Speed reduction motor with synchronous different-direction double-pendulum structure

Abstract

The invention belongs to the technical field of driving equipment, and particularly relates to a synchronous different-direction double-pendulum structure gear motor, which comprises a machine body, a stator, a positioning cylinder and a driving assembly, and is characterized in that the stator is arranged in the machine body; three gears which are uniformly arranged are arranged in the positioning cylinder, and the two driving assemblies are symmetrically arranged on the two sides of the positioning cylinder; the driving assembly comprises a swinging piece, an elastic piece and a rotating shaft, and the swinging piece is arranged in the annular cavity of the stator; the rotating shaft is coaxially and fixedly connected to the pendulum and is connected to the machine body through the rotor; the elastic piece sleeves the rotating shaft, and the two ends of the elastic piece abut against the stator and the swinging piece respectively; gear rings meshed with the gears are arranged on the swingers, and the gear rings of the swingers in the two driving assemblies are meshed with the gears respectively; when the stator is powered on, the swingers rotate, and the rotating directions of the two swingers are opposite. Therefore, the problems that in the prior art, a speed reducer is unstable in transmission and large in energy consumption are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of driving devices, and particularly relates to a synchronous and opposite-direction double pendulum structure reduction motor. Background Art

[0002] In the field of existing conventional motor technologies, achieving low-speed operation is a common requirement, especially in applications that require precise control of rotational speed and torque. To meet this requirement, the usual approach is to use an additional speed reducer or other forms of speed reduction devices to cooperate with the motor.

[0003] However, the introduction of a speed reducer significantly increases the complexity of the system, making the processes of overall machine design, assembly, and fault troubleshooting more cumbersome. Each additional component may become a potential fault point, thus affecting the reliability of the entire system. In addition, with the increase in system complexity, the professional requirements for engineers and technicians also increase, invisibly raising the human resource cost. As a part of mechanical transmission, the speed reducer will inevitably experience wear over time, which requires regular inspection and replacement of vulnerable parts to ensure the stable operation of the system. The maintenance activities themselves require time and manpower, and the production will be interrupted during the shutdown for maintenance, thus affecting the economic benefits. In addition, the added speed reducer increases the size and weight of the equipment, which does not meet the market demand under the trend of pursuing lightweight and energy-saving and efficient.

[0004] Currently, the speed reducer also has problems of unstable transmission and high energy consumption. Therefore, a more reasonable technical solution needs to be provided to solve the current technical problems. Summary of the Invention

[0005] The object of the present invention is to provide a synchronous and opposite-direction double pendulum structure reduction motor to solve the problems of unstable transmission and high energy consumption of the speed reducer in the prior art.

[0006] To achieve the above object, the present invention provides a synchronous and opposite-direction double pendulum structure reduction motor, including:

[0007] Including a machine body, a stator, a positioning cylinder, and a driving assembly. Among them, the stator is arranged in the machine body; three gears are evenly arranged in the positioning cylinder, and the driving assembly is configured into two groups and symmetrically arranged on both sides of the positioning cylinder;

[0008] The driving assembly includes a pendulum, an elastic member, and a rotating shaft. The pendulum is arranged in the annular cavity of the stator; the rotating shaft is coaxially and fixedly connected to the pendulum, and the rotating shaft is connected to the machine body through a one-way bearing; the elastic member is sleeved on the rotating shaft, and its two ends respectively abut against the stator and the pendulum;

[0009] Wherein, a toothed ring meshing with the gear is provided on the pendulum, and the toothed rings of the pendulums in the two drive assemblies are respectively meshed with the gear; when the stator is electrified, the pendulum rotates, and the rotation directions of the two pendulums are opposite.

[0010] In a possible design, an electromagnet is provided in the stator, and a magnet with a magnetic polarity opposite to that of the electromagnet is provided in the pendulum.

[0011] In a possible design, an electromagnet is provided in the stator, a magnetic conduction ring is provided on the rotating shaft, and the magnetic conduction ring is located between the one-way bearing and the pendulum.

[0012] In a possible design, the elastic member includes two spiral springs, and the two spiral springs are coaxially stacked.

[0013] In a possible design, a position sensor and a swing direction sensor communicatively connected to a controller are provided on the pendulum.

[0014] In a possible design, the synchronous and opposite-direction double-pendulum structure reduction motor further includes two side covers, cylinders are provided on the side covers, and the side covers are correspondingly arranged on the outer sides of the stator; the spring is sleeved on the outer periphery of the cylinder, and the rotating shaft is inserted into the cylinder.

