Harmonic deceleration built-in motor with circulating lubrication function

Abstract

The invention discloses a harmonic speed reduction built-in motor with a circulating lubrication function. The harmonic speed reduction built-in motor comprises a center shaft, an electronic stator assembly, a motor rotor assembly, a wave generator, a first motor shell, a first gasket, a flexible gear, a second gasket, a controller shell, a controller, an output flange plate, a crossed roller bearing, a rigid gear, a needle bearing and a second motor shell. Lubricating oil liquid is accurately conveyed to the position between the flexible gear and the rigid gear in an outer circulation mode, precise lubrication is achieved, the oil liquid can be cooled, the lubricating effect is good, and the service life of the middle motor is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of dry ice cleaning agents, and in particular to a harmonic reduction mid-mounted motor with a circulating lubrication function. Background Art

[0002] Since harmonic reducers have a series of significant advantages, such as small size, large reduction ratio, a large number of teeth meshing at the same time, smooth transmission process, high load capacity and high transmission accuracy, they have been widely used in many fields. These fields include but are not limited to aerospace, military, industrial robots and other occasions requiring precision transmission. Harmonic reducers are mainly composed of three core components, namely wave generator, flexible wheel and rigid wheel. Its working principle is to force the flexible wheel to produce elastic deformation through a wave generator with an elliptical shaft, and then mesh with the rigid wheel for transmission. However, since the flexible wheel usually adopts a thin-walled structure, has a small modulus and a large number of teeth, the teeth and thin walls of the flexible wheel are very easy to break during the transmission process. This situation will directly affect the load capacity and service life of the reducer, and become a problem to be solved urgently. In addition, when it is necessary to achieve a larger reduction ratio in a harmonic reducer of the same volume, the traditional reducer structure design can often only achieve this goal by increasing the number of teeth of the rigid wheel and the flexible wheel. However, doing so will result in smaller teeth of the rigid and flexible wheels meshing, thereby increasing the difficulty of design and the cost of processing.

[0003] In the actual use of traditional harmonic reducers with lubrication devices, it is difficult for the oil storage grooves drilled on the rigid gears to accurately introduce the lubricating oil into the tooth gaps connecting the rigid gears and the flexible gears, which easily causes waste of lubricating oil and greatly increases its use cost.

[0004] Therefore, how to provide a harmonic reduction mid-mounted motor with a circulating lubrication function to solve the problems existing in the prior art is of great significance to its application. Summary of the invention

[0005] In view of this, the purpose of the present application is to provide a harmonic reduction mid-mounted motor with a circulating lubrication function to solve the problem that in the actual use of a traditional harmonic reducer with a lubrication device, the oil storage groove excavated on the rigid gear is difficult to accurately introduce the lubricating oil into the tooth gap connecting the rigid gear and the flexible gear, which easily causes a waste of the lubricating oil and greatly increases its use cost.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A harmonic reduction mid-mounted motor with a circulating lubrication function, comprising a central shaft, an electronic stator assembly, a motor rotor assembly, a wave generator, a motor housing, a washer, a flexible wheel, a washer, a controller housing, a controller, an output flange, a cross roller bearing, a rigid wheel, a needle roller bearing, and a motor housing;

[0008] The wave generator is coaxially mounted with the electronic rotor assembly, the wave generator is mounted inside the flexible wheel, the rigid wheel is sleeved on the outside of the flexible wheel, the flexible wheel is mounted inside the motor housing 2 through a cross roller bearing, the rigid wheel is mounted inside the motor housing 2, a meshing gear ring is provided at the rear end of the flexible wheel, a gear housing is mounted at the bottom end of the motor housing 2, a meshing gear is rotatably connected inside the gear housing, the meshing gear ring is meshingly connected with the meshing gear, a gear pump housing is mounted on one side of the gear housing, a driven gear and a driving gear are rotatably connected inside the gear pump housing, the driven gear and the driving gear are meshingly connected, the liquid inlet end of the gear pump housing is connected to the bottom end of the gear housing through an oil return pipeline, the liquid outlet end of the gear housing is connected to a lubricating oil ring through an oil inlet pipeline, and the driving gear is transmission-connected with the meshing gear.

