Middle motor with harmonic reducer

Abstract

The invention discloses a middle motor with a harmonic reducer. The harmonic reducer comprises a wave generator, a flexible gear, an output flange plate, a crossed roller bearing, a rigid gear and a reduction ratio adjusting device. The reduction ratio adjusting device is arranged to adjust the reduction ratio between the harmonic reducer and the main shaft, dynamic adjustment of the reduction ratio is achieved, and the performance of a vehicle under specific working conditions such as climbing is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of mid-mounted motors, and in particular to a mid-mounted motor with a harmonic reducer. Background Art

[0002] In view of the significant advantages of harmonic reducers, such as compact size, high reduction ratio, multi-tooth simultaneous meshing, smooth transmission, strong load-bearing capacity and high transmission accuracy, the device has been widely used in many fields. Especially in high-tech fields such as aerospace, military, and industrial robots, harmonic reducers have become an indispensable key component. It is mainly composed of three core components: wave generator, flexible gear and rigid gear. The wave generator is responsible for generating the required waveform motion, the flexible gear can adapt to this waveform motion and transmit power, and the rigid gear works with the flexible gear to complete the deceleration task. The precise coordination of these three components enables the harmonic reducer to perform well under various complex working conditions and become an indispensable part of modern mechanical transmission systems.

[0003] At present, harmonic reduction mid-mounted motors have been widely used in various electric bicycles. This motor is a low-speed motor with high efficiency made by combining a brushless permanent magnet motor with a harmonic reducer. Its design cleverly installs the motor on the inner circle of the middle shaft bracket of the electric bicycle, so that the drive shaft of the harmonic reduction mid-mounted motor is completely coaxial with the middle shaft of the pedal crank arm, thereby achieving a more efficient and stable transmission effect. This integrated design not only improves the overall performance of the electric bicycle, but also simplifies the installation and maintenance process of the motor. Therefore, the application of harmonic reduction mid-mounted motors in the field of electric bicycles is becoming more and more popular, and has become an indispensable and important part of modern electric bicycles.

[0004] In the current technical field, harmonic reducers generally have a fixed reduction ratio characteristic, that is, their reduction ratio cannot be adjusted during operation. However, in certain applications, such as when a vehicle is climbing a slope, a higher reduction ratio is required to enhance traction. In these cases, the traditional mid-mounted motor design cannot achieve dynamic adjustment of the reduction ratio, which limits the performance of the vehicle under specific conditions such as climbing a slope.

[0005] Therefore, how to provide a mid-mounted motor with a harmonic reducer to solve the problems existing in the prior art is of great significance to its application. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a mid-mounted motor with a harmonic reducer to solve the problem that the traditional mid-mounted motor design cannot achieve dynamic adjustment of the reduction ratio, which limits the performance of the vehicle under specific working conditions such as climbing.

[0007] To achieve the above object, the present invention provides the following technical solutions: A mid-mounted motor with a harmonic reducer, the harmonic reducer comprising: a wave generator, a flexible wheel, an output flange, a cross roller bearing, a rigid wheel, and a reduction ratio adjustment device; The wave generator is installed on the inner side of the flexible wheel, the flexible wheel is meshed and connected with the rigid wheel part, the flexible wheel is drivingly connected with the output flange, and the output flange is drivingly connected with the reduction ratio adjusting device.

[0008] Preferably, the mid-mounted motor includes a main shaft, a motor stator assembly, a motor rotor, a rotor output shaft, a motor housing 1 and a motor housing 2, the motor rotor is installed inside the motor stator assembly, the motor stator assembly is fixedly connected to the motor housing 1, the motor rotor is rotationally connected to the main shaft through a bearing, and the motor rotor is transmission-connected to the wave generator through the rotor output shaft.

[0009] Preferably, the rigid wheel is installed inside the second motor housing, and the flexible wheel is installed inside the second motor housing via a cross roller bearing.

[0010] Preferably, end covers are installed on the outer side of the motor stator assembly and the outer side of the second motor housing, and the two ends of the main shaft are rotatably connected to the two end covers respectively.

