CN116707221A

CN116707221A - Vector matrix cycloid motor speed reducer

Info

Publication number: CN116707221A
Application number: CN202310956445.6A
Authority: CN
Inventors: 宋文平; 张多利; 余辉; 雍瑞平; 代礼周
Original assignee: Harbin Aituopu Technology Co ltd
Current assignee: Harbin Aituopu Technology Co ltd
Priority date: 2023-08-01
Filing date: 2023-08-01
Publication date: 2023-09-05

Abstract

The application relates to a motor reducer, in particular to a vector matrix cycloid motor reducer. The motor reducer is a motor reducer product with small volume and powerful functions. According to the application, the shell is rotationally connected on the main shaft, the torque sensor is connected on the main shaft through the key, the electric driving shaft is rotationally connected at the left end inside the shell, and the middle motor for driving the electric driving shaft to rotate and the built-in speed reducer are fixedly connected in the shell. The middle motor and the speed reducer are integrally designed, and related key parts are reasonably designed, so that the designed middle motor and the speed reducer are perfectly matched in a limited space to form a small transmission device, and the small transmission device and the speed reducer exert better performance.

Description

Vector matrix cycloid motor speed reducer

Technical Field

The application relates to a motor reducer module, in particular to a vector matrix cycloid motor reducer.

Background

A transmission is an intermediate device for transmitting power of a power unit to a working mechanism or the like, for example, transmitting power from an engine, and is a common device such as a speed reducer. Integration and versatility of motor reducers is a challenging task. Conventional motors and reducers are typically designed and manufactured separately, but integrated designs can combine them into one piece, thereby achieving a smaller, more compact product.

However, matching and coordination between the motor and the reducer are required to be considered, the integrated motor reducer can be ensured to stably operate in the whole design process, the requirements of different application scenes are met, certain difficulty is achieved, and the motor reducer product with small volume and powerful functions still needs to be developed at present.

Disclosure of Invention

The application provides a vector matrix cycloid motor speed reducer, which aims to integrate a motor and the speed reducer.

The above object is achieved by the following technical scheme:

a vector matrix cycloid motor speed reducer comprises a main shaft, wherein a shell is rotationally connected to the main shaft, a torque sensor is connected to the main shaft through a key, an electric driving shaft is rotationally connected to the left end inside the shell, a middle motor for driving the electric driving shaft to rotate is fixedly connected to the shell, the middle motor is positioned on the left side of the torque sensor, a first transmission part is fixedly connected to a stator of the middle motor, an outer tooth disc is fixedly connected to the right end of the first transmission part, an intermediate disc is rotationally connected to the electric driving shaft, the outer periphery of the outer tooth disc is meshed with the left side of the inner periphery of the intermediate disc, the tooth profile of the outer tooth disc and the intermediate disc in a meshed state is a conjugate cycloid tooth profile, the inner periphery of the inner tooth disc is meshed with the right side of the outer periphery of the intermediate disc, the tooth profile of the intermediate disc and the inner tooth disc in a meshed state is a conjugate tooth profile, an eccentric shaft section is arranged on the electric driving shaft to drive a bearing at the intermediate disc to rotate, and then revolution motion relative to the main shaft revolution axis is generated, the number of inner tooth teeth relative to the main shaft revolution axis is greater than that of the outer tooth disc, and the number of the outer tooth disc is greater than that of the outer tooth disc is meshed with the outer tooth disc.

Further, a key groove I is formed in the periphery of the electric drive shaft, the middle motor comprises a motor rotor and a motor stator, a permanent magnet placing groove is formed in the periphery of the motor rotor, a permanent magnet is placed in the permanent magnet placing groove, a key groove II is formed in the inner periphery of the motor rotor, and the key groove I and the key groove II are matched with the same key to transmit rotary motion; the motor stator is fixedly connected in the shell, a coil is wound on the motor stator, and when the coil is electrified, the motor rotor rotates around the axis of the main shaft under the drive of electromagnetic acting force, so that the electric drive shaft is driven to rotate.

Further, the shell comprises a shell body and an end cover fixedly connected to the right end of the shell body.

