Speed reducer assembly

Abstract

The utility model discloses a speed reducer assembly which comprises a hollow feedback shaft and an inner gear ring shell, an inner gear ring is arranged on the inner wall of the inner gear ring shell, a plurality of planetary gear sets which are sequentially distributed in the axial direction of the feedback shaft are arranged in the inner gear ring shell, and each planetary gear set comprises a sun gear, a planetary gear and a rotating frame. Planet gears of all the planetary gear sets are connected with the inner gear ring shell in a meshed mode. Wherein a sun gear of the first-stage planetary gear set is connected with a rotor of the motor, a rotating stand of the previous planetary gear set is connected with a sun gear of the next planetary gear set through a spline pair, and a rotating stand of the last-stage planetary gear set is connected with a feedback shaft in a synchronous rotation mode and connected with an end cover through a bearing. The sun gear and the rotating stand of each planetary gear set are arranged on the outer side of a feedback shaft in a sleeving mode, and a first encoder is installed on the feedback shaft. According to the utility model, the problems of large transmission clearance, insufficient positioning precision and low transmission efficiency of the speed reduction structure of the existing photoelectric turntable transmission mechanism are solved.

Description

Technical Field

[0001] This utility model relates to the field of transmission mechanisms for photoelectric turntables, specifically a speed reducer assembly. Background Technology

[0002] An optoelectronic turntable is a device that integrates optical imaging equipment (such as visible light cameras, infrared thermal imagers, and laser rangefinders) and a precision transmission mechanism. It is primarily used for tracking, observing, aiming, or measuring targets. Through a high-precision servo control system, it achieves rapid and stable azimuth and pitch rotation, and is widely used in military, security, aerospace, and scientific research fields. These applications rely on the high performance of the transmission mechanism, whose technical specifications directly determine the overall efficiency of the optoelectronic turntable.

[0003] The existing reduction structures of photoelectric turntable transmission mechanisms have the following problems: Traditional gear transmissions use a discrete layout, and the cumulative tooth backlash generated by multi-stage gear meshing can lead to positioning errors of over 0.1°, which cannot meet the requirements of high-precision tracking. Although worm gear transmissions can achieve self-locking, their transmission efficiency is generally below 70%, which is a significant shortcoming in energy-constrained fields such as aerospace. Belt drives and chain drives, due to problems such as elastic slip, chain polygonal effect, and wear elongation, not only have poor positioning accuracy but also a high rate of accuracy decay over long-term operation, and will produce significant positioning lag and error fluctuations.

[0004] Therefore, developing a reducer assembly that can effectively reduce transmission backlash and improve positioning accuracy and transmission efficiency has become the key to breaking through the bottleneck of photoelectric turntable transmission performance. Utility Model Content

[0005] The purpose of this utility model is to provide a speed reducer assembly, which aims to improve the problems of large transmission gap, insufficient positioning accuracy and low transmission efficiency in the existing photoelectric turntable transmission mechanism.

[0006] This utility model is implemented as follows: A reducer assembly includes a hollow feedback shaft and an internal gear ring housing with an internal gear ring on its inner wall. Both ends of the internal gear ring housing are open, one end for connection to a motor, and the other end is provided with an end cover. Multiple sets of planetary gear sets are arranged sequentially along the axial direction of the feedback shaft within the internal gear ring housing. Each planetary gear set includes a sun gear, planet gears, and a carrier. The planet gears of each planetary gear set are meshed with the internal gear ring housing. The sun gear of the first-stage planetary gear set is connected to the rotor of the motor. The carrier of the first-stage planetary gear set is connected to the sun gear of the next-stage planetary gear set via a spline pair. The carrier of the last-stage planetary gear set is synchronously connected to the feedback shaft and is connected to the end cover via a bearing. The sun gear and carrier of each planetary gear set are sleeved on the outside of the feedback shaft, and a first encoder is installed on the feedback shaft.

[0007] Furthermore, the reducer assembly includes three planetary gear sets: K1 planetary gear set, K2 planetary gear set, and K3 planetary gear set. The K1 sun gear of the K1 planetary gear set is connected to the rotor. The K2 sun gear of the K2 planetary gear set is connected to the K1 carrier of the K1 planetary gear set via a spline joint. The K3 sun gear of the K3 planetary gear set is connected to the K2 carrier of the K2 planetary gear set via a spline joint.

[0008] Furthermore, the end of the K1 sun gear connected to the rotor is provided with a first connecting flange, which extends into the motor housing and is connected to the rotor by a first bolt. The end of the K1 sun gear away from the rotor is provided with an external gear ring structure for meshing with the planetary gears of the K1 planetary gear set.

[0009] Furthermore, the K1 and K2 carriers have the same structure, both including a frame with a central through hole for the feedback shaft to pass through. One side of the frame has an internal spline groove, and one side of each of the K2 and K3 sun gears has an external spline structure adapted to the internal spline groove. The external spline structure of the K2 sun gear meshes with the internal spline groove of the K1 carrier, and the external spline structure of the K3 sun gear meshes with the internal spline groove of the K2 carrier. At least three planetary shafts are evenly arranged along the circumferential direction on the frame, each planetary shaft having a planetary gear mounted on it. The frame and the planetary gears are connected by pins, and the planetary gears are connected to the planetary shafts by needle roller bearings. Each planetary shaft has an oil passage leading to the needle roller bearing, and an oil nozzle is provided in the oil passage.

