CN112054628A - Harmonic reducer hub motor - Google Patents

Harmonic reducer hub motor Download PDF

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Publication number
CN112054628A
CN112054628A CN202011067759.3A CN202011067759A CN112054628A CN 112054628 A CN112054628 A CN 112054628A CN 202011067759 A CN202011067759 A CN 202011067759A CN 112054628 A CN112054628 A CN 112054628A
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China
Prior art keywords
hub
shaft
gear ring
ring
spline
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CN202011067759.3A
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Chinese (zh)
Inventor
朱幕松
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Individual
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Individual
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Priority to CN202011067759.3A priority Critical patent/CN112054628A/en
Publication of CN112054628A publication Critical patent/CN112054628A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/14—Stator cores with salient poles
    • H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2786—Outer rotors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H02K5/165—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
    • 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
    • H02K7/08—Structural association with bearings
    • H02K7/086—Structural association with bearings radially supporting the rotor around a fixed spindle; radially supporting the rotor directly

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

A harmonic reducer hub motor comprises a hub shell, a two-pole outer rotor brushless permanent magnet direct current motor, a pulley type harmonic generator, a flexible gear ring, a rigid gear ring, a hub end cover, a hub shaft, a coupling disc and a coupling support, wherein square wave teeth at the left end and the right end of the flexible gear ring are meshed with square wave outer teeth of the left coupling disc and the right coupling disc to enable the flexible gear ring to be a non-rotating movable stator, the two-pole outer rotor brushless permanent magnet direct current motor drives the pulley type harmonic generator to rotate to enable an elliptical flexible gear ring to generate fluctuation deformation, the flexible gear ring is in a thin cylindrical shape, resistance generated during fluctuation deformation is small, the reduction ratio of the harmonic reducer hub motor is large, low-speed torque of the rigid gear ring is increased, the rotating speed and power density of the two-pole outer rotor brushless permanent magnet direct current motor are high, and the size of the electromechanical integral harmonic reducer, The robot has the advantages of light weight, high efficiency, simple structure and less integral parts, and can be applied to the power of the robot.

Description

Harmonic reducer hub motor
Technical Field
The invention relates to the technology of a hub type speed reducing motor, in particular to a hub motor of a harmonic speed reducer.
Background
At present, a hub type speed reducing motor is generally applied to various electric vehicles, an outer rotor of the hub type speed reducing motor directly drives wheels, a planetary speed reducing mechanism is generally arranged in the middle of a hub, and although the efficiency of the planetary speed reducing mechanism is high, the planetary speed reducing mechanism has the defects that the volume and the weight of the speed reducing mechanism must be increased and the cost is increased along with the requirement for obtaining high low-speed torque. Thus, the patent publication discloses an invention patent application entitled "harmonic reduction motor drive hub device" and having an application number of "2013105620434". The middle of the hub device is provided with an outer rotor hub motor, the excircle of the outer rotor hub motor is a cam, the excircle of the cam is a flexible bearing and a flexible gear, and the outer ring teeth of the flexible gear are meshed with the inner ring teeth of the rigid gear. It can be known from the principle of harmonic reducer that the relationship between stator and rotor must be between flexible gear and rigid gear, and the rigid gear of "harmonic reduction motor drive hub device" is rotor, so that the flexible gear must be stator to have transmission condition, but the flexible gear of "harmonic reduction motor drive hub device" has no fixed scheme, and the flexible gear only follows the rotation of external rotor hub motor, and the flexible gear can not transmit torque to rigid gear, so that the "harmonic reduction motor drive hub device" can not implement driving function, and the friction resistance between cam and flexible bearing and flexible gear is large, and the mechanical loss is large when it is rotated at high speed.
Disclosure of Invention
In order to solve the technical defects of the existing hub type speed reducing motor, the invention discloses a hub motor of a harmonic speed reducer, which has the advantages of simple structure, small volume, light weight, large low-speed torque, high transmission precision and high efficiency, and can be applied to various electric vehicles and other mechanical devices running at low speed.
