A planetary gear reducer motor and its assembly method

Abstract

This application discloses a planetary geared motor and its assembly method. The geared motor includes a motor section with an extended shaft; a reduction structure including a fixed base and gear assemblies, with multiple gear assemblies disposed within the fixed base. The extended shaft of the motor section passes through the center of the gear assemblies and the fixed base and connects to the reduction structure. The gear assembly includes a sun gear and planet gears, with the sun gear meshing with multiple planet gears. A planet carrier is disposed between two adjacent gear assemblies, and the planet gears in two spaced-apart gear assemblies are positioned correspondingly. A rotating shaft is disposed at the end of the reduction structure away from the motor section, and a rotating sleeve is fitted on the outer side of the rotating shaft. A gear disk is disposed at the end of the rotating sleeve away from the reduction structure, and the gear disk is meshed with multiple gear shafts. One end of each gear shaft is connected to an output shaft, which is used to connect to an external load. The multi-stage transmission and multi-point output structure of this application significantly improves the practicality and lifespan of the geared motor while maintaining compactness.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a planetary gear reducer motor and its assembly method. Background Technology

[0002] Planetary gear motors are a type of power transmission device used in industrial automation, mechanical equipment, and household appliances. Their main function is to convert the high-speed rotation of the motor into low-speed, high-torque output through a reduction mechanism to meet the needs of different loads.

[0003] In practical applications, existing planetary geared motors often face a prominent technical problem: balancing the adaptability of the overall structure with output stability is difficult. Specifically, while pursuing high transmission efficiency and compact size, current designs often neglect the dynamic matching of power transmission between the motor and the reduction mechanism. For example, under certain high-load or variable-load conditions, the output characteristics of the motor and the transmission requirements of the reduction mechanism may become incompatible, leading to increased energy loss or accelerated component wear, making it difficult to meet the stability requirements of long-term operation or extreme environments.

[0004] Therefore, there is an urgent need for a planetary geared motor and its assembly method that can solve the above problems and improve the overall structural adaptability and output stability. Summary of the Invention

[0005] The purpose of this application is to provide a planetary gear reducer motor and its assembly method, which solves the technical problem that existing planetary gear reducers are difficult to adapt to the stability requirements of long-term operation or extreme environments.

[0006] To achieve this objective, the present application adopts the following technical solution:

[0007] A planetary gear reducer motor, comprising:

[0008] The motor section includes the extended shaft;

[0009] A speed reduction structure includes a fixed base and gear assemblies, with a plurality of gear assemblies disposed within the fixed base. The protruding shaft of the motor unit passes through the center of the gear assemblies and the fixed base and is connected to the speed reduction structure to drive the speed reduction structure to rotate.

[0010] The gear assembly includes a sun gear and planet gears, the sun gear and multiple planet gears mesh with each other, a planet carrier is provided between two adjacent gear assemblies, and the planet gears in two spaced-apart gear assemblies are positioned correspondingly;

[0011] The deceleration structure has a rotating shaft at one end away from the motor. A rotating sleeve is fitted on the outside of the rotating shaft. A gear disk is provided at one end of the rotating sleeve away from the deceleration structure. The gear disk is meshed with multiple gear shafts. One end of each gear shaft is connected to an output shaft, which is used to connect to an external load.

[0012] Furthermore, the reduction structure includes at least a first gear assembly, a second gear assembly, a third gear assembly, and a fourth gear assembly. The extended shaft of the motor is connected to the sun gear in the first gear assembly. The sun gears of the second, third, and fourth gear assemblies are fixedly connected to the planet carrier. The extended shaft drives the sun gear in the first gear assembly to rotate, which in turn drives the planet carrier and planet gears to rotate. The rotation of the planet carrier drives the sun gears of the adjacent second, third, and fourth gear assemblies to rotate, thus achieving multi-stage reduction.

[0013] Furthermore, it also includes a multi-hole sleeve, the central hole of which is fitted onto the rotating sleeve, the gear disk being coaxially arranged with the central hole, and a plurality of through circular holes being arranged around the central hole;

[0014] The multi-hole sleeve includes a support ring, the inner edge of which is fixedly sleeved on the outer periphery of the rotating sleeve. The outer edge of the support ring extends radially to form multiple arc-shaped protrusions. The center of each arc-shaped protrusion is offset by a preset distance relative to the center of the central hole. The bottom of the arc-shaped protrusion is connected to the circular through hole. The inner wall of the circular through hole is rotatably connected to the outer surface of the gear shaft.

[0015] Furthermore, a plurality of heat dissipation blocks are provided on the outer periphery of the porous sleeve. The heat dissipation blocks are inclined along the axial direction of the outer periphery of the porous sleeve. The inclination direction of the heat dissipation blocks is the same as the rotation direction of the rotating sleeve. A flow divider is formed between two adjacent heat dissipation blocks, and the plurality of flow divider channels are connected to form a heat dissipation channel.

[0016] Furthermore, it also includes a rolling bearing, which is disposed between the deceleration structure and the rotating sleeve and sleeved on the rotating shaft. The rolling bearing includes an arc-shaped limiting collar, which is disposed inside the inner ring of the rolling bearing. The inner sidewall of the arc-shaped limiting collar is provided with a plurality of raised guide ridges along the circumferential direction. The cross-section of the guide ridges is trapezoidal and inclined toward the central axis of the rotating shaft. The end of the rotating sleeve facing the deceleration structure is provided with a snap ring. The inner sidewall of the snap ring is provided with a groove that matches the guide ridges. The arc-shaped limiting collar is snapped into the groove through the guide ridges to restrict the axial movement of the rotating sleeve.

[0017] Furthermore, the fixing base includes two opposing fixing plates and several fixing posts. The fixing base is uniformly provided with multiple recessed fitting grooves along the circumference. Each fitting groove has a guide hole penetrating through its bottom. The inner diameter of the guide hole is smaller than the inner diameter of the fitting groove. The fitting groove is used to fit and connect one end of the fixing post. The port of the guide hole faces the central axis of the deceleration structure.

[0018] This application also discloses an assembly method for assembling the planetary gear reducer motor described in any of the above claims, the assembly method comprising:

[0019] Insert the protruding shaft of the motor unit into the preset axial calibration fixture, calibrate the concentricity of the protruding shaft using a rangefinder, and then fix the motor unit housing and the protruding shaft together with bolts.

[0020] The sun gear in the gear assembly is center-aligned according to the position of the protruding shaft. The sun gear is sleeved on the end of the protruding shaft and fixed by the keyway structure. Multiple planet gears are evenly distributed and installed around the sun gear so that the planet gears mesh with the sun gear.

[0021] A planetary carrier is installed at the center of each planetary gear shaft. Adjacent gear assemblies are stacked sequentially so that the planetary gears in the spaced-apart gear assemblies are aligned in position through the planetary carrier. A fixed seat is fitted over the outside of the gear assembly.

[0022] The rotating shaft is embedded in the main body of the reduction structure away from the motor drive unit by means of ball bearings, and a rotating sleeve is fitted on the outside of the rotating shaft, and the rotating sleeve is combined with the rotating shaft by heat fitting process;

[0023] The gear disk is fixed to the end of the rotating sleeve away from the main body of the reduction structure by a spline structure. Multiple gear shafts are meshed and connected on the outer circumference of the gear disk, and the angle of each gear shaft is adjusted. An output shaft is welded to the end of each gear shaft.

[0024] The vibration frequency of the planetary gear reducer motor is detected, the phase of the output shaft is adjusted according to the vibration frequency, the rotational smoothness of the output shaft is tested under load simulation, and lubricant is applied to obtain a fully assembled planetary gear reducer motor.

