Speed reducer driven by multiple motors

Abstract

The utility model provides a speed reducer driven by multiple motors, which comprises a shell internally provided with a cycloidal-pin wheel speed reducing mechanism, one end of the shell is rotatably connected with an output frame connected with the cycloidal-pin wheel speed reducing mechanism, and the other end of the shell is provided with a plurality of speed reducing motors and at least one rescue motor. And the output ends of the speed reducing motor and the rescue motor are connected with the cycloidal-pin wheel speed reducing mechanism through a transmission assembly. According to the speed reducer driven by the multiple motors, the multiple driving motors and the multiple rescue motors are arranged at the same time, if the speed reducing motor breaks down, the speed reducing motor does not need to be shut down immediately for maintenance, the speed reducing motor can continue to work to the proper time for maintenance and replacement, and stable work of equipment is guaranteed; when the motor breaks down or does not work, transmission between the corresponding motor and the speed reducer is disconnected, work of the speed reducer is not affected, and stability of the speed reducer is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of speed reducers, and particularly relates to a speed reducer driven by multiple motors. Background Art

[0002] A speed reducer is generally used in transmission equipment with low speed and large torque. It mainly reduces the speed by meshing a gear with fewer teeth on the input shaft of the speed reducer with a large gear on the output shaft of the motor or other high-speed rotating power source. Ordinary speed reducers also have several pairs of gears with the same principle to achieve an ideal speed reduction effect. The main purpose is to reduce the speed and increase the torque.

[0003] The application of speed reducers is extremely extensive and they are commonly used equipment in the mechanical field. Generally, the principle is that the transmission of the driving part acts on the input shaft of the speed reducer through the output shaft, and then after passing through the speed reduction structure inside the speed reducer, the rotation is finally output through the output structure of the speed reducer.

[0004] However, when the existing speed reducers are in use, they are all driven by a single motor. After the motor fails, it needs to be shut down and replaced to continue using, which affects the work efficiency. And in some working environments, it is not possible to stop the machine at any time. The shutdown due to motor failure is likely to cause losses and dangers. For example, in the Tokamak maintenance device, the sudden failure of the speed reducer motor used is likely to cause adverse effects and pose a safety hazard.

[0005] Moreover, the existing speed reducers generally have single-end output and cannot adapt to different usage requirements. Summary of the Utility Model

[0006] The main object of the utility model is to provide a speed reducer driven by multiple motors and its control method, so as to solve the problem that the existing speed reducer needs to be shut down immediately when the driving motor fails.

[0007] To solve the above technical problems, the technical solution adopted by the utility model is:

[0008] A speed reducer driven by multiple motors includes a housing with a cycloid pinwheel speed reduction mechanism inside. One end of the housing is rotatably connected to an output frame connected to the cycloid pinwheel speed reduction mechanism. The other end of the housing is provided with a plurality of reduction motors and at least one rescue motor. The output ends of the reduction motors and the rescue motor are connected to the cycloid pinwheel speed reduction mechanism through a transmission component.

[0009] In a preferred solution, the number of the reduction motors is three, the number of the rescue motors is two, and corner sensors are provided inside both the reduction motors and the rescue motors.

[0010] In a preferred solution, the transmission component includes a rotating sleeve, a toothed disc, and a plurality of input gears;

[0011] The rotating sleeve is rotatably connected to the inside of the housing. A gear disk is fixedly sleeved on the outside of the rotating sleeve. The input gears are respectively connected to the output ends of the reduction motor and the rescue motor and are meshed with the gear disk;

[0012] The cycloid pinwheel reduction mechanism includes a sun gear fixedly sleeved on the outside of the rotating sleeve. A pinwheel is fixed inside the housing. Two cycloid wheels are meshed and connected inside the pinwheel. The phase difference of the two cycloid wheels on the circumference is 180°. Three planetary gears are meshed and connected to the outside of the sun gear. One end of each planetary gear is fixedly connected to one end of a crankshaft. The two eccentric steps of the crankshaft are respectively rotatably connected to one cycloid wheel;

[0013] The cycloid wheel is connected to the output frame through a pin;

[0014] The end face of the output frame away from the cycloid wheel is provided with a plurality of threaded holes for connecting the load.

