Speed reducer power unit

Abstract

The utility model discloses a speed reducer power unit which comprises a motor shell and a driver arranged in the motor shell, the driver is connected with an eccentric shaft, the eccentric shaft drives a cycloidal gear to swing circularly, the cycloidal gear is in meshing transmission with the speed reducer shell through a gear pin, and a rubber coating wheel is arranged on the outer side of the speed reducer shell in a sleeved mode and used for outputting power. An input end flange is fixedly installed at the end of the motor shell, and a reflective sticker is arranged on the end face, close to the input end flange, of the rubber coating wheel. The device is simple in structure, realizes real-time and accurate measurement of the output rotating speed of the power unit by additionally arranging the laser rotating speed sensor and the reflective sticker, and compared with a traditional method, depends on rotating speed information fed back by an encoder as reference, and inherent difference exists between the measured value of the encoder and the actual output rotating speed. Based on the high-precision rotating speed detection means, the control system can continuously and finely adjust the output rotating speed of the power unit.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, specifically a speed reducer power unit. Background Technology

[0002] Cycloidal pinwheel reducers, as efficient and compact power transmission devices, are widely used in industrial automation, robotics, and various mechanical equipment. Traditional cycloidal pinwheel reducer power unit designs typically assume a relatively constant input power, thus limiting control measures. However, in practical applications, this assumption can lead to unstable output speeds, consequently affecting the performance and reliability of the entire system.

[0003] Existing speed control strategies for power units mostly rely on encoder feedback speed information as a reference. Although this method can achieve speed control to a certain extent, the inherent difference between the encoder measurement value and the actual output speed leads to insufficient control accuracy. To overcome the above shortcomings, this invention proposes a reducer power unit. Utility Model Content

[0004] The purpose of this invention is to provide a speed reducer power unit to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a reducer power unit, including a motor housing and a driver disposed within the motor housing. The driver is connected to an eccentric shaft, which drives a cycloidal wheel to oscillate cyclically. The cycloidal wheel is driven by a pin-toothed pin meshing with the reducer housing. A rubber-coated wheel is fitted on the outer side of the reducer housing for outputting power. An input flange is fixedly installed at the end of the motor housing. A reflective sticker is provided on the end face of the rubber-coated wheel close to the input flange. A laser speed sensor is installed on the input flange for receiving the reflected light signal emitted by the reflective sticker.

[0006] As a further embodiment of this utility model: the cycloidal wheel is provided with an input end flange and an output end flange on both sides respectively. The input end flange and the output end flange are fixedly connected to the pin shaft by bolts passing through the cycloidal wheel. A pin shaft sleeve is installed in the contact area between the bolts and the pin shaft and the cycloidal wheel.

[0007] As a further embodiment of this utility model: the cycloidal wheel has multiple through holes, the number of which is the same as the sum of the bolts and pins, and the multiple bolts and multiple pins are arranged alternately at intervals.

[0008] As a further embodiment of this invention, the driver is equipped with an encoder for collecting motor signals.

[0009] As a further embodiment of this utility model: multiple bolts are installed on the motor housing, and the motor housing is connected to the input end flange by the multiple bolts.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] 1. This application achieves real-time and accurate measurement of the output speed of the power unit by adding a laser speed sensor and reflective sticker. Compared with the traditional method, which relies on the speed information fed back by the encoder as a reference, there is an inherent difference between the encoder measurement value and the actual output speed. Based on the above-mentioned high-precision speed detection method, the control system can continuously and finely adjust the output speed of the power unit. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the reducer power unit of this utility model;

[0013] Figure 2 This is a schematic diagram showing the positions of the laser speed sensor and the reflective sticker of this utility model.

[0014] Figure 3 This is a cross-sectional schematic diagram of the reducer power unit of this utility model;

[0015] Figure 4 This is a schematic diagram of the structure of the cycloidal wheel and the pin sleeve of this utility model;

[0016] In the diagram: 1. Rubber-coated wheel; 2. Needle pin; 3. Pin shaft; 4. Reflective sticker; 5. Laser speed sensor; 6. Input flange; 7. Motor housing; 8. Encoder; 9. Driver; 10. Eccentric shaft; 11. Reducer housing; 12. Pin sleeve; 13. Cycloidal wheel; 14. Output flange. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figure 1-4In this embodiment of the utility model, a reducer power unit includes a motor housing 7 and a driver 9 disposed within the motor housing 7. The driver 9 is connected to an eccentric shaft 10, which drives a cycloidal wheel 13 to oscillate cyclically. The cycloidal wheel 13 is driven by a pin 2 meshing with the reducer housing 11. A rubber-coated wheel 1 is fitted on the outer side of the reducer housing 11 for outputting power. An input flange 6 is fixedly installed at the end of the motor housing 7. Multiple bolts are installed on the motor housing 7, and the motor housing 7 is connected to the input flange 6 by the multiple bolts, which facilitates the assembly of the reducer by the operator. A reflective sticker 4 is provided on the end face of the rubber-coated wheel 1 close to the input flange 6. A laser speed sensor 5 is installed on the input flange 6 to receive the reflected light signal emitted by the reflective sticker 4.