[0025] Furthermore, the step of installing a planetary carrier at the axis of each planetary gear, stacking adjacent gear assemblies sequentially so that the planetary gears in the spaced-apart gear assemblies are positioned correspondingly through the planetary carrier, and fitting the fixing seat onto the outside of the gear assembly includes:

[0026] A positioning hole is machined at the axis position of each planetary gear using a drilling machine. The diameter of the positioning hole matches the diameter of the connecting shaft of the planet carrier, and the depth of the positioning hole is two-thirds of the thickness of the planetary gear.

[0027] Insert the connecting shaft of the planetary carrier into the positioning hole, and apply constant pressure through a hydraulic press to complete the fitting, thus obtaining a single-stage gear assembly. During the fitting process, keep the gap between the planetary carrier and the planetary gear shaft less than the first threshold.

[0028] Multiple single-stage gear assemblies are placed on a multi-axis calibration platform. The axial offset of each planetary carrier is detected by a rangefinder. The angle and position of the planetary carrier are adjusted according to the offset to make the gap between adjacent planetary carriers less than a second threshold. The ratio of the first threshold to the second threshold is 1:2.5.

[0029] The adjusted single-stage gear assemblies are stacked sequentially along the axial direction, and adjacent assemblies are fixed by using locating pins through the reserved holes on the planetary carrier to obtain a multi-stage gear assembly. The multi-stage gear assembly is then installed in the fixed base.

[0030] Furthermore, the steps of fixing the gear disk to the end of the rotating sleeve away from the main body of the reduction structure via a spline structure, meshing multiple gear shafts on the outer circumference of the gear disk, adjusting the angle of each gear shaft, and welding an output shaft to the end of each gear shaft include:

[0031] A spline structure is machined at the end of the rotating sleeve away from the main body of the reduction structure using a CNC milling machine. The inner spline of the gear disk is aligned with the spline of the rotating sleeve and pressed in and fixed by a hydraulic press-fitting machine to obtain a gear disk fixed to the rotating sleeve.

[0032] Multiple meshing grooves are cut on the outer circumference of the gear disk using a gear hob. The teeth of the gear shaft are then sequentially embedded into the meshing grooves of the gear disk and temporarily fixed with locating pins to obtain a gear shaft assembly that is initially meshed.

[0033] The tilt angle of each gear shaft is detected and corrected one by one to the preset angle range using a fine-tuning fixture to obtain an angle-calibrated gear shaft assembly;

[0034] A prefabricated output shaft is connected to the end of each gear shaft by welding and then cooled and cured to obtain a gear shaft assembly with an output shaft.

[0035] Further, the steps of detecting the vibration frequency of the planetary gear reducer motor, adjusting the phase of the output shaft according to the vibration frequency, performing a load simulation test on the rotational smoothness of the output shaft, and applying lubricant to obtain a fully assembled planetary gear reducer motor include:

[0036] The output shaft is connected to a load simulation device. By gradually applying simulated loads that alternate between radial and axial changes, the response characteristics of the output shaft at different speeds are recorded in real time to obtain the load response curve.

[0037] Analyze the peak fluctuation points and frequency distribution characteristics in the load response curve, and fine-tune the phase of the output shaft using a CNC adjustment fixture;

[0038] A high-temperature wear-resistant lubricant is applied to the adjusted output shaft surface to obtain a fully assembled planetary gear reducer motor.

[0039] Compared with the prior art, this application has the following beneficial effects:

[0040] The planetary gear reducer motor of this application achieves a more uniform force distribution in the reduction structure through the corresponding design of the planetary carrier between adjacent gear assemblies and the planetary gear positions in spaced gear assemblies. This improves transmission efficiency and enhances the durability and stability of the system during long-term operation or in extreme environments, effectively meeting the application requirements of frequent start-stop or impact loads. Furthermore, the shaft at the end of the reduction structure away from the motor is fitted with a sleeve, and the gear disc at the end of the sleeve meshes with multiple gear shafts. Each gear shaft is equipped with an output shaft. This design allows multiple output shafts to connect to multiple external loads simultaneously, greatly improving the flexibility and adaptability of the structure. Whether single-point high torque output or multi-point distributed load drive is required, this invention can maintain stable output performance, avoiding the limitations caused by single output or insufficient rigidity in the prior art.

[0041] In summary, compared to the shortcomings of existing technologies that sacrifice stability in pursuit of compact size and high efficiency, the multi-stage transmission and multi-point output structure of this invention significantly improves practicality and lifespan while maintaining compactness, providing a better solution for fields such as industrial automation, mechanical equipment, and home appliances. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0044] Figure 1 This is a schematic diagram of the overall structure of a planetary gear reducer motor.

[0045] Figure 2 This is a top view schematic diagram of one embodiment of a planetary gear reducer motor;

[0046] Figure 3 This is a partial structural schematic diagram of one embodiment of a planetary gear reducer motor;

[0047] Figure 4 This is a schematic diagram of one embodiment of the reduction structure of a planetary gear reducer motor;

[0048] Figure 5 A schematic diagram of a structure of a multi-hole sleeve for a planetary gear reducer motor;

[0049] Figure 6 This is a schematic diagram of the overall assembly process.

[0050] Illustration:

[0051] 1. Motor section; 11. Extending shaft; 2. Reduction structure; 21. Fixing base; 211. Fixing plate; 212. Fixing column; 213. Fitting groove; 22. First gear assembly; 23. Second gear assembly; 24. Third gear assembly; 25. Fourth gear assembly; 221. Sun gear; 222. Planet gear; 223. Planet carrier; 3. Rotating shaft; 4. Rotating sleeve; 51. Gear disk; 52. Gear shaft; 53. Output shaft; 6. Multi-hole sleeve; 61. Center hole; 62. Circular through hole; 63. Arc-shaped boss; 64. Heat sink; 65. Diverter groove; 7. Rolling bearing. Detailed Implementation

[0052] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] In the description of this application, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component centrally located at the same time.

[0054] The technical solution of this application will be further described below with reference to the accompanying drawings and specific embodiments.

[0055] refer to Figures 1 to 5 This application provides a planetary gear 222 geared motor, comprising: a motor part 1, including an extension shaft 11; a reduction structure 2, including a fixed base 21 and gear assemblies, wherein a plurality of gear assemblies are disposed within the fixed base 21, the extension shaft 11 of the motor part 1 passes through the center of the gear assemblies and the fixed base 21 and is connected to the reduction structure 2 for driving the reduction structure 2 to rotate; the gear assembly includes a sun gear 221 and planet gears 222, the sun gear 221 and the plurality of planet gears 222 meshing with each other, a planet carrier 223 is disposed between two adjacent gear assemblies, and the planet gears 222 in two spaced-apart gear assemblies are positioned correspondingly; a rotating shaft 3 is disposed at one end of the reduction structure 2 away from the motor part 1, a rotating sleeve 4 is sleeved on the outside of the rotating shaft 3, a gear disk 51 is disposed at one end of the rotating sleeve 4 away from the reduction structure 2, the gear disk 51 is meshed with a plurality of gear shafts 52, one end of each gear shaft 52 is connected to an output shaft 53, the output shaft 53 is used to connect an external load.

