Outer rotor synchronous self-locking planetary gear motor

Abstract

The utility model discloses an outer rotor synchronous self-locking planetary gear motor, and belongs to the technical field of gear motors. Which comprises a driving motor (3) and a planetary reducing mechanism (4) integrally embedded in a motor shell (8) of the driving motor (3), and is characterized in that a flange (1) is arranged at a port of the motor shell (8), and the planetary reducing mechanism (4) comprises a sun wheel shaft (7) and a plurality of planetary gears (22) which are sequentially meshed and connected from inside to outside; the sun gear shaft (7) is connected with the power output end of the driving motor (3), the outer portion of the planetary gear (22) is in meshed connection with an output mechanism and a self-locking mechanism at the same time, the self-locking mechanism is connected with a motor shell (8), and the gear output mechanism extends to a port of the flange (1). According to the outer rotor synchronous self-locking planetary gear motor, the whole planetary speed reducing mechanism is arranged in the motor shell, and the self-locking mechanism is arranged on the outer ring of the planetary speed reducing mechanism, so that the self-locking effect is achieved, and meanwhile, the size of the outer rotor synchronous self-locking planetary gear motor is reduced.

Description

TECHNICAL FIELD

[0001] The application relates to an outer rotor synchronous self-locking planetary reduction motor. BACKGROUND

[0002] A reduction motor is a device for converting electric energy into mechanical energy, reducing the output rotating speed through a reduction device and increasing the output torque. The basic structure of the reduction motor is composed of a motor, a reducer and an output shaft. The planetary gear reducer is more and more popular due to its small size, large torque, high efficiency and smooth operation, and is therefore often used in combination with a driving motor in a reduction motor. In the prior art, the reduction motor has the following defects:

[0003] (1) With the development of the precision driving field, greater output torque is required in a smaller space. However, in the prior art, the driving motor and the reduction mechanism are generally arranged side by side, which greatly increases the space occupied by the reduction motor. For example, the technical solution disclosed in the Chinese invention patent with the application number 202311204282.2 and the application date of September 18, 2023, the patent name of "a large-torque integrated planetary reduction motor", the technical solution disclosed in the Chinese utility model patent with the application number 201721503926.8 and the application date of November 13, 2017, the patent name of "a self-locking planetary gear reduction driving mechanism", the technical solution disclosed in the Chinese utility model patent with the application number 201621074948.2 and the application date of September 23, 2016, the patent name of "a self-locking planetary gear reduction motor", and the technical solution disclosed in the Chinese invention patent with the application number 202411276323.3 and the application date of September 12, 2024, the patent name of "an actuator and a robot".

[0004] Although some prior art also discloses corresponding technical solutions for arranging the reduction mechanism and the motor in the same housing, such as the technical solution disclosed in the Chinese invention patent with the application number 202310658879.8 and the application date of June 2, 2023, the patent name of "a motor, a reducer and a controller integrated device", and the technical solution disclosed in the Chinese invention patent with the application number 202411279382.6 and the application date of September 12, 2024, the patent name of "a driving device and a lifter". However, in the technical solution, the motor part still occupies a large space.

[0005] (2) In some application occasions, the motor will rotate in the opposite direction due to the action of the load counter driving torque after the motor stops running, which will endanger the safety of the system or equipment. Although a power loss brake can be added to achieve this function, it will increase the axial length of the speed reducer and increase the power consumption of the speed reducer.

[0006] To achieve the self-locking effect of the speed reduction motor, the technical solution disclosed in the Chinese invention patent with the patent name "Drive device and lifter" and the application number 202411279382.6, applied on September 12, 2024, separately provides a self-locking assembly, which is arranged between the speed reduction mechanism and the driving motor, thus further increasing the volume of the speed reduction motor itself. Practical new type content

[0007] The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art, provide an outer rotor synchronous self-locking planetary speed reduction motor which reduces the volume of the speed reduction motor itself, sets the self-locking mechanism in the outer ring of the planetary speed reduction mechanism, realizes the self-locking effect while greatly reducing the volume of the body.