[0010] Furthermore, the K1 sun gear is provided with a first bearing mounting part and a second bearing mounting part. The first bearing mounting part is equipped with a first bearing, and the K1 sun gear is supported on the motor housing by the first bearing. The second bearing mounting part is equipped with a second bearing, and the K1 sun gear is connected to the K1 frame by the second bearing.

[0011] Furthermore, the K2 sun gear and the K3 sun gear are respectively provided with a third bearing mounting part and a fourth bearing mounting part, and the third bearing mounting part and the fourth bearing mounting part are respectively installed with a third bearing and a fourth bearing. The K2 sun gear is connected to the K2 frame through the third bearing, and the K3 sun gear is connected to the K3 frame through the fourth bearing.

[0012] Furthermore, the K3 carrier of the K3 planetary gear set includes a frame for mounting the planetary gears within the set, and a support connection portion is provided on the side of the frame away from the K2 carrier. The end of the support connection portion is provided with a connecting threaded hole for connecting to the photoelectric turntable, and a plurality of connecting threaded holes are evenly arranged along the circumferential direction of the end of the support connection portion. A first annular groove is provided on the end of the support connection portion inside each connecting threaded hole, and a plurality of first mounting threaded holes are evenly arranged along the circumferential direction on the bottom wall of the first annular groove. A second connecting flange is provided at the end of the feedback shaft connected to the K3 carrier, and the second connecting flange is connected to the support connection portion by a second bolt, and the threaded part of the second bolt is screwed into the first mounting threaded hole.

[0013] Furthermore, the end cap is generally annular, and the support connection of the K3 frame passes through the end cap; the end cap has an inner extending annular portion, the outer wall of the inner extending annular portion is in contact with the inner wall of the internal gear ring housing, and a sealing ring is provided between the two; a fifth bearing mounting portion is provided on the support connection portion, and a crossed roller bearing is mounted on the fifth bearing mounting portion, the inner ring and outer ring of the crossed roller bearing are in contact with the inner walls of the fifth bearing mounting portion and the inner extending annular portion, respectively.

[0014] Furthermore, an oil seal mounting portion is provided on the support connection portion, and an oil seal is provided between the inner wall of the end cap located on the outer side of the inner extending ring portion and the oil seal mounting portion.

[0015] Furthermore, a first retaining ring groove is provided between the oil seal mounting part and the fifth bearing mounting part, and a first retaining ring for limiting the inner ring of the crossed roller bearing is provided in the first retaining ring groove; a plurality of second mounting threaded holes are evenly provided along the circumferential direction on the inner end face of the inner extending ring part, and a ring retaining ring is installed in the second mounting threaded hole by a fourth bolt, and the ring retaining ring is used to limit the outer ring of the crossed roller bearing.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. This utility model effectively reduces transmission backlash and improves positioning accuracy by setting up a splined transmission structure with multiple sets of planetary gears and meshing with the internal gear ring. The rigid meshing of the splined pair between the front set of the carrier and the rear set of the sun gear reduces the accumulated tooth backlash of traditional gear transmission. Combined with the precise meshing of each set of planetary gears with the internal gear ring, it solves the problem of insufficient positioning accuracy and meets the requirements of high-precision tracking.

[0018] 2. This utility model significantly improves transmission efficiency by adopting a planetary gear transmission architecture and a needle roller bearing lubrication design. The split transmission characteristics of the multi-stage planetary gears reduce the load pressure on a single pair of gears. The needle roller bearings between the planetary gears and planetary shafts, combined with the continuous lubrication of oil passages and nozzles, reduce mechanical friction loss. The transmission efficiency is superior to worm gear drives, belt drives, and chain drives, making it suitable for energy-constrained scenarios.

[0019] 3. This utility model achieves real-time closed-loop feedback of transmission accuracy through a synchronous monitoring structure integrating the feedback shaft and the first encoder. The feedback shaft rotates synchronously with the final stage rotating frame, and the first encoder can directly detect the actual position status of the output end, providing a precise position feedback signal for the servo control system, which helps to reduce positioning lag and error fluctuations. Attached Figure Description

[0020] Figures 1-3 This is a cross-sectional view of the transmission mechanism for an optoelectronic turntable provided in the embodiment, wherein, Figure 1 Number the entire structure. Figure 2 The main task is to label the reducer components. Figure 3 The group needs to label the motor assembly and the brake assembly;

[0021] Figure 4 This is a cross-sectional view of the feedback shaft and the first encoder mounted on it;

[0022] Figure 5 This is a cross-sectional view showing the connection between the K2 sun gear and the K1 planetary gear set with the K1 sun gear removed;

[0023] Figure 6 This is a three-dimensional structural diagram of the connection point between the K3 sun gear and the K2 planetary gear set (with the K2 sun gear removed);

[0024] Figure 7 This is a three-dimensional structural diagram of the K1 sun gear;

[0025] Figure 8 This is a three-dimensional structural diagram of the K3 rotating frame;

[0026] Figure 9 This is a cross-sectional view of the end cap;

[0027] Figure 10 This is a three-dimensional structural diagram of the connection point between the brake sleeve and the brake assembly;

[0028] Figure 11 These are cross-sectional views and A-direction views showing the location of the brake assembly in the transmission mechanism;

[0029] Figure 12 This is a three-dimensional structural diagram of the brake sleeve when a limit sleeve and a bushing are installed on it.