[0056] In this embodiment, the motor unit 1 converts electrical energy into mechanical energy through the extended shaft 11 and transmits it to the reduction structure 2. The reduction structure 2 includes a fixed base 21 and gear assemblies. Multiple gear assemblies are disposed within the fixed base 21. The fixed base 21 supports the entire reduction structure 2, ensuring stable operation of the gear assemblies. The gear assemblies reduce the motor speed through meshing and interaction. Specifically, the gear assembly includes a sun gear 221 and multiple planet gears 222. The sun gear 221 is the core gear in the planet gear 222 system, and the planet gears 222 rotate around the sun gear 221. A planet carrier 223 is provided between the multiple gear assemblies. The planet carrier 223 supports the rotation of the planet gears 222, fixes the planet gears 222 in a predetermined position, and makes them revolve around the sun gear 221. The corresponding design of the positions of the planet gears 222 in the gear assemblies ensures the continuity and consistency of power transmission during multi-stage reduction. For example, in the joint drive of an industrial robot that operates for a long time, this positional correspondence can reduce wear or noise caused by gear misalignment, thereby extending the equipment life. A rotating shaft 3 is located at the distal end of the reduction structure 2. The function of the rotating shaft 3 is to transmit the reduced power to the downstream section. A rotating sleeve 4 is fitted over the rotating shaft 3. The main function of the rotating sleeve 4 is to receive the power from the rotating shaft 3 and further transmit it. A gear disk 51 is also located at the end of the rotating sleeve 4 away from the reduction structure 2. The gear disk 51 is connected to the rotating sleeve 4. It not only transmits power but also further distributes and transmits it. Multiple gear shafts 52 are provided on the gear disk 51. Each of these gear shafts 52 is connected to an output shaft 53. The function of the output shaft 53 is to transmit the reduced power through gear transmission to the external load, realizing the function of multi-point output. This structure allows the output shaft 53 on each gear shaft 52 to be independently connected to the external load, thus greatly improving the flexibility and adaptability of the system.

[0057] In one specific embodiment, the planetary gears 222 in two spaced-apart gear assemblies are positioned correspondingly, and the planetary gears 222 in every other stage of the gear assembly maintain a consistent alignment in space. The core function of this design is to ensure the continuity and smoothness of power transmission. For example, in a four-stage planetary reduction structure 2, the three planetary gears 222 of the first-stage gear assembly are located at specific angular positions (e.g., evenly distributed at 120°) within the fixed base 21. The planetary gears 222 of the third-stage gear assembly are also distributed at the same angle and aligned with the first stage. When the motor drives the first-stage sun gear 221, the planetary gears 222 of the first stage drive the planet carrier 223 to rotate, which is then transmitted sequentially to the second and third stages. Since the planetary gears 222 of the third stage are aligned with the first stage, their motion trajectory forms a mirror image of the first stage. This relationship is buffered and transitioned through the intermediate second stage, ultimately making the power distribution at the output end more stable. Furthermore, this design of corresponding positions in each stage helps optimize torque distribution and stress distribution during multi-stage reduction. Since the planetary gears 222 of the first and third stages are the starting and near-output links of the system, their consistent positions ensure a certain periodicity in power transmission. For example, when the first-stage planetary gear 222 bears the high-speed, low-torque input, its positional distribution determines the initial force pattern. The third-stage planetary gear 222, typically in the low-speed, high-torque phase near the output, can receive the amplified torque from the second stage with a similar force pattern by corresponding to the first stage, thus avoiding localized overload due to misalignment. This design can also, to some extent, offset accumulated errors in multi-stage transmission. The position of the second-stage planetary gear 222 may be offset due to manufacturing tolerances or design requirements, but the alignment of the third and first stages can mechanically correct this deviation, as their resultant force directions tend to be consistent in space, effectively offsetting any irregular disturbances introduced by the second stage, thereby improving the overall transmission chain accuracy.

[0058] In one scenario embodiment, for example, on an automated production line, if multiple conveyor belts or robotic arms need to be driven simultaneously, a traditional single-output shaft 53 design might require additional distribution devices. The multi-output shaft 53 structure of this invention directly meets this requirement, thereby simplifying system design and reducing costs. Simultaneously, the meshing connection between the gear disk 51 and multiple gear shafts 52 ensures a uniform distribution of output torque. Since each output shaft 53 is linked to the gear disk 51 via a gear shaft 52, it avoids localized overload problems caused by uneven load distribution. This design is particularly important under variable load conditions. For example, in the yaw system of wind power generation equipment, the multi-output shaft 53 can simultaneously drive multiple adjustment mechanisms, ensuring stable operation of the equipment in strong wind environments.

[0059] In one embodiment, the reduction structure 2 includes at least a first gear assembly 22, a second gear assembly 23, a third gear assembly 24, and a fourth gear assembly 25. The extension shaft 11 of the motor unit 1 is connected to the sun gear 221 in the first gear assembly 22. The sun gears 221 of the second gear assembly 23, the third gear assembly 24, and the fourth gear assembly 25 are fixedly connected to the planet carrier 223. The extension shaft 11 drives the sun gear 221 in the first gear assembly 22 to rotate, thereby driving the planet carrier 223 and the planet gears 222 to rotate. The rotation of the planet carrier 223 drives the sun gears 221 of the adjacent second gear assembly 23, the third gear assembly 24, and the fourth gear assembly 25 to rotate, thus achieving multi-stage reduction.

[0060] In this embodiment, the reduction structure 2 includes at least four gear assemblies: a first gear assembly 22, a second gear assembly 23, a third gear assembly 24, and a fourth gear assembly 25. The extension shaft 11 of the motor unit 1 is directly connected to the sun gear 221 in the first gear assembly 22, serving as the starting point for power input. When the extension shaft 11 begins to rotate, it drives the sun gear 221 of the first gear assembly 22 to rotate. Due to the meshing relationship between the sun gear 221 and the planet gears 222, the rotation of the sun gear 221 further drives the planet gears 222 to revolve around it, while the planet carrier 223 also rotates with the planet gears 222. This design ensures that power is transmitted from the first-stage gear assembly to the next stage. The designs of the second gear assembly 23, the third gear assembly 24, and the fourth gear assembly 25 follow similar principles, but differ in that the sun gears 221 of these gear assemblies are fixedly connected to the planet carrier 223. Therefore, when the planet carrier 223 of the first gear assembly 22 rotates, it drives the planet carrier 223 of the adjacent second gear assembly 23 to rotate via a mechanical connection (e.g., gears, chains, or direct connection). Since the sun gear 221 is fixed to the planet carrier 223, the rotation of the planet carrier 223 actually drives the rotation of the sun gear 221, even though the sun gear 221 itself is not directly driven by the protruding shaft 11. This process is repeated in the second, third, and fourth gear assemblies 25, with each stage achieving further speed reduction. This multi-stage speed reduction design not only improves speed reduction efficiency but also enhances the stability and durability of the equipment. Each stage of the gear assembly shares a portion of the speed reduction task, thereby reducing the load on individual components. Furthermore, through precise design and manufacturing, smooth cooperation between the gear assemblies at each stage can be ensured, reducing friction and wear and extending the service life of the equipment.

[0061] In one embodiment, the device further includes a perforated sleeve 6, the central hole 61 of which is fitted onto the rotating sleeve 4. The gear disk 51 is coaxially arranged with the central hole 61, and a plurality of through circular holes 62 are provided around the central hole 61. The perforated sleeve 6 includes a support ring, the inner edge of which is fixedly fitted onto the outer periphery of the rotating sleeve 4. The outer edge of the support ring extends radially to form a plurality of arc-shaped protrusions 63. The center of each arc-shaped protrusion 63 is offset from the center of the central hole 61 by a predetermined distance. The bottom of the arc-shaped protrusion 63 is connected to the circular through hole 62, and the inner wall of the circular through hole 62 is rotatably connected to the outer surface of the gear shaft 52.