[0008] The technical scheme adopted by the utility model to solve its technical problems is that the outer rotor synchronous self-locking planetary speed reduction motor comprises a driving motor and a planetary speed reduction mechanism, the planetary speed reduction mechanism is embedded in the motor shell of the driving motor as a whole, characterized in that a flange is arranged at the port of the motor shell, the planetary speed reduction mechanism comprises a sun gear shaft and a plurality of planetary gears which are connected in mesh from inside to outside, the sun gear shaft is connected with the power output end of the driving motor, the outer part of the planetary gear is connected with an output mechanism and a self-locking mechanism in mesh at the same time, the self-locking mechanism is connected with the motor shell, and the gear output mechanism extends to the port of the flange.

[0009] Preferably, the driving motor is an outer rotor permanent magnet synchronous motor.

[0010] Preferably, a stator is arranged at the inner wall of the motor shell, the power output end of the driving motor is a rotor support, the rotor support extends to the stator and is sleeved on the outside of the stator, and a magnet is further arranged on the inner wall of the rotor support.

[0011] Preferably, a shell inner ring is arranged inside the motor shell, and an annular accommodating groove is formed between the inner wall of the motor shell and the shell inner ring, and the stator is arranged in the annular structure of the accommodating groove.

[0012] Preferably, an end cover is installed at the other end of the motor shell relative to the flange, a magnetic sheet is arranged on the surface of the end cover, and an encoder is arranged on the upper end of the magnetic sheet.

[0013] Preferably, an encoder cover is arranged on the side of the end cover away from the motor housing, and the magnetic sheet cover is arranged in the encoder cover.

[0014] Preferably, the planetary reduction mechanism comprises a planet carrier, and a plurality of planet gears are arranged in the planet carrier, and the gear teeth of the planet gears protrude from the outer wall of the planet carrier and are engaged with the output mechanism and the self-locking mechanism.

[0015] Preferably, the self-locking mechanism is sleeved on the outside of the planet gears, and a fixed gear ring engaged with the planet gears is arranged, and the fixed gear ring is fixed to the inner wall of the motor housing; the output mechanism is sleeved on the outside of the planet gears, and a movable gear ring engaged with the planet gears is arranged, and the movable gear ring extends to the port of the flange.

[0016] Preferably, the number of teeth of the movable gear ring and the fixed gear ring is different by ±1 to ±3.

[0017] Compared with the prior art, the utility model has the beneficial effects that:

[0018] In the outer rotor synchronous self-locking planetary reduction motor, the planetary reduction mechanism is arranged in the motor housing as a whole, and the self-locking mechanism is arranged on the outer ring of the planetary reduction mechanism, so that the self-locking effect is achieved while the volume is reduced.

[0019] In the outer rotor synchronous self-locking planetary reduction motor, the self-locking function of the reducer is used to omit the brake mechanism that must be arranged separately in the prior art, so that the cost of the self-locking planetary gear reduction driving mechanism is greatly reduced, and the volume and weight of the outer rotor synchronous self-locking planetary reduction motor are further reduced.

[0020] The driving motor adopts an outer rotor permanent magnet synchronous motor, so that the planetary reduction mechanism can be arranged more deeply in the motor housing, and the outer rotor permanent magnet synchronous motor has a larger permanent magnet steel surface area compared with an inner rotor permanent magnet synchronous motor, so that a larger torque can be output under the same volume, and the outer rotor permanent magnet synchronous motor is more suitable for large torque applications.

[0021] The outer rotor permanent magnet synchronous motor unit motor adopts an electromagnetic structure in which the difference between the number of magnetic steel poles and the number of stator slots is ±(1-2), so that the motor has high power density and high efficiency, and the thickness of the stator yoke can be greatly reduced.

[0022] The difference between the number of teeth of the fixed gear ring and the movable gear ring is ±1 to ±3, so that the reduction ratio can be more than 200 through appropriate matching, and compared with other parallel gear reducers, the motor has a higher reduction ratio and can output a larger torque under the same volume, and has a self-locking function. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a front view of the outer rotor synchronous self-locking planetary reduction motor.

[0024] Figure 2 For Figure 1 A-A is a sectional view.

[0025] Figure 3 It is the schematic diagram of the driving motor structure of the outer rotor synchronous self-locking planetary reduction motor.