Further, the first transmission piece is a left supporting disc, and the second transmission piece is a right supporting disc.

Further, the middle disc is integrally formed by two annular structures, the inner and outer Zhou Jun are stepped, and the diameter and the inner diameter of the left annular structure are respectively larger than those of the right annular structure.

The number of inner teeth of the intermediate disk is one more than the number of outer teeth of the outer disk, and the number of inner teeth of the inner disk is one more than the number of outer teeth of the intermediate disk.

Further, a bearing inner ring matching contour I, a bearing inner ring matching contour II, a bearing inner ring matching contour III and a bearing outer ring matching contour are sequentially arranged on the electric drive shaft from left to right, the rotation axis of the eccentric shaft section is positioned at the shaft section where the bearing inner ring matching contour III is positioned, the rotation axis of the eccentric shaft section is parallel to the rotation axis of the positive part, a certain eccentric distance exists, and the rotation axis of the positive part coincides with the rotation axis of the main shaft.

Further, a notch is formed in the inner periphery of the left side of the shell, a cable supporting disc is connected to the main shaft through a bearing in a rotating mode, a boss is fixedly connected to the outer ring of the left end of the cable supporting disc, a groove is formed in the cable supporting disc, the boss is used for being matched with the notch, and the groove is used for arranging a cable of the torque sensor.

Further, the outer Zhou Gujie of the main shaft is provided with an inner ring of a one-way overrunning clutch I, a roller of the one-way overrunning clutch I is positioned at the periphery of the inner ring of the main shaft, and the shoulder of the output flange is abutted against the left end of the one-way overrunning clutch I, so that the limit of the output flange shaft in the right direction is realized;

further, the inner Zhou Gujie of the right supporting disc is provided with an outer ring of the one-way overrunning clutch II, and the roller of the one-way overrunning clutch II is positioned at the inner periphery of the outer ring of the right supporting disc.

Further, a first sealing ring is arranged between the main shaft and the shell, the first sealing ring is positioned on the left side of a bearing used for the rotation connection of the main shaft and the shell, a second sealing ring is arranged among the main shaft, the output flange and the right support disc, a third sealing ring is arranged among the one-way overrunning clutch II, the shell and the output flange, a fourth sealing ring is arranged between the right support disc and the end cover, and the fourth sealing ring is positioned on the right side of the bearing used for the rotation connection of the right support disc and the end cover.

The vector matrix cycloid motor speed reducer has the beneficial effects that:

the application can be applied to the fields of electric power-assisted bicycles, industrial automation, cooperative robots and the like. The motor and the speed reducer are integrated, and related key parts are reasonably designed, so that the designed middle motor speed reducer module has the advantages of small volume, high strength and the like; meanwhile, the electric driving shaft is supported and positioned through four bearings, so that the electric driving shaft has good supporting strength and high rotation precision.

Drawings

FIG. 1 is a cross-sectional view of a vector matrix gerotor motor reducer of the present application;

FIG. 2 is a schematic view of the structure of the main shaft and the external spline I;

FIG. 3 is a schematic view of the structure of the cable support tray, projections and recesses;

FIG. 4 is a schematic diagram of the torque sensor versus spindle position;

FIG. 5 is a schematic diagram of the torque sensor, internal spline I and external spline II;

FIG. 6 is a schematic view of the structure of the housing and the notch;

FIG. 7 is a cross-sectional view of the housing;

FIG. 8 is a cross-sectional view of an electric drive shaft;

FIG. 9 is a schematic view of the electric drive shaft, bearing inner race mating profile I, bearing inner race mating profile II, bearing inner race mating profile III, and keyway I;

FIG. 10 is a schematic view of the structure of the motor rotor, permanent magnet placement groove and keyway II;

FIG. 11 is a schematic structural view of a permanent magnet;

FIG. 12 is a schematic diagram of the structure of a motor stator and coil;

FIG. 13 is a schematic view of the structure of the external tooth plate, the threaded hole I and the external teeth of the external tooth plate;

FIG. 14 is a cross-sectional view of the middle plate;

FIG. 15 is a schematic view of the structure of the middle plate, the middle plate internal teeth and the middle plate external teeth;