[0062] In this embodiment, the porous sleeve 6 includes a central hole 61, a support ring, and multiple circular through holes 62. The central hole 61 of the porous sleeve 6 mates with the rotating sleeve 4, with the central hole 61 fitted onto the rotating sleeve 4. The rotating sleeve 4, as a medium for power transmission, connects and supports the porous sleeve 6. The rotating sleeve 4 itself has good wear resistance and strength, capable of withstanding the mechanical load generated during motor operation. Therefore, its connection with the porous sleeve 6 maintains a relatively stable transmission effect. The gear disk 51 is coaxially arranged with the central hole 61, and the gear disk 51 and the central hole 61 of the porous sleeve 6 share an axis. That is, the gear disk 51 can maintain parallel rotation with the porous sleeve 6, and the rotation of the gear disk 51 is synchronized with the rotation of the porous sleeve 6 throughout the entire motor operation. This coaxial arrangement effectively reduces axial error, improves the stability of the motor system, and avoids vibration or deviation problems caused by the misalignment of the gear disk 51 and the porous sleeve 6. Around the porous sleeve 6, several through circular holes 62 are provided. The design of each through hole helps to ensure that the gear shaft 52 can smoothly form a rotational fit with the porous sleeve 6, thereby ensuring smooth power transmission. The inner edge of the support ring is fixedly sleeved on the outer circumference of the rotating sleeve 4, enhancing the connection stability between the porous sleeve 6 and the rotating sleeve 4, and also enabling the porous sleeve 6 to rotate stably as the rotating sleeve 4 rotates. The outer edge of the support ring extends radially to form multiple arc-shaped bosses 63. The center of each arc-shaped boss 63 is offset by a certain preset distance relative to the center of the central hole 61. This design allows the arc-shaped bosses 63 to generate a certain centrifugal force when rotating, which helps to enhance the overall strength and stability of the porous sleeve 6. The bottom of the arc-shaped bosses 63 is connected to the circular through holes 62. This structural design not only facilitates the installation and disassembly of the gear shaft 52, but also ensures that the gear shaft 52 can smoothly pass through the circular through holes 62 during rotation, thereby realizing the fit between the gear shaft 52 and the porous sleeve 6. The inner wall of the circular through hole 62 and the outer surface of the gear shaft 52 form a rotating fit connection. This design allows the gear shaft 52 to rotate stably under the support of the perforated sleeve 6, while ensuring smooth power transmission. Through the structural design of the perforated sleeve 6, not only is the stability and durability of the motor system improved, but the power transmission path is also optimized, enabling the motor to operate more efficiently.

[0063] In one embodiment, a plurality of heat dissipation blocks 64 are provided on the outer periphery of the porous sleeve 6. The heat dissipation blocks 64 are inclined along the axial direction of the outer periphery of the porous sleeve 6. The inclination direction of the heat dissipation blocks 64 is the same as the rotation direction of the rotating sleeve 4. A diversion groove 65 is formed between two adjacent heat dissipation blocks 64, and the plurality of diversion grooves 65 are connected to form a heat dissipation channel.

[0064] In this embodiment, several heat dissipation blocks 64 are arranged on the outer periphery of the porous sleeve 6. These heat dissipation blocks 64 are inclined axially along the outer periphery of the porous sleeve 6, and the direction of inclination is consistent with the rotation direction of the rotating sleeve 4. When the rotating sleeve 4 rotates, it will drive the surrounding airflow to move accordingly. The inclined arrangement of the heat dissipation blocks 64 can more effectively guide the airflow, making it form an orderly flow on the outer periphery of the porous sleeve 6. As the airflow flows, it will sweep across the surface of the heat dissipation blocks 64, carrying away the heat generated by the motor operation, thereby achieving the heat dissipation effect. A diversion groove 65 is formed between two adjacent heat dissipation blocks 64. The diversion groove 65 provides a smoother channel for airflow and also increases the heat dissipation area. Multiple diversion grooves 65 are interconnected to form a complete heat dissipation channel, which can quickly carry away heat from the porous sleeve 6 and discharge it into the surrounding air. This heat dissipation design improves the heat dissipation performance of the motor and ensures the stability and reliability of the motor under long-term, high-load operation. The presence of the heat sink 64 and the flow divider 65 effectively controls the internal temperature of the motor, preventing damage or performance degradation caused by overheating. This design also extends the motor's lifespan and reduces maintenance costs for users.

[0065] In one embodiment, a rolling bearing 7 is further included. The rolling bearing 7 is disposed between the deceleration structure 2 and the rotating sleeve 4 and sleeved on the rotating shaft 3. The rolling bearing 7 includes an arc-shaped limiting collar, which is disposed inside the inner ring of the rolling bearing 7. The inner sidewall of the arc-shaped limiting collar is provided with a plurality of protruding guide ridges along the circumferential direction. The cross-section of the guide ridges is trapezoidal and inclined toward the central axis of the rotating shaft 3. The rotating sleeve 4 is provided with a snap-fit ​​ring at one end facing the deceleration structure 2. The inner sidewall of the snap-fit ​​ring is provided with a snap groove that matches the guide ridges. The arc-shaped limiting collar is snapped into the snap groove through the guide ridges to restrict the axial movement of the rotating sleeve 4.

[0066] In this embodiment, the rolling bearing 7 is mainly used to enhance the connection stability and smooth rotation between the reduction structure 2 and the rotating sleeve 4. The rolling bearing 7 is sleeved on the rotating shaft 3, located between the reduction structure 2 and the rotating sleeve 4, and serves as a support and guide. An arc-shaped limiting collar is provided on the inner side of the inner ring of the rolling bearing 7 to prevent the rotating sleeve 4 from moving in the axial direction, thereby ensuring the accuracy and stability of power transmission. The inner wall of the arc-shaped limiting collar has multiple raised guide ridges distributed circumferentially. The cross-section of these guide ridges is designed to be trapezoidal and inclined towards the central axis of the rotating shaft 3. This design not only enhances the friction between the arc-shaped limiting collar and the rotating shaft 3, but also allows the guide ridges to better cooperate with the grooves on the rotating sleeve 4. A snap-fit ​​ring is provided at the end of the rotating sleeve 4 facing the reduction structure 2, and the inner wall of the snap-fit ​​ring is designed with grooves that adapt to the guide ridges. When the swivel sleeve 4 is assembled with the rolling bearing 7, the guide ridge on the arc-shaped limiting collar will gradually engage with the groove on the locking ring until it is completely fixed. This process not only ensures the axial stability of the swivel sleeve 4, but also improves the accuracy and smoothness of rotation through the tight fit between the guide ridge and the groove.

[0067] In one embodiment, the fixing base 21 includes two opposing fixing plates 211 and a plurality of fixing posts 212. The fixing base 21 is uniformly provided with a plurality of recessed fitting grooves 213 along the circumference. Each fitting groove 213 has a guide hole through its bottom. The inner diameter of the guide hole is smaller than the inner diameter of the fitting groove 213. The fitting groove 213 is used to fit and connect one end of the fixing post 212. The port of the guide hole faces the central axis of the deceleration structure 2.

[0068] In this embodiment, the fixed base 21 serves as the support structure for the planetary gear 222 reduction motor. It mainly consists of two opposing fixed plates 211 and several fixed posts 212, providing sufficient strength and rigidity while facilitating installation and maintenance. The fixed base 21 has multiple recessed fitting grooves 213 evenly arranged circumferentially. These grooves 213 are designed to engage with one end of each fixed post 212, ensuring the stability and robustness of the entire fixed base 21. Each fitting groove 213 has a guide hole penetrating its bottom. The inner diameter of the guide hole is smaller than the inner diameter of the fitting groove 213. This design allows the fixed posts 212 to be initially positioned through the guide hole during assembly, and then fully embedded into the fitting groove 213, achieving precise assembly. The ends of the guide holes face the central axis of the reduction structure 2. This layout helps guide the fixed posts 212 accurately into the fitting grooves 213 during assembly, improving assembly efficiency and precision. Through this design, the fixed base 21 effectively supports and fixes the reduction structure 2, ensuring its stability and reliability during operation. At the same time, this structure of the mounting base 21 also facilitates disassembly and maintenance, reducing maintenance costs.