[0015] In a preferred solution, a connecting plate is movably arranged inside the housing between the planetary gear and the cycloid wheel. The output frame is fixed with a plurality of pins. The pins pass through the two cycloid wheels and are connected to the connecting plate through the first bolts;

[0016] The pins and the crankshaft are arranged at intervals along the circumference of the axis of the output frame;

[0017] A second bearing is provided between one end of the crankshaft and the output frame, and a second bearing is provided between the other end of the crankshaft and the connecting plate;

[0018] In a preferred solution, a fourth bearing is provided between one end of the rotating sleeve and the housing, and a fourth bearing is provided between the other end of the rotating sleeve and the connecting plate;

[0019] A first bearing is provided between the output frame and the housing, and a first bearing is provided between the connecting plate and the housing.

[0020] In a preferred solution, one end of the center shaft is fixedly connected to the inside of the output frame through a screw. The center shaft movably passes through the cycloid wheel, the rotating sleeve and the housing. The other end of the center shaft is rotatably connected to the housing through a third bearing;

[0021] In a preferred solution, the center shaft is provided with a hollow cavity in the middle;

[0022] In a preferred solution, a coupling is connected to the end of the center shaft away from the output frame for connecting the load.

[0023] In a preferred solution, the input gear is connected to a connecting shaft, and the connecting shaft is connected to the output end of the reduction motor or the rescue motor through an elastic coupling;

[0024] The input gear is an incomplete gear, and the sum of the angles of the teeth of the input gear is 240° - 315°;

[0025] The teeth of the input gear are continuous and contain a notch;

[0026] Or, the input gear contains at least two notches, dividing the teeth of the input gear into at least two continuous parts;

[0027] At least one of the input gears connected to the reduction motor is in mesh with the toothed disc.

[0028] In a preferred embodiment, a plurality of motor mounting plates for connecting a reduction motor or a rescue motor are provided on a side of the housing away from the output frame;

[0029] One end of the motor mounting plate close to the axis of the housing is rotatably connected to the housing through a hinge shaft. A fixing block is provided on the side wall of the housing. One end of the motor mounting plate away from the axis of the housing abuts against the fixing block. A second bolt passes through the motor mounting plate and is threadedly connected to the fixing block. A spring is provided between the motor mounting plate and the fixing block.

[0030] A control method for a multi-motor-driven reducer, at least one of the input gears connected to a plurality of reduction motors is in mesh with the toothed disc. When a reduction motor fails, the following steps are included:

[0031] S1. The control unit collects the rotation angle signal of the rotation angle sensor of the reduction motor, and the control unit analyzes to obtain a fault signal;

[0032] S2. The control unit controls the rescue motor to work to maintain the reduction drive of the reducer;

[0033] S3. The reducer continues to work and prepares for the safe shutdown of the reducer;

[0034] S4. The reducer stops and the reduction motor is replaced;

[0035] S5. The reducer continues to work;

[0036] In S3, the input gear connected to the reduction motor rotates following the toothed disc. The notched part of the input gear rotates to a position close to the toothed disc, and the input gear is no longer in mesh with the toothed disc. The toothed disc will no longer drive the input gear to rotate, and the toothed disc is no longer affected by the reduction motor, which is used to ensure the stable operation of the reducer;

[0037] Among them, when the rescue motor is not working, the notch position of the input gear connected to the rescue motor is aligned with the toothed disc, which is used to ensure the stable operation of the reducer and reduce the wear of the rescue motor.

[0038] In a preferred embodiment, in S3 and S4, without stopping the reducer, the steps for replacing the reduction motor include:

[0039] S31. Loosen the second bolt, and then rotate the motor mounting plate to drive the whole reduction motor to rotate;

[0040] S32. The overall rotation of the reduction motor drives the connected input gear to rotate, and the input gear moves away from the gear disk.

[0041] S33. Remove the reduction motor and install a new motor. The new motor is connected with an input gear.

[0042] S34. Tighten the second bolt to drive the motor mounting plate and the new motor to rotate back to the working position, and the input gear is in a position where it can mesh with the gear disk.

[0043] S35. Start the new motor or use it as a rescue motor.

[0044] In S33, when installing the new motor, it is necessary to align the notch position of the input gear with the gear disk.

[0045] In a preferred solution, the present application proposes an application of a reducer driven by multiple motors in a tokamak maintenance device.

