A deceleration motor

Abstract

The application discloses a speed reduction motor, comprising a power assembly, an inner ring gear, a first-stage speed reduction assembly and a second-stage speed reduction assembly, wherein the first-stage speed reduction assembly, the second-stage speed reduction assembly and the inner ring gear are arranged in a hollow position inside the power assembly at least partially, the first-stage speed reduction assembly and the second-stage speed reduction assembly are coaxially arranged side by side, and the inner ring gear is arranged outside the two speed reduction assemblies and is engaged with the two speed reduction assemblies, the first-stage speed reduction assembly comprises a first-stage sun gear, a first-stage planet wheel and a first-stage planet carrier, the first-stage sun gear is connected with a power end of the power assembly, the first-stage planet wheel is engaged with the first-stage sun gear and the inner ring gear respectively, the first-stage planet is rotationally connected with the first-stage planet carrier, and the first-stage planet carrier is connected with a power input end of the second-stage speed reduction assembly as an output end. The axial dimension of the motor is shortened obviously, the overall structure is more compact, and the motor is suitable for equipment with high requirements on light weight or miniaturization.

Description

Technical Field

[0001] This application relates to the technical field of electric motors, and more particularly to a geared motor. Background Technology

[0002] In traditional geared motor designs, a series layout is typically used, where the motor and reducer are installed sequentially along the axial direction. While this design performs well in some applications, it also has some significant limitations. The overall structure occupies a large space, making it difficult to meet the compactness requirements of applications such as robot joints and precision instruments. Utility Model Content

[0003] The purpose of this application is to provide a geared motor that significantly shortens the axial dimension of the motor, making the overall structure more compact and suitable for equipment with high requirements for lightweighting or miniaturization.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] On one hand, a geared motor is provided, comprising: a power component, an internal gear ring, a first-stage reduction component, and a second-stage reduction component. The first-stage reduction component, the second-stage reduction component, and the internal gear ring are all at least partially disposed within a hollow position inside the power component. The first-stage and second-stage reduction components are arranged side-by-side and coaxially. The internal gear ring includes a first tooth portion and a second tooth portion arranged side-by-side and coaxially. The first tooth portion is disposed on the outer side of the first-stage reduction component and meshes with it. The second tooth portion is disposed on at least a portion of the outer side of the second-stage reduction component and meshes with it. The first-stage reduction component includes a first-stage sun gear, a first-stage planetary gear, and a first-stage planet carrier. The first-stage sun gear is connected to the power end of the power component. The first-stage planetary gears respectively mesh with the first-stage sun gear and the first tooth portion. The first-stage planetary gears are rotatably connected to the first-stage planet carrier. The first-stage planet carrier serves as an output end connected to the power input end of the second-stage reduction component. The primary reduction assembly, secondary reduction assembly, and internal gear ring are coaxially nested and integrated within the hollow cavity of the power assembly. Power is transmitted in series through the planetary carrier, achieving a radially overlapping layout of the multi-stage reduction structure. This replaces the traditional axial series structure, thereby significantly shortening the axial dimension, reducing external connecting parts, and improving transmission accuracy and structural compactness.

[0006] Furthermore, the secondary reduction assembly includes a secondary sun gear, secondary planetary gears, and a secondary planetary carrier. The secondary sun gear is drive-connected to the primary planetary carrier. The secondary sun gear and the primary sun gear are axially spaced and coaxially arranged. The secondary planetary gears mesh with the secondary sun gear and the second gear teeth, respectively. The secondary planetary gears are rotatably connected to the secondary planetary carrier, which serves as the power output end of the secondary reduction assembly. This achieves two-stage reduction while maintaining axial compactness. By sharing an internal gear ring and reusing radial space, the overall axial dimension is compressed to the level of a single-stage reducer. Simultaneously, the inter-stage connection structure is eliminated, improving the rigidity and torque density of the transmission chain.

[0007] Furthermore, a secondary bearing is provided between the inner side of the secondary planetary carrier and the secondary sun gear, and / or a first bearing is provided on the outer side of the secondary planetary carrier. The synergistic effect of the two bearings reduces frictional losses in multi-stage transmission and improves gear meshing accuracy by constraining planetary carrier deformation. This allows the two-stage reduction structure to stably bear high torque in an ultra-compact space, shortens the axial length compared to traditional two-stage tandem transmissions, and improves transmission efficiency.

