TWI656716B - Self-locking geared motor capable of sensing torque - Google Patents

Abstract

The invention provides a self-locking speed reduction motor capable of sensing torque, comprising a fixed sun gear, a movable sun gear, a plurality of planetary gear strings, a planetary gear plate and a motor stator disposed in a casing, wherein the fixed sun The gear has a plurality of spokes, and the plurality of spokes are respectively disposed with at least one strain gauge, the planetary gear disc is combined with a permanent magnet to form an annular rotor, and the first planetary gear and the first one of the plurality of planetary gear strings The two planetary gears respectively engage the fixed sun gear and the movable sun gear, and the motor stator is wound around the periphery of the ring rotor; thereby improving the overall configuration space of the conventional gear motor due to the need to install the brake and the torque sensor The problem of cum volume is difficult to effectively reduce.

Description

Self-locking geared motor capable of sensing torque

The invention relates to a structural technology of a speed reducing motor, in particular to a self-locking speed reducing motor capable of sensing a torque.

The reduction motor is an integrated power drive unit that combines an electric motor with a gear reduction mechanism or a non-gear reduction mechanism. Generally, in the case of the same driving voltage, if there is a low-speed and high-torque output, the volume is usually relatively large, and the manufacturing cost is also high. If the high-speed and low-torque output is used, the volume is usually relatively small, and the manufacturing cost is also small. Low, and the deceleration motor allows the motor to convert to a low speed and high torque through a speed reduction mechanism while generating high speed and low torque, providing a large torque output in a relatively small volume, such as elevators, winches and robots; in addition, Driving through a reduction motor is, for example, a camera film cassette. Therefore, the use of a reduction motor as a power drive is quite common.

Among them, the gear reduction mechanism used by the reduction motor generally uses the planetary gear set as an intermediate transmission component in order to obtain an ideal reduction ratio output. It is also known that, in the conventional technology, a planetary gear set having a multi-step reduction ratio power output is used to construct the gear type speed reduction mechanism, and an ideal low-speed, high-torque reduction ratio output can be obtained.

Taking the patents of Taiwan Publication No. I404306, M524003, and I538363 as an example, a reduction motor using a gear reduction mechanism is disclosed, respectively. However, these conventional geared motors provide the ideal reduction ratio output, but they lack the self-locking function.

Furthermore, the planetary gear set generally includes a sun gear, a planetary gear, a planetary gear disk, a ring gear, and a conventionally arranged planetary gear. The gear motor of the wheel set is a combination of the increase and decrease of the gear assembly described above, so that it generates a power output with a reduction ratio.

It is known that the gear reduction mechanism of the above-mentioned reduction motor has an input end and an output end. For the entire reduction mechanism, the input end and the output end can be respectively selected from the sun gear, the planetary gear disc and the ring gear. The object of obtaining the ideal reduction ratio; the motor in the reduction motor is used as the input end to provide a rotary power input, and the output end is usually connected with a device with high torque and deceleration driving demand; for the overall speed reduction mechanism, The device at the output end itself has a pinning factor such as gravity, which will become the load of the speed reduction mechanism; when the motor at the input end stops running (including forward rotation and reverse rotation), it generally maintains the same due to the revolving inertia. The end speed operation in the direction of rotation does not accurately grasp the transmission position where the force end device stops moving, or causes the output end device to stop moving and cause damage or danger. In addition, when the output end device stops at a moment, it is also common to apply a rotational momentum to the speed reduction mechanism opposite to the rotation direction of the transmission due to the load of the device connected to the output end, which is also a problem affecting the positioning accuracy of the output end device. . The reason for this is that the traditional geared motor lacks the self-locking function.

In order to overcome the problem that the above-mentioned speed reducing motor cannot be self-locking, the known technique is to arrange a braking device on the device connected to the output end or the output end of the speed reducing mechanism in the speed reducing motor, but the braking device is not affiliated with the above gear The components of the speed reduction mechanism itself (that is, not the sun gear, the planetary gear, the planetary gear disk, and the ring gear) have problems in that it is difficult to simplify the assembly, reduce the arrangement space, and reduce the manufacturing cost.

In addition, the conventional deceleration motor needs to be equipped with a torque sensor between the output end and the device connected to the output end to measure the change of the torque value generated in the deceleration motor. This configuration method can effectively measure the deceleration motor. The generated torque value changes, but since the torque sensor is not a member of the reduction motor itself, the overall configuration space after the torque sensor and the reduction motor are integrated is increased.