[0046] The utility model provides a reducer driven by multiple motors. By adopting the above solution, compared with the prior art, the beneficial effects are as follows:

[0047] 1. Multiple driving motors and rescue motors are set at the same time. If the reduction motor fails, it is not necessary to stop the machine for maintenance immediately, and it can continue to work until an appropriate time for maintenance and replacement, ensuring the stable operation of the equipment.

[0048] 2. Multiple small-power motors are used to replace a single large-power motor, and the overall volume is smaller, with the characteristics of a compact structure, realizing large torque output in a narrow space.

[0049] 3. It can be connected to the load at both ends to adapt to the use requirements of loads required at both ends.

[0050] 4. After the motor fails, the transmission between the failed motor and the reducer is disconnected, which will not affect the operation of the reducer, ensuring the stability of the reducer.

[0051] 5. The motor can be replaced without stopping the machine, ensuring the working efficiency of the equipment;

[0052] 6. The transmission between the non-working motor and the reducer is disconnected, which will not affect the operation of the reducer, ensuring the stability of the reducer. Description of the Drawings

[0053] The following further describes the utility model with reference to the drawings and embodiments:

[0054] Figure 1 It is a schematic structural diagram of a reducer driven by multiple motors according to the utility model;

[0055] Figure 2It is the right view of a reducer driven by multiple motors according to the present utility model;

[0056] Figure 3 It is the left view of a reducer driven by multiple motors according to the present utility model;

[0057] Figure 4 It is the schematic structural diagram of an embodiment of a reducer driven by multiple motors according to the present utility model;

[0058] Figure 5 It is the schematic side view structure diagram of the embodiment at the input gear according to the present utility model;

[0059] Figure 6 It is the schematic side view structure diagram of the embodiment at the input gear according to the present utility model;

[0060] Figure 7 It is the schematic structure diagram of the motor mounting plate according to the present utility model.

[0061] In the figure:

[0062] Housing 1, reduction motor 2, motor mounting plate 210, hinge shaft 211, fixed block 212, second bolt 213, spring 214, rescue motor 3, central shaft 4, rotating sleeve 5, tooth disc 501, input gear 502, connecting shaft 503, elastic coupling 504, sun gear 601, cycloid gear 602, crank shaft 603, planetary gear 604, pinwheel 605, output bracket 7, threaded hole 701, connecting plate 702, plug pin 703, first bolt 704, first bearing 8, second bearing 9, third bearing 10, fourth bearing 11. Specific implementation manner

[0063] Embodiment 1:

[0064] Such as Figure 1 And 2As shown in the figure, a multi-motor-driven speed reducer includes a housing 1 with a cycloid pinwheel speed reduction mechanism inside. At one end of the housing 1, there are multiple reduction motors 2 and two rescue motors 3. The output ends of the reduction motors 2 and the rescue motors 3 are connected to the cycloid pinwheel speed reduction mechanism through a transmission assembly. At the other end of the housing 1, there is an output frame 7 rotatably connected to the cycloid pinwheel speed reduction mechanism. During use, it is driven by multiple reduction motors 2, then transmitted through the transmission assembly to the cycloid pinwheel speed reduction mechanism and output through the output frame 7, thus completing the speed reduction drive. By multi-motor drive, not only is the driving force stronger, but also multiple small-power motors can replace a large-power motor, making the overall volume smaller. Moreover, when one of the reduction motors 2 fails, it does not affect the drive, eliminating the need for shutdown maintenance. At the same time, the rescue motor 3 can replace the reduction motor 2 to complete stable drive and reduce the probability of shutdown. A reduction motor refers to a motor with a speed reducer installed inside. Preferably, the speed reducer is a planetary speed reducer, and whether to set a speed reducer in the rescue motor 3 is selected according to needs.

[0065] Among them, the number of reduction motors 2 is preferably three, and the number of rescue motors 3 is preferably two. The reduction motors 2 and the rescue motors 3 are preferably stepper motors. Both the reduction motors 2 and the rescue motors 3 are equipped with angle sensors, and the reduction motors 2 and the rescue motors 3 are connected to an existing control unit, such as a PLC, etc.