[0009] Preferably, the flexible wheel includes a rigid wheel coupling part, a connecting part and a transmission part, the rigid wheel coupling part and the transmission part are connected via the connecting part, the connecting part is bowl-shaped, the inner ring of the lubricating oil ring is provided with an inverted bowl-shaped structure matching with the connecting part, the inner side of the inverted bowl-shaped structure is provided with an oil hole, the oil hole is fitted with the surface of the connecting part, the lubricating oil ring is fixedly connected to the second motor housing, the rigid wheel coupling part is meshed with the inner tooth part of the rigid wheel, and the wave generator is in contact with the inner wall part of the rigid wheel coupling part.

[0010] Preferably, an oil filling hole is installed at the bottom end of the gear housing, and the oil filling hole is provided with a sealing plug.

[0011] Preferably, a sealed bearing is provided at the connection between the output end of the motor rotor assembly and the motor housing one, the interior of the motor housing two and the interior of the gear housing are independent sealed cavities, and the wave generator, flexible wheel, output flange, cross roller bearing, rigid wheel, and lubricating oil ring are all located inside the sealed cavity.

[0012] Preferably, one side of the motor housing 2 is fastened to the motor housing 1 via a gasket 1, the motor rotor assembly is installed inside the motor housing 1 via a bearing, the electronic stator assembly is rotationally connected to the motor rotor assembly, the electronic stator assembly is installed inside the motor housing 1, and the output end of the motor rotor assembly is transmission-connected to the wave generator.

[0013] Preferably, end surfaces of the motor housing 1 and the motor housing 2 are both installed with end covers, and end surfaces of the end covers are provided with sealing rings, and the sealing rings are rotatably connected to both ends of the central shaft.

[0014] Preferably, connectors are provided at both ends of the central axis, and the connectors are used to install the pedal crankshafts.

[0015] Preferably, the end covers at the two end faces of the motor housing are installed with torque sensors, and the detection ends of the torque sensors are rotationally connected to the central shaft.

[0016] Preferably, the output flange is connected to the output end of the flexible wheel, and the output flange is transmission-connected to the central shaft via a needle bearing.

[0017] Preferably, the controller is installed inside the controller housing, and the tops of the motor housing 1 and the motor housing 2 are jointly provided with a cavity for installing the controller, and the controller housing and the cavity are sealed and connected by gasket 2.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention uses an external circulation method to accurately transport the lubricating oil to between the flexible wheel and the rigid wheel, accurately lubricates, and can cool the oil, so the lubrication effect is good and the service life of the mid-mounted motor is increased.

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application so that it can be implemented in accordance with the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings as follows.

[0021] Based on the detailed description of the specific embodiments of the present application in combination with the accompanying drawings below, those skilled in the art will become more aware of the above and other objects, advantages and features of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0023] Figure 1 It is a structural explosion diagram of the present invention;

[0024] Figure 2 is a cross-sectional view of the present invention;

[0025] Figure 3 It is a structural diagram of the motor housing 2 in the present invention;

[0026] Figure 4 is a structural diagram of the flexible wheel in the present invention;

[0027] Figure 5 It is a structural diagram of the oil return pipeline in the present invention.

[0028] In the figure: 1, middle shaft; 2, electronic stator assembly; 3, motor rotor assembly; 4, wave generator; 5, motor housing 1; 6, gasket 1; 7, flexible wheel; 8, gasket 2; 9, controller housing; 10, controller; 11, output flange; 12, cross roller bearing; 13, rigid wheel; 14, needle bearing; 15, motor housing 2; 16, torque sensor; 17, gear housing; 18, gear pump housing; 19, meshing gear; 20, lubricating oil ring; 21, driven gear; 22, driving gear; 23, meshing gear; 24, oil return pipeline; 25, oil inlet pipeline; 26, end cover. DETAILED DESCRIPTION

[0029] To make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all of the embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures is omitted in the embodiment.

[0030] In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0031] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0032] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusions.