[0011] Preferably, a waterproof pad 1 is provided between the motor housing 1 and the motor housing 2, and the motor housing 1 and the motor housing 2 are fixed by bolts.

[0012] Preferably, a controller housing is installed at the top of the motor housing one and the motor housing two, a controller is installed inside the controller housing, a waterproof pad two is provided on the connecting surface between the controller housing and the motor housing one and the motor housing two, a torque sensor is installed inside the motor housing two, and the detection end of the torque sensor is connected to the main shaft.

[0013] Preferably, the reduction ratio adjustment device includes an output gear, a transmission gear one, a transmission gear two, a transmission shaft, a transmission gear three, a shift spline, a transmission gear four, a one-way needle roller bearing, a movable ring, a shift motor, a screw rod, a shift rod, a transmission gear five, and a bare rod.

[0014] Preferably, the output gear is drivingly connected to the output flange, the output gear is rotationally connected to the main shaft via a bearing, the transmission gear 1, transmission gear 2, and transmission gear 3 are all installed on the transmission shaft, both ends of the transmission shaft are rotationally connected to the motor housing 2, the transmission gear 5 is rotationally connected to the main shaft via a bearing, the transmission gear 4 is rotationally connected to the main shaft via a bearing, the shift spline is transmission-connected to the main shaft via a one-way needle roller bearing, and the shift spline is installed inside the movable ring via a bearing.

[0015] Preferably, the output gear is meshedly connected with the transmission gear one, the transmission gear five is meshedly connected with the transmission gear two, and the transmission gear three is meshedly connected with the transmission gear four.

[0016] Preferably, the shift motor is installed inside the second motor housing, the output shaft of the shift motor is transmission connected to the screw rod, the optical rod is installed inside the second motor housing, the shift rod is slidingly connected to the optical rod, one end of the shift rod is threadedly connected to the screw rod, and the other end of the shift rod is fixedly connected to the movable ring.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention realizes the reduction ratio adjustment between the harmonic reducer and the main shaft by arranging the reduction ratio adjustment device, realizes the dynamic adjustment of the reduction ratio, and enhances the performance of the vehicle under specific working conditions such as climbing.

[0018] 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.

[0019] 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

[0020] 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.

[0021] Figure 1 It is a structural explosion diagram of the present invention; Figure 2 It is a structural diagram of the reduction ratio adjustment device in the present invention; Figure 3 It is a cross-sectional view of the reduction ratio adjustment device in the present invention.

[0022] In the figure: 1. end cover; 2. motor stator assembly; 3. motor rotor; 4. wave generator; 5. motor housing 1; 6. waterproof pad 1; 7. flexible wheel; 8. waterproof pad 2; 9. controller housing; 10. controller; 11. output flange; 12. cross roller bearing; 13. rigid wheel; 14. reduction ratio adjustment device; 15. motor housing 2; 16. torque sensor; 17. rotor output shaft; 18. main shaft; 19. output gear; 20. transmission gear 1; 21. transmission gear 2; 22. transmission shaft; 23. transmission gear 3; 24. shift spline; 25. transmission gear 4; 26. one-way needle roller bearing; 27. movable ring; 28. shift motor; 29. ​​screw rod; 30. shift lever; 31. transmission gear 5; 32. light rod. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] See also Figure 1-3The present invention provides a technical solution of a mid-mounted motor with a harmonic reducer: the harmonic reducer includes: a wave generator 4, a flexible wheel 7, an output flange 11, a cross roller bearing 12, a rigid wheel 13, and a reduction ratio adjustment device 14; The wave generator 4 is installed on the inner side of the flexible wheel 7 , the flexible wheel 7 is partially meshed and connected with the rigid wheel 13 , the flexible wheel 7 is transmission-connected with the output flange 11 , and the output flange 11 is transmission-connected with the reduction ratio adjusting device 14 .

[0028] The mid-mounted motor includes a main shaft 18, a motor stator assembly 2, a motor rotor 3, a rotor output shaft 17, a motor housing 1 5 and a motor housing 2 15. The motor rotor 3 is installed inside the motor stator assembly 2. The motor stator assembly 2 is fixedly connected to the motor housing 1 5. The motor rotor 3 is rotationally connected to the main shaft 18 through a bearing. The motor rotor 3 is transmission-connected to the wave generator 4 through the rotor output shaft 17.

