Drive device with motor having a reduction gear

Abstract

A drive device having a motor with a speed reducer, wherein the motor has a rotatably supported rotor shaft, wherein the speed reducer has an eccentric transmission stage, wherein the rotor shaft has at least one first eccentric region, wherein the first eccentric region has a cylindrical outer periphery, the cylindrical outer periphery's axis of cylindrical symmetry being parallel to and spaced apart from the rotation axis of the rotor shaft.

Description

Technical Field

[0001] The present invention relates to a drive device having a motor with a speed reducer. Background Technology

[0002] As is well known, a speed reducer has a transmission stage and can be driven by a motor.

[0003] As the closest prior art, a motor assembly with a speed reduction mechanism is known from DE 11 2012 003 027 T5.

[0004] An electric drive device is known from CN 2 01 080 990 Y.

[0005] A type of reducer of stress wave reducer is known from DE 39 06 053 A1.

[0006] According to DE 10 2016 101 381 A1, there is a self-locking intermediate transmission mechanism for shaft motion and a combined speed reduction device having the intermediate transmission mechanism.

[0007] An electric motor is known from DE 10 2019 002 918 A1, which has a rotor shaft and a first bearing and a second bearing.

[0008] A speed reduction transmission mechanism is known from JP S62 – 93 565 A.

[0009] A coaxial reducer is known from WO 2011 / 027 675 A1.

[0010] A support device with a sealing component is known from JP 2015-10 523 A.

[0011] A coaxial reducer is known from WO 2012 / 033 043 A1. Summary of the Invention

[0012] Therefore, the object of the present invention is to realize a drive device that is as compact and high-performance as possible.

[0013] According to the present invention, this objective is achieved by a driving device with the features given in claim 1.

[0014] An important feature of drive units with motors equipped with speed reducers is that the motor has a rotatably supported rotor shaft, wherein the speed reducer has an eccentric transmission stage.

[0015] The rotor shaft has at least one first eccentric region.

[0016] The first eccentric region has a cylindrical outer periphery, the axis of symmetry of which is parallel to and spaced apart from the axis of rotation of the rotor shaft.

[0017] In particular, the rotor shaft and the first eccentric region are constructed as a single unit and / or a one-piece structure.

[0018] The advantage here is that the drive unit is compact while still providing a high gear ratio. Furthermore, the rotor shaft is supported on one side by an eccentric drive stage and on the other by another bearing. In this way, energy loss is reduced, components (such as the rotor shaft bearing) are saved, and over-constraint of the rotor shaft support is avoided.

[0019] In an advantageous design, the rotor shaft has a second eccentric region.

[0020] The second eccentric region has a cylindrical outer periphery, the axis of symmetry of which is parallel to and spaced apart from the axis of rotation of the rotor shaft.

[0021] In particular, the imaginary plane spanned by the cylindrical symmetry axes of the first and second eccentric regions contains the rotation axis of the rotor shaft.

[0022] In particular, the rotor shaft is constructed as an integral and / or one-piece unit with the first and second eccentric regions. This has the advantage of reducing imbalance.

[0023] In one advantageous design, the motor has a motor housing that is connected to a bearing end cover at a first axial end region and to a housing component at a second axial end region.

[0024] The bearing end cover houses the outer ring of a bearing, particularly a ball bearing, whose inner ring is fitted onto the rotor shaft.

[0025] The inner ring of the first rolling bearing is fitted onto the first eccentric region of the rotor shaft.

[0026] The first roller rolls at the outer periphery of the outer ring of the first rolling bearing and / or at the radial outer periphery of the first rolling bearing. The first roller passes through a corresponding notch in a rotatably supported cage and is constrained by the cage in both the circumferential and axial directions.

[0027] The rotation axis of the rotor shaft is coaxial with the rotation axis of the cage.

[0028] The first roller rolls along a first wave-shaped profile constructed inside the housing component, particularly extending in the circumferential direction. The advantage here is that the rotor shaft directly drives the eccentric reducer, and imbalance is reduced.

[0029] In one advantageous design, the cage has columnar protrusions.

[0030] In this configuration, at least one additional bearing is fitted onto the protrusion and received within the housing component, specifically wherein the inner ring of the additional bearing is fitted onto the protrusion, and the outer ring of the additional bearing is received within the housing component. An advantage here is that the cage itself forms the output shaft.

[0031] In one advantageous design, the inner ring of a second rolling bearing is fitted onto the second eccentric region of the rotor shaft.

