CN111884420A - High output torque density's rotary motion module - Google Patents
High output torque density's rotary motion module Download PDFInfo
- Publication number
- CN111884420A CN111884420A CN202010709293.6A CN202010709293A CN111884420A CN 111884420 A CN111884420 A CN 111884420A CN 202010709293 A CN202010709293 A CN 202010709293A CN 111884420 A CN111884420 A CN 111884420A
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- Prior art keywords
- speed
- low
- speed stage
- motor
- planet carrier
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
- H02K5/1732—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings radially supporting the rotary shaft at both ends of the rotor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a rotary motion module with high output torque density, which reduces the height of the rotary motion module by completely overlapping a high-speed planetary reducer and an outer rotor iron core in the axial dimension; the movement and stress conditions of the rotary movement module are improved by reasonably distributing the reduction ratio and the modulus and reasonably arranging the bearings; the fan is integrated in the design of the rotor of the rotary motion module, and the shell with the air inlet slotted hole is designed, so that the heat dissipation of the motor part is optimized, and the quality of the whole machine is reduced; and a mechanical interface is reserved on the back of the rotary motion module, and various sensors, brakes and the like can be configured according to requirements.
Description
Technical Field
The invention belongs to the technical field of transmission, and particularly relates to a rotary motion module.
Background
With the development of technology, in some application fields, such as robots, pan-tilt stands, drones, vehicles, etc., increasingly higher requirements are placed on the output capability, in particular the output torque density, of the rotary motion module. However, the existing rotary motion module has low output torque density, large volume and mass and unsatisfactory motion performance, reduces the performance of a product and sometimes has certain potential safety hazard.
The invention discloses a rotary motion module with high output torque density. Output torque density herein refers to output torque/mass or volume of the complete machine.
The technical scheme of the existing high-output-torque rotary motion module mainly comprises two processing methods, wherein the first scheme is that a motor, a coupler and an external speed reducer are matched, a coupler is adopted between a motor output shaft and a speed reducer input shaft to realize connection, the axial sizes of the motor, the coupler and the speed reducer are not overlapped, and the axial size is larger because a coupler is arranged. The second scheme is a conventional speed reducing motor, a gear is arranged on an output shaft of the motor, and the output shaft of the motor is an input shaft of the speed reducer. Although no coupling is arranged between the motor and the speed reducer, the motor and the speed reducer are not overlapped in axial dimension, the structural parts of the motor and the speed reducer are not integrated, and the axial dimension is still large. The applicability is not high where the requirements on size and space are particularly compact.
The output shaft support of the conventional planetary gear reducer uses a pair of angular contact ball bearings or angular contact roller bearings with the same specification, and radial load and bidirectional axial load are borne by the pair of bearings. The final gear is not always in the middle of a pair of bearings, and the rotation precision of the gear is low. In addition, the bearing stress condition close to the output end is worse, the service lives of a pair of bearings are often greatly different, in order to bear larger load, the diameter and the width of the bearing are often larger, and the size of the speed reducer is increased.
The conventional motor is provided with fewer products such as a brake, an encoder and a cooling fan, and has poorer expandability. Conventional reducers have a small output shaft diameter relative to the outer diameter of the reducer and typically have a keyed connection. When the driving transmission member has a large diameter, the driving transmission member is not consistent (namely, a small shaft is connected with a large hub).
Therefore, it is important to develop a rotational motion module that can solve the above-mentioned problems.
Disclosure of Invention
In view of the above problems, the present invention provides a rotational motion module with high output torque density, which includes a two-stage reducer assembly, a motor assembly, and a housing;
the high-speed reducer in the reducer assembly is overlapped with the outer rotor core in the motor assembly in the axial dimension (the high-speed reducer is nested in the outer rotor core);
furthermore, a high-bearing-capacity bearing with double axial load and radial load bearing capacity is configured at the near output end of the speed reducer assembly, and a radial bearing is configured at the far output end;
furthermore, in the two-stage speed reducer, a low-speed stage speed reducer is provided with a gear with a larger module and a larger size, and a high-speed stage planetary speed reducer is provided with a gear with a smaller module and a smaller size;
the motor assembly is composed of a motor stator part and a motor rotor part. The motor rotor is connected with a high-speed-stage input shaft of the speed reducer assembly;
furthermore, fan blades are designed in the motor rotor, an air inlet groove is designed on the outer shell of the rotary motion module, and when the rotor rotates, convection of inner air and outer air is formed;
and a mechanical interface is reserved between the high-speed input shaft of the speed reducer assembly and the tail of the shell, and a brake, an encoder and the like can be integrated according to requirements.