[0008] Furthermore, it also includes a housing, within which the power assembly is installed, and the internal gear ring is fixedly connected to the housing. As the main structural component, the housing provides an installation reference for the power assembly and eliminates assembly errors by rigidly fixing the internal gear ring, ensuring the meshing accuracy of the multi-stage planetary gear system. Simultaneously, it integrates the traditionally separate motor housing and gearbox into a single housing, reducing interface mating surfaces, improving the utilization of axial installation space, and enhancing overall torsional stiffness, making it suitable for industrial robot joint scenarios involving high-frequency start-stop.

[0009] Furthermore, one end of the internal gear ring is fixedly connected to the housing, and the other end of the internal gear ring is provided with a fixing bracket. By using a conventional one-piece split design, material and function are optimized for separate areas.

[0010] Furthermore, the first-stage planetary carrier and the fixed frame are connected by a second bearing. By adding a second bearing between the fixed frame and the first-stage planetary carrier, the rotation of the first-stage planetary carrier is optimized.

[0011] Furthermore, the power assembly includes a stator and a rotor, with the rotor disposed on the outer or inner side of the stator and connected to the first-stage sun gear. Through the interchangeable arrangement of the stator and rotor (increasing torque with the outer rotor and reducing volume with the inner rotor) and the connection design between the rotor and the sun gear, a rigid direct connection between the power assembly and the reduction mechanism is achieved.

[0012] Furthermore, the rotor includes a magnet and a support, the magnet being disposed inside the stator and being interference-fitted with the first-stage sun gear via the support.

[0013] Furthermore, a third bearing is provided between the bracket and the housing. The third bearing is used to withstand the dynamic off-center load torque when the bracket rotates.

[0014] Furthermore, a primary bearing is provided between the primary planetary carrier and the primary sun gear. By providing a primary bearing between the primary planetary carrier and the sun gear, floating support and axial preload control are achieved.

[0015] The beneficial effects of this application are as follows: By nesting the reduction assembly within the hollow space inside the power assembly, the structure of sequentially installing the motor and reducer along the axial direction in the traditional series layout is avoided, thus significantly shortening the overall axial dimension and meeting the requirements of lightweight and miniaturized equipment. Simultaneously, by using a primary planetary carrier as the power transmission structure between the primary and secondary reduction assemblies, a larger overlap space between the power assemblies of the primary and secondary reduction assemblies is achieved without adding additional structures, further shortening the axial dimension of the motor. Furthermore, by adopting a parallel and coaxial layout of the primary and secondary reduction assemblies within the power assembly, this application allows them to share a fixed internal gear ring for dual-stage reduction. This structure overcomes the layout limitations of the traditional series reducer where two internal gear rings are axially superimposed, utilizing the circumferential meshing space of the internal gear ring to simultaneously bear the power transmission of both planetary gear trains, eliminating the axial space occupied by the second-stage internal gear ring, and further reducing the overall axial length compared to the double internal gear ring scheme. Attached Figure Description

[0016] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a perspective view of the geared motor described in the embodiments of this application;

[0018] Figure 2 This is a side view of the geared motor described in the embodiment of this application;

[0019] Figure 3 Examples of this application Figure 2 Schematic diagram of the cross section at point AA;

[0020] Figure 4 This is a perspective view of the internal gear ring described in the embodiment of this application.

[0021] In the diagram: 1. Power assembly; 101. Stator; 102. Rotor; 103. Support; 2. Internal gear ring; 201. First gear section; 202. Second gear section; 3. First-stage reduction assembly; 301. First-stage sun gear; 302. First-stage planetary gear; 303. First-stage planetary carrier; 4. Second-stage reduction assembly; 401. Second-stage sun gear; 402. Second-stage planetary gear; 403. Second-stage planetary carrier; 5. Housing; 6. Second-stage bearing; 7. First bearing; 8. Fixing frame; 9. Second bearing; 10. Third bearing; 11. First-stage bearing. Detailed Implementation

[0022] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" 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 application based on the specific circumstances.

[0024] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] Traditional geared motors are mostly designed with a series layout, where the motor and reducer are installed sequentially along the axial direction. For example, an internal rotor motor is connected to a two-stage planetary reducer via a coupling or flange. This layout makes the overall axial length equal to the sum of the motor length and the reducer length. Furthermore, although some solutions exist that integrate the reducer and motor, these solutions are typically limited to single-stage reduction or external reducers.