[0019] Please see Figure 3 In one embodiment, preferably, the cycloidal wheel 13 is provided with an input flange 6 and an output flange 14 on both sides. The input flange 6 and the output flange 14 are fixedly connected to the pin 3 by bolts passing through the cycloidal wheel 13. The cycloidal wheel 13 has multiple through holes, the number of which is the same as the sum of the bolts and pins 13. The multiple bolts and multiple pins 13 are arranged alternately at intervals. In the contact area between the bolts and pins 3 and the cycloidal wheel 13, a pin sleeve 12 is installed. Furthermore, since the cycloidal wheel 13 and the pin sleeve 12 are in direct contact, there will be a large friction during the movement, which will affect the stability of the output speed. Therefore, the material of the cycloidal wheel 13 is replaced with a material with a lower coefficient of friction, or the contact surface is treated accordingly to reduce friction and improve the running stability of the cycloidal wheel 13.

[0020] Please see Figure 3 In one embodiment, preferably, the driver 9 is equipped with an encoder 8 for acquiring the input speed of the motor.

[0021] In addition, the following steps can be taken when adjusting and controlling the speed of the reducer power unit:

[0022] S1, Collect the single-turn output speed ω of the rubber-coated wheel. i ;

[0023] Specifically, in step S1, reflective stickers 4 are attached to the rubber-coated wheel 1, and a laser speed sensor 5 is installed on the input flange 6. Each time the rubber-coated wheel 1 rotates, the laser speed sensor 5 receives a reflected light signal. After the power unit has been running stably since startup, the first time the laser speed sensor 5 receives a signal is recorded as time 0. Then, t is calculated in real time based on the data from the laser speed sensor 5. i The output speed ω of the rubber-coated wheel at all times i The single-revolution output speed ω of the rubber-coated wheel is obtained using the following formula. i :

[0024]

[0025] In the above formula, t i Indicates the time when the laser speed sensor most recently received a signal; t i-1 This indicates the time when the laser speed sensor last received a signal.

[0026] S2. After the initial signal reception, a cycle is defined as N signal receptions, where N ≥ 2. In this embodiment, N equals 5. Within one cycle, the Newton interpolation algorithm is used to obtain the output rotational speed function ω(t) of the rubber-coated wheel during this cycle. Furthermore, after completing one cycle, the output rotational speed function ω(t) of the rubber-coated wheel is recalculated. After the first cycle, the data for each cycle is used as the initial value of the last data of the previous cycle to obtain the output rotational speed ω at any given time. t ;

[0027] The specific process of fitting the output speed function ω(t) of the rubber-coated wheel is as follows:

[0028] (1) Define the function f(x), where f(t) i )=ω i .

[0029] (2) Let f(x) be the first-order difference quotient of the function f(x) with respect to points t0 and t1. Let f(x) be the second-order difference quotient of the function f(x), ... Let f(x) be the i-th order difference quotient of the function f(x).

[0030] (3) Let the i-th degree interpolation polynomial be:

[0031] P i (t)=f(t0)+f[t0,t1](x-t0)+…+f[t0,t1,…,t i ](x-t0)…(xt i-1 ).

[0032] (4) When the rotational speed data ω0 and ω1 are measured at points t0 and t1, the output rotational speed function from time t0 to time t1 is:

[0033] ω(t)=P1(t)=f(t0)+f[t0,t1](x-t0)

[0034] When the velocity value ω2 is measured at time t2, the output rotational speed function is updated from time t0 to time t2 as follows:

[0035] ω(t)=P2(t)=f(t0)+f[t0,t1](x-t0)+f[t0,t1,t2](x-t0)(x-t1)

[0036] And so on, each time the rotational speed data ω is measured i The output speed function ω(t) is updated once. When i>5, one cycle ends. When i=0, ω(t)=0, using the previous cycle's ω5 as the initial value ω0 for the current cycle, the output speed function ω(t) for the new cycle is recalculated.

[0037] S3, ω t Data and power unit target output speed ω T The difference is calculated and input into the controller for speed control, so as to achieve precise control of the output speed and stabilize it near the target speed.

[0038] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0039] Therefore, the above description is only a preferred embodiment of this application and is not intended to limit the scope of this application; that is, all equivalent modifications made in accordance with the scope of the claims of this application shall be within the protection scope of the claims of this application.

Claims

1. A speed reducer power unit, comprising a motor housing and a driver disposed within the motor housing, characterized in that, The driver is connected to an eccentric shaft, which drives the cycloidal wheel to oscillate in a cycle. The cycloidal wheel is driven by a pin tooth meshing with the reducer housing. A rubber-coated wheel is fitted on the outside of the reducer housing for outputting power. An input flange is fixedly installed at the end of the motor housing. A reflective sticker is provided on the end face of the rubber-coated wheel close to the input flange. A laser speed sensor is installed on the input flange to receive the reflected light signal emitted by the reflective sticker.

2. The reducer power unit according to claim 1, characterized in that, The cycloidal wheel is provided with an input flange and an output flange on both sides. The input flange and the output flange are fixedly connected to the pin shaft by bolts passing through the cycloidal wheel. A pin shaft sleeve is installed in the contact area between the bolts and the pin shaft and the cycloidal wheel.

3. The reducer power unit according to claim 2, characterized in that, The cycloidal wheel has multiple through holes, the number of which is the same as the total number of bolts and pins, and the bolts and pins are arranged alternately at intervals.

4. The reducer power unit according to claim 1, characterized in that, The driver is equipped with an encoder for collecting motor signals.

5. The reducer power unit according to claim 1, characterized in that, The motor housing is fitted with multiple bolts, and the motor housing is connected to the input end flange by the multiple bolts.

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