[0030] Figure 13 This is a cross-sectional view of the brake sleeve when the limit sleeve and bushing are installed on it.

[0031] Figure 14 This is a schematic diagram of the structure of a brake provided in the embodiment;

[0032] Figure 15 This is a power transmission route diagram of the transmission mechanism for an optoelectronic turntable provided in the embodiment.

[0033] In the diagram: 1. Reducer assembly; 2. Motor assembly; 3. Brake assembly; 4. Connecting bolt; 5. Connecting bolt; 6. Feedback shaft; 7. K3 frame; 8. Crossed roller bearing; 9. End cover; 10. Internal gear ring housing; 11. K3 planetary gear set; 12. K2 planetary gear set; 13. K1 planetary gear set; 14. First encoder; 15. K1 sun gear; 16. K2 sun gear; 17. K3 sun gear; 18. Second bolt; 19. Fastening screw; 20. Fourth bearing; 21. 1. External gear ring structure; 22. Third bolt; 23. K2 frame; 24. External spline structure; 25. Internal spline groove; 26. First connecting flange; 27. Third bearing; 28. Pin; 29. ​​Planetary gear; 30. K1 frame; 31. Planetary shaft; 32. Oil nozzle; 33. Oil passage; 34. Needle roller bearing; 35. First bearing; 36. Motor housing; 37. Stator; 38. Rotor; 39. Second encoder; 40. Bushing; 41. Sixth bearing; 42. Brake sleeve; 43. Sixth bolt ; 44. First bolt; 45. Friction disc; 46. Brake internal spline; 47. Brake external spline; 48. Brake housing; 49. Eighth bolt; 50. Brake; 51. Partition plate; 52. Rear cover; 53. Ninth bolt; 54. First reading head; 55. Second reading head; 56. Tenth bolt; 57. Ninth bolt; 58. Fifth bolt; 59. Motor brake socket; 60. Eleventh bolt; 61. Encoder socket; 62. Support connection part; 63. Fifth bearing mounting part; 64. 65. Circular groove; 66. First mounting threaded hole; 67. Connecting threaded hole; 68. Inner extending circular ring portion; 69. Oil seal mounting portion; 70. First snap ring groove; 71. Second mounting threaded hole; 72. Limiting sleeve; 73. Limiting step; 74. Fourth connecting flange; 75. Seventh bolt; 76. Grease groove; 77. First bearing mounting portion; 78. Second bearing mounting portion; 79. Brake housing; 80. Electromagnet; 81. Spring; 82. Armature; 83. Backing plate; 84. Connecting screw. Detailed Implementation

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0035] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details:

[0036] like Figures 1-4 As shown, this embodiment provides a transmission mechanism for a photoelectric turntable, including a reducer assembly 1, a motor assembly 2, and a brake assembly 3. The motor assembly 2 provides power, the reducer assembly 1 transmits power to the photoelectric turntable, and the brake assembly 3 brakes the turntable. The motor assembly 2 includes a motor housing 36, a stator 37, and a rotor 38 disposed within the motor housing 36. The reducer assembly 1 includes a hollow feedback shaft 6, an internal gear ring housing 10 with an internal gear ring on its inner wall, and three sets of planetary gears. The brake assembly 3 includes a brake housing 48 and a brake 50 disposed within the brake housing 48. The motor housing 36, the internal gear ring housing 10, and the brake housing 48 are all cylindrical in shape, with openings at both ends. The motor housing 36 has a first annular flange and a second annular flange at each end, with the outer diameters of both being larger than the outer diameter of the motor housing 36 itself. The motor housing 36 is connected to the internal gear ring housing 10 via the first annular flange and multiple connecting bolts 4, and to the brake housing 48 via the second annular flange and multiple connecting bolts 5. This connection ensures that the motor housing 36 and the internal gear ring housing 10 are interconnected and communicate with each other, resulting in a more compact and integrated structure, a continuous transmission path, and precise installation and positioning. A sealing annular portion extending into the internal gear ring housing 10 is located at the end of the motor housing 36 with the first annular flange. A sealing ring is placed between the sealing annular portion and the inner wall of the internal gear ring housing 10, making the connection between the motor housing 36 and the internal gear ring housing 10 tighter and more secure, and providing excellent sealing performance.

