CN117006203A

CN117006203A - A compact impact-resistant deceleration unit and power mechanism

Info

Publication number: CN117006203A
Application number: CN202310949303.7A
Authority: CN
Inventors: 王兴兴; 唐云飞; 贾成成
Original assignee: Hangzhou Yushu Technology Co Ltd
Current assignee: Hangzhou Yushu Technology Co Ltd
Priority date: 2023-07-28
Filing date: 2023-07-28
Publication date: 2023-11-07

Abstract

The invention relates to the technical field of mechanical equipment, and discloses a compact impact-resistant deceleration unit and a power mechanism. A compact impact-resistant deceleration unit of the present invention includes a base, a double-sided ring gear with tooth surfaces on both inner and outer sides, and an inner ring gear and an outer ring gear located on the rotation axis of the base; the inner ring gear It is located inside the base; the double-sided ring gear is located inside the inner ring gear and partially meshes with the inner ring gear. The number of teeth on its outer side is smaller than the number of teeth on the inner ring gear. The present invention drives the outer ring gear by eccentrically moving the double-sided ring ring with tooth surfaces on both sides inside and outside the inner ring gear. The structure is simple and compact. Compared with other reducer solutions such as planetary reducers, it uses more time. A large reduction ratio can be obtained with fewer parts; and the double-sided ring gear, inner ring gear, and outer ring gear mesh with each other for transmission, and are in tooth surface contact. It has strong overload resistance and will not be damaged by load impact.

Description

Compact structure speed reduction unit and power unit that shocks resistance

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a compact-structure impact-resistant speed reduction unit and a power mechanism.

Background

Chinese patent (publication No. CN113894837 a) discloses a joint power mechanism and a mechanical arm using the same, comprising a fixed seat, a motor unit and a speed reducer unit arranged in the fixed seat, wherein the speed reducer unit comprises an inner gear ring, a flexible outer gear ring arranged on the inner side of the inner gear ring, and a cam arranged on the inner side of the flexible outer gear ring, the flexible outer gear ring sequentially comprises a meshing part, a flexible connecting part capable of generating deformation and an output part, the meshing part is meshed with the inner gear ring for transmission, and the number of teeth of the meshing part is less than that of the inner gear ring; the cam is abutted with the meshing part and rotates relative to the meshing part so as to drive the meshing part to roll on the inner side of the ring gear; when the inner gear ring is fixed, the meshing part rolls on the inner side of the inner gear ring, and the output part is driven to rotate through the flexible connecting part.

In the technical scheme, the speed reducer unit adopts the cam, the annular gear and the flexible outer gear ring to realize speed reduction transmission, and the structure is simple and compact, but the annular gear and the flexible outer gear ring are meshed for transmission, in the transmission process, the meshed teeth are small in size, and the flexible outer gear ring can reciprocate and elastically deform. Therefore, the flexible speed reducer has the defects of difficult processing and manufacturing, easy fatigue damage, poor impact load resistance, low transmission efficiency and the like.

The information disclosed in this background is only for the understanding of the background of the inventive concept and therefore it may comprise information that does not form the prior art.

Disclosure of Invention

Aiming at the problems or one of the problems, the application aims to provide a compact shock-resistant speed reduction unit which adopts a double-sided toothed ring for meshing transmission, has simple and compact structure, is not easy to damage or lose efficacy, prolongs the service life of the speed reduction unit, has high transmission efficiency and is convenient to produce and manufacture.

The second object of the present application is to provide a compact shock-resistant speed reduction unit, in which a double-sided toothed ring is disposed between an inner toothed ring and an outer toothed ring, so that a two-layer meshing transmission structure can be formed, and since a plurality of teeth are meshed with each other and share the impact force together when bearing the impact load, the impact load can be borne, and the compact shock-resistant speed reduction unit has a large speed reduction ratio, good speed reduction effect, high transmission efficiency, and simple, practical and smart structure, and breaks through the technical bias of direct meshing transmission of the inner toothed ring and the outer toothed ring in the prior art.

