Middle motor with planetary harmonic reducer

Abstract

The invention discloses a middle motor with a planetary harmonic reducer. The planetary harmonic reducer comprises a wave generator, a flexible gear, an output flange plate, a crossed roller bearing, a rigid gear, a needle bearing, a sun gear, a planetary gear, a planetary gear carrier and a planetary gear ring. The planetary speed reducing mechanism can directly drive the harmonic speed reducing mechanism, the movable ring is driven by the pushing mechanism to be pushed towards the left side, at the moment, the movable ring is not engaged and locked with the planetary gear ring, and meanwhile, the arc-shaped connecting rod drives the locking block to lock rotating shaft locking teeth of the three planetary gears; at the moment, the sun gear, the planetary gear, the planetary gear carrier and the planetary gear ring do not rotate mutually, the motor rotor directly drives the wave generator, power directly drives the main shaft through the harmonic reducer, and therefore the medium reduction ratio is obtained, compared with an existing middle motor, the middle motor can flexibly select the appropriate output reduction ratio, and the service life of the motor is prolonged.

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 planetary harmonic reducer. 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] Patent No. CN109723799 A discloses a deceleration method that integrates a planetary gear unit, a harmonic unit, and a motor unit axially. Although the reduction ratio can be improved, when low torque is required, the double reduction mechanism will impose a heavy burden on the motor, which will damage the service life of the motor.

[0004] Therefore, how to provide a mid-mounted motor with a planetary harmonic reducer 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 mid-mounted motor with a planetary harmonic reducer to solve the problem that a double reduction mechanism will bring a heavy burden to the motor and damage the service life of the motor.

[0006] To achieve the above object, the present invention provides the following technical solutions: A central motor with a planetary harmonic reducer, the planetary harmonic reducer comprising: a wave generator, a flexible wheel, an output flange, a cross roller bearing, a rigid wheel, a needle roller bearing, a central gear, a planetary gear, a planetary gear carrier, and a planetary gear ring; 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, the planetary gear frame is fixedly connected with the wave generator, and three planetary gears are installed on the side of the planetary gear frame, the inner sides of the three planetary gears are meshed and connected with the central gear, and the outer sides of the three planetary gears are meshed and connected with the planetary gear ring.

[0007] Preferably, the central 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 center gear through the rotor output shaft.

[0008] Preferably, the rigid wheel is installed inside the second motor housing, and the output flange is connected to the main shaft through a needle bearing transmission.

[0009] 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.

[0010] 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.

[0011] Preferably, the flexible wheel is installed inside the second motor housing through a cross roller bearing.

[0012] Preferably, the wave generator is rotatably connected to the main shaft via a bearing.

[0013] Preferably, a controller housing is installed at the top of the motor housing 1 and the motor housing 2, a controller is installed inside the controller housing, and a waterproof pad 2 is provided on the connecting surface between the controller housing and the motor housing 1 and the motor housing 2.

[0014] Preferably, a torque sensor is installed inside the second motor housing, and a detection end of the torque sensor is connected to the main shaft.

[0015] Preferably, the planetary gear ring is installed inside the motor housing one through a bearing, and three pushing mechanisms are installed inside the motor housing one, and the telescopic ends of the three pushing mechanisms are installed with movable rings, one side of the movable ring is rotatably connected with a rotating ring, and three hinge blocks are installed on the side of the rotating ring, and the other side of the movable ring is provided with end face ring teeth, and the side of the planetary gear ring close to the movable ring is provided with fixed ring teeth matched with the end face gear ring, and the two ring teeth are matched with each other, and locking teeth are provided at the ends of the rotating shafts of the planetary gears and the planetary gear frame, and the planetary gear frame is slidably connected with a locking block, and the locking block is connected to the hinge block through an arc connecting rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention is provided with a planetary harmonic reducer. The power output of the motor rotor is transmitted to the wave generator through the central gear, the planetary gear, and the planetary gear carrier. The wave generator rotates and drives the flexible wheel to reduce the speed, thereby achieving deceleration. Compared with the existing wave generator, the present invention adopts a double deceleration method to increase the torque and achieve a better deceleration effect.

[0017] The planetary reduction mechanism in the present invention can directly drive the harmonic reduction mechanism. When a larger reduction ratio is not needed, the pushing mechanism drives the movable ring to move to the left. At this time, the movable ring is not engaged and locked with the planetary gear ring. At the same time, the locking block is driven by the arc connecting rod to lock the locking teeth of the rotating shafts of the three planetary gears. At this time, the center gear, planetary gears, planetary gear carrier, and planetary gear ring do not rotate with each other. The motor rotor directly drives the wave generator, and the power directly drives the main shaft through the harmonic reducer, thereby obtaining a medium reduction ratio. Compared with the existing mid-mounted motor, the present invention can flexibly select a suitable output reduction ratio and improve the service life of the motor.