[0032] The second roller rolls at the outer periphery of the outer ring of the second rolling bearing and / or at the radial outer periphery of the second rolling bearing. The second roller passes through a corresponding notch in a rotatably supported cage and is constrained by the cage in both the circumferential and axial directions.

[0033] The second roller rolls along a second wave-shaped profile constructed inside the housing component, particularly extending in the circumferential direction.

[0034] In particular, the first waveform profile is axially spaced apart from or adjacent to the second waveform profile in the axial direction, and / or the rotation axis of the second rolling bearing is spaced apart from the rotation axis of the first rolling bearing, and the rotation axes of the first rolling bearing, the second rolling bearing, and the rotor shaft are arranged together in a particularly imaginary plane. The advantage of this is that it reduces imbalance.

[0035] In one advantageous design, the rotor shaft has a shoulder against which the inner ring of the first rolling bearing abuts. The advantage here is that a robust implementation can be achieved.

[0036] In one advantageous design, an uninterrupted annular groove is arranged around the outer periphery of the shoulder. The advantage of this is that it reduces the formation of high-frequency vibrations.

[0037] In a favorable design scheme

[0038] - One or more radial holes are provided in the shaft shoulder.

[0039] - Alternatively, one or more radial holes are provided in the eccentric region, particularly wherein the one or more radial holes are arranged at an axial position in the annular groove, particularly leading into the annular groove.

[0040] In particular, the inner ring of the first rolling bearing covers at least one radial hole, and / or the inner ring of the second rolling bearing covers at least one radial hole.

[0041] The advantage here is that it makes it difficult for vibration resonance to occur, and the reducer can operate more stably. In particular, it can achieve smoother operation.

[0042] In an advantageous design, a sealing cap, fastened, and particularly clamped, to the axial protrusion of the housing component, seals relative to the rotor shaft.

[0043] In particular, the sealing cover is designed as a rubber-coated plate. The advantage of this is that lubricants, such as grease, will not reach the stator winding area.

[0044] In an advantageous design, the corresponding rollers pass through the corresponding notches in the cage in the radial direction.

[0045] In particular, the axis of rotation of the shaft and the axis of rotation of the cage are coaxial. This has the advantage that the eccentric reducer is easy to manufacture.

[0046] In an advantageous design, the waveform profile has a radial distance that varies periodically in the circumferential direction. The advantage here is that the waveform profile is easy to manufacture and has high overload capacity.

[0047] In one advantageous design, the rotation axis of the first rolling bearing is parallel to and spaced apart from the rotation axis of the rotor shaft.

[0048] In particular, during the operation of the eccentric transmission stage, the rotation axis of the first rolling bearing undergoes circular motion around the rotation axis of the rotor shaft.

[0049] In particular, during the operation of the eccentric drive stage, the rotation axis of the second rolling bearing rotates in a circular motion around the rotation axis of the rotor shaft. An advantage of this is that it allows for simple manufacturing.

[0050] In an advantageous design, the reducer housing component is centered / aligned with the motor housing and, in particular, connected and / or fastened to the housing component using threaded connections. The advantage here is that high precision can be achieved.

[0051] In one advantageous design, the eccentric position of the first eccentric region is offset by 180° relative to the eccentric position of the second eccentric region in the circumferential direction. The advantage of this is that it reduces imbalance.

[0052] Further advantages are provided by the dependent claims. The invention is not limited to the combination of features of the claims. For those skilled in the art, particularly for purposes proposed and / or proposed by comparison with the prior art, other reasonable combinations of features of the claims and / or individual claims and / or description features and / or drawings are possible. Attached Figure Description

[0053] The invention will now be described in more detail with reference to the schematic diagram:

[0054] exist Figure 1 The oblique view shown in the middle section illustrates an electric motor with an integrated eccentric drive stage according to the present invention. Detailed Implementation

[0055] Here, the motor has a drive stage, which is surrounded by the motor housing in the form of a housing.

[0056] The motor housing includes a motor housing 1, especially a stator housing, which radially surrounds the stator windings of the motor.

[0057] The axial direction is parallel to the rotation axis of rotor shaft 4. The radial direction is referenced to the rotation axis of rotor shaft 4, as are the radial and circumferential directions.

[0058] The transmission stage is driven by the rotatably supported rotor shaft 4 of the motor.

[0059] The motor housing 1 is connected to the housing component 5 at its first axial end region, the housing component radially surrounding the transmission stage.

[0060] At its second axial end region, the bearing end cover is connected to the motor housing 1, wherein a bearing is received in the bearing end cover, and the rotor shaft 4 is rotatably supported by the bearing, thus the bearing acts as a first support.