In this patent, the rotary motion module is designed with a two-stage reduction gear. Wherein the high-speed reducer and the outer rotor iron core are completely overlapped in axial dimension. The axial size of the rotary motion module is only the height of the low-speed reducer and the height of the motor iron core, so that the height of the high-speed reducer is saved, and the axial size is optimized to the greatest extent. The low-speed gear has larger load, a gear with larger modulus is used for ensuring the bearing capacity, the outer diameter of the low-speed gear ring is larger (equivalent to the inner diameter of the shell of the rotary motion module), and the reduction ratio and the output capacity can be ensured at the same time. The high-speed gear has small load, a gear with small modulus can be used, and a certain reduction ratio can be realized by utilizing the internal space of the iron core. By matching the reduction ratios of the high speed stage and the low speed stage, the output capacity is maximized within a limited axial space.
In addition, the output stage of the invention reasonably arranges the bearings and the transmission parts according to the stress condition. The near output end is provided with a bearing with high bearing capacity and capable of bearing bidirectional axial load and radial load at the same time. The far output end is provided with a radial bearing. The output shaft uses two bearings to bear load, and the bearing capacity of the output shaft is improved. The transmission part is arranged between the two bearings, and the transmission part is changed from an extending beam into two simply-supported beams at two ends, so that the movement and stress conditions of the transmission part are improved.
The rotor at the tail part of the rotary motion module is integrated with a fan blade design, an air inlet groove is reasonably arranged in the shell, and the bottom of the shell is provided with a filter screen. Form inside and outside air convection on the one hand, optimize the heat dissipation, on the other hand has alleviateed the quality of rotor and casing under the clean circumstances of guarantee operational environment, further promotes output torque density.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is an overall external view of the front face of the present invention;
FIG. 2 is an overall cross-sectional view of the present invention;
FIG. 3 is an overall exploded view of the present invention;
FIG. 4 is an exploded view of the retarder of the present invention;
FIG. 5 is an external view of a rotor fan according to the present invention;
FIG. 6 is an overall appearance view of the back of the present invention;
wherein, 1-motor assembly; 2-a reducer assembly; 3-a motor housing; 11-motor stator and winding; 12-a motor rotor assembly; 13-a rotor bearing; 14-rotor blades; 21-high speed stage reducer; 22-low speed stage reducer; 23-a bearing end cap; 24-a bearing seat; 25-tail bearing seat; 26-a support; 211-high speed stage ring gear; 212-high speed stage planetary gear; 213-high speed stage sun gear; 214-high speed stage lower planet carrier; 215-high speed stage lower planet carrier; 221-low-speed stage gear ring; 222-low-speed stage planetary gear; 223-low speed stage sun gear; 224-low-speed stage down-going carrier; 225-low-speed stage up-going planet carrier.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a rotary motion module with high output torque density, which comprises a motor assembly 1, a reducer assembly 2 and a motor shell 3;
the motor assembly 1 is provided with a motor stator and winding 11, a motor rotor 12, a rotor bearing 13 and rotor blades 14;
the speed reducer assembly 2 is provided with a high-speed stage speed reducer 21, a low-speed stage speed reducer 22, a bearing end cover 23, a bearing seat 24, a tail bearing seat 25 and a support 26; wherein the high-speed stage speed reducer 21 includes: a high-speed stage gear ring 211, three high-speed stage planet wheels 212, a high-speed stage sun wheel 213, a high-speed stage lower planet carrier 214 and a high-speed stage upper planet carrier 215; wherein the low-speed stage reducer 22 includes: a low-speed stage gear ring 221, a low-speed stage planet wheel 222, a low-speed stage sun wheel 223, a low-speed stage down planet carrier 224 and a low-speed stage up planet carrier 225;
