Gear motor

Abstract

This invention discloses a geared motor, which includes a motor body, a fixed-axis gear train, a reduction mechanism, and a reduction output shaft. The motor body includes a motor shaft; the fixed-axis gear train is connected to the motor shaft and is used to transmit the torque of the motor body; the reduction mechanism is a planetary gear train or a harmonic drive mechanism. The planetary gear train includes a sun gear connected to the fixed-axis gear train, planet gears meshing with the outside of the sun gear, a fixed internal gear ring meshing with the outside of the planet gears, and a planetary carrier supporting the planet gears. The harmonic drive mechanism includes a shock wave generator connected to the fixed-axis gear train, a flexible gear meshing with the outside of the shock wave generator, and a rigid gear meshing with the outside of the flexible gear; the reduction output shaft passes through the fixed-axis gear train and the reduction mechanism, is parallel to the motor shaft, and is fixedly connected to the planetary carrier, or the reduction output shaft is connected to the flexible gear. The geared motor provided by this invention can reduce the spatial size of the geared motor, achieve a larger reduction ratio, and thus improve the load capacity of the geared motor.

Description

Technical Field

[0001] This invention relates to a geared motor. Background Technology

[0002] In related technologies, the motor shaft of the geared motor is either coaxial with or perpendicular to the reduction output shaft, resulting in an excessively large size. Furthermore, the final reduction stage of these geared motors is a simple compound gear mechanism with a relatively small reduction ratio, limiting the overall load capacity and energy density. Therefore, there is a need for a geared motor with a smaller size and higher overall load capacity. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to propose a geared motor with small spatial size and large overall load capacity.

[0004] One of the objectives of this invention is achieved through the following technical solution:

[0005] A geared motor, the geared motor comprising:

[0006] The motor body includes a motor shaft;

[0007] A fixed-axis gear train, which is connected to the motor shaft and is used to transmit the torque of the motor body;

[0008] The reduction mechanism is either a planetary gear train or a harmonic drive mechanism. The planetary gear train includes a sun gear connected to the fixed-axis gear train, planet gears meshing with the outside of the sun gear, a fixed internal gear ring meshing with the outside of the planet gears, and a planetary support supporting the planet gears. The harmonic drive mechanism includes a shock generator connected to the fixed-axis gear train, a flexible gear meshing with the outside of the shock generator, and a rigid gear meshing with the outside of the flexible gear.

[0009] A reduction output shaft passes through the fixed-axis gear train and the reduction mechanism. The reduction output shaft is parallel to the motor shaft and is fixedly connected to the planetary support. Alternatively, the reduction output shaft is connected to the flexible gear.

[0010] Furthermore, the fixed-axis gear train includes a first gear and a second gear meshing with the first gear, the first gear being connected to the motor shaft, and the second gear being connected to the sun gear or the shock generator.

[0011] Furthermore, the second gear and the sun gear or the shock generator are a double gear.

[0012] Furthermore, at least one third gear meshes between the first gear and the second gear.

[0013] Furthermore, there are two sun gears, namely a first sun gear and a second sun gear, and two planet gears, namely a first planet gear and a second planet gear. There are also two planetary carriers, namely a first planetary carrier for supporting the first planet gear and a second planetary carrier for supporting the second planet gear. The first planet gear meshes with the outer side of the first sun gear and with one side of the inner side of the fixed internal gear ring. The second sun gear is fixedly connected to the first planetary carrier and meshes with the other side of the inner side of the fixed internal gear ring. The second sun gear meshes with the inner side of the second planet gear. The second planetary carrier is fixedly connected to the reduction output shaft.

[0014] Furthermore, both the motor body and the reduction mechanism are located on the same side of the reduction output shaft.

[0015] Furthermore, the geared motor also includes a position element disposed at the end of the geared output shaft for measuring the rotational speed or deflection angle of the geared output shaft, and the geared output shaft is connected to the center of the position element.

[0016] Furthermore, the position element is formed by cutting off the side portion of a cylindrical component along the axial direction to form a photosensitive surface extending in the axial direction.

[0017] Furthermore, the position element includes a plurality of circumferentially connected magnetic pole parts, and adjacent magnetic pole parts have opposite magnetic poles; or,

[0018] The position element includes multiple magnetic pole parts arranged at circumferential intervals.