[0026] This traditional layout has several significant drawbacks. First, the serial structure results in a large overall footprint, making it unsuitable for applications requiring high compactness, such as robot joints and precision instruments. Second, the use of couplings or transition structures increases assembly complexity and may introduce additional transmission errors, affecting the system's accuracy and reliability. Furthermore, the separate layout of the motor and reducer causes a shift in the center of gravity, impacting the device's dynamic performance. Finally, existing integration solutions cannot significantly reduce the axial dimension while maintaining the transmission ratio.

[0027] Given these shortcomings, designing a novel compact structure is particularly necessary. The ever-increasing space requirements of robotic joints, precision instruments, and other equipment render traditional serial layouts inadequate for their compactness needs. Simultaneously, complex transmission chains increase assembly difficulty and potential sources of error, necessitating a simpler and more reliable transmission structure to improve system accuracy and reliability. Furthermore, uneven weight distribution affects the dynamic performance of the equipment; designing a structure with a more concentrated center of gravity helps improve stability and accuracy. Finally, existing integration solutions cannot significantly reduce axial dimensions while maintaining the transmission ratio; therefore, a new compact structure capable of embedding multi-stage reducers within the motor is needed to improve integration and meet high-load requirements.

[0028] In response to the above problems, such as Figures 1-4 As shown, this embodiment proposes a geared motor, including: a power assembly 1, an internal gear ring 2, a first-stage reduction assembly 3, and a second-stage reduction assembly 4. The first-stage reduction assembly 3, the second-stage reduction assembly 4, and the internal gear ring 2 are all at least partially disposed within a hollow position inside the power assembly 1. The first-stage reduction assembly 3 and the second-stage reduction assembly 4 are arranged side-by-side and coaxially. The internal gear ring 2 includes a first tooth portion 201 and a second tooth portion 202 arranged side-by-side and coaxially. The first tooth portion 201 is disposed on the outside of the first-stage reduction assembly 3 and meshes with it. The second tooth 202 is disposed on at least part of the outer side of the secondary reduction assembly 4 and meshes with the secondary reduction assembly 4. The primary reduction assembly 3 includes a primary sun gear 301, a primary planet gear 302 and a primary planet carrier 303. The primary sun gear 301 is connected to the power end of the power assembly 1. The primary planet gear 302 meshes with the primary sun gear 301 and the first tooth 201 respectively. The primary planet gear 302 is rotatably connected to the primary planet carrier 303. The primary planet carrier 303 serves as the output end and is connected to the power input end of the secondary reduction assembly 4.

[0029] It should be noted that the parallel and coaxial arrangement in the embodiments of this application means that they are arranged at intervals or side by side along the axial direction, and their central axes coincide.

[0030] Based on the above scheme, the power component 1 serves as the power source for the entire device. Its power end is directly connected to the first-stage sun gear 301, transmitting power to the first-stage sun gear 301. The first-stage sun gear 301 meshes with the first-stage planetary gear 302, and the first-stage planetary gear 302 simultaneously meshes with the first tooth 201. The internal gear ring 2 is fixed in the hollow position of the power component 1 and does not participate in rotation. The first-stage planetary gear 302 can be rotatably connected to the first-stage planetary carrier 303 through the planetary shaft. The first-stage planetary carrier 303 serves as the output end of the first-stage reduction gear, transmitting power to the second-stage reduction component 4. The second-stage reduction component 4 adopts a similar planetary gear structure, further reducing the rotational speed and increasing the torque output. Finally, the power is transmitted to the load through the output end of the second-stage reduction component 4.

[0031] By coaxially nesting the primary reduction assembly 3, the secondary reduction assembly 4, and the internal gear ring 2 within the hollow space inside the power assembly 1, the traditional series layout of sequentially installing the motor and reducer along the axial direction is avoided. This integrated design not only significantly shortens the overall axial dimension, meeting the requirements for lightweight and miniaturized equipment, but also reduces the use of external connectors, lowers assembly complexity, and improves the reliability and accuracy of the system.