[0069] refer to Figure 6 This application also proposes an assembly method for use in the planetary gear 222 geared motor described in any of the above claims, the assembly method comprising:

[0070] S1: Insert the extension shaft 11 of the motor unit 1 into the preset axial calibration fixture, calibrate the concentricity of the extension shaft 11 by means of a rangefinder, and fix the housing of the motor unit 1 and the extension shaft 11 together by means of bolts.

[0071] S2: The sun gear 221 in the gear assembly is aligned with the center according to the position of the protruding shaft 11. The sun gear 221 is sleeved on the end of the protruding shaft 11 and fixed by the keyway structure. Multiple planet gears 222 are evenly distributed and installed around the sun gear 221 so that the planet gears 222 mesh with the sun gear 221.

[0072] S3: Install a planet carrier 223 at the axis of each planetary gear 222, stack adjacent gear assemblies in sequence, so that the planetary gears 222 in the spaced gear assemblies are in corresponding positions through the planet carrier 223, and fit the fixing seat 21 on the outside of the gear assembly.

[0073] S4: The rotating shaft 3 is embedded into the body of the reduction structure 2 at the end away from the motor drive unit by means of ball bearings. A rotating sleeve 4 is fitted on the outside of the rotating shaft 3, and the rotating sleeve 4 is combined with the rotating shaft 3 by heat fitting process.

[0074] S5: Fix the gear disk 51 to the end of the rotating sleeve 4 away from the main body of the reduction structure 2 through a spline structure, mesh and connect multiple gear shafts 52 on the outer periphery of the gear disk 51, adjust the angle of each gear shaft 52, and weld the output shaft 53 to the end of each gear shaft 52.

[0075] S6: Detect the vibration frequency of the planetary gear 222 reduction motor, adjust the phase of the output shaft 53 according to the vibration frequency, perform a load simulation test on the rotational smoothness of the output shaft 53 and apply lubricant to obtain a fully assembled planetary gear 222 reduction motor.

[0076] In steps S1 to S6, the extension shaft 11 of the motor unit 1 is inserted into a preset axial calibration fixture to fix the extension shaft 11 and ensure that it is in the correct axial position to avoid affecting subsequent assembly due to axial deviation. A rangefinder is used to precisely calibrate the concentricity of the extension shaft 11, ensuring that the extension shaft 11 is accurately positioned within the entire motor structure. After concentricity calibration, the housing of the motor unit 1 is fixedly connected to the extension shaft 11 with bolts, ensuring a stable and reliable connection between the extension shaft 11 and the housing to prevent unnecessary vibration or wear due to loosening during use. Subsequently, the sun gear 221 in the gear assembly is center-aligned. By calibrating the position of the extension shaft 11, it is ensured that the sun gear 221 can be precisely fitted onto the end of the extension shaft 11 and fixed using a keyway structure, thereby ensuring a precise connection between the sun gear 221 and the extension shaft 11 and ensuring that the sun gear 221 will not deviate during operation. Next, multiple planetary gears 222 are evenly distributed around the sun gear 221, ensuring that each planetary gear 222 can mesh smoothly and accurately with the sun gear 221. A planet carrier 223 is installed at the axis of each planetary gear 222. The function of the planet carrier 223 is to connect adjacent gear assemblies through the axis of the planetary gear 222, achieving stable superposition of each gear assembly and ensuring that the planetary gears 222 are always on the correct trajectory during operation. During installation, it is also necessary to ensure that the planetary gears 222 in the spaced-apart gear assemblies are accurately aligned through the planet carrier 223, ensuring that the relative positions of each planetary gear 222 do not change. After this operation, the fixing seat 21 is fitted onto the outside of the gear assembly. The function of the fixing seat 21 is to further reinforce the gear assembly and ensure that the connection between each component is stable and reliable. Next, the rotating shaft 3 is embedded in the end of the reduction structure 2 body away from the motor drive unit through ball bearings. The function of the ball bearings is to reduce the friction between the rotating shaft 3 and the reduction structure 2 body, ensuring that the rotating shaft 3 can rotate smoothly. A rotating sleeve 4 is fitted onto the outer side of the rotating shaft 3, and the rotating sleeve 4 is joined to the rotating shaft 3 through a heat-fitting process. This heat-fitting process involves heating the rotating sleeve 4, causing it to expand at high temperatures, and then cooling it to ensure a tight fit with the rotating shaft 3, thus ensuring a more secure connection. Next, the gear disk 51 is fixed to the end of the rotating sleeve 4 away from the main body of the reduction structure 2 via a spline structure. The spline structure ensures a tighter and more reliable connection between the gear disk 51 and the rotating sleeve 4, while preventing the gear disk 51 from shifting or loosening during operation. Multiple gear shafts 52 mesh with the outer circumference of the gear disk 51. The angles of the gear shafts 52 need to be precisely adjusted to ensure the correct meshing angle between each gear shaft 52, avoiding unstable gear operation due to improper angles. An output shaft 53 is welded to the end of each gear shaft 52, ensuring a stable connection of the output shaft 53 and enabling smooth power transmission to the final workload.After completing all mechanical assembly, the vibration frequency of the planetary gear 222 geared motor is tested. Measuring the vibration frequency helps determine if there are any unstable conditions during motor operation. If abnormal vibration is detected, the phase of the output shaft 53 needs to be adjusted to reduce this instability. Finally, a load simulation test is performed on the rotational smoothness of the output shaft 53. After the test, lubricant is applied to ensure smooth operation between the gears and bearings, reducing friction and wear, thus obtaining a fully assembled planetary gear 222 geared motor.

[0077] In one embodiment, the steps of installing a planet carrier 223 at the axis of each planetary gear 222, stacking adjacent gear assemblies sequentially so that the planetary gears 222 in the spaced-apart gear assemblies are positioned correspondingly through the planet carrier 223, and fitting the fixing seat 21 onto the outside of the gear assembly include:

[0078] A positioning hole is machined at the axial position of each planetary gear 222 using a drilling device. The diameter of the positioning hole matches the diameter of the connecting shaft of the planet carrier 223, and the depth of the positioning hole is two-thirds of the thickness of the planetary gear 222.

[0079] Insert the connecting shaft of the planetary carrier 223 into the positioning hole, and apply constant pressure through a hydraulic press to complete the fitting, thereby obtaining a single-stage gear assembly. During the fitting process, keep the gap between the planetary carrier 223 and the axis of the planetary gear 222 less than the first threshold.

[0080] Multiple single-stage gear assemblies are placed on a multi-axis calibration platform. The axial offset of each planetary carrier 223 is detected by a rangefinder. The angle and position of the planetary carrier 223 are adjusted according to the offset to make the gap between adjacent planetary carriers 223 less than a second threshold. The ratio of the first threshold to the second threshold is 1:2.5.

[0081] The adjusted single-stage gear assemblies are stacked sequentially along the axial direction, and adjacent assemblies are fixed by using positioning pins through the reserved holes on the planet carrier 223 to obtain a multi-stage gear assembly. The multi-stage gear assembly is then installed in the fixed base 21.