[0066] Embodiment 2:

[0067] As Figure 1 、 2 and Figure 3 show, the transmission assembly includes a rotating sleeve 5 rotatably connected inside the housing 1. An external gear disk 501 is fixedly sleeved on the outside of the rotating sleeve 5. Input gears 502 are respectively connected to the output ends of the reduction motors 2 and the rescue motors 3 and mesh with the gear disk 501. During driving, starting the reduction motor 2 can drive the input gear 502 to rotate, which can drive the gear disk 501 to rotate, thereby driving the rotating sleeve 5 to rotate. The drive of the rescue motor 3 is the same reason;

[0068] The cycloid pinwheel reduction mechanism includes a sun gear 601 fixedly sleeved outside the rotating sleeve 5. Inside the housing 1, a pinwheel 605 is fixed. Two cycloid wheels 602 are internally meshed with the pinwheel 605. The phase difference between the two cycloid wheels 602 on the circumference is 180°. Three planetary gears 604 are externally meshed with the sun gear 601. One end of each planetary gear 604 is fixedly connected to one end of a crankshaft 603. The two eccentric steps of the crankshaft 603 are respectively rotationally connected to one cycloid wheel 602. The cycloid wheel 602 is connected to the output frame 7 through a pin 703. The rotation of the rotating sleeve 5 drives the rotation of the sun gear 601. The rotation of the sun gear 601 drives the rotation of the planetary gear 604 and the connected crankshaft 603. The rotation of the crankshaft 603 drives the two cycloid wheels 602 to rotate with a 180° phase difference through the two eccentric steps. The cycloid wheel 602 and the pinwheel 605 cooperate to perform a speed reduction rotation. The cycloid wheel 602 drives the output frame 7 to rotate through the pin 703, and the output frame 7 can complete the torque output after speed reduction.

[0069] Further, a connecting plate 702 is movably arranged inside the housing 1 between the planetary gear 604 and the cycloid wheel 602. The output frame 7 is fixed with a plurality of pins 703. The pins 703 pass through the two cycloid wheels 602 and are connected to the connecting plate 702 through a first bolt 704. The pins 703 and the crankshaft 603 are arranged at intervals along the circumference of the axis of the output frame 7. A second bearing 9 is provided between one end of the crankshaft 603 and the output frame 7, and a second bearing 9 is provided between the other end of the crankshaft 603 and the connecting plate 702. During the rotation of the cycloid wheel 602, it drives the connecting plate 702 and the output frame 7 to rotate through the pins 703. The reduction ratio of this reducer is about 4000:1, and the output speed is 0.5 revolutions per minute.

[0070] One end of the central shaft 4 is fixedly connected to the output frame 7 through a screw. The central shaft 4 movably passes through the cycloid wheel 602, the rotating sleeve 5 and the housing 1. The other end of the central shaft 4 is rotationally connected to the housing 1 through a third bearing 10. The central shaft 4 is provided with a through cavity. The arranged through shaft structure facilitates the passing of the cable, and the appearance is more beautiful.

[0071] Embodiment 3:

[0072] As Figure 1 、 2 shown in 3, one end of the central shaft 4 away from the output frame 7 is connected with a coupling for connecting a load, so that the output can be reversely connected when needed, enabling the reducer of the present application to be connected to output loads at both ends, with better adaptability.

[0073] The end face of the output frame 7 away from the cycloid wheel 602 is provided with a plurality of threaded holes 701 for connecting a load.

[0074] A fourth bearing 11 is provided between one end of the rotating sleeve 5 and the housing 1, and a fourth bearing 11 is also provided between the other end of the rotating sleeve 5 and the connecting plate 702 to increase the stability of the rotation of the rotating sleeve 5.

[0075] A first bearing 8 is provided between the output frame 7 and the housing 1, and a first bearing 8 is also provided between the connecting plate 702 and the housing 1 to ensure the stability of the rotation of the output frame 7.

[0076] Embodiment 4:

[0077] As Figure 4 and 5 shown, the input gear 502 is connected with a connecting shaft 503, and the connecting shaft 503 is connected with the output end of the reduction motor 2 or the rescue motor 3 through an elastic coupling 504. The elastic coupling 504 can reduce the wear of the transmission between the input gear 502 and the tooth disc 501, and the elastic coupling 504 can be a plum blossom-shaped elastic coupling;

[0078] The input gear 502 is an incomplete gear, and the sum of the angles of the teeth of the input gear 502 is 240° - 315°;

[0079] The teeth of the input gear 502 are continuous and contain a notch;

[0080] At least one of the input gears 502 connected to the reduction motor 2 is in a meshing state with the tooth disc 501.