[0032] Furthermore, by using the primary planetary carrier 303 as the power transmission structure between the primary reduction gear 3 and the secondary reduction gear 4, a larger overlap space between the primary reduction gear 3, the secondary reduction gear 4, and the power gear 1 is achieved without adding any additional structures. This further shortens the axial dimension of the motor, while optimizing the weight distribution, making the overall center of gravity more concentrated, and improving the dynamic performance of the equipment.

[0033] The multi-point meshing design of planetary gear structures effectively distributes loads, improves transmission efficiency, and reduces vibration and noise. The two-stage planetary reduction design achieves a large transmission ratio within a small space, meeting high load requirements. This structure is particularly suitable for equipment with high space and precision requirements, such as robot joints and precision instruments.

[0034] In summary, the geared motor in this embodiment, through its innovative structural design, significantly improves structural compactness and reliability while maintaining high-efficiency transmission, effectively solving the problems existing in traditional geared motors.

[0035] It is worth noting that by arranging the first-stage reduction assembly 3 and the second-stage reduction assembly 4 axially spaced within the hollow cavity of the power assembly 1, the two-stage planetary gear system forms a segmented meshing on the axially extended tooth surface of a single internal gear ring 2. Specifically, the first-stage planetary gear 302 of the first-stage reduction assembly 3 meshes with the first tooth portion 201 of the internal gear ring 2, and the second-stage planetary gear 402 of the second-stage reduction assembly 4 meshes with the second tooth portion 202 of the internal gear ring 2. This design, while maintaining the overall structural continuity of the internal gear ring 2, divides its axial tooth surface into two independent meshing areas, respectively bearing the transmission meshing of the first-stage reduction assembly 3 and the second-stage reduction assembly 4, thereby replacing the axial series layout of two independent internal gear rings in the traditional scheme. Compared to the structural redundancy of the traditional double internal gear rings requiring reserved axial mounting flanges and isolation cavities, this scheme, through the integrated axially extended tooth surface design of the internal gear ring 2, integrates the meshing space required for the two-stage reduction into the axial bearing range of a single gear ring, eliminating the axial clearance redundancy between the two internal gear rings, thereby further compressing the axial dimensions of the geared motor.

[0036] Furthermore, the secondary reduction assembly 4 includes a secondary sun gear 401, a secondary planetary gear 402, and a secondary planetary carrier 403. The secondary sun gear 401 is connected to the primary planetary carrier 303 in a transmission manner. The secondary sun gear 401 and the primary sun gear 301 are spaced apart axially and coaxially arranged. The secondary planetary gear 402 meshes with the secondary sun gear 401 and the second tooth 202 respectively. The secondary planetary gear 402 is rotatably connected to the secondary planetary carrier 403. The secondary planetary carrier 403 serves as the power output end of the secondary reduction assembly 4. The primary planetary carrier 303 transmits the power after primary reduction to the secondary sun gear 401. The secondary sun gear 401 then drives the secondary planetary gear 402 to rotate. The secondary planetary gear 402 simultaneously meshes with the secondary sun gear 401 and the second tooth 202 of the fixed internal gear ring 2. The secondary planetary gear 402 and the secondary planetary carrier 403 can be rotatably connected by a planetary shaft. The secondary planetary gear 402 transmits power to the secondary planetary carrier 403 through the planetary shaft. Finally, the secondary planetary carrier 403 serves as the power output end, providing the load with further reduced speed and increased torque power.

[0037] This design achieves multi-stage reduction, significantly lowering the output speed and increasing torque output. By compactly nesting portions of the two-stage reduction structure within the power assembly 1, and by integrating the second-stage sun gear 401 and the first-stage sun gear 301 with an axially spaced, coaxial layout, the rotation axes of the two sun gears are aligned, and the power transmission path is linearly distributed. This layout utilizes the axial spacing to achieve nested installation of the two-stage reduction structure, avoiding the radial dimension expansion of the housing caused by the radial offset of the sun gear in traditional planetary reducers. It also avoids the additional space occupation in traditional layouts, thereby further shortening the axial dimension and meeting the requirements for lightweighting and miniaturization. Simultaneously, this layout optimizes weight distribution, making the overall center of gravity more concentrated and improving the dynamic performance of the device. It is particularly suitable for applications with high precision and stability requirements, especially in fields with stringent requirements for lightweighting and miniaturization, such as robot joints, drone servos, and portable medical devices.

