TW201905352A - Speed reducer with power source - Google Patents

Abstract

A speed reducing device includes a motor and a speed reducing mechanism. The motor includes a stator portion, a shaft portion and a rotator portion. The rotator portion includes first and second eccentric rings. The speed reducing mechanism includes first, second and third roller assemblies and first and second cycloid disc sets. These roller assemblies include first rollers, second rollers and third rollers. The first cycloid disc set is mounted around the first eccentric ring, and includes first teeth and second teeth. The second cycloid disc set is mounted around the second eccentric ring, and includes third teeth and fourth teeth. The first teeth are contacted with the first rollers. The third teeth are contacted with the second rollers. The second teeth and the fourth teeth are contacted with the third rollers.

Description

Speed reducer with power source

This case is a speed reducer, which refers to a speed reducer with a power source.

Generally speaking, the motor has the characteristics of high speed and low torque, so it is not easy to drive large loads. Therefore, when the motor is used to push heavy objects, it must be decelerated by a reducer to increase the torque.

However, it is known that the reducer and the motor are separate components, so it is necessary to connect the reducer and the motor through additional mechanism parts, such as a coupling or a gear box. As a result, the reducer and the motor will be increased. Due to the volume and weight of the overall structure, the aforementioned connection structure between the reducer and the motor cannot be applied to some devices that require light weight and compact space, such as industrial robot arms or mobility aids.

In addition, although some reducers already include a motor when they are designed, thereby eliminating the need for a coupling or a gear box, etc., these reducers actually use a single cycloid set (that is, a single Cycloid disk), so these reducers will not be able to maintain dynamic balance when running at high speeds, and there will be a problem of large vibration during operation.

Therefore, how to develop a deceleration device with a power source that can improve the lack of the above-mentioned conventional technologies is a problem urgently needed to be solved by those skilled in the related art.

One of the purposes of this case is to provide a speed reducer with a power source, which combines the motor and the speed reducer without using a coupling structure such as a coupling or a gear box, so that the speed reducer and the motor are integrated. Design to achieve the effect of reducing the overall weight and volume of the reduction gear.

Another object of this case is to provide a speed reducer with a power source, which can achieve the characteristics of dynamic balance, high rigidity, high reduction ratio and high load.

In order to achieve the above purpose, one of the broader implementation aspects of the present case is to provide a speed reduction device including: a motor as a power source, including: a stator portion; a shaft portion, which is located at the center position of the stator portion; and a rotor portion, which is subject to The stator part is driven to rotate and includes a rotor case part with a hollow structure, a first eccentric ring, and a second eccentric ring. The rotor case part contains a stator part, a first eccentric ring and a second eccentric ring. Protruded adjacently on the outer side wall of the rotor housing portion; and a reduction mechanism, which is located on the opposite side of the motor, and includes a first cycloid disk group, a second cycloid disk group, a first roller wheel group, and a second A roller wheel set and a third roller wheel set, the first cycloid disk set is sleeved on the first eccentric ring, and has at least a first tooth portion and at least a second tooth portion, and a second cycloid disk set It is sleeved on the second eccentric ring and has at least one third tooth portion and at least one fourth tooth portion. The first roller wheel set is arranged on the first side of the motor and includes a first housing of the speed reducer and The plurality of first rollers arranged on the first casing of the speed reducer, the first The roller wheel set is disposed on the second side of the motor opposite to the first side of the motor, and includes a second housing of the speed reducer and a plurality of second rollers provided on the second housing of the speed reducer. The column wheel set is arranged between the first roller wheel set and the second roller wheel set, and covers the motor together with the first roller wheel set and the second roller wheel set, and includes a roller wheel set hollow. The annular portion and a plurality of third rollers arranged on the hollow annular portion of the roller wheel set, wherein the first tooth portion is in contact with the corresponding at least one first roller, and the third tooth portion is in contact with the corresponding at least one The second roller is in contact, and the second tooth portion and the fourth tooth portion are in contact with the corresponding at least one third roller, respectively.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the description in the subsequent paragraphs. It should be understood that this case can have various changes in different aspects, all of which do not depart from the scope of this case, and that the descriptions and diagrams therein are essentially for illustration purposes, rather than limiting the case.

Please refer to FIG. 1, FIG. 2, and FIG. 3, wherein FIG. 1 is a schematic cross-sectional structure diagram of a power source reduction device with a power source according to the first preferred embodiment of the present invention, and FIG. 2 is a schematic view of FIG. 1. Schematic diagram of the explosion structure of the power source speed reducer. Figure 3 is a partial structure diagram of the rotor portion of the motor of the power source speed reducer shown in Figure 1. As shown in FIG. 1, FIG. 2, and FIG. 3, the power source reduction device 1 of this embodiment may be, but is not limited to, applications in various power machinery, such as industrial robot arms or mobility aids. In order to provide a proper reduction function, the reduction device 1 actually belongs to a two-stage cycloid reducer. The speed reduction device 1 includes a motor 2 and a speed reduction mechanism 3 as a power source.