[0037] like Figures 1-4 As shown, the three sets of planetary gear sets in the internal gear ring housing 10 are arranged sequentially along the axial direction of the feedback shaft 6. Each set of planetary gear sets includes a sun gear, planet gears, and a carrier. The planet gears of each set are meshed with the internal gear ring housing 10 and are respectively meshed with the sun gear in their respective sets. The feedback shaft 6 passes through each sun gear and carrier of each set of planetary gear sets.

[0038] like Figure 2 , Figure 3 and Figure 7 As shown, the three planetary gear sets of the reducer assembly 1 are K1 planetary gear set 13, K2 planetary gear set 12, and K3 planetary gear set 11. The K1 sun gear 15 of the K1 planetary gear set 13 is connected to the rotor 38. The K2 sun gear 16 of the K2 planetary gear set 12 is connected to the K1 carrier 30 of the K1 planetary gear set 13 via a spline joint. The K3 sun gear 17 of the K3 planetary gear set 11 is connected to the K2 carrier 23 of the K2 planetary gear set 12 via a spline joint. A first connecting flange 26 is provided at the end of the K1 sun gear 15 connected to the rotor 38. The first connecting flange 26 extends into the motor housing 36 and is connected to the rotor 38 via a first bolt 44. An external gear ring structure 21 is provided at the end of the K1 sun gear 15 away from the rotor 38 for meshing with the planet gears 29 of the K1 planetary gear set.

[0039] like Figure 2 , Figure 5 and Figure 6 As shown, the K1 carrier 30 and K2 carrier 23 have the same structure, both including a frame with a central through hole for the feedback shaft 6 to pass through. An internal spline groove 25 is provided on one side of the frame. External spline structures 24, adapted to the internal spline groove 25, are correspondingly provided on one side of the K2 sun gear 16 and K3 sun gear 17. The external spline structure 24 of the K2 sun gear 16 meshes with the internal spline groove 25 of the K1 carrier 30, and the external spline structure 24 of the K3 sun gear 17 meshes with the internal spline groove 25 of the K2 carrier 23. Three planetary shafts 31 are evenly arranged along their circumference on the frame, each planetary shaft 31 mounting a planetary gear 29. The frame and the planetary gears 29 are connected by pins 28, and the planetary gears 29 are connected to the planetary shafts 31 by needle roller bearings 34. Oil passages 33 are provided on the planetary shafts 31 leading to the needle roller bearings 34, and oil nozzles 32 are provided in the oil passages 33. The grease nipple 32 can inject grease into the needle roller bearing 34 through the oil passage 33, ensuring that the rotational friction between the planetary gear 29 and the planetary shaft 31 always remains in a low-resistance state, thus extending the service life of the transmission components.

[0040] like Figure 2 , Figure 5 and Figure 7As shown, the K1 sun gear 15 is provided with a first bearing mounting part 76 and a second bearing mounting part 77. A first bearing 35 is mounted on the first bearing mounting part 76, and the K1 sun gear 15 is supported on the motor housing 36 through the first bearing 35. A second bearing is mounted on the second bearing mounting part 77, and the K1 sun gear 15 is connected to the K1 rotating frame 30 through the second bearing. The K2 sun gear 16 and K3 sun gear 17 are respectively provided with a third bearing mounting part and a fourth bearing mounting part. A third bearing 27 and a fourth bearing 20 are respectively mounted on the third bearing mounting part and the fourth bearing mounting part. The K2 sun gear 16 is connected to the K2 rotating frame 23 through the third bearing 27, and the K3 sun gear 17 is connected to the K3 rotating frame 7 through the fourth bearing 20.

[0041] like Figure 2 , Figure 4 and Figure 8 As shown, the K3 carrier 7 of the K3 planetary gear set 11 includes a frame for mounting the planetary gears 29 within the set. A support connection portion 62 is provided on the side of this frame away from the K2 carrier 23. The end of the support connection portion 62 has a connecting threaded hole 66 for connecting to the photoelectric turntable. Multiple connecting threaded holes 66 are evenly arranged along the circumferential direction of the end of the support connection portion 62. A first annular groove 64 is provided on the end of the support connection portion 62, inside each connecting threaded hole 66. Multiple first mounting threaded holes 65 are evenly arranged along the circumferential direction on the bottom wall of the first annular groove 64. A second connecting flange is provided at the end of the feedback shaft 6 connected to the K3 carrier 7. The second connecting flange is connected to the support connection portion 62 by a second bolt 18, and the threaded portion of the second bolt 18 is screwed into the first mounting threaded hole 65, thus achieving synchronous rotational connection between the K3 carrier 7 and the feedback shaft 6. A first encoder 14 is mounted on the feedback shaft 6 by fastening screws 19, so that the first encoder 14 rotates synchronously with the feedback shaft 6.