[0026] Figure 4 It is the schematic diagram of the reduction mechanism structure of the outer rotor synchronous self-locking planetary reduction motor and the flange connection.

[0027] Wherein: 1, flange 2, oil seal 3, driving motor 4, planetary reduction mechanism 5, flange support bearing 6, encoder 7, sun gear shaft 8, motor casing 9, stator 10, magnet steel 11, rotor support 12, end cover 13, encoder cover 14, end cover support bearing 15, magnetic sheet 16, fixed ring gear 17, movable ring gear 18, reducer first bearing 19, planet carrier 20, reducer second bearing 21, pin shaft 22, planetary gear 23, motor support bearing. DETAILED DESCRIPTION

[0028] Figures 1-4 It is the best embodiment of the utility model, and the following will be combined with the accompanying Figures 1-4 The utility model is further explained.

[0029] As Figures 1-2 shown, an outer rotor synchronous self-locking planetary reduction motor, including driving motor 3, planetary reduction mechanism 4. Planetary reduction mechanism 4 is embedded in driving motor 3 in whole, and is connected with motor shaft of driving motor 3. Flange 1 is fixed at the port of driving motor 3, and flange 1 is coaxially arranged with driving motor 3, and the input end of planetary reduction mechanism 4 is connected with the output end of driving motor 3, and the output end of planetary reduction mechanism 4 extends to the central hole of flange 1, and serves as the power output end of the outer rotor synchronous self-locking planetary reduction motor.

[0030] Flange support bearing 5 is arranged in the central hole of flange 1, and flange support bearing 5 is sleeved on the outer ring of the output end of planetary reduction mechanism 4, and flange support bearing 5 plays the role of rotary support to the output end of planetary reduction mechanism 4. Oil seal 2 is arranged at the port of the central hole of flange 1, and retaining ring is also arranged in the central hole of flange 1, and the retaining ring is arranged between adjacent flange support bearings 5 and between the outer end flange support bearing 5 and oil seal 2.

[0031] As Figure 3As shown, in the outer rotor synchronous self-locking planetary reduction motor, the driving motor 3 is realized by using an outer rotor permanent magnet synchronous motor. The driving motor 3 comprises a motor shell 8, which is a through cylinder structure in the axial direction. The flange 1 is fixed at the port of one side of the motor shell 8, and the end cover 12 is installed at the port of the other side of the motor shell 8. The magnetic sheet 15 is arranged on the end cover 12 away from the motor shell 8, and the encoder 6 is arranged on the upper end of the magnetic sheet 15. The encoder cover 13 is arranged on the side of the end cover 12 away from the motor shell 8, and the magnetic sheet 15 is covered in the encoder cover 13.

[0032] An integral shell inner ring is arranged on the inner surface of the motor shell 8. The outer wall of the shell inner ring and the inner wall of the motor shell 8 are spaced apart to form an annular accommodating groove. Inside the accommodating groove, the stator 9 is arranged along the annular structure of the accommodating groove, and the magnetic steel 10 is arranged outside the stator 9.

[0033] In the driving motor 3 of the outer rotor synchronous self-locking planetary reduction motor, the pole-slot number matching is adopted, in which the difference between the pole number of the magnetic steel 10 and the slot number of the stator is ±(1~2), for example: 8-pole 9-slot, 10-pole 9-slot, 10-pole 12-slot, 14-pole 12-slot, etc. In the driving motor 3 of the outer rotor synchronous self-locking planetary reduction motor, a 14-pole 12-slot unit motor is taken as an example for description:

[0034] In fact, two groups of 14-pole 12-slot unit motors are adopted, i.e. 28-pole 24-slot pole-slot number matching. The stator 9 is uniformly distributed with 24 tooth slots, and the tooth slots are wound with current conductors. The rotor support 11 is uniformly distributed with 28 pieces of high-performance magnetic steel 10 made of rare earth material on the inner wall. One side of the magnetic steel 10 is an arc surface matched with the rotor support 11, and the other side of the magnetic steel 10 is a flat surface. The magnetic steel 10 provides an air gap magnetic field similar to a sine wave.

