the planetary gear one (17) of planetary gear member one by the sun gear one (19) of rotating axis component one Rotation, planetary gear one (17) drive bidentate gear ring one (12) rotation, bidentate gear ring one (12) drive bidentate gear ring two (4) according to Two direction of rotation of bidentate gear ring (86) rotation；Bidentate gear ring two (4) drives planetary gear two (5) according to two side of rotation of planetary gear It is rotated to (88)；Motor two drives the planetary gear of planetary gear member two by the sun gear two (8) of rotating axis component two Two (5) are rotated according to two direction of rotation of planetary gear (88)；

If the gear ring internal tooth (79) that the linear velocity of sun gear two (8) reference circle position rotation is equal to bidentate gear ring two (4) indexes When the linear velocity of circle position rotation, sun gear two (8) drives the linear velocity of planetary gear two (5) rotation to be equal to bidentate gear ring two (4) linear velocity of driving planetary gear two (5) rotation, planetary gear two (5) surround two axis of planetary gear (76) rotation, planet Two axis of gear (76) remains static, then the output revolving speed of planet stent two (9) is equal to zero；

If the gear ring internal tooth (79) that the linear velocity of sun gear two (8) reference circle position rotation is greater than bidentate gear ring two (4) indexes When the linear velocity of circle position rotation, sun gear two (8) drives planetary gear two (5) to surround two axis of planetary gear (76) rotation Linear velocity be greater than bidentate gear ring two (4) driving planetary gear two (5) surround two axis of planetary gear (76) rotation linear velocity, In order to offset the speed difference, then planetary gear two (5) revolves around two axis of planet stent (77), also, planet stent two revolves It is identical as sun gear two direction of rotation (90) to turn direction (84)；Planet stent two (9) output and two direction of rotation phase of motor The same slow-speed of revolution；

If the gear ring internal tooth (79) that the linear velocity of sun gear two (8) reference circle position rotation is less than bidentate gear ring two (4) indexes When the linear velocity of circle position rotation, sun gear two (8) drives planetary gear two (5) to surround two axis of planetary gear (76) rotation Linear velocity be less than bidentate gear ring two (4) driving planetary gear two (5) surround two axis of planetary gear (76) rotation linear velocity, In order to offset the speed difference, then planetary gear two (5) revolves around two axis of planet stent (77), also, planet stent two revolves It is opposite with sun gear two direction of rotation (90) to turn direction (84)；Planet stent two (9) output and two direction of rotation phase of motor The anti-slow-speed of revolution；

It is constant to need that output shaft one is maintained to export revolving speed in the process of running for the speed reducer, and improves one output work of output shaft When rate, motor one is improved by controller one (20) and exports revolving speed, motor two is improved by controller two (30) and exports revolving speed, i.e., Motor one, two output power of motor are improved simultaneously, and keeps motor one, the difference of two revolving speed of motor constant, the revolving speed Difference act in the speed reducer, maintain output shaft one export revolving speed it is constant；

It is constant to need that output shaft one is maintained to export revolving speed in the process of running for the speed reducer, and reduces by one output work of output shaft When rate, motor one is reduced by controller one (20) and exports revolving speed, motor two is reduced by controller two (30) and exports revolving speed, i.e., Motor one, two output power of motor are reduced simultaneously, and keeps motor one, the difference of two revolving speed of motor constant, the revolving speed Difference act in the speed reducer, maintain output shaft one export revolving speed it is constant.