[0042] like Figure 2 , Figure 8 and Figure 9As shown, the end of the internal gear ring housing 10 away from the motor housing 36 has multiple threaded holes along its circumference for mounting the end cover 9. The end cover 9 is mounted on the end of the internal gear ring housing 10 by multiple third bolts 22. The end cover 9 is generally annular, and the support connection part 62 of the K3 frame 7 passes through the end cover 9. The end cover 9 has an inner extending annular part 67, the outer wall of which is in contact with the inner wall of the internal gear ring housing 10, and a sealing ring is provided between them to ensure the sealing between the end cover 9 and the internal gear ring housing 10. A fifth bearing mounting part 63 is provided on the support connection part 62, and a crossed roller bearing 8 is mounted on the fifth bearing mounting part 63. The inner ring and outer ring of the crossed roller bearing 8 are in contact with the inner walls of the fifth bearing mounting part 63 and the inner extending annular part 67, respectively. An oil seal mounting part 68 is provided on the support connection part 62. An oil seal is provided between the inner wall of the end cover 9 located on the outer side of the inner extended ring part 67 and the oil seal mounting part 68. The oil seal does not affect the rotation of the K3 swivel 7 and ensures sealing. A first snap ring groove 69 is provided between the oil seal mounting part 68 and the fifth bearing mounting part 63. A first snap ring for limiting the inner ring of the crossed roller bearing 8 is provided in the first snap ring groove 69. A plurality of second mounting threaded holes 70 are evenly provided along the circumference on the inner end face of the inner extended ring part 67. A ring retainer is installed in the second mounting threaded holes 70 by a fourth bolt. The ring retainer is used to limit the outer ring of the crossed roller bearing 8. In this way, the crossed roller bearing 8 is limited in both directions in the axial direction, avoiding its movement due to axial force during the rotation of the K3 swivel 7, and ensuring support accuracy and transmission stability.

[0043] like Figure 3 and Figure 11 As shown, Figure 3 and Figure 11 As shown, the inner wall of the brake housing 48 is provided with a first annular connecting part and a second annular connecting part. The brake housing 78 of the brake 50 is connected to the first annular connecting part by multiple eighth bolts 49. A partition 51 is installed on the second annular connecting part by multiple ninth bolts 57. The end of the brake housing 48 away from the motor housing 36 is connected to a rear cover 52 by a fifth bolt 58. The rear cover 52 is provided with a through hole for the feedback shaft 6 to pass through. The partition 51 is located between the brake 50 and the rear cover 52.

[0044] like Figure 3 , Figure 10 , Figure 11As shown, the brake 50 has a friction disc 45, which is connected to a synchronously rotating brake sleeve 42. The brake sleeve 42 is connected to the rotor 38. A third connecting flange is provided at the end of the brake sleeve 42 connected to the rotor 38. The third connecting flange extends into the motor housing 36 and is connected to the rotor 38 by a sixth bolt 43. A sixth bearing mounting part is provided on the outer ring wall of the brake sleeve 42, and a sixth bearing 41 is mounted on the sixth bearing mounting part. The brake sleeve 42 is connected to the inner ring wall of the brake 50 through the sixth bearing 41. The feedback shaft 6 passes through the brake sleeve 42 and the friction disc 45. An external brake spline 47 is provided at the end of the brake sleeve 42 away from the rotor 38. An internal brake spline 46, which is adapted to the external brake spline 47, is provided on the inner wall of the friction disc 45. The external brake spline 47 is inserted into the internal brake spline 46, realizing the synchronous rotation of the brake sleeve 42 and the friction disc 45.

[0045] In this embodiment, the brake 50 uses an electromagnetic de-energizing brake, such as... Figure 14 As shown, the brake 50 includes a brake housing 78, a friction disc 45, an electromagnet 79, a spring 80, an armature 81, and a back plate 82. The brake housing 78 contains an annular electromagnet 79 and multiple circumferentially distributed springs 80. The back plate 82 is fixed to the brake housing 78 by a number of circumferentially distributed connecting screws 83 and a guide sleeve. The armature 81 passes through the guide sleeve and can slide along the axial direction of the guide sleeve. An axial gap is provided between the armature 81 and the friction disc 45. The brake inner spline 46 in the middle of the friction disc 45 is connected to the brake outer spline 47 of the brake sleeve 42. When the brake 50 is not energized, the annular electromagnet 79 has no magnetic force, and the spring force of the springs 80 is released, pressing the armature 81 and the friction disc 45 tightly against the back plate 82, limiting rotation through friction. When the brake 50 is energized, the annular electromagnet 79 generates magnetic force, which overcomes the elastic force of the spring 80 and attracts the armature 81. An axial gap is generated between the armature 81 and the friction disc 45, so that the friction disc 45 and the brake sleeve 42 can rotate synchronously.

[0046] like Figure 3 , Figure 12 and Figure 13 As shown, a bushing 40 is provided on the inner wall of the brake sleeve 42. The feedback shaft 6 passes through the bushing 40. The bushing 40 is interference-fitted with the inner wall of the brake sleeve 42 and clearance-fitted with the outer wall of the feedback shaft 6. The interference fit allows the bushing 40 to rotate synchronously with the brake sleeve 42, while the clearance fit allows the bushing 40 to support the feedback shaft 6 without hindering its rotation. Multiple grease grooves 75 are evenly arranged along the circumference of the inner wall of the bushing 40. These grooves store grease and provide lubrication when the feedback shaft 6 and the bushing 40 rotate slightly relative to each other, effectively reducing frictional loss between them.