[0038] To further optimize transmission efficiency and structural stability, a secondary bearing 6 is provided between the inner side of the secondary planetary carrier 403 and the secondary sun gear 401, and / or a first bearing 7 is provided on the outer side of the secondary planetary carrier 403. The introduction of the secondary bearing 6 effectively reduces friction between the secondary sun gear 401 and the secondary planetary carrier 403, ensuring smoother power transmission during rotation of the secondary sun gear 401, thereby improving transmission efficiency and reducing energy loss. Simultaneously, the first bearing 7 enhances the support stability of the outer side of the secondary planetary carrier 403, reducing vibration and deformation that may occur under high load or high speed conditions, further improving the reliability and operational stability of the system. This solution not only optimizes the transmission performance of the geared motor but also extends the service life of the equipment by reducing friction and vibration.

[0039] Specifically, the first bearing 7 is a crossed roller bearing, which is particularly suitable for bearing various complex load conditions. The rolling elements of the crossed roller bearing are arranged in a vertically crossed manner, and it can simultaneously bear radial loads, axial loads, and torque loads, which makes it play a key role in the geared motor.

[0040] The working principle of crossed roller bearings is based on their unique structural design. The crossed arrangement of the rolling elements allows the bearing to distribute the load evenly in all directions, thereby effectively reducing the force on individual rolling elements and improving the overall load-bearing capacity of the bearing. In the geared motor, the first bearing 7 is mounted on the outside of the second-stage planetary carrier 403, and its main task is to support the second-stage planetary gear 402 and ensure its smooth rotation. When the second-stage planetary gear 402 meshes with the second-stage sun gear 401 and the internal gear ring 2, radial and axial forces are generated. The crossed roller bearing, through its multi-directional load-bearing capacity, evenly distributes these forces across the entire bearing, thereby ensuring the stable rotation of the second-stage planetary gear 402.

[0041] In some embodiments, the device further includes a housing 5, within which the power assembly 1 is installed, and the internal gear ring 2 is fixedly connected to the housing 5. The housing 5 not only provides a stable mounting base for the power assembly 1 but also ensures the stability of the internal gear ring 2 under high-speed rotation and high-load conditions through its fixed connection with the internal gear ring 2. This structural design effectively reduces meshing errors caused by displacement or deformation of the internal gear ring 2, improving transmission accuracy and reliability. By integrating the power assembly 1 and the reduction assembly inside the housing 5, the entire device forms a compact whole, facilitating installation and fixation in various application scenarios. Simultaneously, the housing 5 effectively protects the internal components from external environmental factors such as dust, moisture, and mechanical impact, thereby extending the service life of the geared motor. Furthermore, integrating the traditionally separate motor housing 5 and gearbox housing into a single housing 5 reduces interface mating surfaces, improves axial installation space utilization, and enhances overall torsional rigidity.

[0042] One end of the internal gear ring 2 is fixedly connected to the housing 5, and the other end is equipped with a fixing frame 8. The internal gear ring 2 and the fixing frame 8 adopt a split structure design to meet the performance requirements of different parts. The internal gear ring 2 needs to mesh with the planetary gears, so its structural strength and wear resistance must be guaranteed. Typically, the internal gear ring 2 can be made of high-strength alloy steel, such as carburized alloy steel. After heat treatment, this material has high surface hardness and good core toughness, and can withstand high loads and impacts, ensuring stability and reliability during long-term operation. The main function of the fixing frame 8 is to fix the internal gear ring 2 and keep it in a stable position, without participating in the meshing rotation. Therefore, the fixing frame 8 can be made of lighter materials, such as aluminum alloy or magnesium alloy. These materials are not only lightweight, but also have sufficient strength and good corrosion resistance, which can significantly reduce the overall weight while ensuring structural stability. Through this partitioned material matching design, the steel strength is maintained in key stress-bearing parts to ensure the performance of the internal gear ring 2 under high load conditions; in non-load-bearing parts, such as the fixing frame 8, lightweighting is achieved, reducing unnecessary weight. This design not only reduces the overall weight of the motor, but also improves the overall power density of the motor by optimizing the weight distribution.

[0043] Furthermore, the modular design simplifies the manufacturing process, facilitating material selection and processing to meet diverse needs. This design also enhances future maintenance and replacement capabilities, improving the equipment's maintainability.