Aiming at the problems or one of the problems, the third aim of the application is to provide a compact shock-resistant speed reduction unit and a power mechanism, which adopt double-sided toothed rings for meshing transmission, have simple and compact structure, are not easy to damage or lose efficacy, prolong the service life of the speed reduction unit, have high transmission efficiency, are convenient for production and manufacture, and are beneficial to popularization and use.

In order to achieve one of the above objects, a first technical solution of the present application is:

the compact shock-resistant speed reduction unit comprises a base, a double-sided toothed ring, an inner gear ring and an outer gear ring, wherein tooth surfaces are arranged on the inner side and the outer side of the double-sided toothed ring, and the inner gear ring and the outer gear ring are arranged on the rotary shaft center of the base;

the annular gear is arranged on the inner side of the base;

the double-sided toothed ring is arranged on the inner side of the annular gear and is at least partially meshed with the annular gear, the number of teeth on the outer side of the double-sided toothed ring is smaller than that of the annular gear, and the geometric center of the double-sided toothed ring deviates from the rotation axis of the base so that the double-sided toothed ring moves eccentrically on the inner side of the annular gear; the outer gear ring is arranged on the inner side of the double-sided toothed ring and is at least partially meshed with the double-sided toothed ring, and the number of teeth on the outer side of the outer gear ring is smaller than the number of teeth on the inner side of the double-sided toothed ring;

the double-sided toothed ring is respectively meshed with the inner gear ring and the outer gear ring all the time for transmission, and power is output through the inner gear ring or the outer gear ring.

As a preferred technical measure:

the inner gear ring is fixed in the base, and the outer gear ring can output torque;

an eccentric wheel with a rotation center coincident with the rotation axis of the base is arranged on the inner side of the double-sided toothed ring, and the geometric center of the eccentric wheel deviates from the rotation center of the eccentric wheel; the eccentric wheel is connected with the double-sided toothed ring through a first bearing and drives the double-sided toothed ring to do eccentric motion.

As a preferred technical measure:

the two sides of the eccentric wheel are respectively provided with a first rotating ring and a second rotating ring, the rotation centers of the first rotating ring and the second rotating ring are coincident with the geometric centers, the first rotating ring is rotationally connected with the base through a second bearing, and the second rotating ring is rotationally connected with the outer gear through a third bearing;

or/and, one part of the inner side surface of the double-sided toothed ring in the axial direction is provided with a tooth surface meshed with the outer toothed ring, and the other part is provided with an assembling surface for fixing the first bearing.

As a preferred technical measure:

the outer gear ring is provided with a fourth bearing between the base and the outer gear ring, and the outer gear ring is rotationally connected with the base through the fourth bearing.

Or/and, double-sided toothed rings, inner toothed rings, and outer toothed rings, intermeshing teeth thereon, including but not limited to circular arc teeth, involute teeth, cycloidal teeth, and the like.

In order to achieve one of the above objects, a second technical solution of the present application is:

a compact impact-resistant speed reduction unit comprises a double-sided toothed ring, an inner gear ring and an outer gear ring;

the double-sided toothed ring comprises an outer ring surface and an inner ring surface which can simultaneously rotate together;

a part or all of the outer ring surface is provided with a first tooth-shaped structure;

a part or all of the inner ring surface is provided with a tooth-shaped structure II;

the first tooth-shaped structure is at least partially meshed with the inner gear ring; the second toothed structure is at least partially meshed with the outer gear ring to form a two-layer meshed transmission structure.