[0029] The rigid wheel 13 is installed inside the second motor housing 15 , and the flexible wheel 7 is installed inside the second motor housing 15 through the cross roller bearing 12 .

[0030] End covers 1 are installed on the outer side of the motor stator assembly 2 and the outer side of the motor housing 15 , and the two ends of the main shaft 18 are rotatably connected to the two end covers 1 respectively.

[0031] A waterproof pad 1 6 is provided between the motor housing 1 5 and the motor housing 2 15 , and the motor housing 1 5 and the motor housing 2 15 are fixed by bolts.

[0032] A controller housing 9 is installed at the top of motor housing 1 5 and motor housing 2 15, a controller 10 is installed inside the controller housing 9, a waterproof pad 2 8 is provided on the connecting surface between the controller housing 9 and motor housing 1 5 and motor housing 2 15, a torque sensor 16 is installed inside the motor housing 2 15, and the detection end of the torque sensor 16 is connected to the main shaft 18.

[0033] The reduction ratio adjustment device 14 includes an output gear 19, a transmission gear 1 20, a transmission gear 2 21, a transmission shaft 22, a transmission gear 3 23, a shift spline 24, a transmission gear 4 25, a one-way needle bearing 26, a movable ring 27, a shift motor 28, a screw rod 29, a shift rod 30, a transmission gear 5 31, and a light rod 32.

[0034] The output gear 19 is connected to the output flange 11 by transmission, and the output gear 19 is connected to the main shaft 18 by transmission via a bearing. The transmission gear 1 20, the transmission gear 2 21, and the transmission gear 3 23 are all installed on the transmission shaft 22. Both ends of the transmission shaft 22 are rotationally connected to the motor housing 2 15. The transmission gear 5 31 is rotationally connected to the main shaft 18 by a bearing. The transmission gear 4 25 is rotationally connected to the main shaft 18 by a bearing. The shift spline 24 is connected to the main shaft 18 by a one-way needle bearing 26. The shift spline 24 is installed inside the movable ring 27 by a bearing.

[0035] The shift spline 24 is provided with protrusions on both sides, and the transmission gear four 25 and the transmission gear five 31 are provided with connecting keys matching the protrusions on both sides of the shift spline 24 towards the shift spline 24, and the shift spline 24 is located between the transmission gear four 25 and the transmission gear five 31.

[0036] The output gear 19 is meshed and connected with the transmission gear 1 20, the transmission gear 5 31 is meshed and connected with the transmission gear 2 21, the transmission gear 3 23 is meshed and connected with the transmission gear 4 25, the output gear 19 is meshed and connected with the transmission gear 1 20, the transmission gear 5 31 is meshed and connected with the transmission gear 2 21, the transmission gear 3 23 is meshed and connected with the transmission gear 4 25.

[0037] The above-mentioned gears can be helical gears, so that the transmission is more stable.

[0038] In this embodiment: The reduction ratio between the output gear 19 and the transmission gear 20 is 1:1; The reduction ratio between the transmission gear 5 31 and the transmission gear 2 21 is 1:1; The reduction ratio between the transmission gear 3 23 and the transmission gear 4 25 is 1:2; The reduction ratio between each set of meshing gears can be adjusted according to the vehicle type; Mountain Bike: The reduction ratio between the output gear 19 and the transmission gear 20 is 1:1; The reduction ratio between the transmission gear 5 31 and the transmission gear 2 21 is 1:1; The reduction ratio between the transmission gear 3 23 and the transmission gear 4 25 is 1:2.5; The vehicle has low speed requirements, maximum reduction ratio, and good climbing performance; Road bike: The reduction ratio between the output gear 19 and the transmission gear 20 is 1:1; The reduction ratio between the transmission gear 5 31 and the transmission gear 2 21 is 1:0.6; The reduction ratio between the transmission gear 3 23 and the transmission gear 4 25 is 1:2; The vehicle can achieve a lower reduction ratio and a higher driving speed.