FIG. 16 is a schematic view of the internal tooth plate, the threaded hole II and the internal teeth of the internal tooth plate;

FIG. 17 is a schematic structural view of an end cap;

FIG. 18 is a schematic view of the structure of the output flange and the internal spline II;

FIG. 19 is an enlarged view of a portion of FIG. 1 at A;

FIG. 20 is a front view of the present application;

FIG. 21 is a cross-sectional view of the present application taken through one-way overrunning clutch I and one-way overrunning clutch II;

FIG. 22 is a cross-sectional view showing only the main shaft, the output flange, the one-way overrunning clutch I and the one-way overrunning clutch II;

FIG. 23 is a schematic view of the roller position of one-way overrunning clutch II;

FIG. 24 is a schematic diagram of the structure of a key;

FIG. 25 is a schematic structural view of a seal ring;

FIG. 26 is a schematic structural view of a snap spring;

FIG. 27 is a schematic view of the right support plate;

fig. 28 is a schematic structural view of the one-way overrunning clutch i.

In the figure: 101. a main shaft; 102. an external spline I; 201. a cable support tray; 202. a protrusion; 203. a groove; 301. a torque sensor; 302. an internal spline I; 303. an external spline II; 401. a housing; 402. a notch; 403. a left support plate; 404. a right support plate; 405. an end cap; 501. an electric drive shaft; 502. the inner ring of the bearing is matched with the contour I; 503. matching a contour II with the inner ring of the bearing; 504. matching a contour III with the inner ring of the bearing; 505. the outer ring of the bearing is matched with the outline; 506. key slot I; 601. a motor rotor; 602. a permanent magnet placement groove; 603. a permanent magnet; 604. key slot II; 701. a motor stator; 702. a coil; 801. an outer fluted disc; 802. a threaded hole I; 803. external teeth of the external gear plate; 901. an intermediate plate; 902. internal teeth of the middle disc; 903. external teeth of the middle disc; 1001. an inner fluted disc; 1002. a threaded hole II; 1003. internal teeth of the internal tooth disk; 1101. an output flange; 1102. an internal spline II; 1201. one-way overrunning clutch I; 1202. one-way overrunning clutch II.

Detailed Description

For convenience of description, for example, a common use environment is illustrated, for example, the left end and the right end of the main shaft 101 are respectively fixedly connected with two crank ends, the other end of the crank is used for rotationally connecting with a pedal, the pedal is driven by the manual force of a user to drive the crank to rotate by using the pedal, the crank can drive the main shaft 101 to rotate, or the main shaft 101 is driven by other transmission mechanisms, for example, an electric driving power device, for example, an output shaft of a speed reduction motor is directly fixedly connected with the main shaft 101, or other conventional transmission mechanisms exist between the output shaft of the speed reduction motor and the main shaft 101.

Further, referring to fig. 3, a cable supporting disc 201 is rotatably connected to the main shaft 101 through a bearing, a protrusion 202 is fixedly connected to an outer ring of the left end of the cable supporting disc 201, and a groove 203 is formed in the inner portion of the cable supporting disc, wherein the protrusion 202 is used for being matched with a housing 401, and the groove 203 is used for arranging a cable of the torque sensor 301;

wherein, specifically: referring to fig. 4, a torque sensor 301 is arranged at the right end of the inner periphery of the cable supporting disc 201, an inner spline i 302 is arranged on the inner ring of the left end of the torque sensor 301, and the inner spline i 302 is matched with an outer spline i 102 fixedly connected to the right side of the main shaft 101 to realize key connection; referring to fig. 6, the left side of the main shaft 101 is rotatably connected with a housing 401 through a bearing, a notch 402 is provided on the inner periphery of the left side of the housing 401, and the mentioned protrusion 202 and the notch 402 cooperate with each other to realize circumferential positioning between the cable supporting disc 201 and the housing 401.

The housing 401 is fixedly connected to the truss, so as to be convenient for understanding, and can be fixedly connected to spokes of wheels of a bicycle, and also can be fixedly connected to a motor base with a supporting function, and meanwhile, the housing 401 isolates other parts from the outside and plays a supporting role on the parts.