In view of the above, the object of the present invention is to aim at a conventional geared motor, particularly for a geared motor equipped with a planetary gear set, to improve the self-locking of the geared motor itself at the instant of stopping the power at the input end, and even affect the output end. The problem of the positioning accuracy of the connected equipment, and the need to additionally install a torque sensor to measure the change in the torque value generated in the reduction motor, thereby increasing the overall space of the integrated configuration of the reduction motor and the torque sensor.

In order to achieve the above object and solve the problem, a preferred embodiment of the present invention provides a self-locking reduction motor capable of sensing torque, and the structural configuration details thereof include: a casing having a center line; and a fixed sun gear along the The center line is fixed in the casing, the fixed sun gear has a wheel frame and a hub, and the wheel frame and the hub are connected to each other via a plurality of spokes, and the plurality of spokes are respectively disposed with at least one strain a movable sun gear disposed along the center line in an axially spaced relationship with the fixed sun gear; a plurality of planetary gear strings respectively disposed on an outer edge of the fixed sun gear and the movable sun gear, the plurality of planetary gear strings a first planetary gear having a coaxial string and a second planetary gear, the first planetary gear meshing with the fixed sun gear, the second planetary gear meshing with the movable sun gear; and a planetary gear disk along the center The wire is pivotally disposed in the casing, and the plurality of planetary gear strings are respectively disposed on the planetary gear plate, and the planetary gear plate is combined with a permanent magnet to form Annular rotor; and a motor stator disposed around the periphery of the rotor and is located in the annular housing is provided.

In a further implementation, the tooth surface of the fixed sun gear is formed on an outer wall of the wheel frame, the hub is fixed in the casing along the center line, and the plurality of spokes extend from an outer wall of the hub to the The inner wall of the wheel frame.

In a further implementation, the spoke is formed with at least one radial end surface parallel to the centerline, and the strain gauge is disposed on the end surface. Wherein the end face is parallel to the axial direction of the centerline. The end face is perpendicular to the axial direction of the centerline.

In a further implementation, each of the plurality of planetary gear trains and each of the second planetary gears respectively receive the restraint of the planetary gear disc Synchronously bypassing the fixed sun gear and revolving the active sun gear. The first planetary gear of the plurality of planetary gears is integrally formed coaxially with the second planetary gear and pivotally coupled to a planetary gear shaft, and the planetary gear shaft is fixed to the planetary gear plate.

In a further implementation, the permanent magnet is attached to the outer wall of the annular rotor.

In a further implementation, the motor stator is formed by combining a stack of magnetically conductive steel sheets having a plurality of slots with an enameled wire winding of the sequential windings in the plurality of slots.

According to the above, the present invention uses a ring-shaped rotor formed by a planetary gear disc in combination with a permanent magnet as an input end, and a movable sun gear as an output end, and the movable sun gear shaft is connected with a device having a high torque and a driving demand after deceleration, by the The components in the retarding motor are intermeshing and drive, thereby providing a power output having a reduction ratio to the device to which the output end is coupled. Therefore, the technical effects that can be presented by the present invention are:

1. The reduction motor can have a self-locking function by the coaxially integrally formed first planetary gear and the second planetary gear respectively fixing the sun gear and the movable sun gear, especially when the speed reduction motor stops running, the speed reduction motor The components can be immediately braked each other, so that the device connected to the output end can be immediately stopped when it is operated to the desired position. Therefore, the present invention does not need to additionally increase the braking device, thereby reducing the manufacturing cost and facilitating the reduction. The configuration space of the reduction motor.

2. Forming the assembly position of the strain gauge directly on the spokes of the fixed sun gear, simplifying the structural complexity of the deceleration motor, so as to measure the change of the torque value generated in the deceleration motor, without additional torque sensor, can effectively Reduce the overall configuration space of the geared motor.

3. The planetary gear disc is combined with the permanent magnet to form the annular rotor, that is, the annular rotor of the motor is integrated with the planetary gear disc of the planetary gear set to simplify the structure of the reduction motor, thereby reducing the overall configuration space of the reduction motor.

Further, details of the related art to which the present invention may be implemented will be explained in the following embodiments and drawings.