The compact shock-resistant speed reducing unit has the advantages that the double-sided toothed ring is arranged between the inner gear ring and the outer gear ring, so that a two-layer meshed transmission structure can be formed, as the number of the mutually meshed teeth is relatively large, when the impact load is born, the plurality of the teeth are mutually meshed, and the impact force is shared together, so that the impact load can bear relatively large impact load, the speed reducing unit has relatively large speed reducing ratio, good speed reducing effect, high transmission efficiency, simple and practical structure and ingenious conception, and the technical prejudice of direct meshing transmission of the inner gear ring and the outer gear ring in the prior art is broken. As a preferred technical measure:

the number of teeth of the first toothed structure is different from the number of teeth of the inner gear ring by 1 tooth number;

the number of teeth of the second toothed structure is different from the number of teeth of the outer gear ring by 1 tooth number;

or/and the number of teeth of the inner gear ring is more than the number of teeth of the outer side of the double-sided gear ring, so that the double-sided gear ring makes eccentric motion on the inner side of the inner gear ring; the number of teeth of the outer gear ring is smaller than the number of teeth of the inner side of the double-sided gear ring, so that the double-sided gear ring moves eccentrically on the outer side of the outer gear ring to form a multi-tooth meshing structure, and the adaptation of high impact load in meshing transmission is realized.

The double-sided toothed ring of the application moves eccentrically on the outer side of the outer toothed ring and the inner side of the inner toothed ring respectively, thus forming a dynamic transmission structure, further increasing the number of teeth meshed with each other and increasing the tooth meshing surface, thus effectively resolving high impact load in meshed transmission, further effectively avoiding damage or failure of the outer toothed ring and the inner toothed ring caused by load impact, prolonging the service life of a speed reduction unit, further increasing the reduction ratio, having high transmission efficiency, being convenient for production and manufacture and being beneficial to popularization and use.

As a preferred technical measure:

the double-sided toothed ring is respectively meshed with the inner gear ring and the outer gear ring all the time for transmission, and power is output through the inner gear ring or the outer gear ring;

or/and, further comprising a base for assembling the ring gear; the inner gear ring is fixed in the base, and the outer gear ring can output torque; the geometric center of the double-sided toothed ring deviates from the rotation axis of the base, an eccentric wheel with the rotation center coincident with the rotation axis of the base is arranged on the inner side of the double-sided toothed ring, and the geometric center of the eccentric wheel deviates from the rotation center of the double-sided toothed ring; the eccentric wheel is connected with the double-sided toothed ring through a first bearing and drives the double-sided toothed ring to do eccentric motion; the two sides of the eccentric wheel are respectively provided with a first rotating ring and a second rotating ring, the rotation centers of the first rotating ring and the second rotating ring are coincident with the geometric centers, the first rotating ring is rotationally connected with the base through a second bearing, and the second rotating ring is rotationally connected with the outer gear ring through a third bearing;

a part of the inner side surface of the double-sided toothed ring in the axial direction is provided with a tooth surface meshed with the outer tooth ring, and the other part of the inner side surface is provided with an assembling surface for fixing the first bearing.

In order to achieve one of the above objects, a third technical solution of the present application is:

the power mechanism comprises the compact shock-resistant speed reduction unit and the motor;

the compact shock-resistant speed reduction unit comprises a double-sided toothed ring, an inner gear ring, an outer gear ring and an input eccentric wheel;

the motor drives the double-sided toothed ring to eccentrically rotate through the input eccentric wheel, and the motor is an inner rotor motor or an outer rotor motor;

As a preferred technical measure:

the motor is an inner rotor motor or an outer rotor motor and comprises a motor shell I, a motor stator I, a motor rotor I, a rear end cover I, a sensor element I, a motor output shaft I, a bearing inner retainer ring I and a bearing gland I;

the outer gear ring is an output gear ring and is fixed on the first output shaft of the speed reducer; an input eccentric wheel is assembled on the output shaft of the motor; the inner gear ring is a fixed gear ring; the double-sided toothed ring is an input toothed ring.

The double-sided toothed ring is arranged at the inner side part of the first motor stator.