In order to reach above-mentioned purpose, harmonic reducer ware wheel hub motor's technical scheme includes wheel hub shell, two-pole outer rotor brushless permanent magnet direct current motor, pulley type harmonic generator, flexible ring gear, rigidity ring gear, wheel hub end cover, wheel hub axle, coupling disc and coupling support, its characterized in that: the harmonic reducer hub motor is provided with a hub shell, a hub shaft is arranged in the center of the hub shell, a thick shaft is arranged in the middle of the hub shaft, thin shafts are arranged at the left end and the right end of the hub shaft, a stator core is arranged on the outer circle of the thick shaft and formed by overlapping a plurality of silicon steel sheets, 3 equally-divided teeth are arranged on the circumference of the stator core, 3 equally-divided coil grooves are formed among the teeth, 3 coils are respectively wound in the coil grooves and connected into a Y-shaped circuit to form 3-phase coils, Hall sensors are arranged in notches of the 3 coil grooves, the angle between the 3-phase coils is 120 degrees, the angle between the 3 Hall sensors is 120 degrees, a wire outlet hole is arranged in the center of the hub shaft, an inclined hole is arranged at the position of the thick shaft and communicated with the inclined hole, a motor wire is combined by 3 output wires of the 3-phase coils and output wires of the 3 Hall sensors, and is led out of the right end of the, the left end of the thick shaft is provided with a left baffle table, the circumference of the left baffle table is provided with a left bearing, the excircle of the left bearing is provided with a left end cover, the circumference of the left end cover is provided with a magnetic conductive ring, the inner circle of the right end of the magnetic conductive ring is provided with an inner screw, the right end of the thick shaft is provided with a right baffle table, the circumference of the right baffle table is provided with a right bearing, the excircle of the right bearing is provided with a right end cover, the circumference of the right end cover is provided with a spiral coil, the spiral coil of the right end cover is screwed in the inner circle of the right end of the magnetic conductive ring, the middle part of the inner circle of the magnetic conductive ring is provided with a permanent magnetic ring, the permanent magnetic ring is composed of 2 arc permanent magnets, the arc permanent magnets are strong magnets made of rare earth materials, the magnetic pole directions of the arc permanent magnets are radial, the polarities of the 2 arc permanent; the outer circle of the magnetic conduction ring is provided with a left pulley yoke and a right pulley yoke, the left end cover, the magnetic conduction ring, the left pulley yoke and the right pulley yoke are integrally manufactured and molded, the left pulley yoke and the right pulley yoke are symmetrical segmental plate brackets, the upper ends of the left pulley yoke and the right pulley yoke are respectively provided with 3 shaft holes, the 3 shaft holes are respectively provided with an upper wheel shaft, the 3 upper wheel shafts are respectively provided with an upper bearing, the outer circle of each of the 3 upper bearings is provided with an upper pulley ring, and the left end and the right end of each of the 3 upper wheel shafts are respectively provided with an upper nut; the lower ends of the left pulley yoke and the right pulley yoke are respectively provided with 3 shaft holes, the 3 shaft holes are internally provided with a lower wheel shaft, the 3 lower wheel shafts are respectively provided with a lower bearing, the excircle of the 3 lower bearings is provided with a lower wheel rim, the left end and the right end of the 3 lower wheel shafts are respectively provided with a lower nut, the 3 upper wheel rims, the 3 lower wheel rims and the magnetic conduction rings form a pulley harmonic generator, the excircle of the pulley harmonic generator is provided with a flexible gear ring, the flexible gear ring is a thin cylindrical metal ring, the flexible gear ring has elasticity and is circular when being free from external force, the flexible gear ring becomes oval under the support of the 3 upper wheel rims and the 3 lower wheel rims, the middle circle of the excircle of the flexible gear ring is provided with a plurality of external teeth, the left end circumference of the flexible gear ring is provided with a