[0015] Since the two drive assemblies are symmetrically arranged on both sides of the positioning cylinder, and the toothed rings on the pendulums are respectively meshed with the gears, the two pendulums will rotate synchronously but in opposite directions. Due to the existence of the gear system, the movements of the two pendulums always remain synchronized. Even if one pendulum encounters resistance, the other will adjust accordingly to maintain overall coordination. It should be noted that the rotation directions of the pendulums are opposite, so the torques generated during their rotation can cancel each other out, reducing the impact force on the machine body and improving the smoothness of the output torque at the same time. Through the design of synchronous and opposite-direction rotation, the motor can achieve a large torque output in a smaller volume, which is particularly suitable for application scenarios that require high torque and low-speed operation. The precise fit between the pendulum and the gear ensures the stability of the motor operation, enables very fine speed adjustment, and meets the requirements of fields such as automation equipment and robots. The design of opposite-direction rotation effectively reduces the vibration and noise problems caused by single-direction rotation, and can effectively improve the user experience and the service life of the equipment.

[0016] In this embodiment, the synchronous and opposite-direction double-pendulum structure reduction motor realizes efficient and stable torque output and precise speed control through a unique transmission structure, not only optimizing the performance of traditional motors but also expanding their application scope, providing more choices for industrial automation and other high-tech fields. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the synchronous and opposite-direction double pendulum structure reduction motor provided by the present invention in Embodiment 1;

[0019] Figure 2 It is a schematic structural diagram of the synchronous and opposite-direction double pendulum structure reduction motor provided by the present invention in Embodiment 2;

[0020] Figure 3 It is a schematic structural diagram of the synchronous and opposite-direction double pendulum structure reduction motor provided by the present invention in Embodiment 3.

[0021] In the above-mentioned drawings: 1 - stator, 2 - positioning cylinder, 21 - gear, 3 - pendulum, 31 - toothed ring, 4 - elastic member, 5 - rotating shaft, 6 - one-way bearing, 7 - magnet, 8 - magnetic conduction ring. Specific Embodiments

[0022] The following will further elaborate on the present invention in combination with the drawings and specific embodiments. It should be noted here that although the description of these embodiments is used to help understand the present invention, it does not constitute a limitation to the present invention. The specific structural and functional details disclosed herein are only used to describe the embodiments of the examples of the present invention. However, the present invention can be embodied in many alternative forms and should not be construed as being limited to the embodiments described herein.

[0023] According to the specific embodiments of the present invention, a synchronous and opposite-direction double pendulum structure reduction motor is provided. This reduction motor uses double pendulums as double power sources, and the synchronous and opposite-direction movement of the double pendulums is formed by the meshing of three gears on three gears with the toothed circular track at the bottom of the double pendulums. It is a low-speed rotating motor that transmits the power of the pendulum to the rotor in the form of mechanical, magnetic attraction, or magnetic deceleration. Figures 1 to 3 The specific embodiments thereof are shown.

[0024] Embodiment 1

[0025] Refer to Figure 1 As shown, it shows a schematic structural diagram of an embodiment of the synchronous and opposite-direction double pendulum structure reduction motor provided by the present disclosure. Specifically, it is a mechanical synchronous and opposite-direction double pendulum structure reduction motor.

[0026] In this embodiment, the synchronous and counter-directional double pendulum structure deceleration motor includes: a body, a stator 1, a positioning cylinder 2, and a driving assembly. Among them, the stator 1 is arranged in the body; three evenly arranged gears 21 are provided in the positioning cylinder 2; the driving assembly is configured into two groups and symmetrically arranged on both sides of the positioning cylinder 2; the driving assembly includes a pendulum 3, an elastic member 4, and a rotating shaft 5. The pendulum 3 is arranged in the annular cavity of the stator 1; the rotating shaft 5 is coaxially and fixedly connected to the pendulum 3, and the rotating shaft 5 is connected to the body through a one-way bearing 6; the elastic member 4 is sleeved on the rotating shaft 5, and its two ends respectively abut against the stator 1 and the pendulum 3; among them, a toothed ring 31 meshing with the gear 21 is provided on the pendulum 3, and the toothed rings 31 of the pendulums 3 in the two driving assemblies respectively mesh with the gear 21; when the stator 1 is powered on, the pendulum 3 rotates, and the rotation directions of the two pendulums 3 are opposite.

[0027] The body serves as the basic framework of the entire motor, providing mechanical support and accommodating other key components such as the stator 1 and the positioning cylinder 2. The body is made of high-strength metal materials to ensure the stability and durability of the structure. The stator 1 is the stationary part of the motor, responsible for generating a rotating magnetic field. It consists of coil windings, which generate electromagnetic force when powered on, driving the rotor (i.e., the pendulum 3) to rotate.