As a preferred technical measure:

the motor is an outer rotor motor or an inner rotor motor and comprises a motor rotor II, a motor housing II, a motor stator II, a sensor element II, a motor output shaft II, a speed reducer output shaft II, a bearing inner retainer ring II and a speed reducer housing II;

the outer gear ring is an output gear ring and is fixed on a second output shaft of the speed reducer; a second motor output shaft is provided with an input eccentric wheel; the inner gear ring is a fixed gear ring; the double-sided toothed ring is an input toothed ring.

The double-sided toothed ring is arranged at the side edge of the second motor stator.

Compared with the prior art, the application has the beneficial effects that:

the compact shock-resistant speed reducing unit has the advantages that the double-sided toothed ring is arranged between the inner gear ring and the outer gear ring, so that a two-layer meshed transmission structure can be formed, as the number of the mutually meshed teeth is relatively large, when the impact load is born, the plurality of the teeth are mutually meshed, and the impact force is shared together, so that the impact load can bear relatively large impact load, the speed reducing unit has relatively large speed reducing ratio, good speed reducing effect, high transmission efficiency, simple and practical structure and ingenious conception, and the technical prejudice of direct meshing transmission of the inner gear ring and the outer gear ring in the prior art is broken.

Furthermore, the double-sided toothed ring of the application makes eccentric motions on the outer side of the outer toothed ring and the inner side of the inner toothed ring respectively, thereby forming a dynamic transmission structure, further increasing the number of teeth meshed with each other and increasing the tooth meshing surface, thereby effectively resolving high impact load in the meshing transmission, further effectively avoiding damage or failure of the outer toothed ring and the inner toothed ring caused by load impact, prolonging the service life of a speed reduction unit, further increasing the speed reduction ratio, having high transmission efficiency, being convenient for production and manufacture and being beneficial to popularization and use.

According to the compact shock-resistant speed reduction unit and the power mechanism, the double-sided toothed rings with the tooth surfaces arranged on the inner side and the outer side of the power mechanism do eccentric motion in the inner gear ring to drive the outer gear ring, so that the structure is compact and simple, and compared with other speed reducer schemes of other structures such as a planetary speed reducer, the large speed reduction ratio can be obtained by using fewer parts; in addition, in the process of mutual meshing transmission of the double-sided toothed ring, the inner gear ring and the outer gear ring, tooth surfaces are always contacted, the contact area of the teeth is large, and the contact quantity is large, so that the double-sided toothed ring is strong in overload resistance and is not easy to damage or fail due to load impact.

The application is described in further detail below with reference to the drawings and the detailed description.

Drawings

FIG. 1 is a first side schematic view of a double sided eccentric ring gear construction of the present application;

FIG. 2 is an isometric view of the compact shock resistant reduction unit of the present application;

FIG. 3 is a schematic view in full section of the compact shock resistant reduction unit of the present application;

FIG. 4 is an exploded view of the compact impact resistant deceleration unit of the present application;

FIG. 5 is a schematic view of a structure of the outer race fixed speed reducing unit of the present application;

FIG. 6 is a schematic view of a fixed inner race deceleration unit of the present application;

FIG. 7 is a schematic representation in full section of the inner race fixed reduction unit of the present application;

FIG. 8 is an exploded view of the fixed inner race deceleration unit of the present application;

fig. 9 is an isometric view of an inner rotor motor of the present application;

FIG. 10 is a schematic diagram of a full section of an inner rotor motor of the present application;

fig. 11 is an exploded view of the inner rotor motor of the present application;

FIG. 12 is an isometric view of an outer rotor motor of the present application;

FIG. 13 is a schematic diagram of an outer rotor motor of the present application in full section;

fig. 14 is an exploded view of the outer rotor motor of the present application.