Further, referring to fig. 8 and 9, an electric driving shaft 501 is rotatably connected to the left end inside the housing 401, and four contours for bearing installation are provided on the electric driving shaft 501, and are a bearing inner ring mating contour i 502, a bearing inner ring mating contour ii 503, a bearing inner ring mating contour iii 504 and a bearing outer ring mating contour 505, which are sequentially provided from left to right; the electric drive shaft 501 has a center part and an eccentric part, specifically as shown in fig. 8, the rotation axis of the eccentric part is positioned on the shaft section where the inner ring matching contour iii 504 of the bearing is positioned, the rotation axis of the eccentric part is parallel to the rotation axis of the center part, and a certain eccentric distance exists, and the rotation axis of the center part coincides with the rotation axis of the main shaft 101;

the left end of the housing 401 is provided with a first annular groove, and the position of the bearing inner ring matching contour I502 is rotatably connected in the first annular groove of the housing 401 through a bearing.

Further, a key groove i 506 is formed in the outer periphery of the electric drive shaft 501, the electric drive shaft 501 is driven by a central motor to rotate, the central motor comprises a motor rotor 601 and a motor stator 701, a permanent magnet placing groove 602 is formed in the circumference of the motor rotor 601, a permanent magnet 603 is placed in the permanent magnet placing groove 602, a key groove ii 604 is formed in the inner periphery of the motor rotor 601, and the key groove i 506 and the key groove ii 604 are matched with the same key to transmit rotary motion; the motor stator 701 is fixedly connected in the housing 401, a coil 702 is wound on the motor stator 701, and when the coil 702 is electrified, the motor rotor 601 is driven by electromagnetic acting force to rotate around the axis of the main shaft 101, so that the electric drive shaft 501 is driven to rotate.

Further, the right end of the motor stator 701 is fixedly connected with the left supporting disc 403, the bearing inner ring matching profile II 503 of the mentioned electric driving shaft 501 is rotationally connected with the inner end of the left supporting disc 403, in combination with fig. 13, the right end of the left supporting disc 403 is fixedly connected with the external tooth disc 801 through a screw, specifically, a plurality of axial through holes I are formed in the left supporting disc 403, a plurality of threaded holes I802 are formed in the circumferential direction of the external tooth disc 801, the threaded holes I and the through holes I have the same number and the same position in a one-to-one correspondence manner, so that the screw penetrates through the through holes I and is in threaded connection with the threaded holes I802, external tooth disc external teeth 803 are integrally formed on the periphery of the external tooth disc 801, and the number of the external tooth disc external teeth 803 is a plurality of and is uniformly distributed in the circumferential direction.

Further, in fig. 14 and 15, the bearing inner ring matching contour iii 504 on the electric drive shaft 501 is rotatably connected with an intermediate disk 901 through a bearing, the intermediate disk 901 is integrally formed by two annular structures, the inner and outer Zhou Jun are stepped, the diameter and the inner diameter of the left annular structure are respectively larger than those of the right annular structure, intermediate disk inner teeth 902 are integrally formed on the left side of the inner periphery of the intermediate disk 901, the number of the intermediate disk inner teeth 902 is larger than that of the outer teeth 803 of the outer tooth disk, and the intermediate disk inner teeth 902 are uniformly distributed in the circumferential direction; preferably, the number of the middle disk inner teeth 902 is one more than the number of the outer disk outer teeth 803, the tooth profile of the middle disk inner teeth 902 is a quadratic envelope cycloid, and the tooth profile of the middle disk inner teeth 902 is conjugate with the tooth profile of the outer disk outer teeth 803; an intermediate disk outer tooth 903 is integrally formed on the right side of the outer periphery of the intermediate disk 901. Among them, the tooth form is preferably designed by a vector matrix method.