plurality of left waveform teeth, the right end circumference of the flexible gear ring is provided with a plurality of; a thin shaft at the left end of the hub shaft is provided with a left spline shaft, the circumference of the left spline shaft is provided with a left spline housing, the spline grooves of the inner circle of the left spline housing are matched with the spline grooves of the circumference of the left spline shaft, the excircle of the left spline housing is provided with a left coupling disc, the excircle of the left coupling disc is provided with a plurality of left wave-shaped external teeth, and the left wave-shaped teeth are meshed with the left wave-shaped external teeth; a right spline shaft is arranged on a thin shaft at the right end of the hub shaft, a right spline sleeve is arranged on the circumference of the right spline shaft, a spline groove of an inner circle of the right spline sleeve is matched with a spline groove of the circumference of the right spline shaft, a right coupling disc is arranged on an outer circle of the right coupling disc, a plurality of right waveform external teeth are arranged on an outer circle of the right coupling disc, the plurality of right waveform external teeth are meshed with the plurality of right waveform external teeth, the left coupling disc and the right coupling disc are symmetrical to the left end and the right end of the flexible gear ring, and the number of left waveform external teeth are consistent with the number of right waveform external teeth and the number of; the left end of the left spline sleeve is provided with a left hub bearing, the excircle of the left hub bearing is provided with a left hub end cover, the right end of the left hub end cover is provided with a rigid gear ring, the right end of the rigid gear ring is provided with an outer table ring, the inner circle of the outer table ring is provided with an inner screw, the left hub end cover, the rigid gear ring and the outer table ring are integrally manufactured and molded, the right end of the right spline sleeve is provided with a right hub bearing, the excircle of the right hub bearing is provided with a right hub end cover, the left end of the right hub ring is provided with an inner table ring, the excircle of the inner table ring is provided with an outer screw, the inner table ring of the right hub ring is screwed on the inner circle of the outer table ring of the rigid gear ring, the middle circle of the inner circle of the rigid gear ring is provided with a plurality of internal teeth, the external teeth of the flexible gear ring and the internal teeth of the rigid gear ring have the, The inner teeth at the lower end are meshed, and the outer teeth at the left end and the right end of the oval flexible gear ring are respectively separated from the inner teeth at the left end and the right end of the rigid gear ring; the left end of the left hub bearing is provided with a left shaft sleeve, the left end of the left shaft sleeve is provided with a left shaft coupling bracket, the lower end of the left shaft coupling bracket is provided with a left spline inner circle, a spline groove of the left spline inner circle is matched with a spline groove of the circumference of a left spline shaft, the left end of the hub shaft is provided with a left nut, and the left nut is fastened on the left shaft coupling bracket; the right end of the right hub bearing is provided with a right shaft sleeve, the right end of the right shaft sleeve is provided with a right coupling bracket, the lower end of the right coupling bracket is provided with a right spline inner circle, a spline groove of the right spline inner circle is matched with a spline groove on the circumference of a right spline shaft, the right end of the hub shaft is provided with a right nut, and the right nut is fastened on the right coupling bracket; the left and right coupling supports are firm supports prepared for the output power of the hub motor of the harmonic reducer, when a tire is installed on the excircle of the hub motor of the harmonic reducer, the hub motor of the harmonic reducer becomes an electric wheel for an electric vehicle, and when an outer gear ring is installed on the excircle of the hub motor of the harmonic reducer, the hub motor of the harmonic reducer becomes an electric gear for driving other mechanical devices running at a low speed, and the electric wheel can be applied to the power of a robot.