[0061] The second support for rotor shaft 4 is achieved through a transmission stage.

[0062] Housing component 5 is centered and secured at motor housing 1.

[0063] The housing component 5 surrounds the transmission stage driven by the rotor shaft 4, which is designed as an eccentric transmission stage.

[0064] Here, the eccentric transmission stage drives a device not shown in the diagram, such as, for example, another reducer.

[0065] For this purpose, the cage 2 of the eccentric drive stage has a shaft end on the output side, which can be keyed to drive the shaft of the device to be driven. In particular, a keyway is constructed in the shaft end of the cage 2, into which a key that is non-rotatably connected to the cage 2 of the eccentric drive stage is inserted. Alternatively, a toothed connection can be used instead of a keyway.

[0066] The eccentric drive stage works in conjunction with the eccentric regions (13, 14) constructed at the rotor shaft 4. Specifically, the rotor shaft 4 and its eccentric regions (13, 14) are constructed as a single unit. Here, the eccentric regions are each constructed as cylindrical segments; however, the axis of the cylinders is arranged parallel to and spaced apart from the axis of rotation of the rotor shaft 4. The axis of rotation of the two eccentric regions (13, 14) is arranged in an imaginary mathematical plane, which is also in which the axis of rotation of the rotor shaft 4 is arranged.

[0067] A first bearing 8 is fitted onto the first eccentric region 14, specifically the eccentric region, within the eccentric regions (13, 14) of the rotor shaft 4. The rotation axis of the first bearing is parallel to and spaced apart from the rotation axis of the rotor shaft 4. Rollers 7 of the first roller row, spaced apart from each other in the circumferential direction, roll at the radial outer periphery of the first bearing 8. The rollers 7 are constrained in the circumferential and / or axial directions by notches in the cage 2. In particular, the cage can be non-rotatably connected to the shaft of the device to be driven.

[0068] Due to the eccentric arrangement of the first bearing 8, the spacing of the rollers 7 is variable during the rotational movement of the cage 2.

[0069] Radially outward, the roller 7 rolls radially inward on the housing component 5 according to the eccentric position, the radially inward having a wave-like profile, that is, in particular having a net inner diameter and / or net radial distance that periodically depends on the circumferential position.

[0070] The additional rollers 10 in the second row are spaced apart from the rollers 7 in the first row in the axial direction and roll radially inward on the radially outer periphery of the bearing 9, which is fitted onto another eccentric region 13 of the rotor shaft 4, wherein the eccentric position is offset 180° in the circumferential direction compared to the first eccentric region 14. The additional rollers 10 in the second row are limited by the cage 2 in both the axial and circumferential directions. The additional rollers 10 also roll radially outward at the same wave profile inside the housing member 5, or alternatively at another wave profile inside the housing member.

[0071] Therefore, when the rotor shaft 4 rotates, the cage 2 rotates, and the shaft of the device to be driven, which is connected to the cage 2 (not shown in the figure), is driven in this way, in which a very high transmission ratio can be achieved with very small space requirements.

[0072] Since the rotor shaft 4 is supported by two bearings housed in the motor housing 1, and rollers 7 and 10 are supported on the inside of the housing component 5 and pressed against the rotor shaft 4 by bearings 8 and 9, mechanical over-constraint can be weakened and / or kept within tolerance limits by properly designed tolerances.

[0073] The housing component 5 has a wave profile of an eccentric transmission stage on its inner side. Here, the housing component 5 is constructed as a single unit. The wave profile is preferably cycloidal in the circumferential direction, and therefore, by principle, the gear teeth are different from the involute tooth profile.

[0074] Preferably, rollers 7 and 10 are offset from each other in the circumferential direction, particularly by 180° / N, where N is the number of rollers in the first row, and the number of rollers in the first row is equal to the number of rollers in the second row. This improves synchronous operation performance and also reduces higher unbalanced torque. Alternatively, rollers 7 and 10 are offset from each other by 180° in the circumferential direction.

[0075] Since the internal space of the reducer, including the eccentric regions (13, 14), is at least partially filled with lubricant, the gasket 11, especially the Nilosring or rubber-coated plate, is received at the axial protrusion of the housing component 5, thereby sealing the gasket 11 relative to the rotor shaft 4.

[0076] The cage has a shaft-end protrusion that is rotatably supported by two bearings 12 received in the housing component 5. Here, the outer ring of the bearing 12 is received in the housing component 5, and the inner ring of the bearing 12 is fitted onto the shaft-end protrusion of the rotor shaft 12.

