CN109027176A - A kind of joint mechanical differential - Google Patents

A kind of joint mechanical differential Download PDF

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Publication number
CN109027176A
CN109027176A CN201810937397.5A CN201810937397A CN109027176A CN 109027176 A CN109027176 A CN 109027176A CN 201810937397 A CN201810937397 A CN 201810937397A CN 109027176 A CN109027176 A CN 109027176A
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CN
China
Prior art keywords
planet
rotor
base
bevel
motor
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Granted
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CN201810937397.5A
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Chinese (zh)
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CN109027176B (en
Inventor
赵晓东
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Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
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Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
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Priority to CN201810937397.5A priority Critical patent/CN109027176B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H48/00—Differential gearings
    • F16H48/06—Differential gearings with gears having orbital motion
    • F16H48/08—Differential gearings with gears having orbital motion comprising bevel gears
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The present invention is a kind of joint mechanical differential, is related to a kind of speed reducer, including base one, base two, stator component one, stator component two, rotor part one, rotor part two, stationary shaft member.In the speed reducer operational process, the revolving speed of planet stent 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 planet stent 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 can adjust two output power of motor simultaneously and adjust the difference of the speed of two motor at any time, realize the flexibility of emulated robot finger-joint.

Description

A kind of joint mechanical differential
Technical field
The present invention is a kind of joint mechanical differential, is related to a kind of speed reducer, uses two electricity more particularly to a kind of Motivation drives speed difference when a set of bevel epicyclic reduction device jointly, and a kind of joint differential for obtaining slow-speed of revolution output slows down Machine.
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.
The retarder of widely applied articulated robot can rotate 180 degree in industrial circle, emulated robot Joint does not need retarder and rotates 180 degree.By taking finger-joint as an example, due to the limitation of space structure, existing retarder Technology may not apply to the finger-joint of emulated robot.Currently, the finger-joint for the emulated robot that video display field is shown is adopted To the technical solution of micro hydraulic piston, air rammer, electromagnetism railway traction hinge, which cannot achieve emulation machine The flexibility of manpower articulations digitorum manus.
It in the motion process of articulated robot, needs frequently to accelerate, slow down, frequent starting stops, even frequently Change its motor direction of rotation, these motion features run motor under the lower working condition of efficiency.Using It also needs to solve the technical problem in the retarder of simulation robot joint.
The finger-joint of emulated robot must control grip strength during grasping, that is, be applied to emulated robot The retarder of finger-joint allows for adjusting output power during exporting the variation of revolving speed moment.Applied to emulation machine The retarder in other joints of people also needs to solve above-mentioned technical problem.
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 the retarder can adjust two electricity simultaneously Motivation output power and adjust at any time two motor drive retarders speed difference, then the retarder can be realized defeated In the state that revolving speed is constant out or the technical requirements for controlling output power in the state that revolving speed changes at any time are exported, and are realized The retarder in the state that output power is constant or output power change at any time in the state of control output revolving speed technology It is required that.
Summary of the invention
The disadvantage that the purpose of the present invention is overcome common planetary gear retarder transmission ratio small overcomes existing retarder technology The shortcomings that may not apply to emulated robot finger-joint overcomes with micro hydraulic piston, air rammer, electromagnetism railway traction hinge Technical solution the shortcomings that cannot achieve emulated robot finger-joint flexibility, providing a kind of has that transmission ratio is big, output turns The advantages of square is big, fast response time, and ensure that a kind of joint differential of high-efficiency operation when motor drive retarder slows down Machine.Embodiment of the present invention is as follows:
The speed reducer include base one, base two, stator component one, stator component two, rotor part one, rotor part two, Stationary shaft member.Rotor part one is mounted on one radial outside of stator component composition motor one.Rotor part two is mounted on fixed Two radial outside of subassembly forms motor two.Motor one is mounted on one radially inner side of base, and motor two is mounted on base Two radially inner sides.Rotor part one, rotor part two are separately mounted to stationary shaft member axial ends, and stationary shaft member is mounted on Base one and the axial middle position of base two.Stator component one includes stator core one, winding coil one.Stator component two includes Stator core two, winding coil two.Rotor part one includes rotor field spider one, rotor core one, permanent magnet, one axis of rotor field spider There is bevel gear one to one end.Rotor part two includes rotor field spider two, rotor core two, permanent magnet, rotor field spider two axial one There is bevel gear two at end.Stationary shaft member includes fixing axle, axle sleeve one, axle sleeve two, retaining ring one, retaining ring two, positioning pin one, positioning pin Two, nut, bevel planet gear, planet stent, planet axis, planet axle sleeve.
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 bevel planet gear to surround planet axis axis by the bevel gear one of rotor field spider one Line is rotated along bevel planet gear direction of rotation, and motor two drives bevel planet gear to enclose by the bevel gear two of rotor field spider two It is rotated around planet axis axis along bevel planet gear direction of rotation.One rotation speed of motor is identical as two rotation speed of motor When, bevel planet gear surrounds the rotation of planet axis axis, and planet stent remains static.One rotation speed of motor and motor When two rotation speeds are not identical, for bevel planet gear while surrounding the rotation of planet axis axis, bevel planet gear can also be around solid The revolution of dead axle axis, bevel planet gear drive planet stent slow-speed of revolution rotation.
Base one is in two-double cylinder closed at one end, and it is base end plate one, base that base one, which closes one end axial end face, It is base axis hole one among end plate one, one radial outside of base end plate is base flange one, and one radial outside of base flange is uniformly distributed Several base dowel holes, one axially inner side of base end plate have cylindrical circular base inner sleeve one and cylindrical circular Cartridge outer sleeve one, base inner sleeve one are located at the radially inner side of cartridge outer sleeve one, and one radially inner side of base inner sleeve is set Tube inner chamber one.
In a ring, one radially inner side of stator core is stator center hole to stator core one, and one radial outside of stator core is equal Several stator slots of cloth, several winding coils one are separately mounted in the stator slot of stator core one.Stator component one In assembly, one diameter of base inner sleeve that the stator center hole of the stator core one of stator component one is mounted on base one is outside Surface.
Base two is in two-double cylinder closed at one end, and it is base end plate two, base that base two, which closes one end axial end face, It is base axis hole two among end plate two, two radial outside of base end plate is base flange two, and two radial outside of base flange is uniformly distributed Several base dowel holes, two axially inner side of base end plate have cylindrical circular base inner sleeve two and cylindrical circular Cartridge outer sleeve two, base inner sleeve two are located at the radially inner side of cartridge outer sleeve two, and two radially inner side of base inner sleeve is set Tube inner chamber two.
In a ring, two radially inner side of stator core is stator center hole to stator core two, and two radial outside of stator core is equal Several stator slots of cloth, several winding coils two are separately mounted in the stator slot of stator core two.Stator component two In assembly, two diameter of base inner sleeve that the stator center hole of the stator core two of stator component two is mounted on base two is outside Surface.
Rotor field spider one is in two-double cylinder closed at one end, and it is rotor end plates that rotor field spider one, which closes one end axial end face, One, the axially external one end of rotor end plates one is bevel gear one, and one axially inner side one end of rotor end plates is in cylindrical circular rotor Sleeve one and cylindrical circular rotor outer sleeve one, one radially inner side of rotor inner sleeve are rotor shaft hatch one, rotor inner sleeve one Positioned at the radially inner side of rotor outer sleeve one.Rotor core one is in a ring.Rotor part one is in assembly, one diameter of rotor core Exterior surface is mounted on one inner radial surface of rotor outer sleeve of rotor field spider one, several are installed in the permanent magnet of tile shape In one inner radial surface of rotor core, two adjacent permanent magnets inner radial surface opposite pole each other.
Rotor field spider two is in two-double cylinder closed at one end, and it is rotor end plates that rotor field spider two, which closes one end axial end face, Two, the axially external one end of rotor end plates two is bevel gear two, and two axially inner side one end of rotor end plates is in cylindrical circular rotor Sleeve two and cylindrical circular rotor outer sleeve two, two radially inner side of rotor inner sleeve are rotor shaft hatch two, rotor inner sleeve two Positioned at the radially inner side of rotor outer sleeve two.Rotor core two is in a ring.Rotor part two is in assembly, two diameter of rotor core Exterior surface is mounted on two inner radial surface of rotor outer sleeve of rotor field spider two, several are installed in the permanent magnet of tile shape In two inner radial surface of rotor core, two adjacent permanent magnets inner radial surface opposite pole each other.
Fixing axle is cylindrical, and fixing axle is successively external screw thread two to the other end, spindle nose two, axle journal two, fixes from one end The shaft shoulder, axle journal one, spindle nose one, external screw thread one.Axle journal two has radial dowel hole two close to two one end radially-outer surface of spindle nose, Axle journal one has radial dowel hole one close to one one end radially-outer surface of spindle nose.Positioning pin one, positioning pin two are cylindrical.
In a ring, planet stent radially inner side is rack bore to planet stent, if planet stent inner radial surface is evenly equipped with There is the planet fixed shaft hole an of radial direction at dry bracket mounting plane, each bracket mounting plane center, and planet stent is radial Inside is external splines, and male splined shaft has the spline shaft shoulder to one end radial outside.