10‧‧‧Chassis

11‧‧‧ inner wall

12‧‧‧ End wall

20‧‧‧Fixed sun gear

21‧‧‧ wheel frame

22‧‧·wheels

23‧‧‧ spokes

24, 24a, 24b‧‧‧ end face

25‧‧‧ center axis

26‧‧‧Strain gauge

30‧‧‧Active Sun Gear

31‧‧‧ sleeve

32‧‧‧ Bearing

40‧‧‧ planetary gear train

41‧‧‧First planetary gear

42‧‧‧Second planetary gear

43‧‧‧Gear bearing

44‧‧‧ planetary gear shaft

50‧‧‧ planetary gear disc

60‧‧‧ permanent magnet

61‧‧‧Magnet retaining ring

70‧‧‧Ring rotor

71‧‧‧ Bearing

80‧‧‧Motor stator

L‧‧‧ center line

1 is a perspective view of the embodiment of the present invention; FIG. 2 is a front view of FIG. 1; FIG. 3 is a schematic perspective view of a fixed sun gear and a strain gauge; FIG. 4 is a three-dimensional configuration of different positions of a strain gauge on a fixed sun gear. FIG. 5 is an explanatory diagram of the force generated between the movable sun gear and the second planetary gear; FIG. 6 is an explanatory diagram of the force generated between the fixed sun gear and the first planetary gear.

First, please refer to FIG. 1 to FIG. 3 to disclose the configuration details of a preferred embodiment of the present invention, and illustrate a self-locking speed reduction motor capable of sensing torque provided by the present invention, including a casing 10 and a fixed sun gear. 20. A movable sun gear 30, a plurality of planetary gear strings 40, a planetary gear plate 50, a ring rotor 70 and a motor stator 80, wherein: the casing 10 serves as a fixed end of the entire reduction motor and is adapted to accommodate the above The sun gear 20, the movable sun gear 30, the plurality of planetary gear trains 40, the planetary gear plate 50, the ring rotor 70, and the motor stator 80 are fixed. An annular inner wall 11 and an end wall 12 connected to the annular inner wall 11 are formed in the casing 10. The annular inner wall 11 and the end wall 12 are formed to form a cylindrical capacity space. The sun gear 20, the movable sun gear 30, the plurality of planetary gear trains 40, the planetary gear plate 50, the ring rotor 70, and the motor stator 80 are disposed in the capacity space. Further, the casing 10 has a center line L which is parallel to the annular inner wall 11 and is located at the center of the annular inner wall 11, which is perpendicular to the end wall 12.

The fixed sun gear 20 is disposed along the center line L and is fixed to the end wall 12 in the casing 10. The fixed sun gear 20 has an annular wheel frame 21 and an annular hub 22, and the wheel frame 21 The plurality of spokes 23 are spaced apart from each other by a plurality of spokes 23, and the plurality of spokes 23 are radially distributed between the wheel frame 21 and the hub 22; in a specific implementation, the tooth surface of the fixed sun gear 20 is formed. On the outer wall of the wheel frame 21, the center of the hub 22 is fixed in the casing 10 along the center line L. On the end wall 12, the plurality of spokes 23 extend from the outer wall of the hub 22 to the inner wall of the wheel frame 21.

The plurality of spokes 23 are respectively disposed with at least one strain gauge 26, and more specifically, the spokes 23 are formed with at least one end surface 24 parallel to the radial direction of the center line L, and the strain gauge 26 is disposed on In the first embodiment, the end surface 24 of the strain gauge 26 is disposed parallel to the radial direction of the center line L and perpendicular to the axial end surface 24a of the center line L (as shown in FIG. 3). In the second embodiment, the end face 24 of the strain gauge 26 is disposed parallel to the radial and axial end faces 24b of the centerline L (as shown in FIG. 4); in the third embodiment, the strain gauge 26 The end faces 24a and the end faces 24b may be respectively disposed, that is, a plurality of strain gauges 26 are disposed on one of the spokes 23.

The movable sun gear 30 is disposed axially spaced from the fixed sun gear 20 along the center line L, and is pivotally disposed in the casing 10. The movable sun gear 30 serves as the output end of the reduction motor of the present invention, and the movable sun gear 30 shaft A sleeve 31 is connected, and one end of the sleeve 31 extends outside the casing 10 for connecting the device with a reduced speed requirement; in a specific implementation, the fixed sun gear 20 is axially coupled with a central shaft 25, the sleeve 31 sets on the central shaft 25, and is pivotally connected to the central shaft 25 by the bearing 32, so that the movable sun gear 30 and the fixed sun gear 20 are axially spaced apart and pivoted in the casing 10; in different embodiments The central shaft 25 can be formed by the casing 10 or the fixed sun gear 20.

The plurality of planetary gear strings 40 are respectively disposed on the outer edges of the fixed sun gear 20 and the movable sun gear 30, and the plurality of planetary gear strings 40 respectively have a first planetary gear 41 and a second planet coaxially arranged. A gear 42 that meshes with the sun gear 20 and the second planet gear 42 engages the sun gear 30.