[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 schematic diagram of the planetary speed reduction part in the present invention; Figure 3 This is a structural detail diagram of the planetary speed reduction part of the present invention; Figure 4 It is the appearance diagram of 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. needle bearing; 15. motor housing 2; 16. torque sensor; 17. rotor output shaft; 18. main shaft; 19. center gear; 20. planetary gear; 21. planetary gear carrier; 22. gear ring; 23. movable ring; 24. hinge block; 25. rotating ring; 26. arc connecting rod; 27. locking block; 28. locking teeth; 29. ​​pushing mechanism; 291. micro motor; 292. threaded rod; 293. sliding block. 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 1-4 , the present invention provides a technical solution of a mid-mounted motor with a planetary harmonic reducer: A central motor with a planetary harmonic reducer, the planetary harmonic reducer comprises: a wave generator 4, a flexible wheel 7, an output flange 11, a cross roller bearing 12, a rigid wheel 13, a needle roller bearing 14, a central gear 19, a planetary gear 20, a planetary gear carrier 21, and a planetary gear ring 22; 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, the planetary gear carrier 21 is fixedly connected with the wave generator 4, and three planetary gears 20 are installed on the side of the planetary gear carrier 21, the inner sides of the three planetary gears 20 are meshed and connected with the central gear 19, and the outer sides of the three planetary gears 20 are meshed and connected with the planetary ring gear 22.

[0028] In this embodiment, the central gear 19 drives the three planetary gears 20 to rotate. Since the planetary ring gear 22 is provided, the planetary gears 20 rotate inside the planetary ring gear 22, and the planetary gear carrier 21 rotates at a reduced speed, and the planetary gear carrier 21 drives the wave generator 4 to rotate at a low speed.

[0029] 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 center gear 19 through the rotor output shaft 17.

[0030] The rigid wheel 13 is installed inside the motor housing 15, and the output flange 11 is connected to the main shaft 18 through the needle bearing 14. The output flange 11 and the main shaft 18 are connected to each other through the needle bearing 14 to achieve unidirectional rotation, avoiding manual output to drive the motor to rotate, which is more labor-saving.

[0031] 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.

[0032] A waterproof pad 16 is provided between the motor housing 1 5 and the motor housing 2 15 . The motor housing 1 5 and the motor housing 2 15 are fixed by bolts, and the waterproof pad 16 realizes waterproofing between the motor housing 1 5 and the motor housing 2 15 .

[0033] The flexible wheel 7 is installed inside the motor housing 15 through the cross roller bearing 12.

[0034] The wave generator 4 is rotatably connected to the main shaft 18 via a bearing.

[0035] 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, and 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, and the waterproof property of the controller housing 9 is achieved by providing the waterproof pad 2 8.

[0036] A torque sensor 16 is installed inside the motor housing 15 . The detection end of the torque sensor 16 is connected to the main shaft 18 . The torque sensor 16 is used to detect the torque of the main shaft 18 and feedback a signal.

[0037] The planetary gear ring 22 is installed inside the motor housing 5 through a bearing. Three pushing mechanisms 29 are installed inside the motor housing 5. The telescopic ends of the three pushing mechanisms 29 are installed with movable rings 23. One side of the movable ring 23 is rotatably connected with a rotating ring 25. Three hinge blocks 24 are installed on the side of the rotating ring 25. The other side of the movable ring 23 is provided with end face ring teeth. The side of the planetary gear ring 22 close to the movable ring 23 is provided with fixed ring teeth matched with the end face gear ring. The two ring teeth are matched with each other. Locking teeth 28 are provided at the ends of the rotating shafts of the planetary gears 20 and the planetary gear carrier 21. The planetary gear carrier 21 is slidably connected with a locking block 27. The locking block 27 is connected to the hinge block 24 through an arc connecting rod 26.

[0038] In this embodiment, the pushing mechanism 29 drives the movable ring 23 to the left. At this time, the movable ring 23 is not engaged and locked with the planetary ring gear 22. At the same time, the locking block 27 is driven by the arc connecting rod 26 to lock the rotating shaft locking teeth 28 of the three planetary gears 20. At this time, the center gear 19, the planetary gears 20, the planetary gear carrier 21, and the planetary ring gear 22 do not rotate with each other. The motor rotor 3 directly drives the wave generator 4, and the power directly drives the main shaft 18 through the harmonic reducer.

[0039] The pushing mechanism 29 includes a micro-motor 291, a threaded rod 292, and a sliding block 293. The output shaft of the micro-motor 291 is transmission-connected to the threaded rod 292, the sliding block 293 is threadedly connected to the threaded rod 292, the sliding block 293 is fixedly connected to the movable ring 23, the micro-motor 29 drives the threaded rod 292 to rotate, and the threaded rod 292 drives the sliding block 293 to move. There are three pushing mechanisms 29, which are evenly distributed around the movable ring 23 and are used to drive the left and right sides of the movable ring 23 to slide.