[0081] During the working process, multiple reduction motors 2 drive the corresponding input gears 502. At least one of the input gears 502 can be in a meshing state with the tooth disc 501, so as to ensure normal transmission. When a certain reduction motor 2 fails, only the part with teeth of the input gear 502 connected to it rotates following the tooth disc 501. When it rotates to the notch position, the input gear 502 no longer rotates following the tooth disc 501, thus avoiding the tooth disc 501 driving the input gear 502 to do useless work and preventing the failed reduction motor 2 from affecting the rotation of the tooth disc 501, enabling the reducer to continue working and ensuring the stability of the reducer's operation;

[0082] Similarly, when the rescue motor 3 is not working, the notch of the input gear 502 connected to it is aligned with the tooth disc 501, which neither affects the operation of the reducer nor causes wear;

[0083] At the same time, when replacement is needed, due to the existence of the notch, the tooth disc 501 and the corresponding input gear 502 are not in a meshing state. Therefore, during replacement, it is possible not to affect the rotation of the tooth disc 501 and achieve the replacement of the motor without stopping the machine.

[0084] Embodiment 5:

[0085] As Figure 4 and6 As shown, an input gear 502 is connected to a connecting shaft 503. The connecting shaft 503 is connected to the output end of a reduction motor 2 or a rescue motor 3 through an elastic coupling 504. The elastic coupling 504 can reduce the wear of the transmission between the input gear 502 and the gear disc 501. The elastic coupling 504 can be a plum blossom-shaped elastic coupling;

[0086] The input gear 502 is an incomplete gear, and the sum of the angles of the teeth of the input gear 502 is 240° - 315°;

[0087] The input gear 502 has at least two notches, dividing the teeth of the input gear 502 into at least two continuous parts;

[0088] At least one of the input gears 502 connected to the reduction motor 2 is in a meshing state with the gear disc 501.

[0089] In this embodiment, the notch positions of the input gear 502 are dispersedly arranged, so that when the reduction motor 2 fails, the notch positions of the input gear 502 can be aligned with the gear disc 501 faster, further reducing the impact brought by the failure of the reduction motor 2.

[0090] Embodiment 6:

[0091] As Figure 4 and 7 shown, on one side of the housing 1 away from the output frame 7, there are a plurality of motor mounting plates 210 for connecting the reduction motor 2 or the rescue motor 3;

[0092] One end of the motor mounting plate 210 close to the axis of the housing 1 is rotatably connected to the housing 1 through a hinge shaft 211. A fixing block 212 is provided on the side wall of the housing 1. One end of the motor mounting plate 210 away from the axis of the housing 1 is close to the fixing block 212. A second bolt 213 passes through the motor mounting plate 210 and is threadedly connected to the fixing block 212. A spring 214 is provided between the motor mounting plate 210 and the fixing block 212.

[0093] When replacing the reduction motor 2 or the rescue motor 3, first loosen the second bolt 213, and then rotate the motor mounting plate 210 (such as being pushed by the spring 214), driving the whole reduction motor 2 to rotate, which can drive the input gear 502 away from the gear disc 501. Then, disassemble the replaced reduction motor 2 or rescue motor 3 from the motor mounting plate 210, and vice versa for installation. The rotation of the gear disc 501 will not be affected during this process, so the replacement can be carried out without shutting down the machine, ensuring the working efficiency.

[0094] The so-called replacement without shutting down the machine in this application needs to be carried out in an environment that ensures the safety of the staff. The solution of this application still has the advantage of facilitating gear alignment during replacement in an environment where replacement without shutting down the machine is not applicable.

[0095] Embodiment 7:

[0096] A control method for a multi-motor-driven speed reducer, at least one of the input gears 502 connected to multiple reduction motors 2 is in a meshing state with the tooth disc 501. A preset meshing position and a non-meshing position are set. That is, when the input gear 502 meshes with the tooth disc 501, the control unit records it as the meshing position corresponding to the reduction motor 2 or the rescue motor 3. When the notch of the input gear 502 aligns with the tooth disc 501 for meshing, the input gear 502 and the tooth disc 501 are not meshed, and the control unit records it as the non-meshing position corresponding to the reduction motor 2 or the rescue motor 3. When the reduction motor 2 is working, ensure that at least one reduction motor 2 is in the meshing position;

[0097] When the reduction motor 2 or the rescue motor 3 is not working, or when the reduction motor 2 or the rescue motor 3 fails, the control unit controls the reduction motor 2 or the rescue motor 3 to be in the non-meshing position;

[0098] Before starting, both the reduction motor 2 and the rescue motor 3 are in the non-meshing position. When starting, multiple reduction motors 2 are started one by one, and the phase difference between the input gears 502 connected to the reduction motors 2 started successively is 45° - 120°.