Bevel planet gear axial centre is gear shaft holes three, and bevel planet gear one end is the gear teeth three, and bevel planet gear is another End is gear rear end face.
Planet axle sleeve is cylindrical, and planet axle sleeve axial centre is planet sleeve central bore, the radial direction of planet axle sleeve one end Outside is the thrust shaft shoulder one.Planet axis is cylindrical, and the radial outside of planet axis one end is positioning shaft shoulder.
Axle sleeve one is cylindrical, and one axial centre of axle sleeve is axle sleeve axis hole, and the radial outside of one one end of axle sleeve is thrust shaft Shoulder two.Axle sleeve two is cylindrical, and two axial centre of axle sleeve is axle sleeve axis hole, and the radial outside of two one end of axle sleeve is the thrust shaft shoulder Two.
Retaining ring one is cylindrical, and one axial centre of retaining ring is retaining ring axis hole, and one radially-outer surface of retaining ring has radial retaining ring Pin hole.Retaining ring two is cylindrical, and two axial centre of retaining ring is retaining ring axis hole, and two radially-outer surface of retaining ring has radial retaining ring pin Hole.
Stationary shaft member is in assembly, one axially external end face of the thrust shaft shoulder and planet stent of several planet axle sleeves Bracket mounting plane contact be installed together, the planet sleeve central bore of each planet axle sleeve and the planet of planet stent The gear shaft holes three of several bevel planet gears, are mounted on planet axle sleeve radially-outer surface, bore planet by fixed shaft hole alignment The gear rear end face of gear is contacted with the one axially inner side end face of the thrust shaft shoulder of planet axle sleeve and is installed together, several planets Axis is sequentially inserted into the planet sleeve central bore of planet axle sleeve and planet fixed shaft hole radially inner side one end of planet stent respectively, makes The positioning shaft shoulder axially inner side end face of planet axis contacts with planet axle sleeve axial end face and is installed together, and enables bevel planet gear It is rotated around planet axis axis.
Fixing axle is mounted in the rack bore of planet stent.The axle sleeve axis hole of axle sleeve one is mounted on the axis of fixing axle One radially-outer surface of neck makes the thrust shaft shoulder two of axle sleeve one close to the dowel hole one of fixing axle, the retaining ring axis hole of retaining ring one It is mounted on one radially-outer surface of axle journal of fixing axle, is aligned the retaining ring pin hole of retaining ring one with the dowel hole one of fixing axle, One one end of positioning pin is mounted in the dowel hole one of fixing axle, one other end of positioning pin is mounted on the retaining ring pin hole of retaining ring one In, it contacts two axially external end face of the thrust shaft shoulder of axle sleeve one with one left end face of retaining ring and is installed together.Nut is installed In one radial outside of external screw thread of fixing axle.The axle sleeve axis hole of axle sleeve two is mounted on two radially-outer surface of axle journal of fixing axle, Make the thrust shaft shoulder two of axle sleeve two close to the dowel hole two of fixing axle, the retaining ring axis hole of retaining ring two is mounted on the axis of fixing axle Two radially-outer surface of neck is aligned the retaining ring pin hole of retaining ring two with the dowel hole two of fixing axle, and two one end of positioning pin is installed In the dowel hole two of fixing axle, two other end of positioning pin is mounted in the retaining ring pin hole of retaining ring two, makes stopping for axle sleeve two Two axially external end face of push shaft shoulder is contacted with two right end face of retaining ring and is installed together.Nut is mounted on the external screw thread of fixing axle Two radial outsides.
The speed reducer is mounted on the axial right side one end of stationary shaft member in assembly, rotor part one, makes rotor portions The bevel gear one of part one and the bevel planet gear of stationary shaft member are intermeshed, and make one radially-outer surface of axle sleeve of stationary shaft member It is mounted in the rotor shaft hatch one of rotor field spider one, makes the axial right end face of the rotor inner sleeve one of rotor field spider one and axle sleeve one The axial left end face contact of the thrust shaft shoulder two be installed together.Rotor part two is mounted on the axial left side one of stationary shaft member The bevel planet gear at end, the bevel gear two and stationary shaft member that make rotor part two is intermeshed, and makes the axle sleeve of stationary shaft member Two radially-outer surfaces are mounted in the rotor shaft hatch two of rotor field spider two, make the axial left side of the rotor inner sleeve two of rotor field spider two End face contacts with the axial right end face of the thrust shaft shoulder two of axle sleeve two and is installed together.
Base one is mounted on the axial right side one end of stationary shaft member, the spindle nose one of fixing axle is made to be mounted on the machine of base one In seat axis hole one, the rotor outer sleeve one of rotor field spider one is made to be mounted on one radially inner side of cartridge outer sleeve of base one, makes to turn The rotor inner sleeve one of submounts one is mounted in the barrel bore one of base one, makes the rotor core one and forever of rotor part one Magnet is mounted on one radial outside of stator core of stator component one.Base two is mounted on the axial left side one of stationary shaft member End, is mounted on the spindle nose two of fixing axle in the base axis hole two of base two, installs the rotor outer sleeve two of rotor field spider two In two radially inner side of cartridge outer sleeve of base two, it is mounted on the rotor inner sleeve two of rotor field spider two in the sleeve of base two In chamber two, the rotor core two of rotor part two and permanent magnet is made to be mounted on two radial outside of stator core of stator component two. The planet stent of stationary shaft member is set to be mounted on base one and the axial middle position of base two.Two nuts are base one, base Two, fixing axle is fixed on together.
In the speed reducer, bevel gear one, bevel gear two, bevel planet gear, planet stent form bevel epicyclic reduction Device, the driving link of bevel epicyclic reduction device is first is that bevel gear one, driving link is second is that bevel gear two, driven member are planet stents. Bevel epicyclic reduction device does deceleration transmission.One direction of rotation of bevel gear is opposite with two direction of rotation of bevel gear.Bevel gear one is revolved When rotary speed is identical as two rotation speed of bevel gear, bevel planet gear surrounds the rotation of planet axis axis, and planet stent is in static State.When one rotation speed of bevel gear and two rotation speed of bevel gear be not identical, bevel planet gear is surrounding planet axis axis certainly While turning, bevel planet gear can also revolve around fixing axle axis, and bevel planet gear drives planet stent slow-speed of revolution rotation.Cone When one rotation speed of gear is greater than two rotation speed of bevel gear, planet stent direction of rotation is identical as one direction of rotation of bevel gear. When two rotation speed of bevel gear is greater than one rotation speed of bevel gear, planet stent direction of rotation and two direction of rotation phase of bevel gear Together.
The speed reducer operational process is:
When the speed reducer starts, controller one controls one slow-speed of revolution of motor starting, and one revolving speed of motor is gradually increased, At the same time, controller two controls two slow-speed of revolution of motor starting, and two revolving speed of motor is gradually increased, motor one and electricity Two direction of rotation of motivation is opposite.Motor one drives bevel planet gear to surround planet axis axis by the bevel gear one of rotor part one Line is rotated along bevel planet gear direction of rotation, and motor two drives bevel planet gear to enclose by the bevel gear two of rotor part two It is rotated around planet axis axis along bevel planet gear direction of rotation.One rotation speed of motor is identical as two rotation speed of motor When, bevel planet gear surrounds the rotation of planet axis axis, and planet stent remains static.
If one rotation speed of motor is greater than two rotation speed of motor, bevel gear one drives bevel planet gear around row Star axis axis is greater than bevel gear two along the rotation speed of bevel planet gear direction of rotation and bevel planet gear is driven to surround planet axis Axis is along the rotation speed of bevel planet gear direction of rotation, and in order to offset the speed difference, bevel planet gear can also be around fixation The revolution of axis axis, bevel planet gear drive planet stent slow-speed of revolution rotation.Planet stent direction of rotation and one side of rotation of bevel gear To identical.Planet stent linear velocity is equal to the difference of two linear velocity of one linear velocity of bevel gear and bevel gear.
If two rotation speed of motor is greater than one rotation speed of motor, bevel gear two drives bevel planet gear around row Star axis axis is greater than bevel gear one along the rotation speed of bevel planet gear direction of rotation and bevel planet gear is driven to surround planet axis Axis is along the rotation speed of bevel planet gear direction of rotation, and in order to offset the speed difference, bevel planet gear can also be around fixation The revolution of axis axis, bevel planet gear drive planet stent slow-speed of revolution rotation.Planet stent direction of rotation and two side of rotation of bevel gear To identical.Planet stent linear velocity is equal to the difference of one linear velocity of two linear velocity of bevel gear and bevel gear.
The speed reducer needs to maintain the revolving speed of planet stent constant in the process of running, and improves planet stent output 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., is mentioned simultaneously High motor one, two output power of motor, and keep motor one, the difference of two revolving speed of motor constant, the difference of the revolving speed is made In the speed reducer, maintain the revolving speed of planet stent constant.