[0035] The rotor support 11 is arranged on the side of the end cover 12 facing the motor shell 8, and the rotor support 11 is arranged concentrically with the end cover 12. The outer edge of the rotor support 11 extends to the outside of the magnetic steel 10 and is sleeved on the outside of the magnetic steel 10. The magnetic steel 10 is fixed on the inner wall of the rotor support 11, and the rotor support 11 is the rotor of the driving motor 3. When the rotor support 11 rotates, the encoder 6 arranged on the magnetic sheet 15 can sense the change of the magnetic field of the magnetic sheet 15 and perceive the position of the magnetic steel 10.

[0036] The sun gear shaft 7 of the above-mentioned planetary reduction mechanism 4 passes through the rotor support 11 and is fixed coaxially with the rotor support 11. The end of the sun gear shaft 7 extends to the end cover 12 after passing through the rotor support 11. The end cover support bearing 14 is arranged at the center of the end cover 12, and the end cover support bearing 14 is sleeved on the outside of the sun gear shaft 7 to support the sun gear shaft 7.

[0037] In combination Figure 4The planetary reduction mechanism 4 comprises a planet carrier 19, in which a plurality of planet gears 22 are evenly arranged, each of which is rotationally connected with the planet carrier 19 through a pin shaft 21 at the wheel shaft thereof. The inner end of the sun wheel shaft 7 enters the planet carrier 19 and simultaneously engages with all the planet gears 22 after passing through the planet carrier 19.

[0038] The planet carrier 19 is provided with a reducer first bearing 18, which is sleeved on the outer ring of the inner end of the sun wheel shaft 7 to support the inner end of the sun wheel shaft 7. The motor support bearing 23 is arranged at the center of the end of the planet carrier 19 close to the driving motor 3, which is sleeved on the outer ring of the center of the rotor support 11 to support the rotor support 11.

[0039] The teeth of all the planet gears 22 in the planet carrier 19 protrude from the outer wall of the planet carrier 19, and the fixed gear ring 16 and the movable gear ring 17 are sleeved side by side outside the planet carrier 19, wherein the outer wall of the fixed gear ring 16 is fixed with the inner wall of the inner ring of the motor shell 8. The inner rings of the fixed gear ring 16 and the movable gear ring 17 are provided with internal teeth, and the fixed gear ring 16 and the movable gear ring 17 engage with the planet gears 22 through the internal teeth thereof. The number of teeth of the movable gear ring 17 and the fixed gear ring 16 is different by ±(1-3), and through appropriate matching, the number of teeth of the movable gear ring 17 and the fixed gear ring 16 is different by ±(1-3), and the reduction ratio can be more than 200. Compared with other parallel gear reducers, it has a higher reduction ratio and can output a larger torque in the same volume, and has a self-locking function.

[0040] The end of the movable gear ring 17 extends axially to the side of the flange 1, and the center thereof passes through the center of the flange 1, serving as the power output end of the above-mentioned outer rotor synchronous self-locking planetary reduction motor. The reducer second bearing 20 is sleeved outside the planet carrier 19 towards the side of the flange 1, and the movable gear ring 17 is sleeved outside the reducer second bearing 20.

[0041] The specific working process and working principle are as follows:

[0042] After the driving motor 3 is energized and works, the rotor support 11 in it rotates, further driving the sun wheel shaft 7 to rotate, the sun wheel shaft 7 engages with the plurality of planet gears 22, driving the plurality of planet gears 22 to rotate, the outer side of the planet gears 22 simultaneously engages with the movable gear ring 17 and the fixed gear ring 16, the planet gears 22 can rotate along the annular internal teeth on the inner wall of the fixed gear ring 16, while driving the movable gear ring 17 which also engages with it to rotate.

[0043] When the movable gear ring 17 rotates, the rotation direction of the movable gear ring 17 is opposite to the rotation direction of the sun gear shaft 7 due to the meshing of the sun gear shaft 7 and the plurality of planetary gears 22, thus changing the structure of the existing planetary gear reduction mechanism. Meanwhile, the fixed gear ring 16 is fixedly arranged and has an inner tooth, and is meshed with the planetary gears 22 to position the planetary gears 22 and the planet carrier 19, so that the planetary gears 22 can rotate in the sun gear shaft 7 under the driving of the sun gear shaft 7, and the planetary gears 22 can be actively rotated and locked without the rotation of the sun gear shaft 7, thus avoiding the free rotation of the planetary gears 22 under the driving of the movable gear ring 17, and realizing self-locking.