In this embodiment, the motor 2 is located inside the speed reduction mechanism 3, and may be composed of a radial magnetic flux motor, and includes a shaft portion 200, a stator portion 20, and a rotor portion 21. The stator portion 20 is located on the opposite inner side of the entire motor 2. The shaft portion 200 is located at the center of the stator portion 20. The rotor portion 21 is located on the relatively outer side of the motor 2 as a whole, and has a rotor housing bearing set, which is sleeved on the shaft portion 200. Therefore, when the motor 2 operates, the rotor portion 21 utilizes the magnetic force between the rotor portion 21 and the stator portion 20. When driven by the stator portion 20, the rotor portion 21 can be rotated by a rotor case bearing group. The rotor portion 21 includes a rotor case portion 210, a first eccentric ring 211, and a second eccentric ring 212. The rotor case portion 210 is actually a hollow structure, thereby accommodating the stator portion 20, and when the stator portion 20 is accommodated in the hollow structure of the rotor case portion 210, the first end portion and the second end portion of the shaft portion 200 The parts protrude from opposite sides of the rotor case part 210, respectively. The first eccentric ring 211 and the second eccentric ring 212 are adjacently protruded from the outer side wall of the rotor housing portion 210. When the rotor portion 21 is rotated, the first eccentric ring 211 and the second eccentric ring 212 will be relative to the shaft. The part 200 deflects, and the eccentric directions of the first eccentric ring 211 and the second eccentric ring 212 are opposite.

In the above embodiment, the stator portion 20 further includes an iron core 201 and a coil 202. The shaft portion 200 is located at the center of the core 201. The coil 202 is wound on the core 201. The rotor portion 21 further includes at least one magnet 213, such as an arc-shaped or ring-shaped magnet, attached to the inner side wall of the rotor case portion 210 located in the hollow structure of the rotor case portion 210. The coil 202 generates an interaction force between the magnetic fields, so that the magnet 213 drives the rotor portion 21 to rotate.

The reduction mechanism 3 is disposed on the opposite side of the motor 2 and is connected to the motor 2 and covers the motor 1. The speed reduction mechanism 3 includes a first cycloid disk group 30, a second cycloid disk group 31, a first roller wheel group 32, The second roller wheel set 33, the third roller wheel set 34, the first outer bearing 35 of the reducer, and the second outer bearing 36 of the reducer. The first roller wheel set 32 is disposed on the first side of the motor 2 and includes a first reducer housing 320 and a plurality of first rollers arranged on the first reducer housing 320 in a circular and spaced arrangement. 321, wherein the first housing 320 of the speed reducer further includes a first fixing hole 3200, which is provided at a position corresponding to the first end portion of the shaft portion 200 for the first end portion of the shaft portion 200 to pass through and fix. . The second roller wheel set 33 is disposed on the second side of the motor 2 opposite to the first side of the motor 2 and includes a second housing 330 of the speed reducer and is arranged on the second side of the speed reducer in a circular and spaced arrangement. The plurality of second rollers 331 on the casing 330, wherein the center position of the second casing 330 of the speed reducer includes a second fixing hole 3300, which is provided at a position corresponding to the second end portion of the shaft portion 200 for the shaft portion The second end portion of 200 is threaded and fixed.

The third roller wheel set 34 is located between the first roller wheel set 32 and the second roller wheel set 33 and covers the motor 2 together with the first roller wheel set 32 and the second roller wheel set 33. The third roller wheel set 34 includes a hollow ring-shaped portion 340 of the roller wheel set and a plurality of third rollers 341 disposed in the hollow ring-shaped portion 340 of the roller wheel set in a spaced arrangement. In addition, the roller wheel set The size of the hollow structure of the hollow annular portion 340 corresponds to the size of the first reducer housing 320, the second reducer housing 330, and the motor 2. Therefore, the third roller wheel set 34 can accommodate the motor 2 and be the first When the three-roller wheel set 34, the first roller wheel set 32, and the second roller wheel set 33 cover the motor 2 together, the first reducer housing 320 and the second reducer housing 330 of the reducer can actually be accommodated in the rollers. The wheel set hollow ring portion 340 is connected to the roller wheel set hollow ring portion 340. The first cycloid disk group 30 is sleeved on the first eccentric ring 211 and has at least one first tooth portion 300 and at least one second teeth portion 301. The second cycloid disk group 31 is sleeved on the second eccentric The ring 212 has at least one third tooth portion 310 and at least one fourth tooth portion 311. In addition, the first tooth portion 300 is in contact with the corresponding at least one first roller 321, and the third tooth portion 310 is in correspondence with At least one second roller 331 is in contact, and the second tooth portion 301 and the fourth tooth portion 311 are in contact with the corresponding at least one third roller 341, respectively. The first outer bearing 35 of the speed reducer is arranged at the joint between the first housing 320 of the speed reducer and the hollow annular portion 340 of the roller wheel set. The second outer bearing 36 of the speed reducer is arranged at the joint between the second housing 330 of the speed reducer and the hollow annular portion 340 of the roller wheel set.