The speed reducer needs to maintain the revolving speed of planet stent constant in the process of running, and reduces planet stent output 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., is dropped simultaneously Low motor one, two output power of motor, and keep motor one, the difference of two revolving speed of motor constant, the difference of the revolving speed is made In the speed reducer, maintain the revolving speed of planet stent constant.
In the speed reducer operational process, planet stent output power is adjusted under planet stent revolving speed at any time variable condition When, meet the premise that control requires in the difference that controller one and controller two adjust two revolving speed of motor one and motor respectively Under, then two revolving speed of motor one and motor is raised or lowered simultaneously, realization raises or lowers planet stent output power.
The speed reducer is when being applied to the joint drive of robot, the speed reducer and knuckle support one and articular branches Frame two is installed together.There are fixation blowout patche one in a ring and fixation blowout patche two in a ring, fixing axle in one one end of knuckle support Circle one is axially arranged with fixed blowout patche two, and fixed blowout patche one is articular branches rack slot with fixed two axially inner side of blowout patche, fixed Blowout patche one and fixed two axially external end face of blowout patche are evenly equipped with several fixing axle circle dowel holes respectively, fixed blowout patche one and solid Two radially inner side of dead axle circle is fixed blowout patche inner cavity.There is connection blowout patche in a ring in two one end of knuckle support, and connection blowout patche passes through Connecting plate links together with two other end of knuckle support, and connection blowout patche inner radial surface has internal spline, connects in blowout patche radial direction Side is connection blowout patche inner cavity, the connecting shaft circle dowel hole that connection blowout patche radially-outer surface has several radial.
The speed reducer and knuckle support one and knuckle support two install the connection blowout patche of knuckle support two in assembly In the articular branches rack slot of knuckle support one, the speed reducer is mounted in the fixation blowout patche inner cavity of knuckle support one, institute is made The planet stent for stating the stationary shaft member of speed reducer is mounted in the connection blowout patche inner cavity of knuckle support two, makes the outer of planet stent The internal spline of spline and knuckle support two is installed together, and makes spline shaft shoulder axially inner side end face and the knuckle support of planet stent The axial end face contact of two connection blowout patche one end is installed together, several four one end of positioning pin cylindrical are mounted on Planet fixed shaft hole radial outside one end of planet stent, is mounted on four other end of positioning pin the connection blowout patche of knuckle support two In dowel hole.The base one of the speed reducer is mounted on one radially inner side of fixation blowout patche of knuckle support one, several Three one end of positioning pin cylindrical is mounted in the fixing axle circle dowel hole of fixed one right end face of blowout patche, positioning pin three The other end is mounted in the base dowel hole of base one.The base two of the speed reducer is mounted on the fixation of knuckle support one Two radially inner side of blowout patche is mounted on several three one end of positioning pin cylindrical the fixing axle of fixed two left end face of blowout patche It encloses in dowel hole, three other end of positioning pin is mounted in the base dowel hole of base two.
Base one and base two and the knuckle support one of the speed reducer are fixed on together, the speed reducer operation When, the planet stent driving knuckle support two of the speed reducer rotates, and realizes that the speed reducer is applied to the joint drive of robot It is dynamic.
In the speed reducer operational process, the revolving speed of planet stent is related to the rotational speed difference of two motor, and two electronic Machine can be in high-speed cruising state always, in the state that two motor direction of rotation are constant, can change the deceleration The direction of rotation of machine planet stent, driving load device realize frequent acceleration, slow down, and frequent starting stops, even frequently The function of numerous change load device direction of rotation.The speed reducer can ensure motor under the higher working condition of efficiency Operation, and response speed is improved when the speed reducer changes load device direction of rotation.The speed reducer can be adjusted simultaneously It saves two output power of motor and adjusts the difference of the speed of two motor at any time, realize the spirit of emulated robot finger-joint Activity.The revolving speed of the speed reducer planet stent is related to the rotational speed difference of two motor, 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 axonometric drawing of the speed reducer.
Fig. 2 is the isometric cutaway view of the speed reducer.
Fig. 3 is the isometric cutaway view that stator component one, base one are installed together.
Fig. 4 is the isometric cutaway view of base one.
Fig. 5 is the isometric cutaway view that stator component two, base two are installed together.
Fig. 6 is the isometric cutaway view of base two.
Fig. 7 is the axonometric drawing of stator component one or stator component two.
Fig. 8 is the axonometric drawing of stator core one or stator core two.
Fig. 9 is the isometric cutaway view of rotor part one.
Figure 10 is the isometric cutaway view of rotor field spider one.
Figure 11 is the isometric cutaway view of rotor part two.
Figure 12 is the isometric cutaway view of rotor field spider two.
Figure 13 is the isometric cutaway view that rotor part one, rotor part two, stationary shaft member are installed together.
Figure 14 is the isometric cutaway view of stationary shaft member.
Figure 15 is the axonometric drawing of fixing axle.
Figure 16 is the axonometric drawing of planet stent.
Figure 17 is the axonometric drawing of bevel planet gear.
Figure 18 is the isometric cutaway view of planet axle sleeve
Figure 19 is the axonometric drawing of planet axis
Figure 20 is the isometric cutaway view of axle sleeve one or axle sleeve two.
Figure 21 is the axonometric drawing of retaining ring one or retaining ring two.
Figure 22 is the speed reducer along axis cut-away illustration.
Figure 23 is that the speed reducer runs slowly the schematic diagram of process.U I is greater than U II in figure, then U III and I direction of rotation U It is identical.
Figure 24 is the axonometric drawing of knuckle support one.
Figure 25 is the axonometric drawing of knuckle support two.
Figure 26 is the isometric cutaway view that knuckle support one, knuckle support two, the speed reducer are installed together.
Figure 27 is the axonometric drawing that knuckle support one, knuckle support two, the speed reducer are installed together.
U I is the linear velocity of bevel gear one division circle position rotation in figure, and U II is the rotation of two reference circle position of bevel gear Linear velocity, U III are equal with bevel gear one division radius of circle or equal with two reference radius of bevel gear on planet stent The linear velocity of position rotation.
Base 1, axle sleeve 1, rotor field spider 1, bevel gear 1, bevel gear 25, rotor field spider two are labeled in figure 6, axle sleeve 27, base 28, retaining ring 29, positioning pin 2 10, nut 11, fixing axle 12, stator core 2 13, winding coil two 14, permanent magnet 15, rotor core 2 16, bevel planet gear 17, planet stent 18, planet axis 19, planet axle sleeve 20, rotor core One 21, winding coil 1, stator core 1, positioning pin 1, retaining ring 1, barrel bore 1, base inner sleeve one 27, cartridge outer sleeve 1, base flange 1, base dowel hole 30, base end plate 1, base axis hole 1, base Axis hole 2 33, base end plate 2 34, base flange 2 35, cartridge outer sleeve 2 36, base inner sleeve 2 37, barrel bore two 38, stator slot 39, stator center hole 40, rotor shaft hatch 1, rotor outer sleeve 1, rotor end plates 1, rotor inner sleeve Cylinder one 44, rotor outer sleeve 2 45, rotor end plates 2 46, rotor inner sleeve 2 47, rotor shaft hatch 2 48, external screw thread 2 49, axis First 2 50, dowel hole 2 51, axle journal 2 52, the fixed shaft shoulder 53, axle journal 1, dowel hole 1, spindle nose 1, external screw thread One 57, bracket mounting plane 58, rack bore 59, planet fixed shaft hole 60, external splines 61, the spline shaft shoulder 62, gear shaft holes three 63, the gear teeth 3 64, gear rear end face 65, the thrust shaft shoulder 1, planet sleeve central bore 67, positioning shaft shoulder 68, axle sleeve axis hole 69, Retaining ring axis hole 70, retaining ring pin hole 71, fixing axle axis 72, two rotational trajectory 73 of bevel gear, two direction of rotation 74 of bevel gear, planet Bevel gear rotational trajectory 75, bevel planet gear direction of rotation 76, planet stent rotational trajectory 77, planet stent direction of rotation 78, One rotational trajectory 79 of bevel gear, one direction of rotation 80 of bevel gear, planet axis axis 81, fixed blowout patche 2 82, fixed blowout patche inner cavity 83, fixing axle circle dowel hole 84, knuckle support 1, fixation blowout patche 1, articular branches rack slot 87, knuckle support 2 88, company Fishplate bar 89, internal spline 90, connection blowout patche inner cavity 91, connection blowout patche 92, connecting shaft circle dowel hole 93, positioning pin 3 94, positioning Pin 4 95, the thrust shaft shoulder 2 96.