The plurality of planetary gear strings 40 are respectively disposed on a planetary gear plate 50. The planetary gear plate 50 is pivotally disposed in the casing 10 along a center line L. Each of the first planets of the plurality of planetary gear strings 40 The gear 41 and each of the second planetary gears 42 are respectively restrained by the planetary gear plate 50, and are disposed on the fixed sun gear 20 and movable. The outer edge of the sun gear 30 is synchronously circumscribing the fixed sun gear 20 and the movable sun gear 30 to revolve; in a specific implementation, the first planetary gear 41 of the planetary gear train 40 is coaxially integrated with the second planetary gear 42 or The combination is formed and pivotally coupled to a planet gear shaft 44 via a gear bearing 43 that is fixed to the planet gear plate 50.

The planetary gear plate 50 is combined with a permanent magnet 60 to form an annular rotor 70 which serves as the input end of the reduction motor of the present invention. The permanent magnet 60 has at least one N pole and one S pole. One pole pair is formed, and the N pole and the S pole are arranged adjacent to each other in an annular shape and are in close contact with the surface of the annular rotor 70, and are protected by the magnet retaining ring 61 made of a non-magnetic material to avoid the centrifugal force of rotation. More specifically, the permanent magnet 60 is fixed to the outer wall of the annular rotor 70, and the annular rotor 70 is pivotally disposed in the casing 10 via a bearing 71.

The motor stator 80 is fixed on the annular inner wall 11 in the casing 10 and is disposed around the outer periphery of the annular rotor 70. The motor stator 80 is implemented by a multi-groove magnetic conductive steel pile and a sequential winding. The enameled wire windings in the plurality of slots are combined, and the controller and the power supply unit sequentially energize the enameled wire windings, and the magnetic lines generated by the permanent magnets 60 interact with the current of the enameled wire windings according to Ampere's law to push the permanent magnets 60. Rotation, that is, pushing the ring rotor 70 to rotate, generates a power source for the reduction motor of the present invention.

The first planetary gear 41 is in contact with the fixed sun gear 20, and the second planetary gear 42 is in contact with the movable sun gear 30, so that the first planetary gear 41 can be fixed when the ring rotor 70 rotates. The sun gear 20 is rotated by the guidance of the sun gear 20, and synchronously revolves following the planetary gear plate 50, so that the second planetary gear 42 following the rotation of the first planetary gear 41 drives the movable sun gear 30 to rotate at a specific reduction ratio with respect to the ring rotor 70.

In addition, the present invention can further configure the fixed sun gear 20 and the movable sun gear 30 to have different numbers of teeth; in other words, the fixed sun gear 20 has A teeth number, the movable sun gear 30 has B teeth number, and the A teeth number ≠B Number of teeth. Furthermore, the present invention can further rotate the above synchronous rotation (including rotation and The first planetary gear 41 and the second planetary gear 42 of the fixed fixed sun gear 20 and the movable sun gear 30 are arranged with different modulus; in other words, the first planetary gear 41 has an X modulus, the second The planet gear 42 has a Y modulus and an X modulus ≠Y modulus. Since the fixed sun gear 20 is in contact with the first planetary gear 41, the movable sun gear 30 is in contact with the second planetary gear 42, so the fixed sun gear 20 has the same X modulus as the first planetary gear 41, the activity The sun gear 30 has the same Y modulus as the second planetary gear 42.

According to the above configuration details, when the enameled wire winding on the motor stator 80 sequentially drives the permanent magnet 60 to rotate, the ring rotor 70 is synchronously driven to rotate, and the plurality of first planetary gears 41 having the X modulus are fixed to the sun. The gear 20 is engaged and guided to rotate, and the fixed sun gear 20 and the movable sun gear 30 revolve around. Since the first planetary gear 41 and the second planetary gear 42 are coaxially arranged in series, when the first planet When the gear 41 is driven, the second planetary gear 42 can rotate synchronously with the first planetary gear 41 (including the rotation and the bypass fixed sun gear 20 and the movable sun gear 30 revolving); wherein, the high speed rotation of the annular rotor 70 The rotational speed is transmitted through the plurality of first planetary gears 41 having the X-modulus to the fixed sun gear 20 having the A-number of teeth, and the movable sun gear 30 having the B-number of teeth is engaged by the plurality of second planetary gears 42 having the Y-modulus Since the fixed sun gear 20 has been fixed in the casing 10 without rotating, the movable sun gear 30 having the B number of teeth is different from the fixed sun gear 20 having the A number of teeth. The movable sun gear 30 is driven to rotate at a specific reduction ratio with respect to the ring rotor 70, thereby driving the sleeve 31 on the movable sun gear 30 to decelerate the output to supply the device having the reduced speed requirement.