Reference numerals illustrate:

1. a base; 2. double-sided toothed rings; 21. tooth surfaces; 22. a mounting surface; 3. an inner gear ring; 4. an outer ring gear; 5. inputting an eccentric wheel; 6. a first bearing; 7. a first rotating ring; 8. a second rotating ring; 9. a second bearing; 10. a third bearing; 11. a fourth bearing; 12. rotating the output shaft; 13. a first mounting end cap; 100. an outer ring fixed type speed reducing unit; 200. an inner ring fixed type speed reducing unit; 201. a first input shaft; 202. a first stationary-side bearing inner retainer ring; 203. a first stationary inner housing; 204. a first outer bearing retainer ring; 205. a first input end bearing retainer ring; 206. a first output shaft; 300. an inner rotor motor; 301. a first motor housing; 302. a motor stator I; 303. a motor rotor I; 304. a first rear end cover; 305. a bearing gland I; 306. a first sensor element; 307. a first motor output shaft; 308. a first sensor retainer ring; 309. a first bearing inner retainer ring; 3010. a first output shaft of the speed reducer; 400. an outer rotor motor; 401. a second reducer shell; 402. a motor stator II; 403. a motor rotor II; 404. a second motor shell; 406. a second sensor element; 407. a second motor output shaft; 408. a second sensor inner retainer ring; 409. a second bearing inner retainer ring; 4010. and a second output shaft of the speed reducer.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

On the contrary, the application is intended to cover any alternatives, modifications, equivalents, and variations as may be included within the spirit and scope of the application as defined by the appended claims. Further, in the following detailed description of the present application, certain specific details are set forth in order to provide a better understanding of the present application. The present application will be fully understood by those skilled in the art without the details described herein.

It is to be noted that when two elements are "fixedly connected" or "rotatably connected," the two elements may be directly connected or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "upper," "lower," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 14, one embodiment of the compact impact-resistant speed reduction unit of the present application:

the compact shock-resistant speed reduction unit comprises a base 1, a double-sided toothed ring 2, an inner gear ring 3 and an outer gear ring 4, wherein tooth surfaces 21 are arranged on the inner side and the outer side of the base 1;

the inner gear ring 3 is arranged on the inner side of the base 1;

the double-sided toothed ring 2 is arranged on the inner side of the annular gear 3 and is at least partially meshed with the annular gear 3, the number of teeth on the outer side of the double-sided toothed ring is smaller than the number of teeth of the annular gear 3, and the geometric center of the double-sided toothed ring deviates from the rotation axis of the base 1 so that the double-sided toothed ring moves eccentrically on the inner side of the annular gear 3;

the outer gear ring 4 is arranged on the inner side of the double-sided toothed ring 2 and is at least partially meshed with the double-sided toothed ring 2, and the number of teeth on the outer side of the outer gear ring is smaller than the number of teeth on the inner side of the double-sided toothed ring 2;

the double-sided toothed ring 2 is respectively and always in partial meshing transmission with the inner gear ring 3 and the outer gear ring 4, and outputs power through the inner gear ring 3 or the outer gear ring 4.

The inner gear ring 3 is fixed in the base 1, and the outer gear ring 4 can output torque;

an input eccentric wheel 5 with a rotation center coincident with the rotation axis of the base 1 is arranged on the inner side of the double-sided toothed ring 2, and the geometric center of the input eccentric wheel 5 deviates from the rotation center; the input eccentric wheel 5 is connected with the double-sided toothed ring 2 through a first bearing 6 and drives the double-sided toothed ring 2 to make eccentric motion.

The two sides of the input eccentric wheel 5 are respectively provided with a first rotating ring 7 and a second rotating ring 8, the rotation centers of the first rotating ring 7 and the second rotating ring 8 are coincident with the geometric centers, the first rotating ring 7 is rotationally connected with the base 1 through a second bearing 9, and the second rotating ring 8 is rotationally connected with the outer gear ring 4 through a third bearing 10.

The inner side surface of the double-sided toothed ring 2 is provided with a tooth surface 21 which meshes with the outer ring gear 4 at one part in the axial direction, and a fitting surface 22 which fixes the first bearing 6 at the other part.

A fourth bearing 11 is arranged between the outer gear ring 4 and the base 1, and the outer gear ring 4 is rotatably connected with the base 1 through the fourth bearing 11.