[0033] See also Figure 1-5 The present invention provides a technical solution of a harmonic reduction mid-mounted motor with a circulating lubrication function: comprising a central shaft 1, an electronic stator assembly 2, a motor rotor assembly 3, a wave generator 4, a motor housing 1 5, a washer 1 6, a flexible wheel 7, a washer 2 8, a controller housing 9, a controller 10, an output flange 11, a cross roller bearing 12, a rigid wheel 13, a needle roller bearing 14, and a motor housing 2 15;

[0034] The wave generator 4 is coaxially installed with the motor rotor assembly 3, the wave generator 4 is installed inside the flexible wheel 7, the rigid wheel 13 is sleeved on the outside of the flexible wheel 7, the flexible wheel 7 is installed inside the motor housing 15 through the cross roller bearing 12, the rigid wheel 13 is installed inside the motor housing 15, the rear end of the flexible wheel 7 is provided with a meshing gear ring 19, the bottom end of the motor housing 15 is installed with a gear housing 17, the inside of the gear housing 17 is rotatably connected with a meshing gear 23, the meshing gear 23 is meshed with the meshing gear ring 19, a gear pump housing 18 is installed on one side of the gear housing 17, the inside of the gear pump housing 18 is rotatably connected with a driven gear 21 and a driving gear 22, the driven gear 21 and the driving gear 22 are meshed, the liquid inlet end of the gear pump housing 18 is connected to the bottom end of the gear housing 17 through the return oil pipeline 24, the liquid outlet end of the gear housing 17 is connected with a lubricating oil ring 20 through the oil inlet pipeline 25, and the driving gear 22 is transmission-connected with the meshing gear 23. The surface of the oil inlet pipeline 25 is provided with a heat sink for oil cooling. The lubricating oil flows to the outside of the equipment, and after the oil is cooled, it enters the harmonic component for lubrication and cooling. The oil return pipeline 24 is a transparent tube for observing the oil state. Both ends of the oil return pipeline 24 can be plugged in and out. The liquid outlet end of the oil return pipeline 24 is provided with a filter. The bottom end of the oil return pipeline 24 is a U-shaped structure, which can filter the sediment and is convenient for observation.

[0035] The flexible wheel 7 includes a rigid wheel combination, a connection part and a transmission part. The rigid wheel combination and the transmission part are connected by the connection part. The connection part is bowl-shaped. The inner ring of the lubricating oil ring 20 is provided with an inverted bowl-shaped structure that matches the connection part. The inner side of the inverted bowl-shaped structure is provided with an oil hole. The oil hole fits the surface of the connection part. The lubricating oil ring 20 is fixedly connected to the motor housing 15. The rigid wheel combination is meshed with the inner tooth part of the rigid wheel 13. The wave generator 4 contacts the inner wall part of the rigid wheel combination. A wave generator lubrication hole 72 is annularly provided on one side of the rigid wheel combination near the connection part. The transmission part is annularly provided with an oil return hole 71 near the connection part. A sealed bearing is provided at the connection between the output end of the motor rotor assembly 3 and the motor housing 1 5. The inside of the motor housing 15 and the inside of the gear housing 17 are independent sealed cavities. The wave generator 4, the flexible wheel 7, the output flange 11, the cross roller bearing 12, the rigid wheel 13 and the lubricating oil ring 20 are all located inside the sealed cavity.

[0036] The connecting part is a gradually opening structure from left to right, and the inner ring of the lubricating oil ring 20 is a gradually closing structure. The two structures are fitted. When the wave generator 4 drives the flexible wheel 7 to deform, a part of the rigid wheel joint will shrink inward, and the shrinking part will deform with the connecting part, so that the connecting part no longer seals the oil hole inside the lubricating oil ring 20, and the circulating lubrication flows back out, and the lubricating oil will enter between the flexible wheel 7 and the rigid wheel 13 through the concave part of the flexible wheel 7 for lubrication, and part of it will enter the wave generator for lubrication. The hole 72 lubricates the wave generator 4, and the excess lubricating oil flows back to the bottom of the sealed cavity through the oil return hole 71. The wave generator 4 drives the flexible wheel 7 to rotate, and the flexible wheel 7 drives the meshing gear 23 to rotate through the meshing gear ring 19. The meshing gear 23 lifts the oil to lubricate the harmonic component. At the same time, the meshing gear 23 drives the driving gear 22 inside the gear pump housing 18 to rotate, thereby extracting the oil in the cavity and flowing it to the lubricating oil ring 20 through the oil inlet pipeline 25 to complete the oil circulation.