[0077] The rotor shaft 4 is supported on one hand by a bearing not shown in the figure, and on the other hand by rollers 7 and 10 that roll at rolling bearings 8 and 9. Therefore, the rotor shaft 4 is supported at two locations, where the stator windings of the motor are arranged between these locations in the axial direction.

[0078] The inner ring of bearing 9 abuts against the shoulder 3 of rotor shaft 4. Radial holes may be formed in the shoulder and / or in the eccentric regions 13 and 14. Preferably, an annular groove is provided in the shoulder, centered axially, and this annular groove surrounds the shaft uninterrupted in the circumferential direction. If a radial hole is formed in the shoulder 3, the radial hole opens into the annular groove.

[0079] In other embodiments of the invention, an eccentric disk having eccentric regions 13 and 14 is fitted onto the rotor shaft 4 and is connected to the rotor shaft 4 in a non-rotational manner by means of a key connection.

[0080] Preferably, the eccentric disk has an outer flange that protrudes axially on both sides and is uninterrupted in the circumferential direction at its radial outer periphery, and an inner flange that protrudes axially on both sides and is uninterrupted in the circumferential direction.

[0081] The inner flange and the outer flange are radially spaced apart and / or radially arranged within the outer flange. Radially between the inner and outer flanges, corresponding recesses are arranged on both sides, axially formed in the eccentric disk, and these recesses are interrupted circumferentially by a thickened portion of the eccentric disk. The corresponding recesses preferably extend more than 180°. An axial hole is provided in the corresponding thickened portion.

[0082] The thickened portions are diametrically opposed in the circumferential direction, which in particular helps to avoid imbalance in a simple way. Alternatively, the thickened portions can be arranged within the same circumferential angle range, where precise balancing is required, especially for higher torques.

[0083] The concave structure is C-shaped.

[0084] Preferably, all axial holes are arranged at the same radial distance, i.e., configured to have the same distance from the axis of rotation of the rotor shaft 4. In particular, the axial holes are evenly spaced apart from each other in the circumferential direction.

[0085] The corresponding rolling bearings 8 and 9 are fitted onto the outer flange. The inner flange enables an axially widened connection area with the rotor shaft 4.

[0086] In other embodiments of the invention, the rotor shaft 4 bearing housed in the flange assembly is omitted, thus the motor is designed to have only one bearing for the rotor shaft 4. When assembling the motor with the reducer, the rotor shaft 4 is inserted into the eccentric disc 3, particularly by means of a key connection to prevent relative rotation; thus, the rotor shaft is also supported within the reducer by the eccentric disc 3. Subsequently, the tolerances of the rollers (7, 10) are selected such that the rotor shaft 4 is supported on one hand by the rollers 7 and 10, and on the other hand by a bearing on the motor, particularly on the B side, which acts as the sole bearing for the rotor shaft within the motor housing 1. Therefore, any mechanical over-constraint is also avoided. However, without the reducer, the motor cannot operate.

[0087] List of reference numerals in the attached diagram:

[0088] 1. Motor housing

[0089] 2. Cage

[0090] 3. Off-center plate

[0091] 4. Rotor shaft

[0092] 5. Housing components

[0093] 6 radial holes

[0094] 7. Rollers in the first column

[0095] 8 First bearing

[0096] 9 Second bearing

[0097] 10. Rollers in the second column

[0098] 11. Sealing gaskets, especially Nylon rings or rubber-coated panels.

[0099] 12 bearings

[0100] 13 Second eccentric region

[0101] 14 First eccentric region

Claims

1. A drive device having a motor with a speed reducer, The electric motor has a rotor shaft that is supported in a rotatable manner. The reducer has an eccentric transmission stage. The rotor shaft has at least one first eccentric region. The first eccentric region has a cylindrical outer periphery, the axis of symmetry of which is parallel to and spaced apart from the axis of rotation of the rotor shaft. In particular, - The rotor shaft has a base rotor shaft that is continuously rotationally symmetrical, particularly with respect to the axis of rotation of the rotor shaft, and a sleeve with an eccentric bore fitted onto the base rotor shaft, the sleeve providing the eccentric region. - Alternatively, the rotor shaft and the first eccentric region may be constructed as a single unit and / or a one-piece assembly. In particular, the inner ring of the first rolling bearing is fitted on the first eccentric region of the rotor shaft, and one or more radial holes are provided in the shaft shoulder to make it difficult to form vibration resonance and achieve more stable operation of the reducer.