[0044] Therefore, in the outer rotor synchronous self-locking planetary reduction motor, the brake mechanism which must be separately arranged in the prior art is omitted by the self-locking function of the reducer, the cost of the self-locking planetary gear reduction driving mechanism is greatly reduced, and the volume and weight of the outer rotor synchronous self-locking planetary reduction motor are further reduced.

[0045] The utility model only makes structure description from the outer rotor synchronous self-locking planetary reduction motor, if the installation space is not strictly required, of course, the internal rotor synchronous motor or the permanent magnet motor can be used to realize the self-locking function.

[0046] The above is only the preferred embodiment of the utility model, and does not limit other forms of the utility model, and any skilled person in the art can change or modify the equivalent embodiment by using the disclosed technical content. However, any simple modification, equivalent change and modification of the above embodiment without departing from the technical scheme of the utility model and according to the technical essence of the utility model still belongs to the protection scope of the utility model technical scheme.

Claims

1. An outer rotor synchronous self-locking planetary reduction motor, comprising a driving motor (3) and a planetary reduction mechanism (4), the planetary reduction mechanism (4) being embedded in the motor shell (8) of the driving motor (3) as a whole, characterized in that: The flange (1) is arranged at the port of the motor casing (8), the planetary reduction mechanism (4) comprises a sun gear shaft (7) and a plurality of planetary gears (22) connected in sequence from inside to outside, the sun gear shaft (7) is connected with the power output end of the driving motor (3), the outer part of the planetary gear (22) is connected with the output mechanism and the self-locking mechanism at the same time, the self-locking mechanism is connected with the motor casing (8), and the gear output mechanism extends to the port of the flange (1).

2. The external rotor synchronous self-locking planetary reduction motor of claim 1, wherein: The driving motor (3) is an outer rotor permanent magnet synchronous motor.

3. An external rotor synchronous self-locking planetary reduction motor according to claim 1 or 2, characterized in that: The stator (9) is arranged at the inner wall of the motor casing (8), the power output end of the driving motor (3) is a rotor support (11), the rotor support (11) extends to the stator (9) and is sleeved on the outer side of the stator (9), the inner wall of the rotor support (11) is further provided with a magnetic steel (10), and the sun gear shaft (7) is fixed at the center of the rotor support (11).

4. The external rotor synchronous self-locking planetary reduction motor of claim 3, wherein: The motor casing (8) is internally provided with a casing inner ring, the inner wall of the motor casing (8) and the casing inner ring are spaced to form an annular containing groove, and the stator (9) is arranged in the annular structure of the containing groove.

5. The external rotor synchronous self-locking planetary reduction motor of claim 3, wherein: The end cover (12) is installed at the other end of the motor casing (8) relative to the flange (1), the magnetic sheet (15) is arranged on the surface of the end cover (12), and the encoder (6) is arranged on the magnetic sheet (15).

6. The external rotor synchronous self-locking planetary reduction motor of claim 5, wherein: The encoder cover (13) is further arranged on the side, away from the motor casing (8), of the end cover (12), and the magnetic sheet (15) is covered in the encoder cover (13).

7. The external rotor synchronous self-locking planetary reduction motor of claim 1, wherein: The self-locking mechanism is a fixed gear ring (16) sleeved on the outer side of the planetary gear (22) and engaged with the planetary gear (22), the fixed gear ring (16) is fixed with the inner wall of the motor casing (8); the output mechanism is an active gear ring (17) sleeved on the outer side of the planetary gear (22) and engaged with the planetary gear (22), and the active gear ring (17) extends to the port of the flange (1).

8. The external rotor synchronous self-locking planetary reduction motor of claim 7, wherein: The number of teeth of the active gear ring (17) and the fixed gear ring (16) is different by ±1~±3.

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