[0047] like Figure 3 , Figure 12 and Figure 13 As shown, the brake sleeve 42 has a second annular groove at one end connected to the rotor 38. Multiple third mounting threaded holes for installing the limiting sleeve 71 are provided along the circumferential direction on the bottom wall of the second annular groove. A fourth connecting flange 73 is provided at the end of the limiting sleeve 71 connected to the brake sleeve 42. The fourth connecting flange 73 is connected to the second annular groove by a seventh bolt 74, and the threaded portion of the seventh bolt 74 is screwed into the third mounting threaded hole. The feedback shaft 6 passes through the limiting sleeve 71, and there is a certain gap between the feedback shaft 6 and the inner wall of the limiting sleeve 71. A limiting step 72 is provided on the inner wall of the brake sleeve 42 on the side of the bushing 40 away from the limiting sleeve 71. The limiting sleeve 71 connects with the bushing 40, pressing the bushing 40 tightly onto the limiting step 72. This axial clamping structure, through the limiting sleeve 71 and the limiting step 72, ensures that the bushing 40 is fixed in position within the brake sleeve 42, preventing displacement and thus maintaining the stability of the feedback shaft 6 support and the accuracy of the clearance fit.

[0048] like Figure 3 and Figure 11 As shown, a second encoder 39 is also mounted on the brake sleeve 42 by screws. The first encoder 14 has a first reading head 54, and the second encoder 39 has a second reading head 55. The first reading head 54 and the second reading head 55 are respectively mounted on the partition plate 51 by a number of ninth bolts 53 and a number of tenth bolts 56. A motor brake socket 59 and an encoder socket 61 are mounted on the rear cover 52. The motor brake socket 59 and the encoder socket 61 are respectively connected to the rear cover 52 by a number of eleventh bolts 60. The motor brake socket 59 is electrically connected to the motor assembly 2 and the brake 50, and the encoder socket 61 is electrically connected to the first encoder 14 and the second encoder 39.

[0049] The working principle of the transmission mechanism for the photoelectric turntable provided in this embodiment is as follows:

[0050] I. Power Output and Reduction Transmission

[0051] like Figure 15As shown, when the motor assembly 2 is energized, the stator 37 generates an alternating magnetic field, driving the rotor 38 to rotate at high speed. The power of the rotor 38 is transmitted to the reducer assembly 1 and the brake assembly 3 through the connection structures at both ends, respectively. The power transmission path related to the reducer assembly 1 is as follows: the left end of the rotor 38 is rigidly connected to the first connecting flange 26 of the K1 sun gear 15 through the first bolt 44, driving the K1 sun gear 15 to rotate synchronously. The K1 sun gear 15 meshes with the planet gears 29 of the K1 planetary gear set 13 through the external gear ring structure 21. Under the constraint of the fixed internal gear ring housing 10, the planet gears 29 rotate around their own planetary shafts 31 while driving the K1 carrier 30 to rotate. Because the inner spline groove 25 of the K1 carrier 30 meshes with the outer spline structure 24 of the K2 sun gear 16, the revolution power of the K1 carrier 30 is transmitted to the K2 sun gear 16, driving the K2 planetary gear set 12 to repeat the motion of "sun gear driving planetary gears, planetary gears driving carrier". Similarly, the K2 carrier 23 drives the K3 sun gear 17 to rotate through the spline pair, and finally the power is output by the K3 carrier 7 of the K3 planetary gear set 11. Through the sequential meshing transmission of the three sets of planetary gear sets, a three-stage reduction structure is formed, which converts the high-speed, low-torque input of the rotor 38 into the low-speed, high-torque output of the K3 carrier 7, meeting the "reduction and torque increase" requirements of the photoelectric turntable. Finally, the power is connected to the photoelectric turntable through the support connection part 62 of the K3 carrier 7, realizing the final transmission of power.

[0052] During this process, the K1 sun gear 15 is supported on the motor housing 36 by the first bearing 35 and connected to the K1 rotating frame 30 by the second bearing; the K2 sun gear 16 is connected to the K2 rotating frame 23 by the third bearing 27, and the K3 sun gear 17 is connected to the K3 rotating frame 7 by the fourth bearing 20. The support of multiple sets of bearings ensures the coaxiality and stability during gear meshing.

[0053] II. Braking Control and Power Lock

[0054] The right end of rotor 38 is connected to the third connecting flange of brake sleeve 42 via the sixth bolt 43, causing brake sleeve 42 to rotate synchronously. Brake sleeve 42 engages with brake internal spline 46 of friction disc 45 via brake external spline 47, causing friction disc 45 to rotate synchronously with rotor 38. Brake 50 uses electromagnetic braking principle to control the start and stop of rotor 38: when brake 50 is not energized, annular electromagnet 79 has no magnetic force, and the spring force of spring 80 releases, pressing armature 81 and friction disc 45 against back plate 82, limiting rotation through friction. When brake 50 is energized, annular electromagnet 79 generates magnetic force, which overcomes the spring force of spring 80 and attracts armature 81, creating an axial gap between armature 81 and friction disc 45, allowing friction disc 45 and brake sleeve 42 to rotate synchronously. The sixth bearing 41 provides stable support for the rotation of brake sleeve 42.