[0028] The positioning cylinder 2 is located at the center of the body and is used to fix and guide the rotating components inside. Three evenly distributed gears 21 are provided in the positioning cylinder 2. These gears 21 are the key links for power transmission and can play a role in reducing speed and increasing torque. The three gears 21 are evenly distributed in the positioning cylinder 2 at a 120-degree angle, not only providing meshing points for the pendulum 3, but also realizing the distribution and transmission of power through mutual meshing, enabling the two driving assemblies to rotate synchronously and in opposite directions, thereby improving the overall efficiency and stability.

[0029] The pendulum 3, as the core moving part of the motor, is installed in the annular cavity of the stator 1. A toothed ring 31 is provided on each pendulum 3, and the toothed ring 31 meshes with the gear 21 in the positioning cylinder 2. When the stator 1 is powered on, the generated electromagnetic force drives the pendulum 3 to rotate around its axis.

[0030] The elastic member 4 (such as the helical spring described below) sleeved on the rotating shaft 5 plays a role in buffering and resetting. The two ends of the elastic member 4 respectively abut against the stator 1 and the pendulum 3, which can provide a certain degree of flexibility when the pendulum 3 is subjected to external impacts or vibrations, and at the same time ensure that the pendulum 3 is always in close contact with the gear 21 to ensure the transmission accuracy.

[0031] The rotating shaft 5 is coaxially and fixedly connected to the pendulum 3 and is connected to the body through a one-way bearing 6. The design of the one-way bearing 6 allows the rotating shaft 5 to transmit torque only in one direction, preventing unnecessary reverse movement and enhancing the reliability of the system.

[0032] When the stator 1 is energized, the generated electromagnetic field causes the pendulum 3 to start rotating. Since the two drive components are symmetrically arranged on both sides of the positioning cylinder 2, and the toothed rings 31 on the pendulum 3 are respectively engaged with the gears 21, the two pendulums 3 will rotate synchronously but in opposite directions. Due to the existence of the gear 21 system, the actions of the two pendulums 3 always remain synchronized. Even if one of the pendulums 3 encounters resistance, the other will adjust accordingly to maintain overall coordination. It should be noted that the directions of rotation of the pendulums 3 are opposite, so the torques generated during their rotation can cancel each other out, reducing the impact force on the body and at the same time improving the smoothness of the output torque. Through the design of synchronous counter-rotation, this motor can achieve a large torque output within a smaller volume, and is particularly suitable for application scenarios that require high torque and low-speed operation. The precise fit between the pendulum 3 and the gear 21 ensures the stability of the motor operation, enabling very fine speed adjustment to meet the requirements of fields such as automation equipment and robots. The design of counter-rotation effectively reduces the vibration and noise problems caused by single-direction rotation, and can effectively improve the user experience and the service life of the equipment.

[0033] In this embodiment, the synchronous counter-rotating double-pendulum structure reduction motor realizes efficient and stable torque output and precise speed control through a unique transmission structure, not only optimizing the performance of traditional motors, but also expanding their application scope, providing more choices for industrial automation and other high-tech fields.

[0034] Embodiment 2

[0035] Refer to Figure 2 As shown, it shows a schematic structural diagram of an embodiment of the synchronous counter-rotating double-pendulum structure reduction motor provided by the present disclosure. Specifically, it is a magnetic adsorption type synchronous counter-rotating double-pendulum structure reduction motor.

[0036] On the basis of Embodiment 1, an electromagnet 7 is added to the stator 1, and a magnet 7 with the opposite magnetic property to the electromagnet 7 is provided in the pendulum 3, so that the motor not only has the characteristics of high-efficiency torque output and precise speed control, but also can realize dynamic adjustment of the rotation speed through electromagnetic force.

[0037] Traditional motors usually rely on mechanical friction or electronic controllers to adjust the rotation speed, but these two methods are either inefficient or increase the complexity of the system. By adding an electromagnet 7 to the stator 1 and setting a magnet 7 with the opposite magnetic property in the pendulum 3, the electromagnetic attraction can be used to slow down the rotation speed of the pendulum 3, providing a more direct and efficient speed regulation means.

[0038] When the electromagnet 7 is energized, the generated suction force will pull the pendulum 3 back. This can not only reduce the rotational speed but also convert part of the kinetic energy into electrical energy and store it in the system, achieving effective energy recovery. The electromagnet 7 is arranged at a specific position inside the stator 1 to ensure that its magnetic field can evenly cover the magnets 7 on each pendulum 3, guaranteeing that each pendulum 3 receives the same electromagnetic force, thus maintaining the consistency and stability of the overall movement.