[0037] The bottom end of the gear housing 17 is provided with an oil filling hole, and a sealing plug is provided in the oil filling hole so that the oil can be replaced.

[0038] One side of the motor housing 15 is fastened to the motor housing 5 through a gasket 6, the motor rotor assembly 3 is installed inside the motor housing 5 through a bearing, the electronic stator assembly 2 is rotationally connected to the motor rotor assembly 3, the electronic stator assembly 2 is installed inside the motor housing 5, and the output end of the motor rotor assembly 3 is transmission-connected to the wave generator 4.

[0039] The end faces of the motor housing 1 5 and the motor housing 2 15 are both installed with end covers 26, and the end faces of the end covers 26 are provided with sealing rings, which are rotatably connected to the two ends of the central axis 1, and the dustproof performance is better.

[0040] Connectors are provided at both ends of the middle shaft 1. The connectors are used to install the pedal crankshafts, and the connectors are spline threads.

[0041] The end cover 26 of the end face of the motor housing 15 is installed with a torque sensor 16, and the detection end of the torque sensor 16 is rotatably connected to the central shaft 1 for detecting the output torque.

[0042] The output flange 11 is connected to the output end of the flexible wheel 7, and the output flange 11 is connected to the central shaft 1 through the needle bearing 14 to achieve one-way clutch, avoiding manual output to drive the motor to rotate, which is more labor-saving.

[0043] The controller 10 is installed inside the controller housing 9 , and the tops of the motor housing 1 5 and the motor housing 2 15 are jointly provided with a cavity for installing the controller 10 , and the controller housing 9 and the cavity are sealed and connected via the gasket 2 8 .

[0044] When in use, the electronic stator assembly 2 drives the wave generator 4 to rotate, and the flexible wheel 7 drives the main shaft 1 to rotate through the output flange 11 and the needle bearing 14 to complete the deceleration drive. When the wave generator 4 drives the flexible wheel 7 to deform, a part of the rigid wheel joint will shrink inward, and the shrinking part will deform with the connection part, so that the connection part no longer seals the oil hole on the inner side of the lubricating oil ring 20, and the circulating lubrication will flow back, and the lubricating oil will enter between the flexible wheel 7 and the rigid wheel 13 through the concave part of the flexible wheel 7 for lubrication, and part The oil will enter the lubrication hole 72 of the wave generator to lubricate the wave generator 4, and the excess lubricating oil will flow back to the bottom of the sealed cavity through the oil return hole 71. The wave generator 4 drives the flexible wheel 7 to rotate, and the flexible wheel 7 drives the meshing gear 23 to rotate through the meshing gear ring 19. The meshing gear 23 lifts the oil to lubricate the harmonic component. At the same time, the meshing gear 23 drives the driving gear 22 inside the gear pump housing 18 to rotate, thereby extracting the oil in the cavity and flowing to the lubricating oil ring 20 through the oil inlet pipeline 25 to complete the oil circulation.

[0045] The above description is only the preferred embodiment of the present invention, which does not limit the protection scope of the present invention. For those skilled in the art, the present invention can be modified and varied in various ways. Within the spirit and principle of the present invention, any change, modification, replacement, integration and parameter change of these embodiments by conventional substitution or capable of achieving the same function without departing from the principle and spirit of the present invention shall fall within the protection scope of the present invention.