According to the compact shock-resistant speed reduction unit provided by the application, the double-sided toothed ring 2 with the tooth surfaces 21 arranged on the inner side and the outer side is eccentrically moved in the inner gear ring 3 to drive the outer gear ring 4, so that the structure is compact and simple, and compared with other speed reducer schemes of other structures such as a planetary speed reducer, a large speed reduction ratio can be obtained by using fewer parts; in addition, in the process of mutual meshing transmission of the double-sided toothed ring 2, the inner gear ring 3 and the outer gear ring 4, the tooth surfaces 21 are always in contact, the contact area of the teeth is large, and the contact quantity is large, so that the double-sided toothed ring has strong overload resistance and is not easy to damage or fail due to load impact.

As shown in fig. 1-5, one embodiment of the present application for fixing the outer ring of the reduction unit:

the outer ring fixed type speed reduction unit 100 comprises a fixed gear ring, an input gear ring, a first mounting end cover 13, a second input shaft (with an input eccentric 5 structure), a rotating output shaft 12 (with an output gear ring) and a first speed reducer shell;

the fixed gear ring is an inner gear ring 3; the output gear ring is an outer gear ring 4 which is fixed on a rotary output shaft 12; the second input shaft is provided with an input eccentric 5; the input gear ring is a double-sided gear ring 2.

As shown in fig. 6-8, one embodiment of the present application for fixing the inner race of the reduction unit:

the inner race stationary reduction unit 200 includes a first input shaft 201 (with input eccentric 5 structure), a first stationary side bearing inner race 202, a first stationary inner housing 203, a stationary ring gear, a first input end bearing race 205, a first output shaft 206 (with input ring gear), a first outer bearing race 204, an output ring gear, a stationary ring gear;

the fixed gear ring is an outer gear ring 4; the input ring gear is ring gear 3, which is fixed on the first output shaft 206; the first input shaft 201 is fitted with an input eccentric 5; the output gear ring is a double-sided gear ring 2.

The application relates to a compact shock-resistant speed reducing unit, which is a preferred embodiment:

the compact shock-resistant speed reduction unit comprises a double-sided toothed ring 2, an inner gear ring 3, an outer gear ring 4 and an input eccentric wheel 5, wherein tooth surfaces 21 are arranged on the inner side and the outer side of the double-sided toothed ring;

the input eccentric wheel 5 drives the double-sided toothed ring 2 to eccentrically rotate;

the double-sided toothed ring 2 is in eccentric meshing transmission with the inner gear ring 3 and the outer gear ring 4 respectively;

the number of teeth of the outer ring of the double-sided toothed ring 2 is one tooth number different from that of the outer ring 4;

the number of teeth of the inner ring of the double-sided toothed ring 2 is different from that of the inner ring gear 3 by one tooth number;

The input eccentric wheel 5 drives the double-sided toothed ring 2 to eccentrically rotate through the first bearing 6;

the outer gear ring 4 is fixed, and the inner gear ring 3 is used as an output shaft after speed reduction; or the inner gear ring 3 is fixed, and the outer gear ring 4 is used as an output shaft after speed reduction.

The inner side and the outer side of the double-sided toothed ring 2 are provided with tooth surfaces 21, and a part of the circumference on the inner side or the outer side of the double-sided toothed ring 2 is provided with an assembling surface 22 for fixing the first bearing 6.

The two sides of the input eccentric wheel 5 are respectively provided with a first rotating ring 7 and a second rotating ring 8, the rotation centers of the first rotating ring 7 and the second rotating ring 8 are coincident with the geometric centers, the first rotating ring 7 is rotationally connected with other parts through a second bearing 9, and the second rotating ring 8 is rotationally connected with an adjacent gear ring through a third bearing 10; the third bearing 10 and the first bearing 6 are closely adjacent to each other and are commonly arranged on the side part of the double-sided toothed ring 2; a fourth bearing 11 is arranged between the outer gear ring 4 and the base 1, and the outer gear ring 4 is rotatably connected with the base 1 through the fourth bearing 11.