[0039] Inside each pendulum 3, a permanent magnet 7 with the opposite magnetic pole to that of the electromagnet 7 is embedded to ensure the optimal cooperation distance between it and the electromagnet 7, which can generate sufficient suction force to affect the speed of the pendulum 3 without causing the system to jam due to excessive attractive force.

[0040] When it is necessary to slow down the rotational speed of the pendulum 3, the control system will supply power to the electromagnet 7 to generate a magnetic field. At this time, since the magnet 7 inside the pendulum 3 has the opposite magnetism to that of the electromagnet 7, a strong suction force will be formed between the two. This suction force will exert a reverse torque on the rotating pendulum 3, and then achieve the following effects: as the suction force generated by the electromagnet 7 gradually increases, the rotational speed of the pendulum 3 will correspondingly slow down.

[0041] Compared with traditional braking methods, this method is gentler and more controllable, avoiding the impact and wear that may be caused by sudden stops. Since the pendulums 3 in the two drive components rotate in opposite directions, the acting forces of the electromagnet 7 will also cancel each other out to a certain extent, maintaining the dynamic balance of the entire system and reducing unnecessary vibrations and noises. When the pendulum 3 is pulled by the electromagnet 7, part of its kinetic energy is converted into electrical energy, and this part of the energy can be fed back to the power supply or used for other purposes through appropriate circuit design, improving the energy utilization efficiency.

[0042] The additional speed regulation function provided by the electromagnet 7 enables the motor to operate smoothly within a wider speed range, which is particularly suitable for application scenarios that require precise adjustment, such as precision manufacturing, medical devices, etc. By adjusting the speed through electromagnetic force rather than mechanical friction, the direct contact between components is reduced, the wear rate is lowered, and thus the overall service life of the motor is extended.

[0043] Embodiment 3

[0044] Refer to Figure 3 As shown, it shows a schematic structural diagram of an embodiment of a synchronous and opposite-direction double-pendulum structure reduction motor provided by the present disclosure. Specifically, it is a synchronous and opposite-direction double-pendulum structure non-contact magnetic reduction type reduction motor.

[0045] On the basis of Example 1, an electromagnet 7 is provided in the stator 1, a flux ring 8 is provided on the rotating shaft 5, and the flux ring 8 is located between the one-way bearing 6 and the pendulum 3. In this way, the electromagnetic attraction can be used to slow down the speed of the motor, providing a more direct and efficient means of speed regulation. When the flux ring 8 is energized and generates magnetic attraction, it can not only reduce the speed, but also convert part of the kinetic energy into electrical energy and store it in the system, thereby realizing effective energy recovery and improving overall efficiency.

[0046] The electromagnet 7 is arranged at a specific position inside the stator 1 to ensure that its magnetic field can evenly cover the flux ring 8 on each rotating shaft 5, and ensure that each flux ring 8 is subjected to the same electromagnetic force, thereby maintaining the consistency and stability of the overall movement. The flux ring 8 is installed on the rotating shaft 5 and is located between the one-way bearing 6 and the pendulum 3. The flux ring 8 is made of magnetic conductive material and can generate significant magnetism after power is applied, forming an effective magnetic coupling with the electromagnet 7 in the stator 1.

[0047] When the speed of the motor needs to be slowed down, the control system will supply power to the electromagnet 7 to generate a magnetic field. At this time, the flux ring 8 will also generate corresponding magnetism under the action of the electromagnet 7 due to its magnetic conductivity.

[0048] The magnetic attraction between the two will exert a reverse torque on the rotating shaft 5, thereby achieving the following effect: as the magnetic attraction generated by the electromagnet 7 gradually increases, the rotation speed of the shaft 5 will slow down accordingly.

[0049] Compared with traditional braking methods, this method is softer and more controllable, avoiding the impact and wear that may be caused by sudden stops. Since the flux rings 8 in the two drive components rotate in opposite directions, the forces of the electromagnets 7 will also partially offset each other, maintaining the dynamic balance of the entire system and reducing unnecessary vibration and noise. When the flux ring 8 is pulled by the electromagnet 7, part of its kinetic energy is converted into electrical energy, which can be fed back to the power supply or used for other purposes through appropriate circuit design, thereby improving energy efficiency. The additional speed regulation function provided by the electromagnet 7 allows the motor to run smoothly over a wider speed range, which is particularly suitable for applications with precise regulation, such as precision manufacturing, medical equipment, etc.

[0050] Specifically, when the motor starts normally, the electromagnet 7 is not energized, the magnetic ring 8 does not generate magnetism, and the motor is accelerated and operated in a conventional manner. When the rotation speed needs to be slowed down, the control system supplies power to the electromagnet 7, the electromagnet 7 generates a magnetic field, and the magnetic ring 8 generates magnetism and forms a magnetic attraction with the electromagnet 7, applying a reverse torque to the rotating shaft 5, thereby slowing down the rotation speed. If the motor needs to be stopped completely, the current intensity of the electromagnet 7 can be further increased to increase the magnetic attraction until the motor stops running. At the same time, through appropriate circuit design, the recovered energy can be stored for subsequent use.