the motor housing 3 further comprises an air inlet groove 31 and an inner convex ring 32;
the internal features and internal positional relationships of the various components are described below in conjunction with the drawings:
the motor shell 3 is of a flat cylindrical single-opening thin-wall structure; the air inlet grooves 31 are positioned on the annular edge of the motor shell 3 and are uniformly distributed in a groove hole shape; the inner convex ring 32 is positioned at the center of the bottom of the motor shell 3 and is in a convex ring shape;
the motor stator and the winding 11 on the motor assembly 1 are annular; the motor rotor 12 is in a single-opening hollow cylinder shape, the bottom of the motor rotor is provided with a boss, the annular edge of the boss is provided with a plurality of rotor blades 14, and the back of the boss is provided with a bearing hole for mounting a rotor bearing 13; the motor rotor 12, the motor stator and the winding 11 are coaxially arranged;
the whole speed reducer assembly 2 is a stepped cylinder; the speed reducer comprises a two-stage speed reducing structure: a high-speed stage speed reducer 21, a low-speed stage speed reducer 22;
the high-speed stage speed reducer 21 is arranged below the low-speed stage speed reducer 22;
the high-speed gear ring 211, the three high-speed planet gears 212, the high-speed sun gear 213, the high-speed lower planet carrier 214 and the high-speed upper planet carrier 215 form a high-speed reducer 21;
wherein the high-speed gear ring 211 is fixedly connected to the support 26;
wherein the high-speed stage planet wheel 212 is arranged between the high-speed stage lower planet carrier 214 and the high-speed stage upper planet carrier 215;
wherein the high-speed lower planet carrier 214 is fixedly connected with the high-speed upper planet carrier 215;
wherein the high-speed stage sun gear 213 is fixedly connected with the motor rotor assembly 12;
radial bearings are arranged at rotating shafts of the high-speed sun gear 213, the high-speed lower planet carrier 214 and the high-speed upper planet carrier 215, so that the bearing capacity and the movement performance of the radial bearings are ensured;
wherein, the high-speed lower planet carrier 214 is fixed on the tail bearing seat 25 through a bearing;
wherein, the high-speed upper planet carrier 215 is fixed on the low-speed lower planet carrier 224 through a bearing;
the outer diameter of the high-speed lower planet carrier 214 and the high-speed upper planet carrier 215 is smaller than the inner diameter of the motor stator and the winding 11;
the low-speed stage gear ring 221, the low-speed stage planet gear 222, the low-speed stage sun gear 223, the low-speed stage down planet carrier 224 and the low-speed stage up planet carrier 225 form a low-speed stage planetary reducer 22;
wherein, the low-speed stage sun gear 223 is used as power input and is fixedly connected with the high-speed stage upper planet carrier 215;
wherein the low-stage planets 222 are mounted between a low-stage lower carrier 224 and a low-stage upper carrier 225;
wherein the low-speed stage downlink planet carrier 224 is fixedly connected with the low-speed stage uplink planet carrier 225;
wherein, the low-speed gear ring 221 is fixedly connected with the bearing seat 24 and the support 26;
wherein the low-speed stage descending planet carrier 224 is fixed on the support 26 through a bearing;
wherein the low-speed stage upper planet carrier 225 is fixed on the bearing seat 24 through a bearing;
wherein, the tail bearing seat 25, the support 26 and the bearing seat 24 are fixedly connected;
wherein the bearing end cover 23 is fixedly connected with the bearing seat 24;
the modulus of the high-speed gear (comprising the high-speed gear ring 211, the high-speed planetary gear 212 and the high-speed sun gear 213) is smaller than that of the low-speed gear (comprising the low-speed gear ring 221, the low-speed planetary gear 222 and the low-speed sun gear 223).