The harmonic reducer wheel hub motor has the beneficial effects that: the meshing between the square wave teeth at the left end and the right end of the flexible gear ring and the square wave external teeth of the left coupling plate and the right coupling plate is provided with a dynamic gap, the dynamic gap belongs to movable connection, not only the rotating position of the flexible gear ring is fixed, but also the deformation of the flexible gear ring is not influenced, and the flexible gear ring becomes a non-rotating movable stator; the diameters of the 3 upper sliding wheel rims and the 3 lower sliding wheel rims are large, the rolling friction resistance of the upper sliding wheel rims and the lower sliding wheel rims is smaller than that of the balls of the bearing, the flexible gear ring is thin and cylindrical, the pressure of the pulley ring for supporting the flexible gear ring to deform is reduced, the resistance generated when the flexible gear ring is overcome to fluctuate and deform is small, and the mechanical loss is small; the rigid gear ring is an outer rotor of the hub motor of the harmonic reducer, when the pulley type harmonic generator rotates 360 degrees, the angle of the flexible gear ring driving the rigid gear ring to rotate is small, and the angle is the difference angle between the number of internal teeth of the rigid gear ring and the number of external teeth of the flexible gear ring, so that the reduction ratio of the hub motor of the harmonic reducer is large, the low-speed torque of the rigid gear ring is increased, the rotating speed of the two-pole outer rotor brushless permanent magnet direct current motor is high, the power density is large, the hub motor of the electromechanical integrated hub motor of the harmonic reducer is small in size, light in weight, high in efficiency, simple in structure and small in number of integral parts.
Drawings
Fig. 1 is a schematic front sectional structure view of a harmonic reducer hub motor for an electric wheel.
Fig. 2 is a schematic front sectional view of a harmonic reducer hub motor for an electric gear.
Fig. 3 is a left-side sectional structural schematic diagram of the hub motor of the harmonic reducer.
Fig. 4 is a left side view structural schematic diagram of the left coupling disc.
Detailed Description
The invention is further illustrated by the following figures and examples.
In the figures 1-3, the harmonic reducer hub motor is provided with a hub shell, a hub shaft is arranged in the center of the hub shell, a thick shaft 1 is arranged in the middle of the hub shaft, thin shafts 2 are arranged at the left end and the right end, a stator core 3 is arranged on the outer circle of the thick shaft, the stator core is formed by overlapping a plurality of silicon steel sheets, 3 equally-divided teeth are arranged on the circumference of the stator core, 3 equally-divided coil grooves are formed among the teeth, 3 coils are respectively wound in the coil grooves, the 3 coils are connected into a Y-shaped circuit to form a 3-phase coil 4, hall sensors 5 are arranged in the notches of the 3 coil grooves, the angle between the 3-phase coils is 120 degrees, the angle between the 3 hall sensors is 120 degrees, an outlet hole 6 is arranged in the center of the hub shaft, an inclined hole 7 is arranged at the position of the thick shaft, the outlet hole is communicated with the inclined hole, 3 output lines of the 3-phase coils and output lines of the, the motor wire is led out of the right end of the hub shaft through the inclined hole and the wire outlet hole, the left end of the thick shaft is provided with a left baffle table 9, the circumference of the left baffle table is provided with a left bearing 10, the excircle of the left bearing is provided with a left end cover 11, the circumference of the left end cover is provided with a magnetic conduction ring 12, the inner circle of the right end of the magnetic conduction ring is provided with an inner screw thread, the right end of the thick shaft is provided with a right baffle table 13, the circumference of the right baffle table is provided with a right bearing 14, the excircle of the right bearing is provided with a right end cover 15, the circumference of the right end cover is provided with a spiral ring 16, the excircle of the spiral ring is provided with an outer screw thread, the spiral ring of the right end cover is screwed on the inner circle of the magnetic conduction ring, the middle part of the inner circle of the magnetic conduction ring is provided with a permanent magnet ring 17, the permanent magnet ring is composed of 2 arc, the structure of the motor forms a two-pole outer rotor brushless permanent magnet direct current motor; the outer circle of the magnetic conduction ring is provided with a left pulley yoke 18 and a right pulley yoke 19, the left end cover, the magnetic conduction ring, the left pulley yoke and the right pulley yoke are integrally manufactured and molded, the left pulley yoke and the right pulley yoke are symmetrical segmental plate brackets, the upper ends of the left pulley yoke and the right pulley yoke are respectively provided with 3 shaft holes, the 3 shaft holes are respectively provided with an upper wheel shaft 20, the 3 upper wheel shafts are respectively provided with an upper bearing 21, the outer circles of the 3 upper bearings are respectively provided with an upper sliding wheel ring 22, and the left end and the right end of the 3 upper wheel shafts are respectively provided with an upper screw cap 23; the lower ends of the left and right pulley frames are respectively provided with 3 shaft holes, the 3 shaft holes are respectively provided with a lower wheel shaft 