In the above embodiment, the first housing 320 of the reducer of the first roller wheel set 32 and the second housing 330 of the reducer of the second roller wheel set 33 may have screw holes (not shown), respectively, so that they can be connected with Other mechanical structures are connected together. In addition, the first roller wheel set 32 and the second roller wheel set 33 do not rotate, that is, do not rotate with the shaft portion 200 as an axis, and when the rotor portion 21 rotates, the first eccentric ring 211 and the second The eccentric ring 212 drives the first cycloidal disc group 30 and the second cycloidal disc group 31 to rotate, but because the first roller wheel set 32 and the second roller wheel set 33 do not rotate, the third roller wheel The group 34 is rotated by the shaft portion 200 as the pushing movement between each third roller 341 and the corresponding second tooth portion 301 and fourth tooth portion 311. At this time, the third roller wheel group 34 The hollow ring-shaped portion 340 of the roller wheel set can actually constitute a power output end to generate power output. In still other embodiments, the hollow ring portion 340 of the roller wheel set of the third roller wheel set 34 may include a screw hole (not shown), so that it can be combined with other mechanical structures to transmit power to Corresponding mechanical structure.

It can be seen from the above that the motor 2 and the reduction mechanism 3 of the power source reduction device 1 in this case are designed integrally. The motor 2 is disposed radially inward of the overall structure of the reduction device 1, and the reduction mechanism 3 is located in the diameter of the overall structure of the reduction device 1. To the outside, when the rotor portion 21 rotates, the first eccentric ring 211 and the second eccentric ring 212 on the rotor portion 21 respectively drive the first cycloid plate group 30 and the second cycloid plate group 31 on the reduction mechanism 3. Rotate, so that the first cycloid plate group 30 and the second cycloid plate group 31 can be fixed with the first non-rotating first roller wheel group 32, the second roller wheel group 33, and the rotatable third roller wheel group 34. Action, which in turn results in a second-order deceleration. Therefore, the deceleration device 1 of the present case does not require an additional coupling to connect the motor 2 and the deceleration mechanism 3, so the weight and volume can be reduced. In addition, since the reduction mechanism 3 of the reduction device 1 of the present case has a first cycloid plate group 30 and a second cycloid plate group 31, and the first cycloid plate group 30 and the second cycloid plate group 31 are respectively disposed at On the first eccentric ring 211 and the second eccentric ring 212 with opposite eccentric directions, the speed reducer 1 of the present case not only has high rigidity and high load capacity, but also can achieve dynamic balance.

In some embodiments, the shaft portion 200 is actually a hollow structure. Therefore, the hollow structure of the shaft portion 200 can provide the coil 202 or other wires, such as the signal line of an encoder, to make the circuit of the speed reducer 1 in this case simpler. .

In addition, as shown in FIG. 1 and FIG. 2, the reduction gear 1 may further include a rotor first outer bearing group 4 and a rotor second outer bearing group 5, wherein the rotor first outer bearing group 4 is disposed on the first eccentric ring. Between 211 and the first cycloid plate group 30, the rotor second outer bearing group 5 is disposed between the second eccentric ring 212 and the second cycloid plate group 31. Furthermore, the first rotor outer bearing group 4 and the second rotor outer bearing group 5 may each be composed of at least one bearing. For example, as shown in FIG. 1 and FIG. 2, each may be composed of a single bearing. This is a limitation, and can also be composed of multiple bearings.

The rotor case portion 210 may include a rotor first case 214 and a rotor second case 215. The rotor first casing 214 may be a cup-shaped structure, and has a bottom 2140 and a casing hollow annular portion 2141. The casing hollow annular portion 2141 has a hollow structure and constitutes a hollow structure of the rotor casing portion 210. The bottom portion 2140 includes a first perforation 2142, which is provided at a position corresponding to the first end portion of the shaft portion 200 and is used for passing through the first end portion of the shaft portion 200. The hollow ring portion 2141 of the casing is vertically arranged on the bottom 2140, and the hollow structure of the hollow ring portion 2141 of the casing constitutes the hollow structure of the rotor casing portion 210, thereby housing the stator portion 20, and the magnet 213 is attached It is attached to the inner wall of the hollow ring-shaped portion 2141 of the casing. The second rotor case 215 has a disc-shaped structure and corresponds to the size of the hollow structure of the hollow ring portion 2141 of the case. When the first rotor case 214 accommodates the stator portion 20, the second rotor case 215 It can cover the hollow structure of the hollow ring portion 2141 of the first rotor casing 214, so that the first rotor casing 214 and the second rotor casing 215 cover the stator portion 20, and the second rotor casing 215 further includes The second perforation 2150 is provided at a position corresponding to the second end portion of the shaft portion 200 for the second end portion of the shaft portion 200 to pass through. In other embodiments, a rotor housing first bearing 2143 sleeved on the first end portion of the shaft portion 200 may be provided in the first hole 2142, and a second bearing 2143 sleeved on the shaft portion 200 may be provided in the second hole 2150. The rotor housing second bearing 2151 is passed through the two end portions, and the rotor housing first bearing 2143 and the rotor housing second bearing 2151 actually constitute the rotor housing bearing group of the rotor portion 21.