[0044] Meanwhile, the primary planetary carrier 303 is connected to the fixed frame 8 via a second bearing 9. The second bearing 9 effectively reduces friction during rotation, ensuring smoother rotation of the primary planetary carrier 303 and thus improving power transmission efficiency. By reducing frictional losses, the second bearing 9 not only reduces energy loss but also enhances the system's response speed and dynamic performance. Furthermore, the second bearing 9 enhances the supporting rigidity of the primary planetary carrier 303, reducing vibration and deformation that may occur under high load or high speed conditions, further improving the system's reliability and operational stability.

[0045] Furthermore, the use of the second bearing 9 simplifies the maintenance and replacement process. Due to the standardized design of the bearing, maintenance personnel can quickly replace worn parts, reducing downtime and improving equipment availability.

[0046] The power assembly 1, as the core component of the geared motor, consists of a stator 101 and a rotor 102. In this design, the rotor 102 is cleverly positioned either on the outside or inside of the stator 101. This flexible layout provides greater freedom for the overall design of the motor. Specifically, when the rotor 102 is located on the outside of the stator 101, an outer rotor 102 structure is formed. This structure is beneficial for increasing the motor's torque output and facilitates direct connection with external mechanical structures. When the rotor 102 is located on the inside of the stator 101, an inner rotor 102 structure is formed. This structure helps reduce the radial dimension of the motor, making it more compact.

[0047] Meanwhile, the rotor 102 includes a magnet 104 and a support 103. The magnet 104 is located inside the stator 101 and is interference-fitted with the first-stage sun gear 301 via the support 103. This connection method ensures a tight connection and efficient power transmission between the two. An interference fit is a common mechanical connection method that achieves a tight fit by causing elastic deformation of the connecting parts during assembly. In this design, the interference fit between the rotor 102 and the first-stage sun gear 301 can not only withstand a large torque but also ensure stability during high-speed rotation, avoiding inaccurate power transmission or reduced efficiency due to loosening.

[0048] This structural design brings significant benefits. First, by placing the rotor 102 on the outside or inside of the stator 101, the size and performance parameters of the motor can be flexibly adjusted according to specific application requirements, thus meeting diverse needs in different scenarios. Second, the interference fit between the rotor 102 and the first-stage sun gear 301 ensures efficient and reliable power transmission, reducing energy loss and vibration problems caused by loose connections or excessive clearances. Furthermore, this tight connection helps optimize the weight distribution of the entire geared motor, further improving its power density and dynamic performance.

[0049] Furthermore, a third bearing 10 is provided between the support 103 and the housing 5. This third bearing 10 effectively reduces friction between the support 103 and the housing 5, ensuring smoother rotation of the rotor 102 and the support 103. This design not only improves rotational efficiency but also reduces energy loss and enhances the dynamic performance of the system. The third bearing 10 also enhances the support stability of the support 103, reducing vibration and deformation that may occur under high load or high speed conditions, further improving the reliability and operational stability of the system.

[0050] It is worth mentioning that a primary bearing 11 is provided between the primary planetary carrier 303 and the primary sun gear 301. The primary bearing 11 significantly optimizes the relative motion performance between the primary planetary carrier 303 and the primary sun gear 301, improving the overall operating efficiency and reliability of the geared motor. Firstly, from the perspective of transmission efficiency, the primary bearing 11 reduces energy loss during power transmission, improving overall efficiency. Secondly, from the perspective of stability, the primary bearing 11 enhances structural rigidity, reduces vibration, and improves operational smoothness. Thirdly, from a maintenance perspective, the standardized bearing design makes maintenance more convenient, reducing maintenance costs and downtime. Finally, from the perspective of overall performance, this design optimizes weight distribution, improving the power density and dynamic response capability of the equipment.

[0051] Specifically, a three-stage reduction assembly is also included, with the second-stage planetary carrier 403 serving as the output end connected to the power input end of the three-stage reduction assembly. This solution provides the flexibility of multi-stage reduction, allowing for adjustment and optimization according to different design requirements. By introducing the three-stage reduction assembly, the reduction ratio can be flexibly adjusted according to different load and speed requirements, thereby meeting a wider range of application scenarios, such as high torque output and low speed requirements. The multi-point meshing design of the multi-stage planetary gear structure can effectively distribute the load, reduce the force on individual gears, improve transmission efficiency, reduce wear, and enhance the reliability and durability of the system. Furthermore, this structure is particularly suitable for equipment requiring precise motion control and high load capacity, such as robot joints and precision instruments. By integrating the multi-stage reduction assembly into the hollow internal position of the power assembly 1, the complex structure of the traditional series layout is avoided, simplifying the overall layout, reducing assembly complexity and maintenance difficulty, while improving the overall performance and adaptability of the equipment.