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 base 1, base 28, stator component one, stator component two, Rotor part one, rotor part two, stationary shaft member.Rotor part one is mounted on one radial outside of stator component composition motor One.Rotor part two is mounted on two radial outside of stator component composition motor two.It is inside that motor one is mounted on one 1 diameter of base Side, motor two are mounted on 28 radially inner side of base.Rotor part one, rotor part two are separately mounted to stationary shaft member axis To both ends, stationary shaft member is mounted on base 1 and the axial middle position of base 28.Stator component one includes stator core one 23, winding coil 1.Stator component two includes stator core 2 13, winding coil 2 14.Rotor part one includes rotor branch There are bevel gear 1 in frame 1, rotor core 1, permanent magnet 15, the axial one end of rotor field spider 1.Rotor part two includes rotor There are bevel gear 25 in bracket 26, rotor core 2 16, permanent magnet 15, the axial one end of rotor field spider 26.Stationary shaft member includes solid Dead axle 12, axle sleeve 1, axle sleeve 27, retaining ring 1, retaining ring 29, positioning pin 1, positioning pin 2 10, nut 11, planet bore tooth Take turns 17, planet stent 18, planet axis 19, planet axle sleeve 20.
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 bevel planet gear 17 to surround planet by the bevel gear 1 of rotor field spider 1 Axis axis 81 is rotated along bevel planet gear direction of rotation 76, and motor two drives row by the bevel gear 25 of rotor field spider 26 Star bevel gear 17 rotates around planet axis axis 81 along bevel planet gear direction of rotation 76.One rotation speed of motor with it is electronic When two rotation speed of machine is identical, bevel planet gear 17 surrounds 81 rotation of planet axis axis, and planet stent 18 remains static.Electricity When one rotation speed of motivation and two rotation speed of motor be not identical, bevel planet gear 17 is around 81 rotation of planet axis axis Meanwhile bevel planet gear 17 can also revolve around fixing axle axis 72, bevel planet gear 17 drives 18 slow-speed of revolution of planet stent rotation Turn.
Referring to figs. 1 to Figure 21, base 1 is in two-double cylinder closed at one end, and base 1, which closes one end axial end face, is Base end plate 1 is base axis hole 1 among base end plate 1, and one 31 radial outside of base end plate is base flange one 29, one 29 radial outside of base flange is evenly distributed with several base dowel holes 30, and one 31 axially inner side of base end plate, which has, is in Columnar base inner sleeve 1 and cylindrical circular cartridge outer sleeve 1, base inner sleeve 1 are located at cartridge outer sleeve One 28 radially inner side, one 27 radially inner side of base inner sleeve are barrel bores 1.
In a ring, one 23 radially inner side of stator core is stator center hole 40, one 23 diameter of stator core to stator core 1 It is evenly distributed with several stator slots 39 outward, several winding coils 1 are separately mounted to the stator slot of stator core 1 In 39.The stator center hole 40 of the stator core 1 of stator component one is mounted on base 1 in assembly by stator component one One 27 radially-outer surface of base inner sleeve.
Base 28 is in two-double cylinder closed at one end, and it is base end plate 2 34 that base 28, which closes one end axial end face, It is base axis hole 2 33 among base end plate 2 34,2 34 radial outside of base end plate is base flange 2 35, base flange two 35 radial outsides are evenly distributed with several base dowel holes 30, and 2 34 axially inner side of base end plate has in cylindrical circular base Sleeve 2 37 and cylindrical circular cartridge outer sleeve 2 36, the diameter that base inner sleeve 2 37 is located at cartridge outer sleeve 2 36 are inside Side, 2 37 radially inner side of base inner sleeve are barrel bores 2 38.
In a ring, 2 13 radially inner side of stator core is stator center hole 40,2 13 diameter of stator core to stator core 2 13 It is evenly distributed with several stator slots 39 outward, several winding coils 2 14 are separately mounted to the stator slot of stator core 2 13 In 39.The stator center hole 40 of the stator core 2 13 of stator component two is mounted on base 28 in assembly by stator component two 2 37 radially-outer surface of base inner sleeve.
Rotor field spider 1 is in two-double cylinder closed at one end, and it is rotor-end that rotor field spider 1, which closes one end axial end face, Plate 1, the axially external one end of rotor end plates 1 are bevel gears 1, and one 43 axially inner side one end of rotor end plates is cylindrical Rotor inner sleeve 1 and cylindrical circular rotor outer sleeve 1, one 44 radially inner side of rotor inner sleeve is rotor shaft hatch one 41, rotor inner sleeve 1 is located at the radially inner side of rotor outer sleeve 1.Rotor core 1 is in a ring.Rotor part one exists When assembly, one 21 radially-outer surface of rotor core is mounted on one 42 inner radial surface of rotor outer sleeve of rotor field spider 1, Several are mounted on one 21 inner radial surface of rotor core, the inside table of 15 diameter of two adjacent permanent magnets in the permanent magnet 15 of tile shape Face opposite pole each other.
Rotor field spider 26 is in two-double cylinder closed at one end, and it is rotor-end that rotor field spider 26, which closes one end axial end face, Plate 2 46, the axially external one end of rotor end plates 2 46 are bevel gears 25, and 2 46 axially inner side one end of rotor end plates is cylindrical Rotor inner sleeve 2 47 and cylindrical circular rotor outer sleeve 2 45,2 47 radially inner side of rotor inner sleeve is rotor shaft hatch two 48, rotor inner sleeve 2 47 is located at the radially inner side of rotor outer sleeve 2 45.Rotor core 2 16 is in a ring.Rotor part two exists When assembly, 2 16 radially-outer surface of rotor core is mounted on 2 45 inner radial surface of rotor outer sleeve of rotor field spider 26, Several are mounted on 2 16 inner radial surface of rotor core, the inside table of 15 diameter of two adjacent permanent magnets in the permanent magnet 15 of tile shape Face opposite pole each other.
Fixing axle 12 is cylindrical, fixing axle 12 from one end be successively external screw thread 2 49, spindle nose 2 50, axle journal to the other end 2 52, the fixed shaft shoulder 53, axle journal 1, spindle nose 1, external screw thread 1.Axle journal 2 52 is close to 2 50 one end radial direction appearance of spindle nose There is radial dowel hole 2 51 in face, and axle journal 1 has radial dowel hole one close to one 56 one end radially-outer surface of spindle nose 55.Positioning pin 1, positioning pin 2 10 are cylindrical.
In a ring, 18 radially inner side of planet stent is rack bore 59,18 inner radial surface of planet stent to planet stent 18 Several bracket mounting planes 58 are evenly equipped with, there is the planet fixed shaft hole an of radial direction at each 58 center of bracket mounting plane 60,18 radially inner side of planet stent is external splines 61, and the axial one end radial outside of external splines 61 has the spline shaft shoulder 62.
17 axial centre of bevel planet gear is gear shaft holes 3 63, and 17 one end of bevel planet gear is the gear teeth 3 64, planet cone 17 other end of gear is gear rear end face 65.
Planet axle sleeve 20 is cylindrical, and 20 axial centre of planet axle sleeve is planet sleeve central bore 67, planet axle sleeve 20 1 The radial outside at end is the thrust shaft shoulder 1.Planet axis 19 is cylindrical, and the radial outside of 19 one end of planet axis is positioning shaft shoulder 68。
Axle sleeve 1 is cylindrical, and one 2 axial centre of axle sleeve is axle sleeve axis hole 69, and the radial outside of one 2 one end of axle sleeve is to stop Push shaft shoulder 2 96.Axle sleeve 27 is cylindrical, and 27 axial centre of axle sleeve is axle sleeve axis hole 69, the radial outside of 27 one end of axle sleeve It is the thrust shaft shoulder 2 96.
Retaining ring 1 is cylindrical, and one 25 axial centre of retaining ring is retaining ring axis hole 70, and one 25 radially-outer surface of retaining ring has diameter To retaining ring pin hole 71.Retaining ring 29 is cylindrical, and 29 axial centre of retaining ring is retaining ring axis hole 70,29 radially-outer surface of retaining ring There is radial retaining ring pin hole 71.
Stationary shaft member is in assembly, one 66 axially external end face of the thrust shaft shoulder and planet of several planet axle sleeves 20 The contact of bracket mounting plane 58 of bracket 18 is installed together, the planet sleeve central bore 67 and row of each planet axle sleeve 20 The planet fixed shaft hole 60 of prong frame 18 is aligned, and the gear shaft holes 3 63 of several bevel planet gears 17 are mounted on planet axle sleeve 20 radially-outer surfaces make the gear rear end face 65 of bevel planet gear 17 and the one 66 axially inner side end of the thrust shaft shoulder of planet axle sleeve 20 Face contact is installed together, several planet axis 19 is sequentially inserted into respectively the planet sleeve central bore 67 and row of planet axle sleeve 20 60 radially inner side one end of planet fixed shaft hole of prong frame 18 makes 68 axially inner side end face of positioning shaft shoulder and the planet of planet axis 19 The contact of 20 axial end face of axle sleeve is installed together, and bevel planet gear 17 is enable to rotate around planet axis axis 81.