[0055] III. Closed-loop control of position and velocity

[0056] To achieve high-precision positioning of the photoelectric turntable, the system constructs a closed-loop feedback mechanism using dual encoders: the second encoder 39 is mounted on the brake sleeve 42 with screws, rotating synchronously with the brake sleeve 42 and the rotor 38. Its second reading head 55 is fixed on the partition plate 51, detecting the original motion parameters of the rotor 38 in real time, such as its rotational speed and angle. The first encoder 14 is mounted on the feedback shaft 6 with fastening screws 19, and the feedback shaft 6 is rigidly connected to the K3 turntable 7 with the second bolt 18, rotating synchronously with the K3 turntable 7. Its first reading head 54 is also fixed on the partition plate 51, used to detect the terminal output motion parameters after three-stage deceleration. The detection signals from the two encoders are transmitted to the control system via encoder socket 61. The control system compares the terminal output parameters (signal from the first encoder 14) with the original input parameters (signal from the second encoder 39), calculates the deviation, and adjusts the power supply frequency or current of the motor assembly 2. Simultaneously, in conjunction with the braking action of the brake 50, the rotational state of the rotor 38 is corrected in real time to ensure the positional accuracy (positioning error ≤ 0.01°) and speed stability (speed fluctuation ≤ ±0.5%) of the photoelectric turntable. The motor brake socket 59 provides an interface for the power supply and signal control of the motor and brake, realizing integrated management of the electrical system.

[0057] Through the synergistic effect of power transmission, braking control and closed-loop feedback, the entire transmission mechanism realizes a complete working cycle of "power output - deceleration and torque increase - precise braking - real-time control", meeting the dual requirements of photoelectric turntable for power performance and control precision.

[0058] In summary, the transmission mechanism for the photoelectric turntable provided in this embodiment significantly improves transmission accuracy and efficiency by setting an integrated and connected structure of the motor assembly 2, the reducer assembly 1, and the brake assembly 3, combined with the spline transmission of a multi-stage planetary gear set. Specifically, the internal gear ring housing 10 is connected and communicates with the motor housing 36, and the brake housing 48 is connected and communicates with the motor housing 36, forming a compact power transmission channel. In the reducer assembly 1, the K1 sun gear 15 of the first-stage K1 planetary gear set 13 is connected to the rotor 38. The first set of rotating frames meshes with the external spline structure 24 of the second set of sun gears through the internal spline groove 25. This rigid spline fit reduces the cumulative tooth backlash of traditional discrete gears. At the same time, the meshing transmission efficiency of the planetary gear set is much higher than that of worm gear transmission, overcoming the shortcoming of traditional transmission efficiency of less than 70%, and is more suitable for energy-constrained scenarios.

[0059] The transmission mechanism for the photoelectric turntable provided in this embodiment optimizes spatial layout and reduces the impact of vibration coupling through an integrated housing design and hollow feedback shaft structure. The interconnected assembly of the motor housing 36, internal gear ring housing 10, and brake housing 48 reduces redundant connecting parts in the split structure, thus reducing the overall volume. The hollow feedback shaft 6 passes through each sun gear and the turntable, meeting the requirements for central wiring and optical path integration of the photoelectric turntable, breaking through the limitation of traditional mechanisms with a hollow aperture of less than 50mm, reaching 80mm. In addition, the integrated structure shortens the vibration transmission path, and the stable support of the needle roller bearing 34 between the planetary gear 29 and the planetary shaft 31 reduces the interference of high-frequency motor vibration on the optical imaging equipment, avoiding imaging blurring problems during high-magnification observation.

[0060] The transmission mechanism for the photoelectric turntable provided in this embodiment improves control accuracy and shortens dynamic response lag through a dual-encoder feedback and braking linkage design. The first encoder 14 on the feedback shaft 6 monitors the actual output position of the final stage K3 turntable 7, and the second encoder 39 on the brake sleeve 42 monitors the motion state of the input end of the rotor 38. The dual encoder signals are transmitted to the control system through the encoder socket 61 to achieve a closed-loop comparison of "input-output", which solves the problem that the traditional single encoder cannot reflect the true position of the load end and keeps the control lag error within a lower range. At the same time, the friction disc 45 of the brake 50 is linked with the brake external spline 47 of the brake sleeve 42 through the brake internal spline 46, which can quickly respond to braking needs and avoid target miss during rapid tracking.