[0019] Furthermore, the position element is a grating structure, the grating structure includes a fixed disk, the fixed disk has a plurality of grooves arranged at intervals along the circumference, and the deceleration output shaft is connected to the center position of the fixed disk.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: The geared motor provided by the present invention can reduce the spatial size of the geared motor by setting the reduction output shaft parallel to the motor shaft. Preferably, the motor body and the reduction mechanism are located on the same side of the reduction output shaft. In this way, the overall axial size of the geared motor is reduced. The reduction is achieved by using a planetary gear train mechanism or a harmonic drive mechanism, which can achieve a larger reduction ratio and thus improve the load capacity of the geared motor. Furthermore, the reduction output shaft passes through the fixed-axis gear train and the reduction mechanism, which can increase the load on the reduction output shaft. Attached Figure Description

[0021] Figure 1 A schematic diagram of a geared motor provided according to an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of a geared motor provided for another embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a geared motor provided in another embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a geared motor provided in another embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a geared motor provided in another embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of two position elements in the geared motor provided by the present invention;

[0027] Figure 7 This is a schematic diagram of another positioning element in the geared motor provided by the present invention;

[0028] Figure 8 This is a schematic diagram of another positioning element in a geared motor provided by the present invention.

[0029] Figure 9 This is a schematic diagram of another positioning element in the geared motor provided by the present invention.

[0030] In the picture:

[0031] 100. Geared motor; 1. Motor body; 11. Motor shaft; 2. Fixed-axis gear train; 3. Reduction mechanism; 31. Planetary gear train mechanism; 32. Harmonic drive mechanism; 311. Sun gear; 312. Planetary gears; 313. Fixed internal gear ring; 314. Planetary support; 321. Shock generator; 322. Flexible wheel; 323. Rigid wheel; 4. Reduction output shaft; 21. First gear; 22. Second gear; 23. Third gear; 3111. First sun gear; 3112. Second sun gear; 3121. First planetary gear; 3122. Second planetary gear; 3141. First planetary support; 3142. Second planetary support; 5. Positioning element; 51. Magnetic pole parts; 52. Magnet; 53 / 53'. Fixed disk; 530. Groove; 531 / 531'. Center hole. Detailed Implementation

[0032] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship between the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] It should also be noted that when a component is referred to as "fixed to" or "set on" another component, the component may be directly on the other component or there may be an intervening component present. When a component is referred to as "connected to" another component, it may be directly connected to the other component or there may be an intervening component present.

[0035] Please refer to Figures 1-9 A geared motor 100, comprising:

[0036] Motor body 1, the motor body 1 includes a motor shaft 11; torque is output through the motor body 1;

[0037] A fixed-axis gear train 2 is connected to the motor shaft 11 and is used to transmit the torque of the motor body 1.

[0038] The deceleration mechanism 3 is either a planetary gear train mechanism 31 or a harmonic drive mechanism 32. The planetary gear train mechanism 31 includes a sun gear connected to the fixed-axis gear train 2, planet gears meshing with the outside of the sun gear, a fixed internal gear ring 313 meshing with the outside of the planet gears, and a planetary carrier supporting the planet gears. The harmonic drive mechanism 32 includes a shock wave generator 321 connected to the fixed-axis gear train 2, a flexible gear 322 meshing with the outside of the shock wave generator 321, and a rigid gear 323 meshing with the outside of the flexible gear 322. Deceleration is achieved through the cooperation of the sun gear, planet gears, and planetary carrier, or through the cooperation of the shock wave generator 321, flexible gear 322, or rigid gear 323.

[0039] The reduction output shaft 4 passes through the fixed-axis gear train 2 and the reduction mechanism 3, which can increase the load on the reduction output shaft 4. The reduction output shaft 4 is parallel to the motor shaft 11, which can reduce the spatial dimensions of the reduction motor 100. Preferably, the motor body 1 and the reduction mechanism 3 are both located on the same side of the reduction output shaft 4, thus reducing the overall axial dimension of the reduction motor 100. In other embodiments, the motor body 1 and the reduction mechanism 3 can also be located on opposite sides of the reduction output shaft 4, as can be referred to. Figure 3 , Figure 4 and Figure 5 The reduction output shaft 4 is fixedly connected to the planetary support and outputs torque through the planetary support; or, the reduction output shaft 4 is connected to the flexible wheel 322 and outputs torque through the flexible wheel 322.

[0040] The geared motor 100 provided by the present invention reduces the spatial size of the geared motor 100 by setting the reduction output shaft 4 parallel to the motor shaft 11. Preferably, the motor body 1 and the reduction mechanism 3 are located on the same side of the reduction output shaft 4, thus reducing the overall axial size of the geared motor 100. The reduction is achieved through the planetary gear train mechanism 31 or the harmonic drive mechanism 32, resulting in a larger reduction ratio. This increases the load capacity of the geared motor 100. Furthermore, the reduction output shaft 4 passes through the fixed-axis gear train 2 and the reduction mechanism 3, thereby increasing the load on the reduction output shaft 4.