Furthermore, the first cycloid plate group 30 includes a first outer cycloid plate 302 and a first inner cycloid plate 303 adjacent to each other, and the second cycloid plate group 31 includes a second outer cycloid plate 312 and a first Two inner cycloid discs 313, where the first outer cycloid disc 302 and the first inner cycloid disc 303 are adjacent to each other, and the first inner cycloid disc 303 is located on the first outer cycloid disc 302 and the second inner cycloid The first tooth portion 300 is protruded on the outer side wall of the first outer cycloid disc 302, and the second tooth portion 301 is protruded on the outer side wall of the first inner cycloid disc 303. The two outer cycloid discs 312 and the second inner cycloid disc 313 are adjacent to each other, and the second inner cycloid disc 313 is located between the first inner cycloid disc 303 and the second outer cycloid disc 312, and the third The tooth portion 310 is protruded on the outer side wall of the second outer cycloid disc 312, and the fourth tooth portion 311 is protruded on the outer side wall of the second inner cycloid disc 313. Furthermore, the tooth profile formed by the first outer cycloid disc 302 by the first tooth portion 300 is the same as the tooth profile formed by the second outer cycloid disc 312 by the third tooth portion 310, and the first inner cycloid The tooth profile of the wire disc 303 by the second tooth portion 301 is the same as that of the second inner cycloid disc 313 by the fourth tooth portion 311, and the number of the first tooth portion 300 is the same as that of the first tooth portion 300. The number of the three tooth portions 310 is the same, and the number of the second tooth portions 301 is the same as the number of the fourth tooth portions 311. In addition, the first outer cycloid disk 302 and the first inner cycloid disk 303 can be fixed to each other, and the second outer cycloid disk 312 and the second inner cycloid disk 313 can be fixed to each other. In some embodiments, the plurality of first rollers 321, the plurality of second rollers 331, and the plurality of third rollers 341 can all rotate on their own axes, that is, they rotate.

Furthermore, the number of the first rollers 321 of the first roller wheel set 32 is the same as the number of the second rollers 331 of the second roller wheel set 33, and the number of the first rollers 321 is a ratio The number of the first teeth 300 is at least one more, the number of the second rollers 331 is at least one more than the number of the third teeth 310, and the number of the third rollers 341 of the third roller wheel set 34 is at least one. The number is at least one more than the number of the second teeth 301 or the number of the fourth teeth 311.

In some embodiments, the reduction device 1 may further include a first brake device 8 and a second brake device 9. The first brake device 8 is a rotor provided on the rotor housing portion 210 adjacent to the second roller wheel set 33. On the side of the second housing 215, the second brake device 9 is provided on the side of the second housing 330 of the reducer adjacent to the rotor second housing 215 corresponding to the first brake device 8. The first brake device 8 and the second brake device 9 can be selectively separated from each other or contact each other. When the first brake device 8 and the second brake device 9 are in contact with each other, the rotor portion 21 can be stopped, and when the first brake device 8 and the second brake device 9 When the brake devices 9 are separated from each other, the rotor portion 21 can be rotated.

In other embodiments, the speed reduction device 1 may further include an encoder component for detecting changes in the angle or displacement of the rotor portion 21 of the motor 2 during rotation. The encoder component includes a signal transmitting end 6 and a signal receiving end 7. The signal transmitting end 6 is disposed on one side of the bottom 2140 of the rotor first casing 214 of the rotor housing part 210, and the signal receiving end 7 is disposed adjacent to the signal transmitting end 6 on the first roller wheel set 32. On the side of the first housing 320 of the reducer, the signal transmitting terminal 6 can transmit a detection signal to the signal receiving terminal 7, and the cooperation of the signal transmitting terminal 6 and the signal receiving terminal 7 can detect that the rotor portion 21 of the motor 2 is rotating. The angle or displacement changes with time.

The following will exemplify the operation of the power source reduction device 1 of this embodiment, and temporarily determine the number of the first rollers 321 of the first roller wheel set 32 and the second rollers of the second roller wheel set 33 The number of columns 331 is the same, all of which are N, and the number of the third rollers 341 of the third roller wheel set 34 is M, and the number of teeth of the first tooth 300 and the number of teeth of the third tooth 310 The number of teeth is the same as A, and the number of teeth of the second tooth portion 301 is the same as the number of teeth of the fourth tooth portion 311 and is B. When the rotor portion 21 of the motor 2 rotates, the first eccentric ring 211 and the second eccentric ring 212 provided on the rotor portion 21 rotate synchronously with the rotor portion 21, and when the first eccentric ring 211 and the second eccentric ring 212 rotate At this time, because the first roller 321 on the first roller wheel set 32 that is in contact with the first tooth portion 300 cannot rotate with the shaft portion 200 as the axis, and the second roller wheel that is in contact with the third tooth portion 310 The second roller 331 on the group 33 cannot rotate with the shaft portion 200 as an axis, so that the first cycloid disk group 30 and the second cycloid disk group 31 are respectively restrained by this, and the rotation speed is the speed of the rotation speed of the motor 2 ( AN) / A, that is, a first-stage deceleration is generated, and the third roller wheel set 34 is driven by the second tooth portion 301 of the first cycloid plate group 30 and the fourth tooth portion 311 of the second cycloid plate group 31, respectively. The third roller 341 on the shaft rotates around the shaft portion 200, and the third roller 341 is provided on the hollow ring portion 340 of the roller wheel set, because the hollow ring portion of the roller wheel set constituting the power output end The speed of 340 is ((A × M)-(B × N)) / (A × M) of the speed of the motor 2, which results in a second-stage deceleration. Therefore, when the number of the first rollers 321 is greater than the number of the first teeth 300, for example, the number of the second rollers 331 is greater than the number of the third teeth 310, such as one, and the third roller The number of the third rollers 341 of the column wheel set 34 is greater than the number of the second tooth portions 301 or the number of the fourth tooth portions 311, for example, one, that is, the number 300 of the first tooth portions A is N- 1, the number of the third tooth portion 310 is N-1, and the number of the second tooth portion 301 or the fourth tooth portion 311 is M-1, then the first cycloid plate group 30 and the second cycloid plate group The rotation speed of 31 is 1 / (N-1) of the rotation speed of the motor 2. The rotation speed of the hollow ring portion 340 of the roller wheel set constituting the power output end is (NM) / ((N-1) × M of the rotation speed of the motor 2. ).