2. The driving device according to claim 1, Its features are, The rotor shaft has a second eccentric region. The second eccentric region has a cylindrical outer periphery, the axis of symmetry of which is parallel to and spaced apart from the axis of rotation of the rotor shaft. In particular, the imaginary plane spanned by the cylindrical symmetry axes of the first and second eccentric regions contains the rotation axis of the rotor shaft. In particular, the rotor shaft is constructed as an integral part and / or a single piece with the first eccentric region and the second eccentric region.

3. The driving device according to any one of the preceding claims, Its features are, The motor has a motor housing that is connected to a bearing end cover at a first axial end region and to a housing component at a second axial end region. The bearing end cover receives the outer ring of a bearing, particularly the outer ring of a ball bearing, and the inner ring of this bearing is fitted onto the rotor shaft. The inner ring of the first rolling bearing is fitted onto the first eccentric region of the rotor shaft. The first roller rolls at the outer periphery of the outer ring of the first rolling bearing and / or at the radial outer periphery of the first rolling bearing. The first roller passes through a corresponding notch in a cage that is rotatably supported and is constrained by the cage in both the circumferential and axial directions. The rotation axis of the rotor shaft is coaxial with the rotation axis of the cage. The first roller rolls on a first wave-shaped profile constructed inside the housing component, particularly extending in the circumferential direction.

4. The driving device according to any one of the preceding claims, Its features are, The cage has columnar protrusions. At least one additional bearing is fitted onto the protrusion and received in the housing component, in particular, the inner ring of the additional bearing is fitted onto the protrusion and the outer ring of the additional bearing is received in the housing component.

5. The driving device according to any one of the preceding claims, Its features are, The inner ring of the second rolling bearing is fitted onto the second eccentric region of the rotor shaft. The second roller rolls at the outer periphery of the outer ring of the second rolling bearing and / or at the radial outer periphery of the second rolling bearing. The second roller passes through a corresponding notch in a cage that is rotatably supported and is constrained by the cage in both the circumferential and axial directions. The second roller rolls along a second wave-shaped profile constructed inside the housing component, particularly extending in the circumferential direction. In particular, - Alternatively, the first waveform profile and the second waveform profile are the same waveform profile. - Alternatively, the first waveform profile is axially spaced apart from or adjacent to the second waveform profile in the axial direction, and / or, the rotation axis of the second rolling bearing is spaced apart from the rotation axis of the first rolling bearing, and the rotation axis of the first rolling bearing, the rotation axis of the second rolling bearing, and the rotation axis of the rotor shaft are arranged together in a plane that is particularly imaginary.

6. The driving device according to any one of the preceding claims, Its features are, The rotor shaft has a shoulder, and the inner ring of the first rolling bearing abuts against the shoulder.

7. The driving device according to any one of the preceding claims, Its features are, An uninterrupted annular groove is arranged around the outer periphery of the shoulder.

8. The driving device according to any one of the preceding claims, Its features are, - One or more radial holes are provided in the shaft shoulder. - Alternatively, one or more radial holes are provided in the eccentric region, particularly, the one or more radial holes are arranged at the axial position of the annular groove, and especially lead into the annular groove. In particular, the inner ring of the first rolling bearing covers at least one radial hole, and / or the inner ring of the second rolling bearing covers at least one radial hole.

9. The driving device according to any one of the preceding claims, Its features are, The sealing cap, which is fastened, especially clamped, to the axial protrusion of the housing component, seals relative to the rotor shaft. In particular, the sealing cap is designed as a rubber-coated plate.

10. The driving device according to any one of the preceding claims, Its features are, The corresponding rollers pass through the corresponding notches in the cage in the radial direction. In particular, the axis of rotation of the shaft and the axis of rotation of the cage are coaxial with each other.

11. The driving device according to any one of the preceding claims, Its features are, The waveform profile has a radial distance that varies periodically in the circumferential direction.

12. The driving device according to any one of the preceding claims, Its features are, The rotation axis of the first rolling bearing is parallel to and spaced apart from the rotation axis of the rotor shaft. In particular, during the operation of the eccentric transmission stage, the rotation axis of the first rolling bearing undergoes circular motion around the rotation axis of the rotor shaft. In particular, during the operation of the eccentric transmission stage, the rotation axis of the second rolling bearing rotates in a circular motion around the rotation axis of the rotor shaft.

13. The driving device according to any one of the preceding claims, Its features are, The reducer housing component is centered at the motor housing and is connected and / or fastened to the housing component, especially by means of threaded parts.

14. The driving device according to any one of the preceding claims, Its features are, The eccentric position of the first eccentric region is offset by 180° relative to the eccentric position of the second eccentric region in the circumferential direction.

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