[0041] Preferably, the fixed-axis gear train 2 includes a first gear 21 and a second gear 22 meshing with the first gear 21. The central axis of the first gear 21 and the central axis of the second gear 22 are both parallel to the reduction output shaft 4. The first gear 21 is connected to the motor shaft 11, and the second gear 22 is connected to the first sun gear 3111 or the shock generator 321, so that the motor body 1 and the reduction mechanism 3 are both located on the same side of the reduction output shaft 4.

[0042] Preferably, the second gear 22 and the first sun gear 3111 or the shock generator 321 are a double gear, please refer to Figures 1-5 The second gear 22 and the first sun gear 3111 or the shock generator 321 form a double gear, which can transmit torque very stably.

[0043] Preferably, at least one third gear 23 meshes between the first gear 21 and the second gear 22. When the distance between the motor shaft 11 and the reduction output shaft 4 is constant, setting the first gear 21, the second gear 22, and the third gear 23 requires less space than setting the first gear 21 and the second gear 22. More than one third gear 23 can be provided, and the second gear 22 and the third gear 23 can also be configured as a double gear. See [reference needed] for details. Figure 5 .

[0044] Preferably, there are two sun gears, namely a first sun gear 3111 and a second sun gear 3112; two planet gears, namely a first planet gear 3121 and a second planet gear 3122; and two planetary carriers, namely a first planetary carrier 3141 for supporting the first planet gear 3121 and a second planetary carrier 3142 for supporting the second planet gear 3122. The first planet gear 3121 meshes with the outer side of the first sun gear 3111 and with one side of the inner side of the fixed internal gear ring 313. The second sun gear 3112 is fixedly connected to the first planetary carrier 3141, and the second planet gear 3122 meshes with the other side of the inner side of the fixed internal gear ring 313. The second sun gear 3112 meshes with the inner side of the second planet gear 3122. The second planetary carrier 3142 is fixedly connected to the reduction output shaft 4. Please refer to... Figure 1 The fixed-axis gear train 2 drives the first sun gear 3111 to rotate, which in turn drives the first planet gear 3121 to rotate and mesh with the fixed internal gear ring 313. The first planetary carrier 3141 is fixedly connected to all the first planet gears 3121, and the rotational speed of the first planetary carrier 3141 is the same as the revolution speed of all the first planet gears 3121. The first planetary carrier 3141 drives the second sun gear 3112 to rotate, which in turn drives the second planet gear 3122 to rotate. The second planet gear 3122 is located between the second sun gear 3112 and the fixed internal gear ring 313. The second planetary carrier 3142 is fixedly connected to all the second planetary gears 3122. The rotational speed of the second planetary carrier 3142 is the same as the revolution speed of all the second planetary gears 3122. The torque is output through the second planetary carrier 3142 and is sent to the reduction output shaft 4. The first sun gear 3111, the first planetary gear 3121, the fixed internal gear ring 313 and the first planetary carrier 3141 form the first stage of reduction, and the second planetary gear 3122, the second sun gear 3112, the fixed internal gear ring 313 and the second planetary carrier 3142 form the second stage of reduction.

[0045] In other embodiments, the planetary gear train may include a single-stage reduction, a three-stage reduction, or a multi-stage reduction. If the planetary gear train includes a three-stage reduction, the sun gear may be configured as three: a first sun gear, a second sun gear, and a third sun gear; the planet gears may be configured as two: a first planet gear, a second planet gear, and a third planet gear; and the planet carriers may be configured as three: a first planet carrier for supporting the first planet gear, a second planet carrier for supporting the second planet gear, and a third planet carrier for supporting the third planet gear. The first planet gear meshes with the outer side of the first sun gear and with one side of the inner side of the fixed internal gear ring. The second sun gear is fixedly connected to the first planet carrier and meshes with the other side of the inner side of the fixed internal gear ring. The second sun gear meshes with the inner side of the second planet gear. The third sun gear is fixedly connected to the second planet carrier and meshes with the other side of the inner side of the fixed internal gear ring. The third sun gear meshes with the inner side of the third planet gear. The third planet carrier is fixedly connected to the reduction output shaft.

[0046] If the reduction mechanism 3 is a harmonic drive mechanism 32, please refer to... Figure 2 The fixed-axis gear train 2 drives the shock generator 321 to rotate, and the shock generator 321 drives the flexible wheel 322 to rotate. The flexible wheel 322 meshes with the rigid wheel 323 with a small tooth difference, and outputs torque through the flexible wheel 322. The flexible wheel 322 outputs the torque to the reduction output shaft 4.

[0047] Preferably, the geared motor 100 further includes a positioning element 5 disposed at the end of the geared output shaft 4 for measuring the rotational speed or deflection angle of the geared output shaft 4, wherein the geared output shaft 4 is connected to the center of the positioning element 5. The positioning element 5 may be integrally formed with the geared output shaft 4 or fixedly connected to the geared output shaft 4.