In some embodiments, as shown in FIG. 4, the rotor first casing 214 may have a hollow ring structure, that is, it has only a hollow ring portion 2141 of the casing, and does not have a bottom 2140 as shown in FIG.

In addition, the rotor first housing 214 is a hollow ring structure, so in other embodiments, as shown in FIG. 5, the rotor housing first bearing 2143 of the rotor housing bearing group may be changed to the first gear reducer. Between the inner wall of the housing 320 and the outer wall of the rotor housing part 210, the rotor housing second bearing 2151 of the rotor housing bearing group may be disposed on the inner wall surface of the second housing 330 of the reducer and the rotor housing part 210. Between the outer side walls, when the rotor portion 21 is driven by the stator portion 20 while the motor 2 is operating by utilizing the magnetic force between the rotor portion 21 and the stator portion 20, the rotor portion 21 can be rotated by the rotor housing bearing group.

Please refer to FIG. 6, which is a schematic diagram of an explosion of a part of a structure of a speed reducer with a power source according to a third preferred embodiment of the present invention. As shown in FIG. 6, in some embodiments, in order to reduce the overall thickness of the speed reducer with a power source, the motor 2 of the speed reducer 1 may be replaced by an axial magnetic flux motor. The motor 2 also includes a stator portion 60, a rotor portion 61, and a shaft portion 62. The stator portion 60 and the rotor portion 61 are disposed on the shaft portion 62. Therefore, the shaft portion 62 is located at the center of the stator portion 60 and the rotor portion 61, respectively. The rotor portion 61 includes a rotor case portion 610, a first eccentric ring 611, and a second eccentric ring 612. The rotor housing portion 610 may actually have a hollow structure and accommodate the stator portion 60 and a portion of the shaft portion 62, and when the shaft portion 62 is partially housed in the hollow structure of the rotor housing portion 610, the first portion of the shaft portion 62 The end portion and the second end portion protrude from opposite sides of the rotor case portion 610, respectively. The first eccentric ring 611 and the second eccentric ring 612 are adjacently protruded from the outer side wall of the rotor housing portion 610. When the rotor portion 61 rotates, the first eccentric ring 611 and the second eccentric ring 612 will be relative to the shaft portion. 62, the eccentric directions of the first eccentric ring 611 and the second eccentric ring 612 are opposite.

In the above embodiment, the stator portion 60 further includes an iron core 600, and a shaft portion 62 is provided at the center of the iron core 600. The rotor portion 61 further includes at least one magnet 616 and a coil 617. The coil 617 is looped on the outer side wall of the magnet 616. The magnet 616 can be, for example, an arc-shaped or ring-shaped magnet, and is attached to the inner wall surface of the hollow structure of the rotor housing portion 610. The magnet 616 and the stator portion 60 can generate an interaction force between magnetic fields, so that the magnet 616 drives the rotor portion. 61 to rotate. Of course, the rotor case portion 610 may also include a rotor first case 613 and a rotor second case 614. The rotor first casing 613 may be a hollow ring structure. The second rotor case 614 has a disc-like structure and corresponds to the size of the hollow structure of the first rotor case 613. When the first rotor case 613 houses the stator portion 60, the second rotor case 614 may It covers the hollow structure of the rotor first casing 613, so that the rotor first casing 613 and the rotor second casing 614 cover the stator portion 60. In addition, the rotor second casing 614 further includes a perforation 615, which is connected to the shaft portion 62. The second end portion is provided at a corresponding position for the second end portion of the shaft portion 62 to pass through.