Further, referring to fig. 16, an inner fluted disc 1001 is disposed on the outer periphery of the outer tooth 903 of the middle disc, a right supporting disc 404 is fixed at the right end of the inner fluted disc 1001 by screws, specifically, a plurality of threaded holes ii 1002 are disposed on the circumference of the inner fluted disc 1001, axial through holes ii are disposed on the right supporting disc 404, the number of the through holes ii is the same as that of the threaded holes ii 1002, and the through holes ii and the threaded holes ii 1002 are in one-to-one correspondence, so that the screws pass through the through holes ii and are in threaded connection with the threaded holes ii 1002;

wherein, the inner periphery of the inner tooth disc 1001 is integrally formed with inner tooth disc teeth 1003, the number of the inner tooth disc teeth 1003 is larger than that of the middle disc teeth 903, and the inner tooth disc teeth 1003 are uniformly distributed in the circumferential direction; preferably, the number of inner disk teeth 1003 is one more than the number of outer disk teeth 903, and the tooth profile of the inner disk teeth 1003 is a quadratic envelope cycloid and is conjugate with the outer contour of the outer disk teeth 903.

Further, referring to fig. 17, an end cap 405 is fixedly attached to the right end of the housing 401, and the right side of the outer periphery of the right support plate 404 is rotatably attached to the inner periphery of the end cap 405 by a bearing.

Further, referring to fig. 18, an output flange 1101 is disposed on the right side of the torque sensor 301, the output flange 1101 is located on the inner side of the right support disc 404, a plurality of internal splines ii 1102 uniformly distributed circumferentially are integrally formed on the left side of the inner periphery of the output flange 1101, a plurality of external splines ii 303 uniformly distributed circumferentially are integrally formed on the right side of the outer periphery of the torque sensor 301, and the internal splines ii 1102 are matched with the external splines ii 303 to transmit rotation; the bearing outer ring matching contour 505 is rotationally connected to the periphery of the right end of the output flange 1101 through a bearing;

the right end of the output flange 1101 is used to be fixedly connected to a transmission member of the transmission device, and for convenience of understanding, for example, a toothed disc may be fixedly connected to the right end of the output flange, and the toothed disc is used to be meshed with a chain to transmit motion to a rear wheel of the electric power-assisted bicycle;

the torque sensor 301 is used for sensing the torque on the main shaft 101, for example, the main shaft 101 can be connected with a transmission device with smaller power to meet the requirement of normal low-speed movement, and therefore, the torque sensor is also used as a transmission device, when a certain link is blocked in the driving process, the torque sensor assists in driving the main shaft 101, for facilitating understanding, for example, the force when a person steps on a pedal is small, and when the force is small, the electric driving part, namely the middle motor and the electric driving shaft 501 do not work; when the force is large, the person is hard to pedal the pedal, the electric driving part works, and the electric driving shaft 501 is driven to rotate through the middle motor, so that the power-assisted purpose is achieved;

further, referring to fig. 19, 21 and 22, the one-way overrunning clutch i 1201 is a prior art, and the positions of the one-way overrunning clutch i 1201 and the one-way overrunning clutch ii 1202 are only shown in the drawings by adopting the existing products, and the whole structure of the existing products is not drawn; the principle is as follows: the inner ring of the one-way overrunning clutch I1201 and the outer side Zhou Gujie of the main shaft 101, the roller of the one-way overrunning clutch I1201 can move circumferentially on the outer periphery of the one-way overrunning clutch I1201, the radial direction movement range is limited by an inclined plane, and the axial direction is limited by flanges on two end surfaces of a product; the shoulder of the output flange 1101 abuts against the left end of the one-way overrunning clutch I1201, and limiting of the output flange 1101 in the axial right direction is achieved.