[0051] Specifically, the electromagnet 7 can also be arranged on the inner wall of the cylinder of the pendulum 3, and the S pole and N pole of the electromagnet 7 are arranged along the circumferential direction. When the pendulum drives the rotor to rotate, the N pole and S pole are alternately arranged.

[0052] The main body of the magnetic conduction ring is in a ring structure and is made of engineering plastics. A plurality of circular iron sheets are provided on the main body of the magnetic conduction ring, and the iron sheets are evenly spaced along the circumferential direction of the main body, and the iron sheets are embedded in the ring-shaped main body.

[0053] The electromagnets on the force-receiving disc of the rotor are arranged on the outer wall of the force-receiving disc, and the N poles and S poles of the electromagnets are alternately arranged, so that the pendulum, the force-receiving disc and the magnetic conduction ring are sleeved with each other.

[0054] The number of iron sheets on the ring-shaped main body is set to be greater than the number of magnets on the force-receiving disc of the rotor and less than the number of electromagnets on the inner wall of the cylinder of the pendulum.

[0055] The reduction ratio of the reduction motor is: the number of magnets on the force-receiving disc of the rotor / the number of electromagnets on the inner wall of the cylinder of the pendulum.

[0056] Refer to Figures 1 to 3 As shown, in Embodiments 1 to 3, the elastic member 4 includes two helical springs, and the two helical springs are coaxially stacked. Such a structural design enables the two springs to simultaneously bear the pressure between the stator 1 and the pendulum 3, providing greater elastic force and better fatigue strength, so that the pendulum 3 remains stable when subjected to external impact or vibration. Compared with a single spring, it can effectively reduce the instability caused by eccentric load or asymmetric force. In this way, the elastic member 4 has both sufficient hardness to resist large loads and good flexibility to absorb small vibrations, and can protect other mechanical components from damage.

[0057] During the normal operation of the motor, the two helical springs are in a natural extended state, providing a stable supporting force for the pendulum 3, ensuring close contact between the pendulum 3 and the gear 21, and maintaining the transmission accuracy. When the pendulum 3 is subjected to external impact or vibration, the two helical springs will be compressed simultaneously. Since they are coaxially stacked, they can evenly distribute the pressure they bear, avoiding problems such as excessive deformation or damage that may occur to a single spring. When the electromagnet 7 is energized to generate magnetic suction force, the pendulum 3 will be subjected to a reverse torque. At this time, the two helical springs can not only play a buffering role, but also adjust the position change rate of the pendulum 3 through their own elastic force characteristics, ensuring a smooth transition of the motor speed. It is especially suitable for application scenarios with extremely high requirements for the running stability of the motor, such as precision machining tools, medical diagnostic instruments, etc. This design of coaxially stacking two helical springs can significantly improve the working quality and reliability of the system.

[0058] Specifically, technicians in this field can select and combine coil springs of different materials (such as stainless steel, phosphor bronze, etc.) and specifications (diameter, pitch, etc.) according to actual needs to meet the strength, stiffness and durability requirements in specific application scenarios.

[0059] In a possible design, the synchronous counter-rotating double-pendulum structure reduction motor also includes two side covers, the side covers are provided with cylinders, and the side covers are arranged one by one on the outside of the stator; the spring is sleeved on the outer circumference of the cylinder, and the rotating shaft is inserted into the cylinder. The cylinder is arranged on the side cover, and the interior is a hollow structure for accommodating the rotating shaft, thereby playing a certain positioning and guiding role. The inner diameter of the cylinder should be closely matched with the outer diameter of the rotating shaft to ensure that the rotating shaft can rotate smoothly without shaking. The spring is fixed to the side cover and the stator at both ends to form an elastic support structure, which can enhance the structural stability and durability of the synchronous counter-rotating double-pendulum structure reduction motor.

[0060] The side cover is made of high-strength non-metallic material (such as engineering plastic) to ensure sufficient rigidity and durability while having good anti-corrosion performance.

[0061] In order to better detect and control the driving state of the reduction motor, the pendulum 3 is provided with a position sensor and a swing direction sensor which are communicatively connected to the controller.