[0039] The shift motor 28 is electrically connected to the controller 10 , thereby controlling the controller 10 .

[0040] The shift motor 28 is installed inside the motor housing 15, the output shaft of the shift motor 28 is transmission-connected with the screw rod 29, the optical rod 32 is installed inside the motor housing 15, the shift rod 30 is slidingly connected with the optical rod 32, one end of the shift rod 30 is threadedly connected with the screw rod 29, and the other end of the shift rod 30 is fixedly connected with the movable ring 27. The shift motor 28 and the screw rod 29 can be replaced with a pull rope adjustment, and any driving form that drives the shift rod 30 to move horizontally is within the protection scope of the present invention.

[0041] The reduction ratio adjustment device 14 includes two transmission modes: Adopting proportional transmission: the flexible wheel 7 drives the output gear 19 to rotate through the output flange 11, and the output gear 19 drives the transmission gear 1 20 to rotate. At this time, since the transmission gear 1 20, the transmission gear 2 21, and the transmission gear 3 23 are all installed on the transmission shaft 22, the transmission gear 1 20, the transmission gear 2 21, and the transmission gear 3 23 rotate at the same time. Since the transmission gear 5 31 is meshed and connected with the transmission gear 2 21, and the transmission gear 3 23 is meshed and connected with the transmission gear 4 25, at this time, the transmission gear 5 31 and the output gear 19 are driven at the same speed, and the transmission gear 4 25 and the output gear 19 are driven by the reduction transmission. The screw rod 29 is driven to move by the shift motor 28, so that the shift rod 30 moves to the left. At this time, the shift spline 24 is meshed and connected with the transmission gear 5 31, and the shift spline 24 drives the main shaft 18 to rotate through the one-way needle bearing 26. At this time, it is a geometric transmission; Increase the reduction ratio transmission: the shift motor 28 drives the screw rod 29 to move, so that the shift rod 30 moves to the right. At this time, the shift spline 24 is meshed and connected with the transmission gear four 25. The shift spline 24 drives the main shaft 18 to rotate through the one-way needle bearing 26. At this time, it is a reduction transmission.

[0042] When in use, the motor rotor 3 outputs power to drive the wave generator 4 to rotate, the wave generator 4 drives the flexible wheel 7 to rotate, the flexible wheel 7 drives the output gear 19 to rotate through the output flange 11, and the output gear 19 drives the transmission gear 1 20 to rotate. At this time, since the transmission gear 1 20, the transmission gear 2 21, and the transmission gear 3 23 are all installed on the transmission shaft 22, the transmission gear 1 20, the transmission gear 2 21, and the transmission gear 3 23 rotate at the same time. Since the transmission gear 5 31 is meshed with the transmission gear 2 21, and the transmission gear 3 23 is meshed with the transmission gear 4 25, at this time, the transmission gear 5 31 is meshed with the output gear 19. The gear 19 is in constant speed transmission, and the transmission gear four 25 and the output gear 19 are in reduction transmission. The shift motor 28 drives the lead screw 29 to move, so that the shift rod 30 moves to the left. At this time, the shift spline 24 is meshed and connected with the transmission gear five 31, and the shift spline 24 drives the main shaft 18 to rotate through the one-way needle bearing 26. At this time, it is a geometric transmission; the lead screw 29 is driven by the shift motor 28 to move, so that the shift rod 30 moves to the right. At this time, the shift spline 24 is meshed and connected with the transmission gear four 25, and the shift spline 24 drives the main shaft 18 to rotate through the one-way needle bearing 26. At this time, it is a reduction transmission.

[0043] 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 mid-mounted motor with a harmonic reducer, characterized in that: The harmonic reducer comprises: a wave generator (4), a flexible wheel (7), an output flange (11), a cross roller bearing (12), a rigid wheel (13), and a reduction ratio adjustment device (14); The wave generator (4) is installed on the inner side of the flexible wheel (7), the flexible wheel (7) is partially meshed with the rigid wheel (13), the flexible wheel (7) is transmission-connected to the output flange (11), and the output flange (11) is transmission-connected to the reduction ratio adjustment device (14).