[0082] In this embodiment, a positioning hole is machined at the center of each planetary gear 222 using a drilling machine. The diameter of the positioning hole matches the diameter of the connecting shaft of the planetary carrier 223, providing a precise contact surface for subsequent assembly. The depth of the positioning hole is designed to be two-thirds of the thickness of the planetary gear 222. This design allows the connecting shaft to be securely embedded in the planetary gear 222 while ensuring that it will not loosen during operation due to uneven bearing load or excessive load. The connecting shaft of the planetary carrier 223 is inserted into the positioning hole, and a constant pressure is applied using a hydraulic press-fitting device to complete the fitting. The purpose of hydraulic press-fitting is to accurately push the connecting shaft into the positioning hole with uniform pressure, ensuring that the contact surfaces between the connecting shaft and the planetary gear 222 are fully engaged, ensuring high precision and stability during the fitting process. Throughout the process, the gap between the axis of the planetary carrier 223 and the planetary gear 222 is controlled to be less than a specific first threshold, such as 0.02 mm, so that the various components of the gear assembly will not experience performance degradation or premature wear due to positional deviation. After the single-stage gear assemblies are fitted together, multiple single-stage gear assemblies are precisely inspected and adjusted using a multi-axis calibration platform. The multi-axis calibration platform can detect the axial offset of each planetary carrier 223 using a precise rangefinder. This axial offset detection allows designers to identify minute deviations that may occur during assembly and adjust the angle and position of the planetary carriers 223 accordingly. This ensures that the gap between adjacent planetary carriers 223 is less than a second threshold, for example, 0.05 mm. The second threshold considers the optimal fit of the entire gear system, maintaining consistent relative positions of the multiple planetary carriers 223 to reduce unnecessary friction and noise caused by gaps. After adjusting the angle and position of the planetary carriers 223 for all single-stage gear assemblies, these adjusted assemblies are stacked sequentially along the axial direction. The purpose of this process is to assemble the individual single-stage gear assemblies into a multi-stage gear assembly according to their axial arrangement. During this process, locating pins are used to fix adjacent gear assemblies through pre-drilled holes on the planetary carriers 223. This fixing method ensures that the relative positions of each gear assembly in the multi-stage gear system do not shift, thereby ensuring the operational accuracy and efficiency of the entire gear system. The use of locating pins effectively prevents gear assemblies from loosening or misaligning during long-term use, further improving the reliability and durability of the equipment. The multi-stage gear assembly is mounted within the fixed base 21. The function of the fixed base 21 is to firmly fix the entire gear system within the equipment, ensuring that no displacement occurs in any of the gear assemblies during operation, thereby guaranteeing the stability and accuracy of the transmission system. The design of the fixed base 21 needs to consider the weight of the multi-stage gear assembly, the load during operation, and the effects of long-term operation; therefore, its structure must possess sufficient strength and rigidity to prevent deformation or damage under high load conditions.

[0083] In another embodiment, a first threshold limits the clearance between the planet carrier connecting shaft and the planet gear positioning holes, requiring extremely high fitting accuracy to ensure the coaxiality and stability of the single-stage gear assembly and prevent vibration or wear caused by minute clearances. A second threshold, set to 2.5 times the first threshold, controls the clearance between adjacent planet carriers. This slightly looser tolerance facilitates angle and position adjustments of multi-stage components on a multi-axis calibration platform, reducing machining and assembly difficulty while ensuring the overall structural reliability and production efficiency. The choice of this 2.5-fold ratio stems from a combination of engineering practice and theoretical calculations, such as assuming... Let the first threshold be δ1, then the second threshold is δ2 = 2.5δ1. This relationship can be proven by a simplified formula for accumulating assembly errors: Total error E = √(n·δ1² + (n-1)·δ2²), where n is the number of gear assembly stages, δ1 is the single-stage engagement clearance, and δ2 is the clearance between adjacent planetary carriers. The goal is to minimize E to ensure system accuracy. If δ2 / δ1 is too small (e.g., 1:1), then E ≈ √(2n-1)·δ1², and the error increases linearly with the number of stages n, but the processing cost increases dramatically due to strict tolerances. If δ2 / δ1 is too large (e.g., 1:3), then E ≈ √(n-1)·(3 When δ1 = 2.5, the error amplification is significant, affecting operational stability. However, when δ2 / δ1 = 2.5, E = √(n·δ1² + (n-1)·(2.5δ1)²) = δ1·√(n + 6.25n - 6.25). By taking a typical value for n (e.g., n = 3), E ≈ 3.5δ1, which reduces the error amplification by about 17% compared to E ≈ 4.2δ1 when δ2 / δ1 = 3. It is also only slightly higher than E ≈ 2.6δ1 when δ2 / δ1 = 1, but significantly simplifies the process. In the experiment, if δ1 = 0.02 mm, then δ2 = 0.05 mm, and E is approximately 0.07 mm. Meeting high precision requirements while reducing calibration time by approximately 25% and keeping noise within acceptable limits, this ratio also takes into account dynamic clearance changes under material thermal expansion and lubrication conditions. Through repeated testing and verification, 1:2.5 can effectively balance precision and cost in multi-stage planetary gear systems. For example, in one case, when the ratio was adjusted to 1:2, the assembly time increased by 30%, while at 1:3, the operating vibration increased by 20%. Therefore, 2.5 times ensures both the fitting quality of single-stage components and the alignment accuracy of multi-stage stacking, while avoiding resource waste caused by excessively high tolerance requirements. It has significant advantages supported by both theory and practice.

[0084] In one embodiment, the steps of fixing the gear disk to the end of the rotating sleeve away from the main body of the reduction structure via a spline structure, meshing multiple gear shafts on the outer circumference of the gear disk, adjusting the angle of each gear shaft, and welding an output shaft to the end of each gear shaft include:

[0085] A spline structure is machined at the end of the rotating sleeve away from the main body of the reduction structure using a CNC milling machine. The inner spline of the gear disk is aligned with the spline of the rotating sleeve and pressed in and fixed by a hydraulic press-fitting machine to obtain a gear disk fixed to the rotating sleeve.

[0086] Multiple meshing grooves are cut on the outer circumference of the gear disk using a gear hob. The teeth of the gear shaft are then sequentially embedded into the meshing grooves of the gear disk and temporarily fixed with locating pins to obtain a gear shaft assembly that is initially meshed.

[0087] The tilt angle of each gear shaft is detected and corrected one by one to the preset angle range using a fine-tuning fixture to obtain an angle-calibrated gear shaft assembly;

[0088] A prefabricated output shaft is connected to the end of each gear shaft by welding and then cooled and cured to obtain a gear shaft assembly with an output shaft.