[0062] Specifically, the position sensor and the swing direction sensor maintain real-time communication with the controller through wired or wireless means (such as CAN bus, RS485 interface or Wi-Fi module) to ensure that all collected data can be quickly transmitted to the control system for timely response. After receiving the signal from the sensor, the controller will process and analyze it, calculate the current working state according to the preset algorithm, and adjust the current intensity and other parameters of the electromagnet 7 accordingly, so as to achieve precise control of the motor operation state. When the reduction motor is running, the position sensor and the swing direction sensor will continuously monitor the state of the pendulum 3 and send relevant information to the controller.

[0063] After the motor starts running, the position sensor and the swing direction sensor immediately enter the working state, collect and upload data to the controller in real time. The controller continuously adjusts the current and other control parameters of the electromagnet 7 according to the information provided by the sensor to ensure that the motor runs stably according to the predetermined mode. When the speed or direction needs to be changed, the controller responds quickly based on the sensor data and adjusts the current intensity of the electromagnet 7 to ensure a smooth transition. If the sensor detects any abnormal situation, the controller will immediately implement corresponding protection measures, such as stopping power supply or sounding an alarm, to ensure safety.

[0064] The rotational speed data and steering data provided by the position sensor and the swing direction sensor respectively can help the controller maintain the set working mode. For example, if the rotational speed of a certain pendulum 3 is detected to be lower than the expected value, the controller may increase the current of the electromagnet 7 to increase the rotational speed; conversely, it may decrease the current to prevent excessive rotation. When it is necessary to change the rotational speed of the motor, the controller can dynamically adjust the current intensity of the electromagnet 7 according to the real-time data provided by the sensors. Since the two pendulums 3 rotate in opposite directions, the controller also needs to coordinate the relationship between them to ensure that they always maintain a synchronous and reverse motion state. Once the sensors detect an abnormal situation (such as a certain pendulum 3 suddenly stopping or missteering), the controller will immediately take measures, such as cutting off the power supply, triggering an alarm, etc., to protect the system from damage.

[0065] Through the above technical solutions, the real-time monitoring and precise control of the motor operating state can be achieved, which is particularly suitable for application scenarios with extremely high requirements for speed and direction, such as precision manufacturing, automated production lines, etc. The sensors can detect potential problems in advance, such as increased wear or loose components, enabling maintenance personnel to perform preventive maintenance before a failure occurs, reducing the risk of downtime and maintenance costs. Based on the data fed back by the sensors, the controller can continuously optimize the working parameters of the motor, improve the overall efficiency and stability, and extend the service life of the equipment. On this basis, combined with the Internet of Things technology and the big data analysis platform, the operating conditions of multiple motors can be remotely monitored, realizing centralized management and intelligent scheduling, and improving the management level and response speed.

[0066] In the present disclosure, the position sensor can adopt a Hall effect sensor, an optical encoder or other high-precision measurement tools to ensure the accuracy and reliability of data acquisition. Through the magnetoresistive effect or similar technology, the swing direction sensor can distinguish forward rotation and reverse rotation and feed the information back to the controller. Since both the position sensor and the swing direction sensor are existing technology products, those skilled in the art can flexibly select according to actual needs.

[0067] In the present disclosure, the control device is configured as a single-chip microcomputer.

[0068] In addition, the control device can also be configured as a PLC logic control device, a central processing unit (CPU). And in other embodiments, the control device can also be one configured as a digital signal processor (DSP), an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0069] For the technical features not described in detail in this disclosure, reference may be made to the speed reducers or motors in the prior art for understanding.

[0070] The synchronous and opposite-direction double pendulum structure reduction motor is a kind of motor with two power source structures. It transmits power to the rotor through two synchronous and opposite-direction pendulums, thereby generating the rotation of the rotor. The three gears of its three gear disks are engaged with the circular tooth tracks of the two pendulums through gears to achieve the purpose of synchronous and opposite-direction swinging of the double pendulums. According to the method of transmitting power from the two pendulums to the rotor, it can be divided into three structures, from simple to complex in sequence: ① The synchronous and opposite-direction double pendulum structure mechanical (one-way bearing) reduction motor, hereinafter referred to as Motor A, that is, the motor described in Embodiment 1; ② The synchronous and opposite-direction double pendulum structure non-contact magnetic attraction type reduction motor, hereinafter referred to as Motor B, that is, the motor described in Embodiment 2; ③ The synchronous and opposite-direction double pendulum structure non-contact magnetic reduction type reduction motor, hereinafter referred to as Motor C, that is, the motor described in Embodiment 3.

[0071] Motor A has a simple structure, can be made very small, and has a relatively high electrical conversion rate, but it cannot reverse or hover, and can only rotate forward; Motors B and C rely on electromagnetic force to achieve the transmission of double pendulum power to the rotor. In terms of structure, Motors B and C have added two sets of electromagnetic coils and magnet coils. The electromagnetic coils and magnets interact to generate magnetic induction stress, thereby achieving the purpose of transmitting power from the pendulum to the rotor.