When the pedal is driven: when the main shaft 101 is driven, the rotation direction is in the anticlockwise direction in the drawing, at the moment, the bicycle forwards moves, due to friction, the roller moves in the anticlockwise direction in the drawing 21 and has autorotation, and due to the fact that the position of the one-way overrunning clutch I1201 for placing the roller is an inner ring, an inclined plane exists on the inner ring, the roller moves clockwise relative to the inclined plane, the distance between the roller and the rotation axis of the main shaft 101 is increased, the roller contacts with the outer ring of the one-way overrunning clutch I1201, at the moment, the inner ring and the outer ring of the one-way overrunning clutch I1201 are in transmission combination due to the roller, the outer ring of the one-way overrunning clutch I1201 is in contact with the inner circumference of the output flange 1101 to realize transmission, and at the moment, the pedal can drive the output flange 1101 to rotate anticlockwise; wherein, the roller is reset by an elastic piece of the product, and the elastic piece is hidden in a groove hole arranged on the one-way overrunning clutch I1201; at this time, the main shaft 101 is driven according to a normal rotation direction, such as a daily driving direction of the transmission device, for easy understanding, for example, the driving direction of the vehicle is driven, when the rotation speed of the output flange 1101 is less than that of the main shaft 101, the rotation motion of the main shaft 101 can be transmitted to the output flange 1101 through the torque sensor 301, otherwise, the transmission between the main shaft 101 and the output flange 1101 is stopped;

for ease of understanding, as explained herein by the usual bicycle, when the spindle is driven clockwise in the direction of illustration, the rollers of the one-way overrunning clutch i 1201 cannot contact their outer races, the inner and outer race transmissions of the one-way overrunning clutch i 1201 are not engaged, and the pedals cannot drive the output flange 1101.

The principle of the one-way overrunning clutch II 1202 is similar to that of the one-way overrunning clutch I1201, and the two structures are slightly different, namely, the inclined plane of the one-way overrunning clutch II 1202 is positioned at the inner periphery of the outer ring of the one-way overrunning clutch II 1202, and because the roller of the one-way overrunning clutch II 1202 is positioned in the inclined plane, the roller is also positioned at the inner periphery of the outer ring of the one-way overrunning clutch II 1202, the roller is used for being combined with the inner ring of the one-way overrunning clutch II 1202 when moving away from the rotation center along the inclined plane, the outer ring of the one-way overrunning clutch II 1202 is fixedly connected with the inner periphery of the right support disc 404, and the arrangement of the one-way overrunning clutch II 1202 and the one-way overrunning clutch I1201 ensures that two power routes of the electric driving part and the human foot driving part are not interfered with each other;

when electrically driven: the middle motor drives the electric drive shaft 501 to rotate anticlockwise, the eccentric part of the electric drive shaft 501 drives the bearing at the middle disc 901 to rotate, eccentric revolution motion relative to the rotation axis of the main shaft 101 is generated, the middle disc 901 is further driven to generate eccentric revolution motion relative to the rotation axis of the main shaft 101, and the rotation direction is consistent with the rotation direction of the main shaft 101; while the middle plate 901 rotates, the middle plate internal teeth 902 mesh with the external teeth 803 of the external teeth plate, and since the number of teeth of the middle plate internal teeth 902 is one more than the number of teeth of the external teeth plate external teeth 803, after the middle plate 901 rotates one turn along the external teeth plate 801, it advances by one tooth relative to the external teeth plate 801, that is, the middle plate 901 rotates one more tooth in the counterclockwise direction relative to the external teeth plate 801, and a rotation motion in the counterclockwise direction is generated. Namely, the middle plate 901 has both eccentric revolution and rotation movement, and the movement state is determined;

similarly, the outer teeth 903 of the middle disk are meshed with the inner teeth of the inner teeth disk 1001, the tooth profile of the inner teeth disk 1001 is also a conjugate cycloid tooth profile, the tooth number of the inner teeth disk 1001 is one more than the tooth number of the outer teeth 903 of the middle disk, so that after the middle disk 901 rotates one circle along the inner teeth disk 1001, the middle disk is delayed by one tooth relative to the inner teeth disk 1001, and the outer teeth disk 801 is fixed because the motion state of the middle disk 901 is definite and unique, so that the inner teeth disk 1001 rotates one tooth less in the anticlockwise direction relative to the middle disk 901, and the anticlockwise rotation is generated, thereby achieving the purpose of deceleration;

since the inner gear 1001 is fixedly connected to the right support plate 404, the rotation of the inner gear 1001 drives the right support plate 404 to rotate counterclockwise. If the rotation speed of the output flange 1101 is lower than that of the right support disc 404, and the one-way overrunning clutch II 1202 is combined, the right support disc 404 drives the output flange 1101 to rotate, and then the output flange 1101 is connected with the rear wheel of the vehicle through a chain on the chain wheel, so that the power-assisted vehicle is driven;