Please refer to FIG. 7, FIG. 8, and FIG. 9, where FIG. 7 is a schematic cross-sectional structure diagram of a power source speed reducer according to a fourth preferred embodiment of the present invention, and FIG. 8 is a view shown in FIG. 7. A schematic diagram of the explosion structure of the power source deceleration device. FIG. 9 is a structural diagram of the first cycloid plate of the first cycloid plate group of the power source deceleration device shown in FIG. 7. As shown in FIG. 7, FIG. 8, and FIG. 9, the structure, operation principle, and reduction ratio of the speed reducer 1 ′ having a power source in this embodiment are similar to those of the power reduction gear 1 ′ shown in FIGS. 1 and 2. The structure, operating principle and reduction ratio of the source's speed reduction device 1, so here only the same symbols are used to indicate that the structure and actuation of the components are similar and will not be described again, but compared to those shown in Figures 1 and 2 The first cycloid plate group 30 and the second cycloid plate group 31 of the reduction device 1 have only a single first cycloid plate 30 'in this embodiment, and the second cycloid plate group only has The single second cycloid plate 31 ′, wherein the structure of the first cycloid plate 30 ′ and the second cycloid plate 31 ′ is similar, so FIG. 9 illustrates only the structure of the first cycloid plate 30 ′. The first cycloid disc 30 'has a first annular concave groove 304 provided at a position corresponding to the plurality of first rollers 321, and the first tooth portion 300 of the first cycloid disc 30' is formed in the first An annular recessed groove 304 is on the inner side wall and is in contact with the corresponding at least one first roller 321, and the second tooth portion 301 of the first cycloid disc 30 'is protruded from the first cycloid disc 30 'On the outer side wall and in contact with the corresponding at least one third roller 341. The second cycloid plate 31 'has a second annular concave groove 314 provided at a position corresponding to the plurality of second rollers 331, and the third tooth portion 310 of the second cycloid plate 31' is formed in the first On the inner side wall of the two annular concave grooves 314, and in contact with the corresponding at least one second roller 331, the fourth tooth portion 311 of the second cycloid disc 31 'is convexly disposed on the second cycloid disc 31 'On the outer side wall and in contact with the corresponding at least one third roller 341. In some embodiments, the number of the first teeth 300 is different from the number of the second teeth 301, and the number of the third teeth 310 is different from the number of the fourth teeth 311.

The following will exemplify the operation of the power source speed reduction device 1 ′ of this embodiment, and temporarily determine the number of the first rollers 321 of the first roller wheel set 32 and the second of the second roller wheel set 33 The number of the rollers 331 is the same, and they are all N, and the number of the third rollers 341 of the third roller wheel set 34 is M, and the number of teeth of the first tooth portion 300 is the same as that of the third tooth portion 310. The number of teeth is the same as A, and the number of the second teeth 301 and the fourth tooth 311 is the same as B. When the rotor portion 21 of the motor 2 rotates, the first eccentric ring 211 and the second eccentric ring 212 provided on the rotor portion 21 rotate synchronously with the rotor portion 21, and when the first eccentric ring 211 and the second eccentric ring 212 rotate At this time, because the first roller 321 on the first roller wheel set 32 that is in contact with the first tooth portion 300 cannot rotate with the shaft portion 200 as the axis, and the second roller wheel that is in contact with the third tooth portion 310 The second roller 331 on the group 33 cannot rotate with the shaft portion 200 as the axis, so that the first cycloid disk group and the second cycloid disk group are respectively restrained by this, and the rotation speed is (AN) of the rotation speed of the motor 2 / A, that is, a first-stage deceleration occurs, and the second tooth portion 301 of the first cycloid plate group and the fourth tooth portion 311 of the second cycloid plate group respectively drive the third on the third roller wheel group 34 The roller 341 rotates with the shaft portion 200 as the axis, and the third roller 341 is provided on the hollow ring portion 340 of the roller wheel set, because the rotational speed of the hollow ring portion 340 of the roller wheel set constituting the power output end is It is ((A × M)-(B × N)) / (A × M) for the speed of the motor 2, that is, the second stage of deceleration is generated. Therefore, when the number of the first rollers 321 is greater than the number of the first teeth 300, for example, the number of the second rollers 331 is greater than the number of the third teeth 310, such as one, and the third roller The number of the third rollers 341 of the column wheel set 34 is greater than the number of the second tooth portions 301 or the number of the fourth tooth portions 311, for example, one, that is, the number 300 of the first tooth portions A is N- 1. The number A of the third tooth portion 310 is N-1, and the number B of the second tooth portion 301 or the fourth tooth portion 311 is M-1. Then, the number of the first cycloid plate group and the second cycloid plate group is The rotation speed is 1 / (N-1) of the rotation speed of the motor 2. The rotational speed of the hollow ring-shaped portion 340 of the roller wheel set constituting the power output end is (N-M) / ((N-1) × M) of the rotational speed of the motor 2.

In summary, the present case provides a speed reducer with a power source. The speed reducer includes an integrally designed motor and reduction mechanism. The motor is arranged radially inside the overall structure of the speed reducer, and the speed reduction mechanism is radially outside the overall structure of the speed reducer. When the rotor portion rotates, the first eccentric ring and the second eccentric ring on the rotor portion respectively drive the first cycloid plate group and the second cycloid plate group on the reduction mechanism, so that the first cycloid plate group and The second cycloid disk group can interact with the first non-rotating first roller wheel group, the second roller wheel group and the rotatable third roller wheel group, thereby generating a second-order deceleration, so the power source deceleration in this case The device does not require additional couplings to connect the motor and the reduction mechanism, so it can achieve the effect of reducing weight and volume, and also realizes the advantage of high reduction ratio due to the second-order reduction. In addition, because the speed reduction mechanism of the power source speed reduction device in the present case has a first cycloid plate group and a second cycloid plate group, compared with a reducer using a single cycloid plate, The reduction gear not only has high rigidity, but also can withstand higher loads. The first cycloid disk group and the second cycloid disk group are respectively arranged on the first eccentric ring and the second eccentric ring with opposite eccentric directions, so the power source deceleration device in this case can achieve dynamic balance.