[0061] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A reducer assembly characterized by, The device includes a hollow feedback shaft and an internal gear ring housing with an internal gear ring on its inner wall. Both ends of the internal gear ring housing are open, with one end for connection to a motor and the other end having an end cap. Multiple sets of planetary gears are arranged sequentially along the axial direction of the feedback shaft within the internal gear ring housing. Each planetary gear set includes a sun gear, planet gears, and a carrier. The planet gears of each planetary gear set are meshed with the internal gear ring housing. The sun gear of the first-stage planetary gear set is connected to the rotor of the motor. The carrier of the preceding planetary gear set is connected to the sun gear of the following planetary gear set via a spline pair. The carrier of the last-stage planetary gear set is synchronously connected to the feedback shaft and connected to the end cap via a bearing. The sun gear and carrier of each planetary gear set are fitted onto the outside of the feedback shaft, and a first encoder is mounted on the feedback shaft.

2. A reducer assembly according to claim 1, wherein, The reducer assembly includes three planetary gear sets: K1 planetary gear set, K2 planetary gear set, and K3 planetary gear set. The K1 sun gear of the K1 planetary gear set is connected to the rotor. The K2 sun gear of the K2 planetary gear set is connected to the K1 carrier of the K1 planetary gear set via a spline joint. The K3 sun gear of the K3 planetary gear set is connected to the K2 carrier of the K2 planetary gear set via a spline joint.

3. A reducer assembly according to claim 2, wherein, The K1 sun gear is provided with a first connecting flange at one end connected to the rotor. The first connecting flange extends into the motor housing and is connected to the rotor by a first bolt. The K1 sun gear is provided with an external gear ring structure at the end away from the rotor for meshing with the planetary gears of the K1 planetary gear set.

4. A reducer assembly according to claim 3, wherein The K1 and K2 rotating frames have the same structure, both including a frame. The frame has a central through hole for the feedback shaft to pass through. An internal spline groove is provided on one side of the frame. The K2 sun gear and the K3 sun gear have corresponding external spline structures that are adapted to the internal spline groove on one side. The external spline structure of the K2 sun gear meshes with the internal spline groove of the K1 rotating frame, and the external spline structure of the K3 sun gear meshes with the internal spline groove of the K2 rotating frame. At least three planetary shafts are evenly arranged on the frame along its circumferential direction. Each planetary shaft is equipped with a planetary gear. The frame and the planetary gears are connected by pins. The planetary gears are connected to the planetary shafts by needle roller bearings. The planetary shafts are provided with oil passages leading to the needle roller bearings. Oil nozzles are provided in the oil passages.

5. A reducer assembly according to claim 4, wherein, The K1 sun gear is provided with a first bearing mounting part and a second bearing mounting part. The first bearing mounting part is equipped with a first bearing, and the K1 sun gear is supported on the motor housing by the first bearing. The second bearing mounting part is equipped with a second bearing, and the K1 sun gear is connected to the K1 rotating frame by the second bearing.

6. A reducer assembly according to claim 5, wherein, The K2 sun gear and the K3 sun gear are respectively provided with a third bearing mounting part and a fourth bearing mounting part, and a third bearing and a fourth bearing are respectively installed on the third bearing mounting part and the fourth bearing mounting part. The K2 sun gear is connected to the K2 rotating frame through the third bearing, and the K3 sun gear is connected to the K3 rotating frame through the fourth bearing.

7. A reducer assembly according to claim 6, wherein, The K3 carrier of the K3 planetary gear set includes a frame for mounting the planetary gears within the set. A support connection portion is provided on the side of the frame away from the K2 carrier. The end of the support connection portion is provided with a connecting threaded hole for connecting to the photoelectric turntable. Multiple connecting threaded holes are evenly arranged along the circumferential direction of the end of the support connection portion. A first annular groove is provided on the end of the support connection portion inside each connecting threaded hole. Multiple first mounting threaded holes are evenly arranged along the circumferential direction on the bottom wall of the first annular groove. A second connecting flange is provided at the end of the feedback shaft connected to the K3 carrier. The second connecting flange is connected to the support connection portion by a second bolt, and the threaded part of the second bolt is screwed into the first mounting threaded hole.

8. A reducer assembly according to claim 7, wherein, The end cap is generally annular, and the support connection of the K3 frame passes through the end cap; the end cap has an inner extending annular portion, the outer wall of the inner extending annular portion is in contact with the inner wall of the internal gear ring housing, and a sealing ring is provided between the two; a fifth bearing mounting portion is provided on the support connection portion, and a crossed roller bearing is mounted on the fifth bearing mounting portion, the inner ring and outer ring of the crossed roller bearing are in contact with the inner walls of the fifth bearing mounting portion and the inner extending annular portion, respectively.

9. A reducer assembly according to claim 8, wherein, An oil seal mounting part is provided on the support connection part, and an oil seal is provided between the inner wall of the end cap located on the outer side of the inner extending ring part and the oil seal mounting part.

10. A reducer assembly according to claim 9, wherein, A first retaining ring groove is provided between the oil seal mounting part and the fifth bearing mounting part. A first retaining ring for limiting the inner ring of the crossed roller bearing is provided in the first retaining ring groove. A plurality of second mounting threaded holes are evenly provided along the circumferential direction on the inner end face of the inner extended ring part. A ring retainer is installed in the second mounting threaded hole by a fourth bolt. The ring retainer is used to limit the outer ring of the crossed roller bearing.

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