further, in order to improve the sealing performance of the present application, to prevent dust, rainwater and other impurities from entering the housing 401, a corresponding sealing ring is provided at a gap where the housing exists. Referring to fig. 1 and 19, for example, a first seal ring is provided between the main shaft 101 and the housing 401, the first seal ring being located on the left side of a bearing for rotational connection of the main shaft 101 to the housing 401, and a second seal ring is provided between the main shaft 101, the output flange 1101 and the right support disc 404, and a third seal ring is provided between the one-way overrunning clutch ii 1202, the housing 401 and the output flange 1101, and a fourth seal ring is provided between the right support disc 404 and the end cap 405, the fourth seal ring being located on the right side of a bearing for rotational connection of the right support disc 404 and the end cap 405;

furthermore, the mentioned limiting mode of the axial displacement of the bearing adopts a snap spring or an adjacent shoulder blocking structure, for example, the left end of the bearing on the left side on the main shaft 101 is provided with a first snap spring, and the right end of the bearing is limited by the shoulder of the housing 401; the right end of the bearing positioned on the right side on the main shaft 101 is provided with a second clamping spring, and the left end of the bearing is limited by the shoulder part of the cable supporting disc 201; four bearings are arranged on the electric drive shaft 501, the right end of the left bearing positioned in the middle is limited by a third clamping spring, the left end of the bearing is limited by a shoulder part on the electric drive shaft 501, and the left end and the right end of the right bearing positioned in the middle on the electric drive shaft 501 are respectively limited by the third clamping spring and the fourth clamping spring; the remainder is limited by adjacent shoulder structures.

The application can be applied between output and input links of mechanical transmission as a transmission device, and can be particularly applied to the fields of electric power-assisted bicycles, industrial automation, cooperative robots and the like, and the above is for facilitating understanding of the principle of the application, so the application is particularly exemplified in the application of the electric power-assisted bicycles, but the application is not limited to the application of the field, and the transmission links of the industrial automation and cooperative robots such as mechanical arms can also be used.

Claims

1. A vector matrix cycloid motor reducer is characterized by comprising a main shaft (101), wherein a shell is rotationally connected to the main shaft (101), a torque sensor (301) is rotationally connected to the main shaft (101) through a key, an electric driving shaft (501) is rotationally connected to the left end inside the shell, a middle motor for driving the electric driving shaft (501) to rotate is fixedly connected to the shell, the middle motor is positioned on the left side of the torque sensor (301), a first transmission member is fixedly connected to a stator of the middle motor, an outer tooth disc (801) is fixedly connected to the right end of the first transmission member, an intermediate disc (901) is rotationally connected to the electric driving shaft (501), the outer circumference of the outer tooth disc (801) is meshed with the left side of the inner circumference of the intermediate disc (901), the tooth profile of the outer tooth disc (801) and the tooth profile of the intermediate disc (901) in a meshed state are conjugate cycloid tooth profiles, a second transmission member is rotationally connected to the shell, the left end of the second transmission member is fixedly connected with an inner tooth disc (1001), the inner circumference of the inner tooth disc (1001) is meshed with the right side of the outer circumference of the intermediate disc (901), the middle disc (1001) and the outer circumference of the inner tooth disc (1001) is meshed with the conjugate cycloid profile of the inner ring (501), the outer ring (501) is meshed with the outer ring (501) of the electric cycloid shaft is meshed with the positive cycloid shaft (501), the positive cycloid shaft is meshed with the positive cycloid shaft (501), the positive cycloid shaft is meshed with the positive axis of the negative cycloid motor shaft (501), the eccentric shaft section has an eccentric distance from the rotation axis of the positive part of the electric drive shaft (501), the rotation axis of the positive part coincides with the rotation axis of the main shaft (101), so that the eccentric shaft section drives a bearing at the middle disc (901) to rotate to generate eccentric revolution motion relative to the rotation axis of the main shaft (101), the middle disc (901) is driven to generate eccentric revolution motion relative to the rotation axis of the main shaft (101), the number of inner teeth (902) of the middle disc is larger than the number of outer teeth (803) of the outer teeth disc, the number of inner teeth (1003) of the inner teeth disc is larger than the number of outer teeth (903) of the middle disc, and an output flange (1101) is connected to a right key at the periphery of the torque sensor (301).