[0099] The controller controls the rotation angle of the motor, which is the prior art, so it will not be elaborated here.

[0100] When the reduction motor 2 fails, it includes the following steps:

[0101] S1. The control unit collects the rotation angle signal of the rotation angle sensor of the reduction motor 2. The control unit analyzes to obtain a fault signal. The control unit receives the rotation angle signal transmitted by the rotation angle sensor as a pulse signal. When the control unit controls the reduction motor 2 to work, the control unit can receive a stable pulse signal transmitted by the rotation angle sensor. When the pulse signal is unstable or not received, it indicates a fault;

[0102] S2. The control unit controls the rescue motor 3 to work to maintain the speed reduction drive of the speed reducer. To ensure safety, the control unit sends a stop signal to the faulty reduction motor 2;

[0103] S3. The speed reducer continues to work and prepares for the safe shutdown of the speed reducer;

[0104] S4. The speed reducer stops, and the reduction motor 2 is replaced;

[0105] S5. The speed reducer continues to work;

[0106] In S3, the input gear 502 connected to the reduction motor 2 rotates following the toothed disc 501. The notched part of the input gear 502 rotates to a position close to the toothed disc 501, and the input gear 502 no longer meshes with the toothed disc 501. The toothed disc 501 will no longer drive the input gear 502 to rotate, and the toothed disc 501 is no longer affected by the reduction motor 2, which is used to ensure the stable operation of the speed reducer.

[0107] Among them, when the rescue motor 3 is not working, the notched position of the input gear 502 connected to the rescue motor 3 is aligned with the toothed disc 501, which is used to ensure the stable operation of the speed reducer and reduce the wear of the rescue motor 3.

[0108] In a preferred solution, in S3 and S4, without stopping the speed reducer, the steps for replacing the reduction motor 2 include:

[0109] S31. Loosen the second bolt 213, and then rotate the motor mounting plate 210 to drive the entire reduction motor 2 to rotate.

[0110] S32. The rotation of the entire reduction motor 2 drives the connected input gear 502 to rotate, and the input gear 502 moves away from the toothed disc 501.

[0111] S33. Remove the reduction motor 2 and install a new motor. The new motor is connected with an input gear 502.

[0112] S34. Tighten the second bolt 213 to drive the motor mounting plate 210 and the new motor to rotate back to the working position, and the input gear 502 is in a position where it can mesh with the toothed disc 501.

[0113] S35. Start the new motor or use it as the rescue motor 3.

[0114] In S33, when installing the new motor, it is necessary to align the notched position of the input gear 502 with the toothed disc 501, that is, in the non-meshing position.

[0115] The replacement method of the rescue motor 3 is the same as that of the reduction motor 2.

[0116] This application proposes an application of a speed reducer driven by multiple motors in a tokamak maintenance device. In the working environment of the tokamak maintenance device, it is necessary to ensure the stability of the work, and its shutdown and startup have strict requirements. The single-motor speed reducer of the prior art is prone to serious consequences when suddenly shutting down during the working process. Using the multi-motor driven speed reducer of this application can continue to work when one of the motors fails, and the faulty motor will not affect the operation of the speed reducer. Then, according to the actual situation, wait for the appropriate time, and evacuate the faulty component from the work site to a safe area for repair according to safety regulations, which can ensure the safety of the operating personnel and equipment.

[0117] The above embodiments are only the preferred technical solutions of the present utility model and should not be regarded as a limitation to the present utility model. The protection scope of the present utility model shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present utility model.

Claims

1. A multi-motor-driven speed reducer, comprising a housing (1) with a cycloid pinwheel speed reduction mechanism therein. One end of the housing (1) is rotatably connected to an output frame (7) connected to the cycloid pinwheel speed reduction mechanism, and it is characterized in that: At the other end of the housing (1), a plurality of reduction motors (2) and at least one rescue motor (3) are provided. The output ends of the reduction motors (2) and the rescue motor (3) are connected to the cycloid pinwheel speed reduction mechanism through a transmission assembly.