1. 1’‧‧‧ Reducer with power source

2‧‧‧ Motor

20、60‧‧‧Stator

200, 62‧‧‧ Shaft

201, 600‧‧‧ iron core

202, 617‧‧‧coil

21, 61‧‧‧rotor section

210, 610‧‧‧rotor housing

211, 611‧‧‧The first eccentric ring

212, 612‧‧‧‧Second Eccentric Ring

213, 616‧‧‧magnet

214‧‧‧rotor first casing

215‧‧‧rotor second housing

2140‧‧‧ bottom

2141‧‧‧Hollow ring

2142‧‧‧first perforation

2143‧‧‧Rotor housing first bearing

2150‧‧‧second perforation

615‧‧‧perforation

2151‧‧‧Rotor housing second bearing

3‧‧‧ Reduction mechanism

30‧‧‧The first cycloid plate group

300‧‧‧ first tooth

301‧‧‧Second tooth

302‧‧‧The first outer cycloid

303‧‧‧The first inside cycloid

31‧‧‧Second Cycloid Disk Set

310‧‧‧ third tooth

311‧‧‧ fourth tooth

312‧‧‧Second outer cycloid

313‧‧‧Second inner cycloid

32‧‧‧The first roller wheel set

320‧‧‧ Reducer first casing

3200‧‧‧first fixing hole

321‧‧‧first roller

33‧‧‧Second Roller Wheel Set

330‧‧‧ reducer second shell

331‧‧‧Second roller

3300‧‧‧Second fixing hole

34‧‧‧The third roller wheel set

340‧‧‧Roller Ring Hollow Ring

341‧‧‧third roller

35‧‧‧The first outer bearing of the reducer

36‧‧‧ Reducer second outer bearing

4‧‧‧Rotor first outer bearing group

5‧‧‧Rotor second outer bearing set

6‧‧‧Signal transmitter

7‧‧‧Signal receiver

8‧‧‧ the first brake

9‧‧‧Second brake device

30’‧‧‧first cycloid

31’‧‧‧Second Cycloid

304‧‧‧First annular recessed groove

314‧‧‧Second annular concave groove

FIG. 1 is a schematic cross-sectional structure diagram of a speed reducer with a power source according to the first preferred embodiment of the present invention. Fig. 2 is a schematic diagram of an explosion structure of a speed reducer with a power source shown in Fig. 1. FIG. 3 is a partial structural diagram of a rotor portion of a motor of a reduction gear with a power source shown in FIG. 1. FIG. 4 is a partial structural diagram of a modified example of a rotor portion of a motor of a reduction gear with a power source shown in FIG. 3. FIG. 5 is an exploded view of a part of a structure of a power source deceleration device according to a second preferred embodiment of the present invention. FIG. 6 is an exploded view of a part of a structure of a power source speed reducer according to a third preferred embodiment of the present invention. FIG. 7 is a schematic cross-sectional structure diagram of a speed reducer with a power source according to a fourth preferred embodiment of the present invention. FIG. 8 is a schematic diagram of an explosion structure of a speed reducer with a power source shown in FIG. 7. FIG. 9 is a schematic structural diagram of the first cycloid plate of the first cycloid plate group of the power source reduction gear device shown in FIG. 7.

Claims (11)