Claims

1. A harmonic reduction mid-mounted motor with circulating lubrication function, characterized in that: It comprises a central shaft (1), an electronic stator assembly (2), a motor rotor assembly (3), a wave generator (4), a motor housing (5), a washer (6), a flexible wheel (7), a washer (8), a controller housing (9), a controller (10), an output flange (11), a cross roller bearing (12), a rigid wheel (13), a needle roller bearing (14), and a motor housing (15); The wave generator (4) is coaxially mounted with the motor rotor assembly (3), the wave generator (4) is mounted inside the flexible wheel (7), the rigid wheel (13) is sleeved on the outside of the flexible wheel (7), the flexible wheel (7) is mounted inside the second motor housing (15) via a cross roller bearing (12), the rigid wheel (13) is mounted inside the second motor housing (15), a meshing gear ring (19) is provided at the rear end of the flexible wheel (7), a gear housing (17) is mounted at the bottom end of the second motor housing (15), a meshing gear (23) is rotatably connected inside the gear housing (17), and the meshing gear (23) is rotatably connected inside the gear housing (17). The gear (23) is meshedly connected with the meshing gear ring (19); a gear pump housing (18) is installed on one side of the gear housing (17); a driven gear (21) and a driving gear (22) are rotatably connected inside the gear pump housing (18); the driven gear (21) and the driving gear (22) are meshedly connected; the liquid inlet end of the gear pump housing (18) is connected to the bottom end of the gear housing (17) through an oil return pipeline (24); the liquid outlet end of the gear housing (17) is connected to a lubricating oil ring (20) through an oil inlet pipeline (25); and the driving gear (22) is transmission-connected with the meshing gear (23).

2. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 1, characterized in that: The flexible wheel (7) comprises a rigid wheel coupling part, a connecting part and a transmission part. The rigid wheel coupling part and the transmission part are connected via the connecting part. The connecting part is bowl-shaped. The inner ring of the lubricating oil ring (20) is provided with an inverted bowl-shaped structure that matches the connecting part. The inner side of the inverted bowl-shaped structure is provided with an oil hole, and the oil hole is in contact with the surface of the connecting part. The lubricating oil ring (20) is fixedly connected to the second motor housing (15). The rigid wheel coupling part meshes with the inner tooth part of the rigid wheel (13). The wave generator (4) contacts the inner wall part of the rigid wheel coupling part.

3. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 2, characterized in that: An oil filling hole is installed at the bottom end of the gear housing (17), and a sealing plug is provided in the oil filling hole.

4. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 3, characterized in that: A sealed bearing is provided at the connection between the output end of the motor rotor assembly (3) and the motor housing (5); the interior of the motor housing (15) and the interior of the gear housing (17) are independent sealed cavities; the wave generator (4), the flexible wheel (7), the output flange (11), the cross roller bearing (12), the rigid wheel (13), and the lubricating oil ring (20) are all located inside the sealed cavity.

5. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 4, characterized in that: One side of the motor housing (15) is fastened to the motor housing (5) via a washer (6); the motor rotor assembly (3) is mounted inside the motor housing (5) via a bearing; the electronic stator assembly (2) is rotationally connected to the motor rotor assembly (3); the electronic stator assembly (2) is mounted inside the motor housing (5); and the output end of the motor rotor assembly (3) is transmission-connected to the wave generator (4).

6. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 5, characterized in that: The end faces of the motor housing 1 (5) and the motor housing 2 (15) are both installed with end covers (26), and the end faces of the end covers (26) are provided with sealing rings, and the sealing rings are rotatably connected to the two ends of the central shaft (1).

7. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 6, characterized in that: Connectors are provided at both ends of the middle shaft (1), and the connectors are used to install a pedal crankshaft.

8. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 7, characterized in that: The end caps (26) at the two end faces of the motor housing (15) are equipped with torque sensors (16), and the detection end of the torque sensor (16) is rotatably connected to the central shaft (1).

9. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 8, characterized in that: The output flange (11) is connected to the output end of the flexible wheel (7), and the output flange (11) is transmission-connected to the central shaft (1) via a needle bearing (14).

10. A harmonic reduction mid-mounted motor with circulating lubrication function as claimed in claim 9, characterized in that: The controller (10) is installed inside the controller housing (9), and the tops of the motor housing 1 (5) and the motor housing 2 (15) are jointly provided with a cavity for installing the controller (10), and the controller housing (9) and the cavity are sealed and connected via a gasket 2 (8).

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