24, the 3 lower wheel shafts are respectively provided with a lower bearing 25, the outer circles of the 3 lower bearings are respectively provided with a lower sliding wheel rim 26, the left and right ends of the 3 lower wheel shafts are respectively provided with a lower screw cap 27 upper sliding wheel rims, the 3 lower sliding wheel rims and a magnetic conductive ring form a pulley type harmonic generator, the outer circle of the pulley type harmonic generator is provided with a flexible gear ring 28, the flexible gear ring is a thin cylindrical metal ring, the flexible gear ring has elasticity and is circular when not subjected to external force, the flexible gear ring is oval under the support of the 3 upper sliding rims and the 3 lower sliding rims, a plurality of external teeth 29 are arranged in the middle circle of the excircle of the flexible gear ring, a plurality of left waveform teeth 30 are arranged on the circumference of the left end of the flexible gear ring, a plurality of right waveform teeth 31 are arranged on the circumference of the right end of the flexible gear ring, and the left and right waveform teeth are the same in size and are symmetrical left and right; a thin shaft at the left end of the hub shaft is provided with a left spline shaft 32, the circumference of the left spline shaft is provided with a left spline housing 33, the spline grooves of the inner circle of the left spline housing are matched with the spline grooves of the circumference of the left spline shaft, the outer circle of the left spline housing is provided with a left coupling disc 34, the outer circle of the left coupling disc is provided with a plurality of left wave-shaped external teeth 35, and the left wave-shaped teeth are meshed with the left wave-shaped external teeth; a right spline shaft 36 is arranged on a thin shaft at the right end of the hub shaft, a right spline sleeve 37 is arranged on the circumference of the right spline shaft, a spline groove of an inner circle of the right spline sleeve is matched with a spline groove of the circumference of the right spline shaft, a right coupling disc 38 is arranged on an excircle of the right spline sleeve, a plurality of right waveform external teeth 39 are arranged on an excircle of the right coupling disc, the plurality of right waveform teeth are meshed with the plurality of right waveform external teeth, the left coupling disc and the right coupling disc are symmetrical to the left end and the right end of the flexible gear ring, and the number of the left waveform teeth and the number of the left waveform external teeth are consistent with the number of the right waveform teeth and the number of the right; the left end of the left spline sleeve is provided with a left hub bearing 40, the excircle of the left hub bearing is provided with a left hub end cover 41, the right end of the left hub end cover is provided with a rigid gear ring 42, the right end of the rigid gear ring is provided with an outer table ring 43, the inner circle of the outer table ring is provided with an inner screw, the left hub end cover, the rigid gear ring and the outer table ring are integrally manufactured and molded, the right end of the right spline sleeve is provided with a right hub bearing 44, the excircle of the right hub bearing is provided with a right hub end cover 45, the left end of the right hub ring is provided with an inner table ring 46, the excircle of the inner table ring is provided with an outer screw, the inner table ring of the right hub ring is screwed on the inner circle of the outer table ring of the rigid gear ring, the middle circle of the inner circle of the rigid gear ring is provided with a plurality of inner teeth 47, the outer teeth of the flexible gear ring have the same modulus with the inner teeth of the rigid gear ring, The inner teeth at the lower end are meshed, and the outer teeth at the left end and the right end of the oval flexible gear ring are respectively separated from the inner teeth at the left end and the right end of the rigid gear ring; the left end of the left hub bearing is provided with a left shaft sleeve 48, the left end of the left shaft sleeve is provided with a left shaft coupling bracket 49, the lower end of the left shaft coupling bracket is provided with a left spline inner circle, a spline groove of the left spline inner circle is matched with a spline groove of the circumference of the left spline shaft, the left end of the hub shaft is provided with a left nut 50, and the left nut is fastened on the left shaft coupling bracket; the right end of the right hub bearing is provided with a right shaft sleeve 51, the right end of the right shaft sleeve is provided with a right coupling bracket 52, the lower end of the right coupling bracket is provided with a right spline inner circle, a spline groove of the right spline inner circle is matched with a spline groove of the circumference of a right spline shaft, the right end of the hub shaft is provided with a right nut 53, and the right nut is fastened on the right coupling bracket; the left and right coupling supports are firm supports prepared when the harmonic reducer hub motor outputs power, the outer circle of the harmonic reducer hub motor becomes an electric wheel when a tire is installed on the outer circle of the harmonic reducer hub motor, the electric wheel is used for an electric vehicle, the outer circle of the harmonic reducer hub motor becomes an electric gear when an outer gear ring is installed on the outer circle of the harmonic reducer hub motor, the electric gear is used for driving other mechanical devices running at low speed, and the electric gear can be applied to power of a robot.