Fixing axle 12 is mounted in the rack bore 59 of planet stent 18.The axle sleeve axis hole 69 of axle sleeve 1 is mounted on One 54 radially-outer surface of axle journal of fixing axle 12 makes the thrust shaft shoulder 2 96 of axle sleeve 1 close to the dowel hole one of fixing axle 12 55, the retaining ring axis hole 70 of retaining ring 1 is mounted on one 54 radially-outer surface of axle journal of fixing axle 12, makes the retaining ring of retaining ring 1 Pin hole 71 is aligned with the dowel hole 1 of fixing axle 12, one 24 one end of positioning pin is mounted on the dowel hole one of fixing axle 12 In 55, one 24 other end of positioning pin is mounted in the retaining ring pin hole 71 of retaining ring 1, makes 2 96 axis of the thrust shaft shoulder of axle sleeve 1 Outside side end face is contacted with one 25 left end face of retaining ring to be installed together.Nut 11 is mounted on the external screw thread 1 of fixing axle 12 Radial outside.The axle sleeve axis hole 69 of axle sleeve 27 is mounted on 2 52 radially-outer surface of axle journal of fixing axle 12, makes axle sleeve 27 The retaining ring axis hole 70 of retaining ring 29 is mounted on fixing axle 12 close to the dowel hole 2 51 of fixing axle 12 by the thrust shaft shoulder 2 96 2 52 radially-outer surface of axle journal is aligned the retaining ring pin hole 71 of retaining ring 29 with the dowel hole 2 51 of fixing axle 12, positioning pin 2 10 one end are mounted in the dowel hole 2 51 of fixing axle 12,2 10 other end of positioning pin are mounted on the retaining ring of retaining ring 29 In pin hole 71, contacts 2 96 axially external end face of the thrust shaft shoulder of axle sleeve 27 with 29 right end face of retaining ring and be installed together. Nut 11 is mounted on 2 49 radial outside of external screw thread of fixing axle 12.
The speed reducer is mounted on the axial right side one end of stationary shaft member in assembly, rotor part one, makes rotor portions The bevel gear 1 of part one and the bevel planet gear 17 of stationary shaft member are intermeshed, and keep one 2 diameter of axle sleeve of stationary shaft member outside It is surface mounted in the rotor shaft hatch 1 of rotor field spider 1, makes the axial right-hand end of the rotor inner sleeve 1 of rotor field spider 1 Face contacts with the axial left end face of the thrust shaft shoulder 2 96 of axle sleeve 1 and is installed together.Rotor part two is mounted on fixing axle The axial left side one end of component, the bevel planet gear 17 of the bevel gear 25 and stationary shaft member that make rotor part two are intermeshed, make 27 radially-outer surface of axle sleeve of stationary shaft member is mounted in the rotor shaft hatch 2 48 of rotor field spider 26, makes rotor field spider 26 The axial left end face of rotor inner sleeve 2 47 contacted with the 2 96 axial direction right end face of the thrust shaft shoulder of axle sleeve 27 and be mounted on one It rises.
Base 1 is mounted on the axial right side one end of stationary shaft member, the spindle nose 1 of fixing axle 12 is made to be mounted on base In one 1 base axis hole 1, the rotor outer sleeve 1 of rotor field spider 1 is made to be mounted on the cartridge outer sleeve one of base 1 28 radially inner sides are mounted on the rotor inner sleeve 1 of rotor field spider 1 in the barrel bore 1 of base 1, make rotor The rotor core 1 and permanent magnet 15 of component one are mounted on one 23 radial outside of stator core of stator component one.Base two 8 are mounted on the axial left side one end of stationary shaft member, and the spindle nose 2 50 of fixing axle 12 is made to be mounted on the base axis hole 2 33 of base 28 In, so that the rotor outer sleeve 2 45 of rotor field spider 26 is mounted on 2 36 radially inner side of cartridge outer sleeve of base 28, makes rotor The rotor inner sleeve 2 47 of bracket 26 is mounted in the barrel bore 2 38 of base 28, makes the rotor core two of rotor part two 16 and permanent magnet 15 be mounted on 2 13 radial outside of stator core of stator component two.Pacify the planet stent 18 of stationary shaft member Mounted in base 1 and the axial middle position of base 28.Two nuts 11 fix base 1, base 28, the installation of fixing axle 12 Together.
In the speed reducer, bevel gear 1, bevel gear 25, bevel planet gear 17, planet stent 18 form planet and bore tooth Wheel decelerator, the driving link of bevel epicyclic reduction device is first is that bevel gear 1, driving link is second is that bevel gear 25, driven member are capable Prong frame 18.Bevel epicyclic reduction device does deceleration transmission.One 4 direction of rotation of bevel gear is opposite with 25 direction of rotation of bevel gear. When one 4 rotation speed of bevel gear is identical as 25 rotation speed of bevel gear, bevel planet gear 17 surrounds 81 rotation of planet axis axis, Planet stent 18 remains static.When one 4 rotation speed of bevel gear and 25 rotation speed of bevel gear be not identical, planet bores tooth While surrounding 81 rotation of planet axis axis, bevel planet gear 17 can also revolve wheel 17 around fixing axle axis 72, planet cone Gear 17 drives 18 slow-speed of revolution of planet stent rotation.When one 4 rotation speed of bevel gear is greater than 25 rotation speed of bevel gear, planet Bracket direction of rotation 78 is identical as one direction of rotation 80 of bevel gear.25 rotation speed of bevel gear is greater than one 4 rotation speed of bevel gear When, planet stent direction of rotation 78 is identical as two direction of rotation 74 of bevel gear.
Referring to Figure 22, Figure 23, the speed reducer operational process is:
When the speed reducer starts, controller one controls one slow-speed of revolution of motor starting, and one revolving speed of motor is gradually increased, At the same time, controller two controls two slow-speed of revolution of motor starting, and two revolving speed of motor is gradually increased, motor one and electricity Two direction of rotation of motivation is opposite.Motor one drives bevel planet gear 17 to surround planet by the bevel gear 1 of rotor part one Axis axis 81 is rotated along bevel planet gear direction of rotation 76, and motor two drives row by the bevel gear 25 of rotor part two Star bevel gear 17 rotates around planet axis axis 81 along bevel planet gear direction of rotation 76.One rotation speed of motor with it is electronic When two rotation speed of machine is identical, bevel planet gear 17 surrounds 81 rotation of planet axis axis, and planet stent 18 remains static.
If one rotation speed of motor is greater than two rotation speed of motor, bevel gear 1 drives bevel planet gear 17 to enclose It is greater than bevel gear 25 along the rotation speed of bevel planet gear direction of rotation 76 around planet axis axis 81 and drives bevel planet gear 17 Around planet axis axis 81 along the rotation speed of bevel planet gear direction of rotation 76, in order to offset the speed difference, planet bores tooth Wheel 17 can also revolve around fixing axle axis 72, and bevel planet gear 17 drives 18 slow-speed of revolution of planet stent rotation.Planet stent rotation It is identical as one direction of rotation 80 of bevel gear to turn direction 78.18 linear velocity of planet stent is equal to one 4 linear velocity of bevel gear And the difference of 25 linear velocity of bevel gear.
If two rotation speed of motor is greater than one rotation speed of motor, bevel gear 25 drives bevel planet gear 17 to enclose It is greater than bevel gear 1 along the rotation speed of bevel planet gear direction of rotation 76 around planet axis axis 81 and drives bevel planet gear 17 Around planet axis axis 81 along the rotation speed of bevel planet gear direction of rotation 76, in order to offset the speed difference, planet bores tooth Wheel 17 can also revolve around fixing axle axis 72, and bevel planet gear 17 drives 18 slow-speed of revolution of planet stent rotation.Planet stent rotation It is identical as two direction of rotation 74 of bevel gear to turn direction 78.18 linear velocity of planet stent is equal to 25 linear velocity of bevel gear And the difference of one 4 linear velocity of bevel gear.
The speed reducer needs to maintain the revolving speed of planet stent 18 constant in the process of running, and improves planet stent 18 When output 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., together Shi Tigao motor one, two output power of motor, and keep motor one, the difference of two revolving speed of motor constant, the revolving speed it Difference acts in the speed reducer, maintains the revolving speed of planet stent 18 constant.
The speed reducer needs to maintain the revolving speed of planet stent 18 constant in the process of running, and reduces planet stent 18 When output 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., together When reduce motor one, two output power of motor, and keep motor one, the difference of two revolving speed of motor constant, the revolving speed it Difference acts in the speed reducer, maintains the revolving speed of planet stent 18 constant.
In the speed reducer operational process, planet stent 18 is adjusted under 18 revolving speed of planet stent at any time variable condition and is exported When power, before the difference that controller one and controller two adjust two revolving speed of motor one and motor respectively meets control requirement It puts, then raises or lowers two revolving speed of motor one and motor simultaneously, realization raises or lowers the output of planet stent 18 Power.