The external relative positions and external connection relationships of the respective main components are described below:
the motor assembly 1 and the motor shell 3 are coaxially arranged;
the rotor bearing 13 on the motor assembly 1 and the inner convex ring 32 on the motor shell 3 are coaxially arranged, so that the motor rotor assembly 12 in the motor assembly 1 and the motor shell 3 form a rotating connection;
the motor rotor assembly 12 on the motor assembly 1 is fixedly connected with the high-speed sun gear 213;
the whole body formed by the motor rotor component 12 and the high-speed sun gear 213 is arranged on the tail bearing seat 25 through a bearing flange, and the axial movement is limited;
the motor stator and the winding 11 on the motor assembly 1 are fixedly connected to the support 26;
the high-speed reducer 21 is arranged in the inner space of the motor stator and the winding 11 and is coaxially arranged;
the support 26, the low-speed gear ring 221 and the bearing seat 24 are fixedly connected, and the bearing seat 24 is fixedly connected to the motor shell 3;
the bearing end cover 23 is fixedly connected to the bearing seat 24.
The motion output mode of the motion module is described in the following with reference to the attached drawings:
the motor rotor assembly 12 and the high-speed stage sun gear 213 rotate as a whole, and the high-speed stage upper planet carrier 215 is driven to rotate through gear engagement; the high-speed stage up-going star frame 215 and the low-speed stage sun gear 223 are integrated and meshed through gears to drive the low-speed stage up-going star frame 225 to rotate; the whole realizes two-stage speed reduction.
When the motor rotor component 12 rotates, the rotor fan blades 14 can form the difference between the air pressure inside and outside the shell, and the air flow can flow from a high air pressure position to a low air pressure position along the air inlet groove, so that the heat dissipation capacity of the motor is improved, and the output torque is increased; the high-speed-stage speed reducer 21 and the low-speed-stage speed reducer 22 are supported by bearings at two ends, and a mechanical model is a simply supported beam at two ends after optimized design, so that the integral bearing capacity and movement performance are ensured; the high-speed reducer 21 is arranged inside the motor stator and the winding 11 and is arranged coaxially with the motor stator and the winding 11, so that the overall axial size of the system is reduced.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A rotary motion module with high output torque density is characterized by comprising a motor assembly (1), a reducer assembly (2) and a motor shell (3);
the motor assembly (1) is arranged inside the motor shell (3) and is coaxially arranged;
the speed reducer assembly (2) is arranged inside the motor shell (3) and is coaxially arranged;
the speed reducer assembly (2) is fixed on the motor shell (3);
a motor stator and a winding (11) of the motor assembly (1) are fixed on the reducer assembly (2);
an electronic rotor assembly (12) of the motor assembly (1) is fixed on the motor shell (3).
2. A high output torque density rotary motion module according to claim 1, wherein the motor assembly (1) comprises a motor stator and winding (11), a motor rotor assembly (12), a rotor bearing (13);
the motor stator and the winding (11) on the motor assembly (1) are annular;
the motor rotor component (12) is in a single-opening hollow cylinder shape, and a boss is arranged at the bottom of the motor rotor component;
the back of the motor rotor component (12) is provided with a bearing hole for mounting a rotor bearing (13);
the motor rotor assembly (12) is spatially coaxial with the motor stator and the winding (11).
3. A high output torque density rotary motion module according to claim 1, wherein the speed reducer assembly (2) comprises a high speed stage speed reducer (21), a low speed stage speed reducer (22), a bearing end cap (23), a bearing seat (24), a tail bearing seat (25), a support (26);
the whole speed reducer assembly (2) is in a stepped cylindrical shape;
the reducer assembly (2) comprises a two-stage structure: a high-speed stage speed reducer (21) and a low-speed stage speed reducer (22);
the high-speed stage speed reducer (21) is arranged below the low-speed stage speed reducer (22);
the bearing seat (24), the tail bearing seat (25) and the support (26) are fixedly connected;
the high-speed reducer (21) is arranged on the low-speed reducer (22), the tail bearing seat (25) and the support (26);
the low-speed stage speed reducer (22) is arranged on a bearing seat (24) and a support (26);
the bearing end cover (23) is fixedly pressed and fixedly supported on the upper part of the bearing seat (24).