One specific embodiment of the power mechanism of the application:

the compact shock-resistant speed reduction unit comprises a double-sided toothed ring 2, an inner gear ring 3, an outer gear ring 4 and an input eccentric wheel 5;

the motor drives the double-sided toothed ring 2 to eccentrically rotate through the input eccentric wheel 5;

the motor is an inner rotor motor 300 or an outer rotor motor 400;

As shown in fig. 9-11, one embodiment of the present application is configured to mount an inner rotor motor 300:

the reduction unit is assembled on the inner rotor motor 300;

the inner rotor motor 300 comprises a motor shell I301, a motor stator I302, a motor rotor I303, a rear end cover I304, a sensor element I306, a motor output shaft I307 (with an input eccentric wheel 5 structure), a sensor retainer ring I308, a bearing inner retainer ring I309 and a bearing cover I305;

the outer gear ring 4 is an output gear ring and is fixed on the first 3010 output shaft of the speed reducer; the first motor output shaft 307 is provided with an input eccentric wheel 5; the inner gear ring 3 is a fixed gear ring; the double-sided toothed ring 2 is an input toothed ring.

As shown in fig. 12-14, one embodiment of the present application for assembling an external rotor motor 400:

the speed reducing unit is assembled on the outer rotor motor 400;

the outer rotor motor 400 comprises a second motor rotor 403, a second motor housing 404, a second motor stator 402, a second sensor outer baffle ring, a second sensor element 406, a second sensor inner baffle ring 408, a second motor output shaft 407 (with an input eccentric wheel 5 structure), a second bearing inner baffle ring 409 and a second reducer housing 401;

the outer gear ring 4 is an output gear ring and is fixed on a second 4010 output shaft of the speed reducer; the second motor output shaft 407 is provided with an input eccentric wheel 5; the inner gear ring 3 is a fixed gear ring; the double-sided toothed ring 2 is an input toothed ring.

In the application, the fixed connection mode can be screw connection or riveting or plugging connection or connection through a third component, and the person skilled in the art can select according to actual conditions.

Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the application without departing from the spirit and scope of the application, which is intended to be covered by the claims.

Claims

1. A compact impact-resistant speed reducing unit is characterized in that,

comprises a base (1), a double-sided toothed ring (2) with tooth surfaces (21) arranged on the inner side and the outer side, and an inner gear ring (3) and an outer gear ring (4) arranged on the rotating shaft center of the base (1);

the inner gear ring (3) is arranged on the inner side of the base (1);

the double-sided toothed ring (2) is arranged on the inner side of the annular gear (3) and is at least partially meshed with the annular gear (3), the number of teeth on the outer side of the double-sided toothed ring is smaller than the number of teeth of the annular gear (3), and the geometric center of the double-sided toothed ring deviates from the rotation axis of the base (1) so that the double-sided toothed ring moves eccentrically on the inner side of the annular gear (3); the outer gear ring (4) is arranged on the inner side of the double-sided toothed ring (2) and is at least partially meshed with the double-sided toothed ring (2), and the number of teeth on the outer side of the outer gear ring is smaller than the number of teeth on the inner side of the double-sided toothed ring (2);

the double-sided toothed ring (2) is respectively meshed with the inner gear ring (3) and the outer gear ring (4) all the time for transmission, and power is output through the inner gear ring (3) or the outer gear ring (4).

2. A compact impact resistant deceleration unit according to claim 1, characterized in that,

the inner gear ring (3) is fixed in the base (1), and the outer gear ring (4) can output torque;

an eccentric wheel with a rotation center coincident with the rotation axis of the base (1) is arranged on the inner side of the double-sided toothed ring (2), and the geometric center of the eccentric wheel deviates from the rotation center of the eccentric wheel; the eccentric wheel is connected with the double-sided toothed ring (2) through a first bearing (6) and drives the double-sided toothed ring (2) to do eccentric motion.