Referring to Figure 24 to Figure 27, the speed reducer is when being applied to the joint drive of robot, the speed reducer and pass Section bracket 1 and knuckle support 2 88 are installed together.There is fixation blowout patche 1 in a ring in one 85 one end of knuckle support and is in Annular fixation blowout patche 2 82, fixed blowout patche 1 are axially arranged with fixed blowout patche 2 82, are fixed blowout patche 1 and are fixed 2 82 axially inner side of blowout patche is articular branches rack slot 87, and fixed blowout patche 1 and fixed 2 82 axially external end face of blowout patche are uniformly distributed respectively There are several fixing axle circle dowel holes 84, fixed blowout patche 1 and fixed 2 82 radially inner side of blowout patche are fixed blowout patche inner cavities 83.There is connection blowout patche 92 in a ring in 2 88 one end of knuckle support, and connection blowout patche 92 passes through connecting plate 89 and knuckle support 2 88 The other end links together, and connection 92 inner radial surface of blowout patche has internal spline 90, and connection 92 radially inner side of blowout patche is connection blowout patche Inner cavity 91, the connecting shaft circle dowel hole 93 that connection 92 radially-outer surface of blowout patche has several radial.
The speed reducer and knuckle support 1 and knuckle support 2 88 are in assembly, the connecting shaft of knuckle support 2 88 Circle 92 is mounted in the articular branches rack slot 87 of knuckle support 1, the speed reducer is mounted on the fixing axle of knuckle support 1 It encloses in inner cavity 83, is mounted on the planet stent 18 of the stationary shaft member of the speed reducer in the connection blowout patche of knuckle support 2 88 In chamber 91, it is installed together the external splines 61 of planet stent 18 and the internal spline 90 of knuckle support 2 88, makes planet stent 18 62 axially inner side end face of the spline shaft shoulder contacted with the axial end face of 92 one end of connection blowout patche of knuckle support 2 88 and be mounted on one It rises, several 4 95 one end of positioning pin cylindrical is mounted on 60 radial outside one of planet fixed shaft hole of planet stent 18 End, 4 95 other end of positioning pin is mounted in the connecting shaft circle dowel hole 93 of knuckle support 2 88.The speed reducer Base 1 is mounted on one 86 radially inner side of fixation blowout patche of knuckle support 1, several positioning pins 3 94 cylindrical One end is mounted in the fixing axle circle dowel hole 84 of fixed one 86 right end face of blowout patche, and 3 94 other end of positioning pin is mounted on In the base dowel hole 30 of base 1.The base 28 of the speed reducer is mounted on the fixation blowout patche two of knuckle support 1 82 radially inner sides are mounted on several 3 94 one end of positioning pin cylindrical the fixing axle of fixed 2 82 left end face of blowout patche It encloses in dowel hole 84,3 94 other end of positioning pin is mounted in the base dowel hole 30 of base 28.
Base 1 and base 28 and the knuckle support 1 of the speed reducer are fixed on together, the speed reducer fortune When row, the planet stent 18 of the speed reducer drives knuckle support 2 88 to rotate, and realizes that the speed reducer is applied to robot Joint drive.
In the speed reducer operational process, the revolving speed of planet stent 18 is related to the rotational speed difference of two motor, two electricity Motivation can be in high-speed cruising state always, in the state that two motor direction of rotation are constant, can change described subtract The direction of rotation of fast machine planet stent 18, 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 can be same When adjust two output power of motor and at any time adjust two motor speed difference, realization emulated robot finger-joint Flexibility.The revolving speed of the speed reducer planet stent 18 is related to the rotational speed difference of two motor, then the speed reducer has The advantage that transmission ratio is big, output torque is big, the speed reducer do not have flexible gear, then the speed reducer have it is reliable for operation, make With the advantage that the service life is long, output torque is big.

Claims (3)

1. a kind of joint mechanical differential, it is characterised in that: the speed reducer includes base one (1), base two (8), stator department Part one, stator component two, rotor part one, rotor part two, stationary shaft member；Rotor part one is mounted on one diameter of stator component Motor one is formed outward；Rotor part two is mounted on two radial outside of stator component composition motor two；Motor one is pacified Mounted in base one (1) radially inner side, motor two is mounted on base two (8) radially inner side；Rotor part one, rotor part two divide It is not mounted on stationary shaft member axial ends, stationary shaft member is mounted on base one (1) and the axial middle position of base two (8)； Stator component one includes stator core one (23), winding coil one (22)；Stator component two includes stator core two (13), winding Coil two (14)；Rotor part one includes rotor field spider one (3), rotor core one (21), permanent magnet (15), rotor field spider one (3) there is bevel gear one (4) in axial one end；Rotor part two includes rotor field spider two (6), rotor core two (16), permanent magnet (15), there is bevel gear two (5) in the axial one end of rotor field spider two (6)；Stationary shaft member includes fixing axle (12), axle sleeve one (2), axis Cover two (7), retaining ring one (25), retaining ring two (9), positioning pin one (24), positioning pin two (10), nut (11), bevel planet gear (17), planet stent (18), planet axis (19), planet axle sleeve (20)；
When the speed reducer is run, controller one controls motor one and rotates, and controller one can adjust motor one and rotate speed Degree；Controller two controls motor two and rotates, and controller two can adjust two rotation speed of motor；Motor one and motor Two direction of rotation are opposite；Motor one is by bevel gear one (4) driving bevel planet gear (17) of rotor field spider one (3) around row Star axis axis (81) is rotated along bevel planet gear direction of rotation (76), and motor two passes through the bevel gear of rotor field spider two (6) Two (5) drive bevel planet gear (17) to rotate around planet axis axis (81) along bevel planet gear direction of rotation (76)；It is electronic When one rotation speed of machine is identical as two rotation speed of motor, bevel planet gear (17) surrounds planet axis axis (81) rotation, row Prong frame (18) remains static；When one rotation speed of motor and two rotation speed of motor be not identical, bevel planet gear (17) while surrounding planet axis axis (81) rotation, bevel planet gear (17) can also revolve around fixing axle axis (72), Bevel planet gear (17) drives planet stent (18) slow-speed of revolution rotation；
Base one (1) is in two-double cylinder closed at one end, and it is base end plate one that base one (1), which closes one end axial end face, (31), it is base axis hole one (32) that base end plate one (31) is intermediate, and base end plate one (31) radial outside is base flange one (29), base flange one (29) radial outside is evenly distributed with several base dowel holes (30), base end plate one (31) axially inner side There are cylindrical circular base inner sleeve one (27) and cylindrical circular cartridge outer sleeve one (28), base inner sleeve one (27) in surface Positioned at the radially inner side of cartridge outer sleeve one (28), base inner sleeve one (27) radially inner side is barrel bore one (26)；
In a ring, stator core one (23) radially inner side is stator center hole (40), stator core one to stator core one (23) (23) radial outside is evenly distributed with several stator slots (39), several winding coils one (22) are separately mounted to stator core one (23) in stator slot (39)；Stator component one is in assembly, in the stator the stator core one (23) of stator component one Heart hole (40) is mounted on base inner sleeve one (27) radially-outer surface of base one (1)；
Base two (8) is in two-double cylinder closed at one end, and it is base end plate two that base two (8), which closes one end axial end face, (34), it is base axis hole two (33) that base end plate two (34) is intermediate, and base end plate two (34) radial outside is base flange two (35), base flange two (35) radial outside is evenly distributed with several base dowel holes (30), base end plate two (34) axially inner side There are cylindrical circular base inner sleeve two (37) and cylindrical circular cartridge outer sleeve two (36), base inner sleeve two (37) in surface Positioned at the radially inner side of cartridge outer sleeve two (36), base inner sleeve two (37) radially inner side is barrel bore two (38)；
In a ring, stator core two (13) radially inner side is stator center hole (40), stator core two to stator core two (13) (13) radial outside is evenly distributed with several stator slots (39), several winding coils two (14) are separately mounted to stator core two (13) in stator slot (39)；Stator component two is in assembly, in the stator the stator core two (13) of stator component two Heart hole (40) is mounted on base inner sleeve two (37) radially-outer surface of base two (8)；
Rotor field spider one (3) is in two-double cylinder closed at one end, and it is rotor-end that rotor field spider one (3), which closes one end axial end face, Plate one (43), the axially external one end of rotor end plates one (43) are bevel gears one (4), and rotor end plates one (43) axially inner side one end is Cylindrical circular rotor inner sleeve one (44) and cylindrical circular rotor outer sleeve one (42), rotor inner sleeve one (44) diameter are inside Side is rotor shaft hatch one (41), and rotor inner sleeve one (44) is located at the radially inner side of rotor outer sleeve one (42)；Rotor core one (21) in a ring；Rotor core one (21) radially-outer surface is mounted on rotor field spider one (3) in assembly by rotor part one Several are mounted on rotor core one (21) diameter in the permanent magnet (15) of tile shape by rotor outer sleeve one (42) inner radial surface Inner surface, two adjacent permanent magnets (15) inner radial surface opposite pole each other；