4. A high output torque density rotary motion module according to claim 3, wherein the high speed stage speed reducer (21) comprises: the planetary gear set comprises a high-speed stage gear ring (211), three high-speed stage planet gears (212), a high-speed stage sun gear (213), a high-speed stage lower planet carrier (214) and a high-speed stage upper planet carrier (215);
the high-speed gear ring (211) is fixedly connected to the support (26);
the high-speed stage planet gear (212) is arranged between a high-speed stage lower planet carrier (214) and a high-speed stage upper planet carrier (215);
the high-speed lower planet carrier (214) is fixedly connected with the high-speed upper planet carrier (215);
the high-speed sun gear (213) is fixedly connected with the motor rotor component (12);
a radial bearing is configured at the shaft section of the high-speed stage sun gear (213) and at the central hole of the high-speed stage lower planet carrier (214);
the high-speed lower planet carrier (214) is fixed on the tail bearing seat (25) through a bearing;
the high-speed stage upper planet carrier (215) is fixed on the low-speed stage lower planet carrier (224) through a bearing.
5. A high output torque density rotary motion module according to claim 3, wherein the low speed stage reducer (22) comprises: the planetary gear set comprises a low-speed stage gear ring (221), three low-speed stage planet wheels (222), a low-speed stage sun wheel (223), a low-speed stage down planet carrier (224) and a low-speed stage up planet carrier (225);
the low-speed stage sun gear (223) is used as power input and is fixedly connected with the high-speed stage upper planet carrier (215);
the low-speed stage planet wheels (222) are arranged between a low-speed stage lower planet carrier (224) and a low-speed stage upper planet carrier (225);
the low-speed stage downlink planet carrier (224) is fixedly connected with the low-speed stage uplink planet carrier (225);
the low-speed gear ring (221) is fixedly connected to the support (26) and the bearing seat (24);
the low-speed stage descending planet carrier (224) is fixed on the support (26) through a bearing;
the low-speed stage upper planet carrier (225) is fixed on the bearing seat (24) through a bearing.
6. A high output torque density rotary motion module according to claim 4, wherein:
the modulus of the high-speed gear (comprising a high-speed gear ring (211), a high-speed planetary gear (212) and a high-speed sun gear (213)) is smaller than that of the low-speed gear (comprising a low-speed gear ring (221), a low-speed planetary gear (222) and a low-speed sun gear (223)).
7. A high output torque density rotary motion module according to claim 4, wherein the motor housing (3) comprises: an air inlet groove (31) and an inner convex ring (32);
the motor shell (3) is of a flat cylindrical single-opening thin-wall structure;
the air inlet groove (31) is positioned on the annular edge of the motor shell (3) and is in a uniform annular groove shape;
the inner convex ring (32) is positioned in the center of the bottom of the motor shell (3) and is in a convex ring shape.
8. A high output torque density rotary motion module according to claim 4, wherein:
the outer diameter of the high-speed lower planet carrier (214) and the outer diameter of the high-speed upper planet carrier (215) are smaller than the inner diameter of the motor stator and the winding (11).
9. A high output torque density rotary motion module according to claim 2 wherein the motor rotor assembly (12) further comprises rotor blades (14);
and the rotor fan blades (14) are arranged on the bottom annular edge of the bottom boss of the motor rotor component (12).
10. A high output torque density rotary motion module according to claim 3, wherein:
the high-speed reducer (21) is arranged in the inner space of the motor stator and the winding (11) and is coaxially arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709293.6A CN111884420A (en) | 2020-07-16 | 2020-07-16 | High output torque density's rotary motion module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709293.6A CN111884420A (en) | 2020-07-16 | 2020-07-16 | High output torque density's rotary motion module |
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| Publication Number | Publication Date |
|---|---|
| CN111884420A true CN111884420A (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010709293.6A Pending CN111884420A (en) | 2020-07-16 | 2020-07-16 | High output torque density's rotary motion module |
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| CN (1) | CN111884420A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
-
2020
- 2020-07-16 CN CN202010709293.6A patent/CN111884420A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
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Effective date of registration: 20230717 Address after: 712, Floor 7, Building H, Haichuang Park, CEC Haikang Group Co., Ltd., No. 198, Aicheng Street, Wuchang Subdistrict, Yuhang District, Hangzhou City, Zhejiang Province, 310000 Applicant after: Hangzhou Ruiwo Robot Technology Co.,Ltd. Address before: 311200 room 325, building 2, No. 371, Mingxing Road, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant before: Qingli environmental protection technology (Hangzhou) Co.,Ltd. |
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