The meshing between the square wave teeth at the left end and the right end of the flexible gear ring and the square wave external teeth of the left coupling plate and the right coupling plate is provided with a dynamic gap, the dynamic gap belongs to movable connection, not only the rotating position of the flexible gear ring is fixed, but also the deformation of the flexible gear ring is not influenced, and the flexible gear ring becomes a non-rotating movable stator; the diameters of the 3 upper sliding wheel rims and the 3 lower sliding wheel rims are large, the rolling friction resistance of the upper sliding wheel rims and the lower sliding wheel rims is smaller than that of the balls of the bearing, the flexible gear ring is thin and cylindrical, the pressure of the pulley ring for supporting the flexible gear ring to deform is reduced, the resistance generated when the flexible gear ring is overcome to fluctuate and deform is small, and the mechanical loss is small; the rigid gear ring is an outer rotor of the hub motor of the harmonic reducer, when the pulley type harmonic generator rotates 360 degrees, the angle of the flexible gear ring driving the rigid gear ring to rotate is small, and the angle is the difference angle between the number of internal teeth of the rigid gear ring and the number of external teeth of the flexible gear ring, so that the reduction ratio of the hub motor of the harmonic reducer is large, the low-speed torque of the rigid gear ring is increased, the rotating speed of the two-pole outer rotor brushless permanent magnet direct current motor is high, the power density is large, the hub motor of the electromechanical integrated hub motor of the harmonic reducer is small in size, light in weight, high in efficiency, simple in structure and small in number of integral parts.

Claims (2)

1. The utility model provides a harmonic speed reducer ware wheel hub motor, includes wheel hub shell, two-pole outer rotor brushless permanent magnet direct current motor, pulley type harmonic generator, flexible ring gear, rigidity ring gear, wheel hub end cover, wheel hub axle, coupling disc and coupling support, its characterized in that: the harmonic reducer hub motor is provided with a hub shell, a hub shaft is arranged in the center of the hub shell, a thick shaft (1) is arranged in the middle of the hub shaft, thin shafts (2) are arranged at the left end and the right end of the hub shaft, a stator core (3) is arranged on the outer circle of the thick shaft and is formed by overlapping a plurality of silicon steel sheets, 3 equally-divided teeth are arranged on the circumference of the stator core, 3 equally-divided coil grooves are formed among the teeth, 3 coils are respectively wound in the coil grooves, the 3 coils are connected into a Y-shaped circuit to form a 3-phase coil (4), Hall sensors (5) are arranged in notches of the 3 coil grooves, the angle among the 3-phase coils is 120 degrees, the angle among the 3 Hall sensors is 120 degrees, an outlet hole (6) is arranged in the center of the hub shaft, an inclined hole (7) is arranged at the position of the thick shaft, the outlet hole is communicated with the inclined hole, 3 output lines of the 3-phase coil, the motor wire is led out of the right end of the hub shaft through the inclined hole and the wire outlet hole, the left end of the thick shaft is provided with a left baffle table (9), the circumference of the left baffle table is provided with a left bearing (10), the excircle of the left bearing is provided with a left end cover (11), the circumference of the left end cover is provided with a magnetic conduction ring (12), the inner circle of the right end of the magnetic conduction ring is provided with an inner screw, the right end of the thick shaft is provided with a right baffle table (13), the circumference of the right baffle table is provided with a right bearing (14), the excircle of the right bearing is provided with a right end cover (15), the circumference of the right end cover is provided with a spiral ring (16), the excircle of the spiral ring is provided with an outer screw, the spiral ring of the right end cover is screwed on the inner circle of the right end of the magnetic conduction ring, the middle part of the inner circle of the magnetic conduction ring is provided with a permanent, a uniform air gap is arranged between the inner circle of the permanent magnet ring and the outer circle of the