Rotor field spider two (6) is in two-double cylinder closed at one end, and it is rotor-end that rotor field spider two (6), which closes one end axial end face, Plate two (46), the axially external one end of rotor end plates two (46) are bevel gears two (5), and rotor end plates two (46) axially inner side one end is Cylindrical circular rotor inner sleeve two (47) and cylindrical circular rotor outer sleeve two (45), rotor inner sleeve two (47) diameter are inside Side is rotor shaft hatch two (48), and rotor inner sleeve two (47) is located at the radially inner side of rotor outer sleeve two (45)；Rotor core two (16) in a ring；Rotor core two (16) radially-outer surface is mounted on rotor field spider two (6) in assembly by rotor part two Several are mounted on rotor core two (16) diameter in the permanent magnet (15) of tile shape by rotor outer sleeve two (45) inner radial surface Inner surface, two adjacent permanent magnets (15) inner radial surface opposite pole each other；
Fixing axle (12) is cylindrical, fixing axle (12) from one end be successively to the other end external screw thread two (49), spindle nose two (50), Axle journal two (52), the fixed shaft shoulder (53), axle journal one (54), spindle nose one (56), external screw thread one (57)；Axle journal two (52) is close to spindle nose Two (50) one end radially-outer surfaces have radial dowel hole two (51), and axle journal one (54) is outside close to spindle nose one (56) one end diameter There is radial dowel hole one (55) on surface；Positioning pin one (24), positioning pin two (10) are cylindrical；
In a ring, planet stent (18) radially inner side is rack bore (59) to planet stent (18), and planet stent (18) diameter is inside Surface is evenly equipped with several bracket mounting planes (58), each bracket mounting plane (58) center has the planet of a radial direction solid Dead axle hole (60), planet stent (18) radially inner side are external splines (61), and external splines (61) axial direction one end radial outside has spline The shaft shoulder (62)；
Bevel planet gear (17) axial centre is gear shaft holes three (63), and bevel planet gear (17) one end is the gear teeth three (64), row Star bevel gear (17) other end is gear rear end face (65)；
Planet axle sleeve (20) is cylindrical, and planet axle sleeve (20) axial centre is planet sleeve central bore (67), planet axle sleeve (20) radial outside of one end is the thrust shaft shoulder one (66)；Planet axis (19) is cylindrical, and the diameter of planet axis (19) one end is outside Side is positioning shaft shoulder (68)；
Axle sleeve one (2) is cylindrical, and axle sleeve one (2) axial centre is axle sleeve axis hole (69), the radial outside of axle sleeve one (2) one end It is the thrust shaft shoulder two (96)；Axle sleeve two (7) is cylindrical, and axle sleeve two (7) axial centre is axle sleeve axis hole (69), axle sleeve two (7) The radial outside of one end is the thrust shaft shoulder two (96)；
Retaining ring one (25) is cylindrical, and retaining ring one (25) axial centre is retaining ring axis hole (70), retaining ring one (25) radially-outer surface There is radial retaining ring pin hole (71)；Retaining ring two (9) is cylindrical, and retaining ring two (9) axial centre is retaining ring axis hole (70), retaining ring two (9) radially-outer surface has radial retaining ring pin hole (71)；
Stationary shaft member is in assembly, the thrust shaft shoulder one (66) axially external end face and planet of several planet axle sleeves (20) Bracket mounting plane (58) contact of bracket (18) is installed together, the planet sleeve central bore of each planet axle sleeve (20) (67) it is aligned with the planet fixed shaft hole (60) of planet stent (18), the gear shaft holes three of several bevel planet gears (17) (63) it is mounted on planet axle sleeve (20) radially-outer surface, makes the gear rear end face (65) and planet axle sleeve of bevel planet gear (17) (20) the thrust shaft shoulder one (66) axially inner side end face contact is installed together, several planet axis (19) are sequentially inserted into respectively The planet sleeve central bore (67) of planet axle sleeve (20) and planet fixed shaft hole (60) radially inner side one end of planet stent (18), It contacts positioning shaft shoulder (68) the axially inner side end face of planet axis (19) with planet axle sleeve (20) axial end face to be installed together, make Bevel planet gear (17) can be rotated around planet axis axis (81)；
Fixing axle (12) is mounted in the rack bore (59) of planet stent (18)；The axle sleeve axis hole (69) of axle sleeve one (2) It is mounted on axle journal one (54) radially-outer surface of fixing axle (12), makes the thrust shaft shoulder two (96) of axle sleeve one (2) close to fixing axle (12) dowel hole one (55) is mounted on the retaining ring axis hole (70) of retaining ring one (25) in axle journal one (54) diameter of fixing axle (12) Exterior surface is aligned the retaining ring pin hole (71) of retaining ring one (25) with the dowel hole one (55) of fixing axle (12), positioning pin One (24) one end is mounted in the dowel hole one (55) of fixing axle (12), and positioning pin one (24) other end is mounted on retaining ring one (25) in retaining ring pin hole (71), make on the left of the thrust shaft shoulder two (96) axially external end face and the retaining ring one (25) of axle sleeve one (2) End face contact is installed together；Nut (11) is mounted on external screw thread one (57) radial outside of fixing axle (12)；Axle sleeve two (7) axle sleeve axis hole (69) is mounted on axle journal two (52) radially-outer surface of fixing axle (12), makes the thrust shaft shoulder of axle sleeve two (7) The retaining ring axis hole (70) of retaining ring two (9) is mounted on fixing axle close to the dowel hole two (51) of fixing axle (12) by two (96) (12) axle journal two (52) radially-outer surface makes the retaining ring pin hole (71) of retaining ring two (9) and the dowel hole two of fixing axle (12) (51) it is aligned, positioning pin two (10) one end is mounted in the dowel hole two (51) of fixing axle (12), positioning pin two (10) The other end is mounted in the retaining ring pin hole (71) of retaining ring two (9), makes the thrust shaft shoulder two (96) axially external end face of axle sleeve two (7) It contacts and is installed together with retaining ring two (9) right end face；Nut (11) is mounted on external screw thread two (49) diameter of fixing axle (12) Outward；
The speed reducer is mounted on the axial right side one end of stationary shaft member in assembly, rotor part one, makes rotor part one Bevel gear one (4) and the bevel planet gear (17) of stationary shaft member be intermeshed, keep the axle sleeve one (2) of stationary shaft member radial Outer surface is mounted in the rotor shaft hatch one (41) of rotor field spider one (3), makes the rotor inner sleeve one (44) of rotor field spider one (3) Axial right end face is contacted with the axial left end face of the thrust shaft shoulder two (96) of axle sleeve one (2) and is installed together；Rotor part Two are mounted on the axial left side one end of stationary shaft member, and the planet of the bevel gear two (5) and stationary shaft member that make rotor part two is bored Gear (17) intermeshing, makes axle sleeve two (7) radially-outer surface of stationary shaft member be mounted on the armature spindle of rotor field spider two (6) In hole two (48), make the thrust shaft shoulder of the rotor inner sleeve two (47) of rotor field spider two (6) axial left end face and axle sleeve two (7) Two (96) axial direction right end face contact is installed together；
Base one (1) is mounted on the axial right side one end of stationary shaft member, the spindle nose one (56) of fixing axle (12) is made to be mounted on machine In the base axis hole one (32) of one (1) of seat, the rotor outer sleeve one (42) of rotor field spider one (3) is made to be mounted on base one (1) Cartridge outer sleeve one (28) radially inner side makes the rotor inner sleeve one (44) of rotor field spider one (3) be mounted on the set of base one (1) In tube inner chamber one (26), the rotor core one (21) of rotor part one and permanent magnet (15) is made to be mounted on the stator of stator component one Iron core one (23) radial outside；Base two (8) is mounted on the axial left side one end of stationary shaft member, makes the spindle nose of fixing axle (12) Two (50) are mounted in the base axis hole two (33) of base two (8), install the rotor outer sleeve two (45) of rotor field spider two (6) In cartridge outer sleeve two (36) radially inner side of base two (8), it is mounted on the rotor inner sleeve two (47) of rotor field spider two (6) In the barrel bore two (38) of base two (8), it is mounted on the rotor core two (16) of rotor part two and permanent magnet (15) fixed Stator core two (13) radial outside of subassembly two；Make the planet stent (18) of stationary shaft member be mounted on base one (1) with Base two (8) axial direction middle position；Two nuts (11) are fixed on base one (1), base two (8), fixing axle (12) Together；
In the speed reducer, bevel gear one (4), bevel gear two (5), bevel planet gear (17), planet stent (18) form planet Conic reducer, the driving link of bevel epicyclic reduction device first is that bevel gear one (4), driving link second is that bevel gear two (5), from Moving part is planet stent (18)；Bevel epicyclic reduction device does deceleration transmission；Bevel gear one (4) direction of rotation and bevel gear two (5) direction of rotation is opposite；When bevel gear one (4) rotation speed is identical as bevel gear two (5) rotation speed, bevel planet gear (17) Around planet axis axis (81) rotation, planet stent (18) remains static；Bevel gear one (4) rotation speed and bevel gear two (5) when rotation speed is not identical, bevel planet gear (17) is while surrounding planet axis axis (81) rotation, bevel planet gear (17) it can also revolve around fixing axle axis (72), bevel planet gear (17) drives planet stent (18) slow-speed of revolution rotation；Bore tooth When taking turns (4) rotation speed greater than bevel gear two (5) rotation speed, planet stent direction of rotation (78) and one side of rotation of bevel gear It is identical to (80)；When bevel gear two (5) rotation speed is greater than bevel gear one (4) rotation speed, planet stent direction of rotation (78) It is identical as bevel gear two direction of rotation (74).