2. The vector matrix cycloidal motor reducer according to claim 1, characterized in that the outer circumference of the electric drive shaft (501) is provided with a key groove i (506), the central motor comprises a motor rotor (601) and a motor stator (701), wherein a permanent magnet placing groove (602) is circumferentially arranged on the motor rotor (601), a permanent magnet (603) is placed in the permanent magnet placing groove (602), the inner circumference of the motor rotor (601) is provided with a key groove ii (604), and the key groove i (506) and the key groove ii (604) are matched with the same key to transmit rotary motion; the motor stator (701) is fixedly connected in the shell, a coil (702) is wound on the motor stator (701), and when the coil (702) is electrified, the motor rotor (601) rotates around the axis of the main shaft (101) under the driving of electromagnetic acting force, so that the electric driving shaft (501) is driven to rotate.

3. The vector matrix cycloidal motor reducer according to claim 1, characterized in that said housing comprises a housing (401) and an end cap (405) fixedly connected to the right end of the housing (401).

4. A vector matrix cycloidal motor reducer according to claim 3, characterized in that the first transmission member is a left support disc (403) and the second transmission member is a right support disc (404).

5. The vector matrix cycloidal motor reducer according to claim 1, characterized in that the intermediate plate (901) is integrally formed with two annular structures, and the inner and outer Zhou Jun are stepped, and the diameter and the inner diameter of the left annular structure are larger than those of the right annular structure, respectively.

6. The vector matrix cycloidal motor reducer according to claim 1, characterized in that the number of intermediate disk teeth (902) is one more than the number of outer disk teeth (803), and the number of inner disk teeth (1003) is one more than the number of intermediate disk teeth (903).

7. The vector matrix cycloidal motor reducer according to claim 1, characterized in that the electric drive shaft (501) is provided with a bearing inner ring mating profile i (502), a bearing inner ring mating profile ii (503) and a bearing outer ring mating profile (505) in sequence from left to right, and the bearing inner ring mating profile iii (504) is located between the bearing inner ring mating profile ii (503) and the bearing outer ring mating profile (505).

8. The vector matrix cycloidal motor reducer according to claim 1, characterized in that a notch (402) is arranged on the inner periphery of the left side of the housing, a cable supporting disc (201) is rotatably connected to the main shaft (101) through a bearing, a boss (202) is fixedly connected to the outer ring of the left end of the cable supporting disc (201), a groove (203) is formed in the cable supporting disc (201), the boss (202) is used for being matched with the notch (402), and the groove (203) is used for arranging a cable of the torque sensor (301).

9. The vector matrix cycloidal motor reducer according to claim 4, characterized in that the outer Zhou Gujie of the main shaft (101) is provided with an inner ring of a one-way overrunning clutch i (1201), the roller of the one-way overrunning clutch i (1201) is positioned at the periphery of the inner ring of the main shaft, and the shoulder of the output flange (1101) is abutted against the left end of the one-way overrunning clutch i (1201), so that the limit of the axial right direction of the output flange (1101) is realized;

the inner Zhou Gujie of the right support disc (404) is provided with an outer ring of a one-way overrunning clutch II (1202), and the rollers of the one-way overrunning clutch II (1202) are positioned on the inner periphery of the outer ring.

10. The vector matrix cycloidal motor reducer according to claim 9, characterized in that a first sealing ring is arranged between the spindle (101) and the housing (401), the first sealing ring being located on the left side of the bearing for the rotational connection of the spindle (101) to the housing (401), and a second sealing ring is arranged between the spindle (101), the output flange (1101) and the right support disc (404), and a third sealing ring is arranged between the one-way overrunning clutch ii (1202), the housing (401) and the output flange (1101), and a fourth sealing ring is arranged between the right support disc (404) and the end cap (405), the fourth sealing ring being located on the right side of the bearing for the rotational connection of the right support disc (404) and the end cap (405).