[0072] The structural difference between Motor B and Motor C is that the electromagnetic coils and magnets of Motor C are arranged alternately with N poles and S poles, and there is a magnetic flux ring between the electromagnetic coil and the magnet coil. The ratio of the number of electromagnets to the number of magnets is theoretically equal to the magnetic reduction ratio. The magnetic flux ring between the two is a hard plastic ring, and iron discs are inlaid on this ring. The number of iron discs is theoretically greater than the number of magnets and less than the number of electromagnets.

[0073] Through magnetic reduction, Motor C further reduces the rotational speed of the rotor and increases the torque. It can achieve the purposes of forward rotation, reverse rotation, and hovering through the control of the controller. It can accurately control the rotational speed and position of the motor through the number of swings of the pendulum, and can complete various action combinations in combination with the chip. It is suitable for drive systems for low-speed movements such as future robots.

[0074] The connection methods and working principles of Motors A, B, and C are described separately below:

[0075] Motor A (synchronous and opposite-direction double pendulum structure mechanical (one-way bearing) reduction motor)

[0076] The three gears on the gear plate mesh with the gear rings on the two pendulums respectively. The inner ring of the one-way bearing is riveted to the rotor, and the outer ring is riveted to the inner cylinder wall of the pendulum. The inner ring of the other one-way bearing is riveted to one rotor, and the outer ring is riveted to the inner cylinder wall of the other pendulum. Position sensor III is installed on one side of the stator, and the electrical signal generated is connected to the electromagnets on the outer walls of the two pendulums of motor A after filtering and amplification. When the power is turned on, one end of the spring assembly is riveted to the bottom of the inner cylinder of the stator, and the other end is riveted to the inner cylinder wall of the pendulum. One end of the other spring assembly is riveted to the bottom of the inner cylinder of the stator, and the other end is riveted to the inner cylinder wall of the other pendulum.

[0077] The magnet on the outer wall of the pendulum and the electromagnet on the inner wall of the stator generate magnetic induction, causing the pendulum to rotate in the forward direction; at the same time, the magnet on the outer wall of the other pendulum and the electromagnet on the inner wall of the stator generate magnetic induction, causing the pendulum to rotate in the reverse direction. When the pendulum, forward, and reverse to a certain position, due to the elastic force of the spring assembly, the pendulum and swing in opposite directions. Repeatedly, the pendulum and swing back and forth synchronously in opposite directions.

[0078] When the pendulum swings forward, the one-way bearing drives the rotor to rotate. When the pendulum rotates in the reverse direction, the one-way bearing is not stressed, and the other pendulum drives the rotor to rotate forward, and the cycle repeats, forming an uninterrupted rotation of the rotor.

[0079] B motor (synchronous non-contact magnetic reduction motor with double pendulum structure)

[0080] The working principle and connection method of the double pendulum of the B motor are the same as those of the A motor, so we will not go into details here. We will focus on the process of how the B motor transfers the force on the pendulum to the rotor: a ring magnet is installed on the circular surface of a gear on the three-gear disk, and a pendulum swing sensor is installed on the gear disk near the magnet. When the pendulum rotates, positive and negative currents will be generated. Through the filtering and amplification of the current, the electrical signal is connected to the electromagnet at the bottom of the pendulum tube. When a pendulum swings forward, the electromagnet is turned on to generate magnetic force, which generates magnetic induction with the magnet on the force-bearing disk, so that the pendulum drives the rotor to rotate. When the pendulum reverses, since there is no current to the electromagnet at the bottom of the pendulum, it does not affect the rotation of the rotor. The same is true for the other pendulum. The energy is transmitted to the rotor by alternating between the pendulum and the pendulum, so as to achieve the purpose of continuous and uninterrupted rotation of the rotor.

[0081] C motor (synchronous non-contact magnetic reduction motor with double pendulum structure)

[0082] The working principle and connection method of the double pendulum of the C motor are the same as those of the A and B motors, so we will not go into details here. We will focus on the process of how the C motor transfers the force from the pendulum to the rotor and the principle and structure of the magnetic deceleration:

[0083] An annular magnet is installed on the side of a gear on a triple gear disc, and a swing direction sensor is installed on the triple gear disc near the magnet. When the gear swings back and forth, the swing direction sensor generates positive and negative alternating current. Through the filtering and amplifying effects on the current, the electrical signal is connected to the electromagnet on the inner side of the outer edge of the pendulum. The magnetism of the electromagnet is in an alternating state of N pole and S pole, and the magnets on the force receiving rings of the rotor are also placed alternately with N pole and S pole. The magnetic flux rings on the side covers 1 and 2 are arranged between the outer edges of the pendulums 1 and 2 and the force receiving rings of the rotors 1 and 2, and the number of iron sheets inlaid on the magnetic flux rings is between the number of electromagnets on the pendulum and the number of magnets on the force receiving rings of the rotor. When the current is connected to the electromagnet on the outer edge of the pendulum, the pendulum 1 will drive the force receiving ring 1 of the rotor to rotate. When no current passes through the electromagnet on the edge of the pendulum, the force receiving ring of the rotor is not affected by the swing of the pendulum. At the same time, the pendulum 2 receives the current to make the electromagnet on its own edge generate an alternating state of N pole and S pole, thereby driving the movement of the force receiving ring on the rotor 2. By this method, the pendulums 1 and 2 alternately and continuously provide power for the rotor to achieve the purpose of rotor rotation.

[0084] Regarding the reduction ratio problem of the synchronous and opposite double pendulum structure non-contact magnetic deceleration motor, the magnetic reduction ratio is theoretically equal to the ratio of the number of electromagnets on the outer edge of the pendulum to the number of magnets on the force receiving ring of the rotor. According to different application scenarios, designers can design motors with different speed ratios and torques by changing the ratio between the two.

[0085] The connection method of this motor is roughly the same as that of motors A and B, except for the connections on both sides of the spring assembly. One side of the spring assembly of motor C is connected to the inner wall of the pendulum, and the other side is connected to the outer wall of the magnetic flux ring.

[0086] The spring assemblies on motors A, B, and C are of a double-layer concentric and opposite structure, with iron discs on both sides for fixing. In future motor designs, a structure can be adopted in which the inner and outer circles of the bearing extend outward and several clockwork springs are installed, which is convenient for large-scale industrial production.

[0087] Regarding magnetic pollution, when the electromagnet is not energized, inductance will be generated due to its own movement and the surrounding magnets, resulting in reduced power consumption efficiency. It can be avoided or minimized during the circuit design process, and at the same time, the signal of electrical pollution is transmitted to the chip. The swing direction, swing times of the pendulum and the operating information of all aspects of the motor are determined by analyzing the electrical pollution signal.

[0088] Finally, it should be noted that the present invention is not limited to the above optional implementation manners, and anyone can obtain other various forms of products under the inspiration of the present invention. The above specific implementation manners should not be construed as limiting the protection scope of the present invention, and the protection scope of the present invention should be defined by the claims, and the description can be used to interpret the claims.

Claims

1. A synchronous counter-rotating double-pendulum structure reduction motor, characterized in that: It comprises a machine body, a stator, a positioning cylinder and a driving assembly, wherein the stator is arranged in the machine body; the positioning cylinder is provided with three evenly arranged gears, and the driving assembly is configured in two groups and symmetrically arranged on both sides of the positioning cylinder; The driving assembly comprises a pendulum, an elastic member and a rotating shaft, wherein the pendulum is arranged in the annular cavity of the stator; the rotating shaft is coaxially and fixedly connected to the pendulum, and the rotating shaft is connected to the machine body through a one-way bearing; the elastic member is sleeved on the rotating shaft, and its two ends are respectively abutted against the stator and the pendulum; Wherein, the pendulum is provided with a gear ring meshing with the gear, and the gear rings of the pendulums in the two driving assemblies are respectively meshed with the gears; when the stator is energized, the pendulum rotates, and the two pendulums rotate in opposite directions.

2. The synchronous counter-rotating double-pendulum structure reduction motor according to claim 1 is characterized in that: The stator is provided with an electromagnet, and the pendulum is provided with a magnet having a magnetic property opposite to that of the electromagnet.

3. The synchronous counter-rotating double-pendulum structure reduction motor according to claim 1, characterized in that: An electromagnet is arranged in the stator, a flux ring is arranged on the rotating shaft, and the flux ring is located between the one-way bearing and the pendulum.

4. The synchronous counter-rotating double-pendulum structure reduction motor according to any one of claims 1 to 3, characterized in that: The elastic member includes two coil springs, and the two coil springs are coaxially stacked.

5. The synchronous counter-rotating double-pendulum structure reduction motor according to any one of claims 1 to 3, characterized in that: The pendulum is provided with a position sensor and a swing direction sensor which are communicatively connected to the controller.

6. The synchronous counter-rotating double-pendulum structure reduction motor according to any one of claims 1 to 3, characterized in that: The synchronous non-rotating double-pendulum structure reduction motor also includes two side covers, each of which is provided with a cylinder, and the side covers are arranged one by one on the outside of the stator; the spring is sleeved on the outer circumference of the cylinder, and the rotating shaft is inserted in the cylinder.

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