2. a kind of application method of joint mechanical differential according to claim 1, it is characterised in that: the speed reducer fortune Row process is:
When the speed reducer starts, controller one controls one slow-speed of revolution of motor starting, and one revolving speed of motor is gradually increased, At the same time, controller two controls two slow-speed of revolution of motor starting, and two revolving speed of motor is gradually increased, motor one and electricity Two direction of rotation of motivation is opposite；Motor one is surrounded by bevel gear one (4) driving bevel planet gear (17) of rotor part one Planet axis axis (81) is rotated along bevel planet gear direction of rotation (76), and motor two passes through the bevel gear two of rotor part two (5) driving bevel planet gear (17) is rotated around planet axis axis (81) along bevel planet gear direction of rotation (76)；Motor When one rotation speed is identical as two rotation speed of motor, bevel planet gear (17) surrounds planet axis axis (81) rotation, planet Bracket (18) remains static；
If one rotation speed of motor is greater than two rotation speed of motor, bevel gear one (4) driving bevel planet gear (17) is enclosed It is greater than bevel gear two (5) driving planet cone along the rotation speed of bevel planet gear direction of rotation (76) around planet axis axis (81) Gear (17) surrounds planet axis axis (81) along the rotation speed of bevel planet gear direction of rotation (76), in order to offset the speed Difference, bevel planet gear (17) can also revolve around fixing axle axis (72), and bevel planet gear (17) drives planet stent (18) low Revolving speed rotation；Planet stent direction of rotation (78) is identical as bevel gear one direction of rotation (80)；Planet stent (18) rotates linear speed Degree is equal to the difference of bevel gear one (4) linear velocity and bevel gear two (5) linear velocity；
If two rotation speed of motor is greater than one rotation speed of motor, bevel gear two (5) driving bevel planet gear (17) is enclosed It is greater than bevel gear one (4) driving planet cone along the rotation speed of bevel planet gear direction of rotation (76) around planet axis axis (81) Gear (17) surrounds planet axis axis (81) along the rotation speed of bevel planet gear direction of rotation (76), in order to offset the speed Difference, bevel planet gear (17) can also revolve around fixing axle axis (72), and bevel planet gear (17) drives planet stent (18) low Revolving speed rotation；Planet stent direction of rotation (78) is identical as bevel gear two direction of rotation (74)；Planet stent (18) rotates linear speed Degree is equal to the difference of bevel gear two (5) linear velocity and bevel gear one (4) linear velocity；
The speed reducer needs to maintain the revolving speed of planet stent (18) constant in the process of running, and improves planet stent (18) When output 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., together Shi Tigao motor one, two output power of motor, and keep motor one, the difference of two revolving speed of motor constant, the revolving speed it Difference acts in the speed reducer, maintains the revolving speed of planet stent (18) constant；
The speed reducer needs to maintain the revolving speed of planet stent (18) constant in the process of running, and reduces planet stent (18) When output 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., together When reduce motor one, two output power of motor, and keep motor one, the difference of two revolving speed of motor constant, the revolving speed it Difference acts in the speed reducer, maintains the revolving speed of planet stent (18) constant；
In the speed reducer operational process, planet stent (18) output is adjusted under planet stent (18) revolving speed at any time variable condition When power, before the difference that controller one and controller two adjust two revolving speed of motor one and motor respectively meets control requirement It puts, then raises or lowers two revolving speed of motor one and motor simultaneously, it is defeated that realization raises or lowers planet stent (18) Power out.
3. a kind of joint mechanical differential according to claim 1 is applied to the application method of joint of robot driving, Be characterized in that: the speed reducer when being applied to the joint drive of robot, the speed reducer and knuckle support one (85) and Knuckle support two (88) is installed together；There is fixation blowout patche one (86) in a ring and in a ring in knuckle support one (85) one end Fixed blowout patche two (82), fixed blowout patche one (86) are axially arranged with fixed blowout patche two (82), fixed blowout patche one (86) and solid Dead axle circle two (82) axially inner side is articular branches rack slot (87), fixed blowout patche one (86) and fixed blowout patche two (82) axially external end Face is evenly equipped with several fixing axle circle dowel holes (84), fixed blowout patche one (86) and fixed blowout patche two (82) radially inner side respectively It is fixed blowout patche inner cavity (83)；There is connection blowout patche (92) in a ring in knuckle support two (88) one end, and connection blowout patche (92) passes through Connecting plate (89) links together with knuckle support two (88) other end, and connection blowout patche (92) inner radial surface has internal spline (90), connection blowout patche (92) radially inner side is connection blowout patche inner cavity (91), and connection blowout patche (92) radially-outer surface has several diameters To connecting shaft circle dowel hole (93)；
The speed reducer and knuckle support one (85) and knuckle support two (88) are in assembly, the connection of knuckle support two (88) Blowout patche (92) is mounted in the articular branches rack slot (87) of knuckle support one (85), and the speed reducer is mounted on knuckle support one (85) in fixation blowout patche inner cavity (83), the planet stent (18) of the stationary shaft member of the speed reducer is made to be mounted on knuckle support In the connection blowout patche inner cavity (91) of two (88), make the internal spline of external splines (61) and knuckle support two (88) of planet stent (18) (90) it is installed together, makes the connection of the spline shaft shoulder (62) axially inner side end face and knuckle support two (88) of planet stent (18) The axial end face contact of blowout patche (92) one end is installed together, several positioning pin four (95) one end cylindrical are mounted on Positioning pin four (95) other end, is mounted on knuckle support by planet fixed shaft hole (60) radial outside one end of planet stent (18) In the connecting shaft circle dowel hole (93) of two (88)；The base one (1) of the speed reducer is mounted on knuckle support one (85) Several positioning pin three (94) one end cylindrical, are mounted on fixed blowout patche one (86) by fixed blowout patche one (86) radially inner side In the fixing axle circle dowel hole (84) of right end face, the base that positioning pin three (94) other end is mounted on base one (1) is fixed In position pin hole (30)；The fixation blowout patche two (82) that the base two (8) of the speed reducer is mounted on knuckle support one (85) is radial Inside is mounted on several positioning pin three (94) one end cylindrical the fixation blowout patche of fixed blowout patche two (82) left end face In dowel hole (84), positioning pin three (94) other end is mounted in the base dowel hole (30) of base two (8)；
The base one (1) and base two (8) and knuckle support one (85) of the speed reducer are fixed on together, the speed reducer When operation, planet stent (18) driving knuckle support two (88) rotation of the speed reducer realizes that the speed reducer is applied to machine The joint drive of device people.
CN201810937397.5A 2018-08-17 2018-08-17 Joint differential speed reducer Active CN109027176B (en)

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN109736047A (en) * 2019-02-25 2019-05-10 大连碧蓝节能环保科技有限公司 Washing machine bipyramid tooth differential deceleration system control methods
CN110608267A (en) * 2019-10-22 2019-12-24 肖祖荣 Speed reducer

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JP2012205441A (en) * 2011-03-28 2012-10-22 Minebea Co Ltd Motor device with reducer
CN103633775A (en) * 2013-11-29 2014-03-12 华南理工大学 Electric vehicle driving motor internally provided with differential and reducer assembly
CN105110221A (en) * 2015-08-25 2015-12-02 江苏科技大学 Differential planetary reducer for crane
CN205178754U (en) * 2015-11-20 2016-04-20 聊城汇创电机有限公司 Take coaxial planetary gear's double plate permanent magnetism dc motor
CN206962634U (en) * 2017-06-22 2018-02-02 象山县三环机电有限公司 A kind of helical teeth planet-gear speed reducing motor
CN108400677A (en) * 2018-03-25 2018-08-14 大连碧蓝节能环保科技有限公司 Birotor input planet gear speed reducer

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
JP2012205441A (en) * 2011-03-28 2012-10-22 Minebea Co Ltd Motor device with reducer
CN103633775A (en) * 2013-11-29 2014-03-12 华南理工大学 Electric vehicle driving motor internally provided with differential and reducer assembly
CN105110221A (en) * 2015-08-25 2015-12-02 江苏科技大学 Differential planetary reducer for crane
CN205178754U (en) * 2015-11-20 2016-04-20 聊城汇创电机有限公司 Take coaxial planetary gear's double plate permanent magnetism dc motor
CN206962634U (en) * 2017-06-22 2018-02-02 象山县三环机电有限公司 A kind of helical teeth planet-gear speed reducing motor
CN108400677A (en) * 2018-03-25 2018-08-14 大连碧蓝节能环保科技有限公司 Birotor input planet gear speed reducer

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109736047A (en) * 2019-02-25 2019-05-10 大连碧蓝节能环保科技有限公司 Washing machine bipyramid tooth differential deceleration system control methods
CN109736047B (en) * 2019-02-25 2020-10-09 大连碧蓝节能环保科技有限公司 Control method of washing machine double-cone-tooth differential speed reduction system
CN110608267A (en) * 2019-10-22 2019-12-24 肖祖荣 Speed reducer

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