[0052] Alternatively, based on actual needs, the above scheme can be modified by retaining only the first-stage reduction gear 3 and replacing the second-stage reduction gear 4 with a harmonic reducer. The harmonic generator is directly integrated into the output end of the first-stage planetary carrier 303. The flexible gear meshes with the internal gear ring 2 fixed to the housing 5, and the rigid gear serves as the final output, enabling a high reduction ratio output.

[0053] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0054] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0055] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and 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.

[0056] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A geared motor, characterized in that, include: The power assembly (1), internal gear ring (2), first-stage reduction assembly (3), and second-stage reduction assembly (4) are provided. The first-stage reduction assembly (3), the second-stage reduction assembly (4), and the internal gear ring (2) are all at least partially disposed within the hollow portion of the power assembly (1). The first-stage reduction assembly (3) and the second-stage reduction assembly (4) are arranged side-by-side and coaxially. The internal gear ring (2) includes a first tooth portion (201) and a second tooth portion (202) arranged side-by-side and coaxially. The first tooth portion (201) is disposed on the outside of the first-stage reduction assembly (3) and meshes with it. The second tooth portion (202) is... The first-stage reduction assembly (3) is located on the outside of at least part of the second-stage reduction assembly (4) and meshes with the second-stage reduction assembly (4). The first-stage reduction assembly (3) includes a first-stage sun gear (301), a first-stage planet gear (302), and a first-stage planet carrier (303). The first-stage sun gear (301) is connected to the power end of the power assembly (1). The first-stage planet gear (302) meshes with the first-stage sun gear (301) and the first tooth (201) respectively. The first-stage planet gear (302) is rotatably connected to the first-stage planet carrier (303). The first-stage planet carrier (303) is connected as an output end to the power input end of the second-stage reduction assembly (4).

2. The geared motor according to claim 1, characterized in that, The secondary reduction assembly (4) includes a secondary sun gear (401), a secondary planetary gear (402), and a secondary planetary carrier (403). The secondary sun gear (401) is connected to the primary planetary carrier (303) for transmission. The secondary sun gear (401) and the primary sun gear (301) are axially spaced and coaxially arranged. The secondary planetary gear (402) meshes with the secondary sun gear (401) and the second tooth (202) respectively. The secondary planetary gear (402) is rotatably connected to the secondary planetary carrier (403). The secondary planetary carrier (403) serves as the power output end of the secondary reduction assembly (4).

3. The geared motor according to claim 2, characterized in that, A secondary bearing (6) is provided between the inner side of the secondary planetary carrier (403) and the secondary sun gear (401), and / or a first bearing (7) is provided on the outer side of the secondary planetary carrier (403).

4. The geared motor according to any one of claims 1-3, characterized in that, It also includes a housing (5), the power assembly (1) is installed inside the housing (5), and the internal gear ring (2) is fixedly connected to the housing (5).

5. The geared motor according to claim 4, characterized in that, One end of the internal gear ring (2) is fixedly connected to the housing (5), and the other end of the internal gear ring (2) is provided with a fixing frame (8).

6. The geared motor according to claim 5, characterized in that, The primary planetary carrier (303) is connected to the fixed frame (8) via a second bearing (9).

7. The geared motor according to claim 4, characterized in that, The power assembly (1) includes a stator (101) and a rotor (102), the rotor (102) being disposed on the outside or inside of the stator (101), and the rotor (102) being connected to the first-stage sun gear (301).

8. The geared motor according to claim 7, characterized in that, The rotor (102) includes a magnet (104) and a support (103). The magnet (104) is disposed inside the stator (101) and is interference-fitted with the first-stage sun gear (301) through the support (103).

9. The geared motor according to claim 8, characterized in that, A third bearing (10) is provided between the bracket (103) and the housing (5).

10. The geared motor according to any one of claims 1-3, characterized in that, A primary bearing (11) is provided between the primary planetary carrier (303) and the primary sun gear (301).

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