[0040] When used specifically: When a high reduction ratio is required, the power output by the motor rotor 3 is transmitted to the wave generator 4 through the central gear 19, the planetary gear 20, and the planetary gear carrier 21. The wave generator 4 rotates and drives the flexible wheel 7 to reduce the speed. The flexible wheel 7 drives the output flange 11 and the main shaft 18 to transmit, thereby achieving deceleration. Compared with the existing wave generator, the present invention adopts a double deceleration method to increase the torque and achieve a better deceleration effect. The high-speed rotation of the motor rotor 3 in the present invention has been decelerated before being transmitted to the wave generator 4 of the harmonic reduction mechanism, so that the speed of the wave generator 4 reduces the number of elastic deformations of the flexible wheel 7 and improves the service life of the flexible wheel 7. The present invention achieves a high reduction ratio without increasing the number of teeth of the rigid wheel and the flexible wheel, avoids smaller teeth of the rigid and flexible wheels meshing, and reduces the design difficulty and processing cost. At the same time, the vibration generated when the motor rotor 3 rotates is reduced and transmitted to the wave generator 4 through the clearance fit of the central gear 19, the planetary gear 20, and the planetary gear carrier 21, further improving the service life; When a larger reduction ratio is not needed, the movable ring 23 is pushed to the left by the pushing mechanism 29. At this time, the movable ring 23 is not meshed and locked with the planetary ring gear 22. At the same time, the locking block 27 is driven by the arc connecting rod 26 to lock the rotating shaft locking teeth 28 of the three planetary gears 20. At this time, the center gear 19, the planetary gears 20, the planetary gear carrier 21, and the planetary ring gear 22 do not rotate with each other. The motor rotor 3 directly drives the wave generator 4, and the power directly drives the main shaft 18 through the harmonic reducer, thereby obtaining a medium reduction ratio. Compared with the existing mid-mounted motor, the present invention can flexibly select a suitable output reduction ratio and improve the service life of the motor.

[0041] 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 planetary harmonic reducer, characterized in that: The planetary harmonic reducer comprises: a wave generator (4), a flexible wheel (7), an output flange (11), a cross roller bearing (12), a rigid wheel (13), a needle roller bearing (14), a central gear (19), a planetary gear (20), a planetary gear carrier (21), and a planetary ring gear (22); The wave generator (4) is mounted 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 drivingly connected with the output flange (11), the planetary gear carrier (21) is fixedly connected with the wave generator (4), three planetary gears (20) are mounted on the side of the planetary gear carrier (21), the inner sides of the three planetary gears (20) are meshed and connected with the central gear (19), and the outer sides of the three planetary gears (20) are meshed and connected with the planetary gear ring (22).

2. A mid-mounted motor with a planetary 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 (5) and a motor housing 2 (15); the motor rotor (3) is mounted 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 rotatably connected to the main shaft (18) via a bearing; and the motor rotor (3) is transmission-connected to a central gear (19) via the rotor output shaft (17).

3. A mid-mounted motor with a planetary harmonic reducer as claimed in claim 2, characterized in that: The rigid wheel (13) is installed inside the second motor housing (15), and the output flange (11) and the main shaft (18) are connected in transmission via a needle bearing (14).

4. A mid-mounted motor with a planetary 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 planetary 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 planetary harmonic reducer as claimed in claim 5, characterized in that: The flexible wheel (7) is installed inside the second motor housing (15) via a cross roller bearing (12).

7. A mid-mounted motor with a planetary harmonic reducer as claimed in claim 6, characterized in that: The wave generator (4) is rotatably connected to the main shaft (18) via a bearing.

8. A mid-mounted motor with a planetary harmonic reducer as claimed in claim 7, 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), and 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).

9. A mid-mounted motor with a planetary harmonic reducer as claimed in claim 8, characterized in that: A torque sensor (16) is installed inside the second motor housing (15), and a detection end of the torque sensor (16) is connected to the main shaft (18).

10. A mid-mounted motor with a planetary harmonic reducer as claimed in claim 9, characterized in that: The planetary gear ring (22) is mounted inside the motor housing (5) via a bearing. Three driving mechanisms (29) are mounted inside the motor housing (5). The telescopic ends of the three driving mechanisms (29) are mounted with movable rings (23). One side of the movable ring (23) is rotatably connected to a rotating ring (25). Three hinge blocks (24) are mounted on the side of the rotating ring (25). The other side of the movable ring (23) is provided with end face ring teeth. A fixed ring tooth matching the end face ring tooth is disposed on a side of the planetary gear ring (22) close to the movable ring (23). The two ring teeth match each other. Locking teeth (28) are disposed at the ends of the rotating shafts of the planetary gear (20) and the planetary gear carrier (21). The planetary gear carrier (21) is slidably connected to a locking block (27). The locking block (27) is connected to the hinge block (24) via an arc-shaped connecting rod (26).

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