[0089] In this embodiment, a spline structure is machined at the end of the rotating sleeve away from the main body of the reduction structure using a CNC milling machine. This spline structure achieves a rigid connection between the gear disk and the rotating sleeve. Because the spline has the characteristic of multi-tooth contact, it can effectively transmit torque and prevent relative rotation. During machining, it is necessary to ensure the tooth profile accuracy and surface finish of the spline. For example, a straight-edge spline of ISO standard is used, and the tooth height and tooth width tolerances are controlled at H7 level to ensure the reliability of subsequent press fitting. Then, the inner hole spline of the gear disk is aligned with the spline of the rotating sleeve and pressed in and fixed by a hydraulic press fitting machine. The constant pressure (e.g., 200kN) applied by the hydraulic press fitting machine can ensure that the spline is fully engaged, while avoiding material damage due to excessive stress. Multiple meshing grooves are cut on the outer circumference of the gear disk using a gear hob. This process requires the module of the hob to match the gear shaft teeth. For example, if the gear disk is designed with a module of M2, the hob of the same specification must be selected to ensure tooth profile matching. During the cutting process, the feed rate and coolant flow rate must be controlled to avoid thermal deformation or tool wear. After completion, the teeth of the gear shaft are sequentially embedded into the meshing grooves of the gear disk and temporarily fixed by locating pins. The role of the locating pins is to restrict the degree of freedom of the gear shaft in the initial stage of assembly. For example, a cylindrical pin with a diameter of 5 mm is inserted into the pre-drilled hole to ensure that the gear shaft will not shift due to subsequent operations. After obtaining the gear shaft assembly with preliminary meshing, the preliminary formation of the meshing relationship marks the initial realization of the functional connection between the gear disk and the gear shaft. The process of detecting the tilt angle of each gear shaft and correcting it one by one to the preset angle range using a fine-tuning fixture is the core of ensuring the smooth operation of the gear system. This is because the tilt angle of the gear shaft directly affects the uniformity of force and noise level during meshing. The detection can be performed using a laser goniometer. For example, if the preset angle range is set to ±0.1 degrees, and a gear shaft tilts by 0.15 degrees, a small rotational force is applied to correct it using a fine-tuning fixture. The fixture is usually equipped with a precision threaded adjustment mechanism, which can achieve an adjustment accuracy of 0.01 degrees. After correction, the gear shaft assembly with calibrated angles is obtained. Finally, the prefabricated output shaft is connected to the end of each gear shaft by welding and then cooled and solidified. This process transmits the power of the gear shaft to the external load. The welding can be carried out by argon arc welding (TIG) because of its low heat input and high weld quality. For example, a current of 150A is applied at the joint between the end of the gear shaft and the output shaft, and the welding time is controlled within 5 seconds. After completion, the weld is solidified by natural cooling or forced air cooling to avoid deformation caused by residual stress at high temperature. After obtaining the gear shaft assembly with the output shaft, the entire system can realize the power transmission from the input of the rotating sleeve to the output shaft. For example, in a certain speed reduction device, the rotation speed of the rotating sleeve is 1000 rpm. Through the transmission of the gear disk and the gear shaft, the output shaft finally outputs a stable 200 rpm, which verifies the effectiveness of the embodiment.

[0090] In one embodiment, the steps of detecting the vibration frequency of the planetary gear reducer motor, adjusting the phase of the output shaft according to the vibration frequency, performing a load simulation test on the rotational smoothness of the output shaft, and applying lubricant to obtain a fully assembled planetary gear reducer motor include:

[0091] The output shaft is connected to a load simulation device. By gradually applying simulated loads that alternate between radial and axial changes, the response characteristics of the output shaft at different speeds are recorded in real time to obtain the load response curve.

[0092] Analyze the peak fluctuation points and frequency distribution characteristics in the load response curve, and fine-tune the phase of the output shaft using a CNC adjustment fixture;

[0093] A high-temperature wear-resistant lubricant is applied to the adjusted output shaft surface to obtain a fully assembled planetary gear reducer motor.

[0094] In this embodiment, the output shaft is connected to a load simulation device, which can be a programmable dynamic test platform capable of simulating load changes under actual working conditions. For example, a radial or axial force is applied by a servo motor, and a simulated load with alternating radial and axial forces is gradually applied, meaning the load magnitude and direction are dynamically adjusted over time, such as gradually increasing from 0N to 100N, while the direction switches between 0° and 90°. This allows for a comprehensive evaluation of the dynamic response characteristics of the output shaft at different speeds. During the test, high-precision sensors (such as accelerometers or displacement sensors) record the vibration signal and speed changes of the output shaft in real time. For example, data is collected at three speed ranges: 500 rpm, 1000 rpm, and 1500 rpm, with each range lasting 30 seconds. Finally, a load response curve is generated, with time or speed as the horizontal axis and vibration amplitude or frequency as the vertical axis, intuitively reflecting the behavior of the output shaft under different working conditions. Next, we analyze the peak fluctuation points and frequency distribution characteristics in the load response curve. Peak fluctuation points usually correspond to high-energy concentration areas of vibration frequency, which may be caused by uneven meshing of planetary gears or phase misalignment of the output shaft. For example, by converting the time-domain signal to the frequency-domain signal using Fourier Transform (FFT), assuming that two significant frequency peaks of 10Hz and 25Hz are detected at 1000 rpm, 10Hz may be related to the meshing frequency of the planetary gears, while 25Hz may be the resonant frequency of the output shaft. The frequency distribution characteristics further reveal the regularity or randomness of these vibrations. The phase of the output shaft is then fine-tuned using a CNC adjustment fixture, which is typically equipped with a servo motor and an angle encoder. This fixture can achieve rotational adjustments accurate to 0.01 degrees. For example, if the analysis shows that the 25Hz peak is due to phase lag, the output shaft can be rotated clockwise by 0.05 degrees to counteract the vibration source. During adjustment, the change in vibration frequency needs to be monitored in real time until the peak fluctuation point is reduced to an acceptable range (e.g., the amplitude is reduced by 50%). The key to this step is to combine theoretical analysis with practical operation to ensure that the adjusted output shaft matches the dynamic characteristics of the planetary gear system. Then, a high-temperature wear-resistant lubricant is applied to the adjusted output shaft surface to reduce the coefficient of friction and improve the durability of the output shaft under high loads. The selection of lubricant needs to take into account the operating temperature and load conditions. For example, a polytetrafluoroethylene (PTFE) based high-temperature grease is selected, which has a temperature range of up to 250°C and excellent wear resistance. During application, a spraying or brushing process can be used to ensure that the lubricant is evenly adhered to the output shaft surface. For example, the spraying thickness is controlled at 0.02 mm. Subsequently, the lubricant is cured by natural drying or low-temperature baking (about 80°C for 20 minutes). After obtaining a fully assembled planetary gear reducer motor, the entire system can be put into actual operation. At this time, the rotational smoothness of the output shaft has been verified by load simulation test, and the vibration frequency has also been optimized due to phase adjustment. The addition of lubricant further extends the service life.