A speed reducer with a power source includes: a motor that is a power source and includes: a fixed sub-portion; a shaft portion positioned at a center position of the stator portion; and a rotor portion driven by the stator portion It rotates and includes a rotor housing portion with a hollow structure, a first eccentric ring, and a second eccentric ring. The rotor housing portion houses the stator portion, the first eccentric ring and the second eccentric ring. Are adjacently protruded on the outer side wall of the rotor housing portion; and a speed reduction mechanism is located on the opposite outer side of the motor and includes a first cycloid disc group, a second cycloid disc group, a first A roller wheel set, a second roller wheel set, and a third roller wheel set. The first cycloid disk set is sleeved on the first eccentric ring and has at least a first tooth portion and at least A second toothed portion, the second cycloidal disk set is sleeved on the second eccentric ring, and has at least one third toothed portion and at least one fourth toothed portion. The first roller wheel set is disposed on A first side of one of the motors includes a first housing of the speed reducer and a plurality of first rollers disposed on the first housing of the speed reducer. The second roller wheel set is disposed on the first side of the motor. One side of the second side of the motor is opposite, and includes a second housing of the reducer and a plurality of second rollers disposed on the second housing of the reducer. The third roller wheel set is disposed at Between the first roller wheel set and the second roller wheel set, and covering the motor together with the first roller wheel set and the second roller wheel set, and including a roller ring hollow ring And a plurality of third rollers arranged on the hollow annular portion of the roller wheel set, wherein the first tooth portion is in contact with at least one of the first rollers, and the third tooth portion is in contact with at least one of the The second roller is in contact, and the second tooth portion and the fourth tooth portion are in contact with at least one of the third rollers, respectively. As described in item 1 of the scope of the patent application, the speed reduction device with a power source, wherein the eccentric directions of the first eccentric ring and the second eccentric ring are opposite. The power source reduction device as described in item 1 of the scope of patent application, wherein the first roller wheel set and the second roller wheel set do not rotate with the shaft portion as an axis, and rotate with the rotor portion. , The first eccentric ring and the second eccentric ring system rotate to drive the first cycloid plate group and the second cycloid plate group respectively, so that the third roller wheel group is subject to each of the third The pushing movement between the roller and the corresponding second tooth portion and the fourth tooth portion rotates with the shaft portion as an axis, thereby driving the hollow ring portion of the roller wheel group to rotate to generate power output. The power source deceleration device according to item 1 of the scope of patent application, wherein the rotor housing portion further comprises: a rotor first housing including a hollow annular portion of the casing, and the hollow annular portion of the casing It has the hollow structure and is used for accommodating the stator part; and a rotor second case is a disc-shaped structure and corresponds to the size of the hollow structure of the hollow annular part of the case for covering The casing has a hollow annular portion, and further covers the stator portion with the rotor first casing. The power source speed reducing device according to item 4 of the scope of the patent application, wherein the speed reducing device further includes a first braking device and a second braking device, and the first braking device is disposed on the second roller wheel. One side surface of the second rotor casing of the rotor casing adjacent to the second group, and the second braking device is provided corresponding to the first braking device at the deceleration adjacent to the second rotor casing. When the first brake device and the second brake device are in contact with each other on one side of the second housing of the engine, the rotor part is stopped, and when the first brake device and the second brake device are separated from each other, the rotor is stopped. The rotor portion is rotated. As described in item 4 of the scope of patent application, the power source speed reducing device, wherein the shaft portion includes a first end portion and a second end portion, and the first housing of the rotor is a cup-shaped structure, and further includes a bottom portion, The bottom portion includes a first perforation, which is provided at a position corresponding to the first end portion, for the first end portion to pass through. The hollow annular portion of the housing is vertically disposed on the bottom portion, and the rotor portion The two shells further include a second perforation, which is provided at a position corresponding to the second end portion, for the second end portion to pass through. The power source speed reducing device according to item 1 of the scope of the patent application, wherein the first cycloid disk set includes a first outer cycloid disk and a first inner cycloid disk adjacent to each other, and the second The cycloid plate assembly includes a second outer cycloid plate and a second inner cycloid plate, the first outer cycloid plate and the first inner cycloid plate are adjacent to each other, and the first inner cycloid plate Is located between the first outer cycloid plate and the second inner cycloid plate, and the first tooth portion is convexly arranged on the outer side wall of the first outer cycloid plate, and the second tooth portion is convexly provided On the outer side wall of the first inner cycloid disk, the second outer cycloid disk and the second inner cycloid disk are adjacent to each other, and the second inner cycloid disk is located on the first inner cycloid disk. And the second outer cycloid disk, the third tooth portion is convexly disposed on the outer side wall of the second outer cycloid disk, and the fourth tooth portion is convexly disposed on the second inner cycloid disk On the outer wall. As described in item 7 of the scope of the patent application, the power source speed reducing device, wherein the tooth profile of the first outer cycloid plate is the same as the tooth profile of the second outer cycloid plate, and the tooth of the first inner cycloid plate The type is the same as that of the second inner cycloid, and the number of the first teeth is the same as that of the third teeth. The number of the second teeth is the same as that of the fourth teeth. The number of parts is the same. According to the power source speed reduction device described in item 1 of the scope of patent application, the number of the first rollers is the same as the number of the second rollers, and the number of the first rollers is greater than that The number of the first teeth is at least one more, the number of the second rollers is at least one more than the number of the third teeth, and the number of the third rollers is more than the number of the second teeth The number may be at least one more than the number of the fourth teeth. The power source deceleration device according to item 1 of the scope of the patent application, wherein the first cycloid disk group includes a first cycloid disk, and the first cycloid disk includes a first annular inner groove. A groove, wherein the first tooth portion of the first cycloid disk group is formed on an inner side wall of the first annular concave groove and is in contact with at least one of the first rollers, and the first cycloid The second tooth portion of the disk group is convexly arranged on the outer side wall of the first cycloid disk and is in contact with at least one of the third rollers, and the second cycloid disk group includes a second cycloid disk The second cycloid disc includes a second annular recessed groove, wherein the third tooth portion of the second cycloid disc group is formed on an inner side wall of the second annular recessed groove, And is in contact with at least one of the second rollers, and the fourth tooth portion of the second cycloid disk is convexly arranged on an outer side wall of the second cycloid disk group and is in contact with at least one of the third rollers . As described in claim 10 of the scope of patent application, the speed reduction device with a power source, wherein the number of the first teeth is different from the number of the second teeth, and the number of the third teeth is different from the The number of the fourth teeth.