Further, when the power input from the ring rotor 70 as the input end is stopped, the movable sun gear 30 as the output end is reversely subjected to mutual mutual interaction between the first planetary gear 41 and the second planetary gear 42 and the fixed sun gear 20. Self-locking due to braking action. Therefore, even if the device axially connected to the output end has a load such as gravity, the load will continue to drive the output end (ie, the movable sun gear 30) and then drive the input end to rotate when the power input from the input end stops; however, turn The moment of inertia is subject to the above-mentioned self-locking condition of the present invention (constrained) and does not drive into the force end. Accordingly, the present invention can accurately grasp the transmission position of the output end when the device is stopped, and can also eliminate the problem that the input end device is not damaged or dangerous when the power end of the input end is stopped. In addition, the present invention can also save the configuration cost of the brake device and help to reduce the configuration space of the structure.

Referring to FIG. 5 and FIG. 6 together, when the movable sun gear 30 inputs a clockwise torque T, the point of contact between the movable sun gear 30 and the second planetary gear 42 forms a line force F1 due to The second planetary gear 42 and the first planetary gear 41 are coaxially arranged in series, so that the point of contact between the first planetary gear 41 and the fixed sun gear 20 forms the same tangential force F1; The hub 22 has been fixed in the casing 10, so when the fixed sun gear 20 is subjected to the tangential force F1, the spoke 23 is connected to one end of the hub 22 to generate a reaction force F2; as shown in FIG. 3, when the strain gauge 26 is pasted When the end face 24a of the spoke 23 is used, the shear stress of the spoke 23 can be detected, and then the force applied to the double ends of the spoke 23 can be estimated, and then the force is multiplied by the length of the arm, which is the sensed torque value. As shown in FIG. 4, when the strain gauge 26 is adhered to the end surface 24b of the spoke 23, the bending stress of the spoke 23 can be detected, and then the force applied to the double ends of the spokes 23 can be estimated, and then the force is multiplied. The strength of the arm is the measured torque value .

However, the above embodiments are merely illustrative of preferred embodiments of the invention, but are not to be construed as limiting the scope of the invention. Therefore, the present invention should be based on the content of the claims defined in the scope of the patent application.

Claims (8)

A self-locking speed reducing motor capable of sensing torque comprises: a casing having a center line; and a fixed sun gear fixed in the casing along the center line, the fixed sun gear having a wheel frame and a hub The wheel frame and the hub are connected to each other via a plurality of spokes, and the plurality of spokes are respectively disposed with at least one strain gauge; a movable sun gear is disposed along the center line and axially spaced from the fixed sun gear; a plurality of planetary gear strings respectively disposed on the outer edges of the fixed sun gear and the movable sun gear, the plurality of planetary gear strings respectively having a first planetary gear and a second planetary gear in a coaxial series, the first The planetary gears mesh with the fixed sun gear, the second planetary gears mesh with the movable sun gear; a planetary gear disk is pivoted along the center line in the casing, and the plurality of planetary gear strings are respectively disposed on the planet a planetary gear disc combined with a permanent magnet to form an annular rotor; and a motor stator disposed around the outer periphery of the annular rotor and located in the casing; Forming on said at least one spoke parallel to the radial center line of the end surface, the strain gauge system arranged on the end face. The self-locking speed reduction motor capable of sensing a torque according to claim 1, wherein a tooth surface of the fixed sun gear is formed on an outer wall of the wheel frame, and the hub is fixed in the casing along the center line. The plurality of spokes extend from the outer wall of the hub to the inner wall of the wheel frame. A self-locking reduction motor capable of sensing a torque as claimed in claim 1, wherein the end face is parallel to an axial direction of the center line. A self-locking reduction motor capable of sensing a torque as claimed in claim 1, wherein the end face is perpendicular to an axial direction of the center line. A self-locking reduction motor capable of sensing a torque as claimed in claim 1, wherein the plurality of Each of the first planetary gears and each of the second planetary gears in the planetary gear train respectively receive the restraint of the planetary gear disc to synchronously bypass the fixed sun gear and revolve the movable sun gear. The self-locking speed reduction motor capable of sensing a torque according to claim 5, wherein the first one of the plurality of planetary gears is coaxially formed with the second planetary gear and pivotally coupled to a planetary gear shaft The planetary gear shaft is fixed to the planetary gear plate. A self-locking reduction motor capable of sensing a torque as claimed in claim 1, wherein the permanent magnet is fixed to an outer wall of the annular rotor. A self-locking speed reduction motor capable of sensing a torque according to claim 1 or 7, wherein the motor stator is formed by combining a stack of magnetic conductive steel sheets having a plurality of slots and an enameled wire winding of the sequential windings in the plurality of slots. .