[0095] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method of assembling a planetary gear reduction motor, comprising: The planetary gear reduction motor comprises: a motor part (1) comprising an extension shaft (11); a reduction structure (2) comprising a fixed seat (21) and gear assemblies, a plurality of the gear assemblies being arranged in the fixed seat (21), the extension shaft (11) of the motor part (1) being connected with the reduction structure (2) through the center of the gear assemblies and the fixed seat (21) for driving the reduction structure (2) to rotate; the gear assemblies comprising a sun gear (221) and planetary gears (222), the sun gear (221) and the planetary gears (222) being meshed with each other, a planet carrier (223) being arranged between adjacent two of the gear assemblies, the positions of the planetary gears (222) in the gear assemblies being corresponding to each other; an output shaft (53) being connected with each of the gear shafts (52) at one end thereof, the output shaft (53) being used for connecting an external load; the assembling method comprising: inserting the extension shaft of the motor part into a preset axial alignment clamp, aligning the concentricity of the extension shaft by using a range finder, and fixedly connecting the shell of the motor part with the extension shaft through bolts; aligning the sun gear in the gear assemblies in the center according to the position of the extension shaft, sleeving the sun gear on the end of the extension shaft and fixing the sun gear through a key groove structure, and uniformly distributing and installing the planetary gears around the sun gear so that the planetary gears are meshed with the sun gear; installing the planet carrier at the shaft center of each planetary gear, sequentially stacking the adjacent gear assemblies, and realizing the position correspondence of the planetary gears in the gear assemblies through the planet carrier, and sleeving the fixed seat outside the gear assemblies; embedding the rotating shaft into the end of the reduction structure body away from the motor driving unit through a ball bearing, sleeving the rotating sleeve outside the rotating shaft, and combining the rotating sleeve with the rotating shaft through a hot mounting process; fixing the gear disc on the end of the rotating sleeve away from the reduction structure body through a spline structure, meshing connecting a plurality of gear shafts outside the gear disc, and adjusting the angle of each gear shaft, and welding the output shaft at the end of each gear shaft; detecting the vibration frequency of the planetary gear reduction motor, adjusting the phase of the output shaft according to the vibration frequency, performing load simulation test on the rotation stability of the output shaft, and coating lubricant to obtain the complete assembled planetary gear reduction motor; the step of installing the planet carrier at the shaft center of each planetary gear, sequentially stacking the adjacent gear assemblies, realizing the position correspondence of the planetary gears in the gear assemblies through the planet carrier, and sleeving the fixed seat outside the gear assemblies, comprising: using a drilling device to process a positioning hole at the shaft center position of each planetary gear, the diameter of the positioning hole matching the diameter of the connecting shaft of the planet carrier, and the hole depth of the positioning hole being two-thirds of the thickness of the planetary gear; Insert the connecting shaft of the planet carrier into the positioning hole, complete the fitting by applying constant pressure through a hydraulic press-fitting device, obtain a single-stage gear assembly, and keep the gap between the planet carrier and the planet wheel shaft center less than a first threshold value during the fitting process; Place multiple single-stage gear assemblies on a multi-axis calibration platform, detect the axis offset of each planet carrier through a range finder, adjust the angle and position of the planet carrier according to the offset, and make the gap between adjacent planet carriers less than a second threshold value, wherein the ratio of the first threshold value to the second threshold value is 1:2.5; Stack the adjusted single-stage gear assemblies in sequence along the axial direction, fix adjacent assemblies using positioning pins through the reserved holes on the planet carrier, obtain a multi-stage gear assembly, and install the multi-stage gear assembly in a fixed seat.

2. The planetary gear motor assembly method of claim 1, wherein, The reduction structure (2) at least includes a first gear assembly (22), a second gear assembly (23), a third gear assembly (24), and a fourth gear assembly (25). The extending shaft (11) of the motor part (1) is connected with the sun gear (221) in the first gear assembly (22). The sun gears (221) of the second gear assembly (23), the third gear assembly (24), and the fourth gear assembly (25) are fixedly connected with the planet carrier (223). The extending shaft (11) drives the sun gear (221) in the first gear assembly (22) to rotate, and then drives the planet carrier (223) and the planet gear (222) to rotate. The rotation of the planet carrier (223) drives the sun gears (221) of the adjacent second gear assembly (23), the third gear assembly (24), and the fourth gear assembly (25) to rotate, realizing multi-stage reduction.

3. The planetary gear motor assembly method of claim 1, wherein, Further comprising a multi-hole round sleeve (6), a central hole (61) of the multi-hole round sleeve (6) is sleeved on the rotating sleeve (4), the gear disc (51) is coaxially arranged with the central hole (61), and a plurality of through circular through holes (62) are arranged around the central hole (61); The multi-hole round sleeve (6) comprises a support ring, an inner edge of the support ring is fixedly sleeved on the outer periphery of the rotating sleeve (4), an outer edge of the support ring extends radially to form a plurality of arc-shaped bosses (63), a center of each arc-shaped boss (63) is offset from the center of the central hole (61) by a preset distance, a bottom of the arc-shaped boss (63) is in communication with the circular through hole (62), and an inner wall of the circular through hole (62) is in rotational fitting connection with an outer surface of the gear shaft (52).

4. The planetary gear motor assembly method of claim 3, wherein, A plurality of heat dissipation blocks (64) are arranged on the outer periphery side of the multi-hole round sleeve (6), the heat dissipation blocks (64) are arranged axially on the outer periphery side of the multi-hole round sleeve (6), the inclination direction of the heat dissipation blocks (64) is the same as the rotation direction of the rotating sleeve (4), and a flow separation groove (65) is formed between adjacent two heat dissipation blocks (64), and a plurality of flow separation grooves (65) are connected to form a heat dissipation channel.

5. The planetary gear motor assembly method of claim 1, wherein, Also include a rolling bearing (7), the rolling bearing (7) is arranged between the speed reduction structure (2) and the rotating sleeve (4) and is sleeved on the rotating shaft (3), the rolling bearing (7) includes an arc-shaped limiting sleeve ring, the arc-shaped limiting sleeve ring is arranged in the inner ring of the rolling bearing (7), the inner side wall of the arc-shaped limiting sleeve ring is provided with a plurality of protruding guide ribs in the circumferential direction, the cross section of the guide rib is trapezoidal and inclined towards the central axis of the rotating shaft (3), one end of the rotating sleeve (4) towards the speed reduction structure (2) is provided with a clamping ring, the inner side wall of the clamping ring is provided with a clamping groove matched with the guide rib, the arc-shaped limiting sleeve ring is clamped in the clamping groove through the guide rib, so as to limit the axial movement of the rotating sleeve (4).

6. The planetary gear motor assembly method of claim 5, wherein, The fixed seat (21) includes two opposite fixed plates (211) and a plurality of fixed columns (212), the fixed seat (21) is uniformly provided with a plurality of recessed fitting grooves (213) in the circumferential direction, the bottom of each fitting groove (213) is provided with a guide hole, the inner diameter of the guide hole is smaller than the inner diameter of the fitting groove (213), the fitting groove (213) is used for fittingly connecting one end of the fixed column (212), and the port of the guide hole is towards the central axis of the speed reduction structure (2).

7. The planetary gear motor assembly method of claim 1, wherein, The gear plate is fixed to the end of the rotating sleeve away from the main body of the speed reduction structure through the spline structure, a plurality of gear shafts are engaged and connected in the outer periphery of the gear plate, and the angle of each gear shaft is adjusted, and the output shaft is welded at the end of each gear shaft. A spline structure is machined on the end of the rotating sleeve away from the main body of the speed reduction structure through numerical control milling equipment, the inner hole spline of the gear plate is aligned with the spline of the rotating sleeve, and the gear plate is fixed by hydraulic press fitting, so as to obtain the gear plate fixed to the rotating sleeve. A plurality of meshing tooth grooves are cut on the outer periphery of the gear plate through a gear hobbing cutter, the teeth of the gear shaft are sequentially embedded in the meshing tooth grooves of the gear plate and temporarily fixed through a positioning pin, so as to obtain a preliminarily meshed gear shaft assembly. The inclination angle of each gear shaft is detected and corrected to a preset angle range one by one by using a fine adjustment clamp, so as to obtain an angle calibrated gear shaft assembly. A prefabricated output shaft is connected to the end of each gear shaft through a welding process and is cooled and solidified, so as to obtain a gear shaft assembly with an output shaft.

8. The planetary gear motor assembly method of claim 1, wherein, The vibration frequency of the planetary gear reduction motor is detected, the phase of the output shaft is adjusted according to the vibration frequency, the rotational stability of the output shaft is tested under load simulation, and a lubricant is coated, so as to obtain a completely assembled planetary gear reduction motor. The output shaft is connected to the load simulation device, the response characteristics of the output shaft under different rotating speeds are recorded in real time by gradually applying the simulation load which alternately changes in the radial and axial directions, and a load response curve is obtained. The peak fluctuation points and frequency distribution characteristics in the load response curve are analyzed, and the phase of the output shaft is fine adjusted by using a numerical control adjusting clamp. A high-temperature wear-resistant lubricant is coated on the surface of the adjusted output shaft, so as to obtain a completely assembled planetary gear reduction motor.

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