2. The multi-motor driven speed reducer according to claim 1, characterized in that: The number of the reduction motors (2) is three, and the number of the rescue motors (3) is two. Angle sensors are provided in both the reduction motors (2) and the rescue motors (3).

3. The multi-motor-driven speed reducer according to claim 1, characterized in that: The transmission assembly includes a rotating sleeve (5), a toothed disc (501), and a plurality of input gears (502); The rotating sleeve (5) is rotatably connected to the inside of the housing (1). A toothed disc (501) is fixedly sleeved on the outside of the rotating sleeve (5). The input gears (502) are respectively connected to the output ends of the reduction motors (2) and the rescue motor (3), and are meshed with the toothed disc (501); The cycloid pinwheel speed reduction mechanism includes a sun gear (601) fixedly sleeved on the outside of the rotating sleeve (5). A pinwheel (605) is fixed inside the housing (1). Two cycloid wheels (602) are meshed inside the pinwheel (605). The phase difference between the two cycloid wheels (602) in the circumferential direction is 180°. Three planetary gears (604) are externally meshed with the sun gear (601). One end of each planetary gear (604) is fixedly connected to one end of a crankshaft (603). The two eccentric steps of the crankshaft (603) are respectively rotatably connected to one cycloid wheel (602); The cycloid wheel (602) is connected to the output frame (7) through a pin (703); On the end face of the output frame (7) away from the cycloid wheel (602), a plurality of threaded holes (701) are provided for connecting a load.

4. The multi-motor-driven speed reducer according to claim 3, characterized in that: Inside the housing (1), a connecting plate (702) located between the planetary gear (604) and the cycloid wheel (602) is movably provided. The output frame (7) is fixed with a plurality of pins (703). The pins (703) pass through the two cycloid wheels (602) and are connected to the connecting plate (702) through a first bolt (704); The pins (703) and the crankshafts (603) are arranged at intervals along the circumference of the axis of the output frame (7); A second bearing (9) is provided between one end of the crankshaft (603) and the output frame (7), and a second bearing (9) is provided between the other end of the crankshaft (603) and the connecting plate (702); A fourth bearing (11) is provided between one end of the rotating sleeve (5) and the housing (1), and a fourth bearing (11) is provided between the other end of the rotating sleeve (5) and the connecting plate (702); A first bearing (8) is provided between the output frame (7) and the housing (1), and a first bearing (8) is provided between the connecting plate (702) and the housing (1).

5. The multi-motor-driven speed reducer according to claim 3, wherein: One end of a central shaft (4) is fixedly connected to the inside of the output frame (7) through a screw. The central shaft (4) movably passes through the cycloid wheel (602), the rotating sleeve (5), and the housing (1). The other end of the central shaft (4) is rotatably connected to the housing (1) through a third bearing (10); The central shaft (4) is provided with a cavity that is open through; One end of the central shaft (4) away from the output bracket (7) is connected with a coupling for connecting a load.

6. The multi-motor driven speed reducer according to claim 3, characterized in that: The input gear (502) is connected with a connecting shaft (503), and the connecting shaft (503) is connected with the output end of the reduction motor (2) or the rescue motor (3) through an elastic coupling (504); The input gear (502) is an incomplete gear, and the sum of the angles of the teeth of the input gear (502) is 240° - 315°; The teeth of the input gear (502) are continuous and contain a notch; Or, the input gear (502) contains at least two notches, dividing the teeth of the input gear (502) into at least two continuous parts; At least one of the input gears (502) connected to the reduction motor (2) is in a meshing state with the toothed disc (501).

7. The multi-motor-driven speed reducer according to claim 1, characterized in that: On one side of the housing (1) away from the output bracket (7), there are provided a plurality of motor mounting plates (210) for connecting the reduction motor (2) or the rescue motor (3); One end of the motor mounting plate (210) close to the axis of the housing (1) is rotatably connected to the housing (1) through a hinge shaft (211). A fixing block (212) is provided on the side wall of the housing (1). One end of the motor mounting plate (210) away from the axis of the housing (1) is close to the fixing block (212). A second bolt (213) passes through the motor mounting plate (210) and is threadedly connected to the fixing block (212). A spring (214) is provided between the motor mounting plate (210) and the fixing block (212).

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