[0048] Preferably, the position element 5 is formed by cutting off the side portion of a cylindrical component along the axial direction to form a photosensitive surface extending in the axial direction. Please refer to... Figure 6 (1) and Figure 6 (2) If a potentiometer is used, the change in resistance on the rotating potentiometer will be detected by the change in angle. If a photosensitive sensor is used, the rotation speed can be detected when a plane reflection is received.

[0049] Preferably, the position element 5 includes a plurality of circumferentially connected magnetic pole parts 51, and adjacent magnetic pole parts 51 have opposite magnetic poles. Please refer to [reference needed]. Figure 7 The N-S pole spacing magnetic pole component 51 provides a magnetic signal to the magnetic sensing element, which can then identify the angle and speed.

[0050] Preferably, the position element 5 includes a plurality of magnetic pole parts 51 arranged at circumferential intervals, please refer to Figure 8The position element 5 includes a fixed disk 53, on which a plurality of mounting holes are spaced apart along the circumference. The magnetic pole part 51 can be a round or square magnet 52, which is embedded in the mounting hole to form a magnetic pole.

[0051] Preferably, the position element 5 is a grating structure, which includes a fixed disk 53'. The fixed disk 53' has multiple circumferentially spaced grooves 530 around its periphery. The reduction output shaft 4 is connected to the center of the fixed disk 53'. (Please refer to...) Figure 9 The light sensor identifies whether light penetrates to obtain speed and angular position signals.

[0052] A center hole 531 / 531' is provided in the center of the fixed plate 53 / 53' for the reduction output shaft 4 to pass through.

[0053] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A geared motor, characterized in that: The geared motor includes: The motor body includes a motor shaft; A fixed-axis gear train, which is connected to the motor shaft and is used to transmit the torque of the motor body; The reduction mechanism is either a planetary gear train or a harmonic drive mechanism. The planetary gear train includes a sun gear connected to the fixed-axis gear train, planet gears meshing with the outside of the sun gear, a fixed internal gear ring meshing with the outside of the planet gears, and a planetary support supporting the planet gears. The harmonic drive mechanism includes a shock generator connected to the fixed-axis gear train, a flexible gear meshing with the outside of the shock generator, and a rigid gear meshing with the outside of the flexible gear. A reduction output shaft passes through the fixed-axis gear train and the reduction mechanism. The reduction output shaft is parallel to the motor shaft and is fixedly connected to the planetary support. Alternatively, the reduction output shaft is connected to the flexible gear.

2. The geared motor according to claim 1, characterized in that: The fixed-axis gear train includes a first gear and a second gear meshing with the first gear. The first gear is connected to the motor shaft, and the second gear is connected to the sun gear or the shock generator.

3. The geared motor according to claim 2, characterized in that: The second gear and the sun gear or the shock generator are a double gear.

4. The geared motor according to claim 2, characterized in that: At least one third gear meshes between the first gear and the second gear.

5. The geared motor according to claim 1, characterized in that: The sun gear is configured in two parts, namely a first sun gear and a second sun gear. The planet gear is configured in two parts, namely a first planet gear and a second planet gear. The planet carrier is configured in two parts, namely a first planet carrier for supporting the first planet gear and a second planet carrier for supporting the second planet gear. The first planet gear meshes with the outer side of the first sun gear and with one side of the inner side of the fixed internal gear ring. The second sun gear is fixedly connected to the first planet carrier and meshes with the other side of the inner side of the fixed internal gear ring. The second sun gear meshes with the inner side of the second planet gear. The second planet carrier is fixedly connected to the reduction output shaft.

6. The geared motor according to claim 1, characterized in that: The motor body and the reduction mechanism are both located on the same side of the reduction output shaft.

7. The geared motor according to claim 1, characterized in that: The geared motor also includes a position element disposed at the end of the geared output shaft for measuring the rotational speed or deflection angle of the geared output shaft, and the geared output shaft is connected to the center of the position element.

8. The geared motor according to claim 7, characterized in that: The position element is formed by cutting off the side of a cylindrical component along the axial direction to form a photosensitive surface that extends in the axial direction.

9. The geared motor according to claim 7, characterized in that: The position element includes a plurality of magnetic pole parts connected circumferentially, and adjacent magnetic pole parts have opposite magnetic poles; or, The position element includes multiple magnetic pole parts arranged at circumferential intervals.

10. The geared motor according to claim 7, characterized in that: The position element is a grating structure, which includes a fixed disk. The fixed disk has multiple grooves arranged at intervals along the circumference. The deceleration output shaft is connected to the center of the fixed disk.

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