stator core, and the structure of the motor forms a two-pole outer rotor brushless permanent magnet direct current motor; the outer circle of the magnetic conduction ring is provided with a left pulley yoke (18) and a right pulley yoke (19), the left end cover, the magnetic conduction ring, the left pulley yoke and the right pulley yoke are integrally manufactured and molded, the left pulley yoke and the right pulley yoke are symmetrical segmental plate brackets, the upper ends of the left pulley yoke and the right pulley yoke are respectively provided with 3 shaft holes, the 3 shaft holes are respectively provided with an upper wheel shaft (20), the 3 upper wheel shafts are respectively provided with an upper bearing (21), the outer circles of the 3 upper bearings are respectively provided with an upper sliding wheel ring (22), and the left end and the right end of each of the 3 upper wheel shafts are respectively provided with an upper nut (23; the lower ends of the left pulley yoke and the right pulley yoke are respectively provided with 3 shaft holes, the 3 shaft holes are respectively provided with a lower wheel shaft (24), the 3 lower wheel shafts are respectively provided with a lower bearing (25), the outer circles of the 3 lower bearings are respectively provided with a lower sliding wheel rim (26), the left end and the right end of the 3 lower wheel shafts are respectively provided with a lower screw cap (27), the 3 upper sliding wheel rims, the 3 lower sliding wheel rims and a magnetic conduction ring form a pulley type harmonic generator, the outer circle of the pulley type harmonic generator is provided with a flexible gear ring (28), the flexible gear ring is a thin cylindrical metal ring, the flexible gear ring has elasticity and is circular when being free from external force, the flexible gear ring becomes elliptical under the support of the 3 upper sliding wheel rims and the 3 lower sliding wheel rims, the middle circle of the outer circle of the flexible gear ring is provided with a plurality of external teeth (29), the left-side wave-shaped teeth (30) are arranged on, the left and right wave-shaped teeth have the same size and are symmetrical left and right; a left spline shaft (32) is arranged on the thin shaft at the left end of the hub shaft, a left spline sleeve (33) is arranged on the circumference of the left spline shaft, spline grooves of the inner circle of the left spline sleeve are matched with spline grooves of the circumference of the left spline shaft, a left coupling disc (34) is arranged on the outer circle of the left spline sleeve, a plurality of left waveform external teeth (35) are arranged on the outer circle of the left coupling disc, and the plurality of left waveform external teeth are meshed with the plurality of left waveform external teeth; a right spline shaft (36) is arranged on a thin shaft at the right end of the hub shaft, a right spline sleeve (37) is arranged on the circumference of the right spline shaft, spline grooves of an inner circle of the right spline sleeve are matched with spline grooves of the circumference of the right spline shaft, a right coupling disc (38) is arranged on an outer circle of the right spline sleeve, a plurality of right waveform external teeth (39) are arranged on an outer circle of the right coupling disc, the plurality of right waveform external teeth are meshed with the plurality of right waveform external teeth, the left coupling disc and the right coupling disc are symmetrical to the left end and the right end of the flexible gear ring, and the number of the left waveform teeth and the number of the left waveform external teeth are consistent with the number of the right waveform external teeth; the left end of the left spline sleeve is provided with a left hub bearing (40), the excircle of the left hub bearing is provided with a left hub end cover (41), the right end of the left hub end cover is provided with a rigid gear ring (42), the right end of the rigid gear ring is provided with an outer table ring (43), the inner circle of the outer table ring is provided with an inner screw, the left hub end cover, the rigid gear ring and the outer table ring are manufactured and molded integrally, the right end of the right spline sleeve is provided with a right hub bearing (44), the excircle of the right hub bearing is provided with a right hub end cover (45), the left end of the right hub ring is provided with an inner