2. A mid-mounted motor with a harmonic reducer as claimed in claim 1, characterized in that: The central motor comprises a main shaft (18), a motor stator assembly (2), a motor rotor (3), a rotor output shaft (17), a motor housing (1) and a motor housing (2). The motor rotor (3) is installed inside the motor stator assembly (2). The motor stator assembly (2) is fixedly connected to the motor housing (1) and the main shaft (18). The motor rotor (3) is rotatably connected to the main shaft (18) via a bearing. The motor rotor (3) is transmission-connected to the wave generator (4) via the rotor output shaft (17).

3. A mid-mounted motor with a harmonic reducer as claimed in claim 2, characterized in that: The rigid wheel (13) is installed inside the second motor housing (15), and the flexible wheel (7) is installed inside the second motor housing (15) via a cross roller bearing (12).

4. A mid-mounted motor with a harmonic reducer as claimed in claim 3, characterized in that: End covers (1) are installed on the outside of the motor stator assembly (2) and the outside of the second motor housing (15), and the two ends of the main shaft (18) are rotatably connected to the two end covers (1) respectively.

5. A mid-mounted motor with a harmonic reducer as claimed in claim 4, characterized in that: A waterproof pad (6) is provided between the motor housing (5) and the motor housing (15), and the motor housing (5) and the motor housing (15) are fixed by bolts.

6. A mid-mounted motor with a harmonic reducer as claimed in claim 5, characterized in that: A controller housing (9) is installed at the top of the motor housing 1 (5) and the motor housing 2 (15), a controller (10) is installed inside the controller housing (9), a waterproof pad 2 (8) is provided on the connection surface between the controller housing (9) and the motor housing 1 (5) and the motor housing 2 (15), a torque sensor (16) is installed inside the motor housing 2 (15), and a detection end of the torque sensor (16) is connected to the main shaft (18).

7. A mid-mounted motor with a harmonic reducer as claimed in claim 6, characterized in that: The reduction ratio adjustment device (14) comprises an output gear (19), a transmission gear 1 (20), a transmission gear 2 (21), a transmission shaft (22), a transmission gear 3 (23), a shift spline (24), a transmission gear 4 (25), a one-way needle roller bearing (26), a movable ring (27), a shift motor (28), a screw rod (29), a shift rod (30), a transmission gear 5 (31), and a polished rod (32).

8. A mid-mounted motor with a harmonic reducer as claimed in claim 7, characterized in that: The output gear (19) is connected to the output flange (11) in a transmission connection. The output gear (19) is connected to the main shaft (18) in a rotational connection via a bearing. The transmission gear 1 (20), the transmission gear 2 (21) and the transmission gear 3 (23) are all mounted on the transmission shaft (22). Both ends of the transmission shaft (22) are connected to the motor housing 2 (15) in a rotational connection. The transmission gear 5 (31) is connected to the main shaft (18) in a rotational connection via a bearing. The transmission gear 4 (25) is connected to the main shaft (18) in a rotational connection via a bearing. The shift spline (24) is connected to the main shaft (18) in a transmission connection via a one-way needle roller bearing (26). The shift spline (24) is mounted inside the movable ring (27) via a bearing.

9. A mid-mounted motor with a harmonic reducer as claimed in claim 8, characterized in that: The output gear (19) is meshedly connected with the transmission gear 1 (20), the transmission gear 5 (31) is meshedly connected with the transmission gear 2 (21), and the transmission gear 3 (23) is meshedly connected with the transmission gear 4 (25).

10. A mid-mounted motor with a harmonic reducer as claimed in claim 9, characterized in that: The shift motor (28) is installed inside the second motor housing (15); the output shaft of the shift motor (28) is transmission-connected to the screw rod (29); the light rod (32) is installed inside the second motor housing (15); the shift rod (30) is slidably connected to the light rod (32); one end of the shift rod (30) is threadedly connected to the screw rod (29); and the other end of the shift rod (30) is fixedly connected to the movable ring (27).

Images