table ring (46), the excircle of the inner table ring is provided with an outer screw, the inner table ring of the right hub ring is screwed on the inner circle of the outer table ring of the rigid gear ring, the middle circle of the rigid gear ring is provided with a plurality of inner internal teeth (47), the external teeth of the flexible gear ring and, external teeth at the upper end and the lower end of the oval flexible gear ring are respectively meshed with internal teeth at the upper end and the lower end of the rigid gear ring, and external teeth at the left end and the right end of the oval flexible gear ring are respectively separated from internal teeth at the left end and the right end of the rigid gear ring; the left end of the left hub bearing is provided with a left shaft sleeve (48), the left end of the left shaft sleeve is provided with a left shaft coupling bracket (49), the lower end of the left shaft coupling bracket is provided with a left spline inner circle, a spline groove of the left spline inner circle is matched with a spline groove of the left spline shaft circumference, the left end of the hub shaft is provided with a left nut (50), and the left nut is fastened on the left shaft coupling bracket; the right end of the right hub bearing is provided with a right shaft sleeve (51), the right end of the right shaft sleeve is provided with a right coupling bracket (52), the lower end of the right coupling bracket is provided with a right spline inner circle, a spline groove of the right spline inner circle is matched with a spline groove of the circumference of a right spline shaft, the right end of the hub shaft is provided with a right nut (53), and the right nut is fastened on the right coupling bracket; the left and right coupling supports are firm supports prepared when the harmonic reducer hub motor outputs power, the outer circle of the harmonic reducer hub motor becomes an electric wheel when a tire is installed on the outer circle of the harmonic reducer hub motor, the electric wheel is used for an electric vehicle, the outer circle of the harmonic reducer hub motor becomes an electric gear when an outer gear ring is installed on the outer circle of the harmonic reducer hub motor, the electric gear is used for driving other mechanical devices running at low speed, and the electric gear can be applied to power of a robot.
2. The harmonic reducer in-wheel motor of claim 1, wherein: the meshing between the square wave teeth at the left end and the right end of the flexible gear ring and the square wave external teeth of the left coupling plate and the right coupling plate is provided with a dynamic gap, the dynamic gap belongs to movable connection, not only the rotating position of the flexible gear ring is fixed, but also the deformation of the flexible gear ring is not influenced, and the flexible gear ring becomes a non-rotating movable stator; the diameters of the 3 upper sliding wheel rims and the 3 lower sliding wheel rims are large, the rolling friction resistance of the upper sliding wheel rims and the lower sliding wheel rims is smaller than that of the balls of the bearing, the flexible gear ring is thin and cylindrical, the pressure of the pulley ring for supporting the flexible gear ring to deform is reduced, the resistance generated when the flexible gear ring is overcome to fluctuate and deform is small, and the mechanical loss is small; the rigid gear ring is an outer rotor of the hub motor of the harmonic reducer, when the pulley type harmonic generator rotates 360 degrees, the angle of the flexible gear ring driving the rigid gear ring to rotate is small, and the angle is the difference angle between the number of internal teeth of the rigid gear ring and the number of external teeth of the flexible gear ring, so that the reduction ratio of the hub motor of the harmonic reducer is large, the low-speed torque of the rigid gear ring is increased, the rotating speed of the two-pole outer rotor brushless permanent magnet direct current motor is high, the power density is large, the hub motor of the electromechanical integrated hub motor of the harmonic reducer is small in size, light in weight, high in efficiency, simple in structure and small in number of integral parts.
CN202011067759.3A 2020-10-07 2020-10-07 Harmonic reducer hub motor Withdrawn CN112054628A (en)

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Application publication date: 20201208