3. A compact shock-resistant speed reduction unit according to claim 2, characterized in that the eccentric wheel is provided with a first rotating ring (7) and a second rotating ring (8) with rotation centers coinciding with the geometric centers, respectively, the first rotating ring (7) being rotatably connected with the base (1) by means of a second bearing (9), the second rotating ring (8) being rotatably connected with the outer gear ring (4) by means of a third bearing (10);

or/and, a part of the inner side surface of the double-sided toothed ring (2) is axially provided with a tooth surface (21) meshed with the outer gear ring (4), and the other part is provided with an assembling surface (22) for fixing the first bearing (6).

4. A compact shock-resistant speed reduction unit according to claim 3, characterized in that a fourth bearing (11) is arranged between the outer gear ring (4) and the base (1), the outer gear ring (4) being in rotational connection with the base (1) via the fourth bearing (11);

or/and, double-sided toothed ring (2), inner toothed ring (3) and outer toothed ring (4), on which the teeth are intermeshed, including but not limited to circular arc teeth, involute teeth, cycloidal teeth.

5. A compact impact-resistant speed reducing unit is characterized in that,

comprises a double-sided toothed ring (2), an inner gear ring (3) and an outer gear ring (4);

the double-sided toothed ring (2) comprises an outer ring surface and an inner ring surface which can simultaneously rotate together;

the toothed structure I is at least partially meshed with the inner gear ring (3); the second toothed structure is at least partially meshed with the outer gear ring (4) to form a two-layer meshed transmission structure.

6. A compact impact resistant deceleration unit according to claim 5, characterized in that,

the number of teeth of the first toothed structure is different from the number of teeth of the inner gear ring (3) by 1 tooth number;

the number of teeth of the second toothed structure is different from the number of teeth of the outer gear ring (4) by 1 tooth number;

or/and, the number of teeth of the inner gear ring (3) is more than the number of teeth of the outer side of the double-sided toothed ring (2), so that the double-sided toothed ring (2) eccentrically moves on the inner side of the inner gear ring (3); the number of teeth of the outer gear ring (4) is smaller than the number of teeth of the inner side of the double-sided gear ring (2), so that the double-sided gear ring (2) eccentrically moves on the outer side of the outer gear ring (4) to form a multi-tooth meshing structure, and the adaptation of high impact load in meshing transmission is realized.

7. A compact impact resistant deceleration unit according to claim 6, characterized in that,

the double-sided toothed ring (2) is respectively meshed with the inner gear ring (3) and the outer gear ring (4) all the time for transmission, and power is output through the inner gear ring (3) or the outer gear ring (4);

or/and, further comprises a base (1) for assembling the annular gear (3); the inner gear ring (3) is fixed in the base (1), and the outer gear ring (4) can output torque; the geometric center of the double-sided toothed ring (2) deviates from the rotation axis of the base (1), an eccentric wheel with the rotation center coincident with the rotation axis of the base (1) is arranged on the inner side of the double-sided toothed ring, and the geometric center of the eccentric wheel deviates from the rotation center of the double-sided toothed ring; the eccentric wheel is connected with the double-sided toothed ring (2) through a first bearing (6) and drives the double-sided toothed ring (2) to do eccentric motion; the two sides of the eccentric wheel are respectively provided with a first rotating ring (7) and a second rotating ring (8) with the rotation center coincident with the geometric center, the first rotating ring (7) is rotationally connected with the base (1) through a second bearing (9), and the second rotating ring (8) is rotationally connected with the outer gear ring (4) through a third bearing (10);

a part of the inner side surface of the double-sided toothed ring (2) is axially provided with a tooth surface (21) meshed with the outer gear ring (4), and the other part is provided with an assembling surface (22) for fixing the first bearing (6).

8. A power mechanism is characterized in that,

comprising a compact impact-resistant reduction unit and an electric motor according to any one of claims 1-7;

the compact shock-resistant speed reduction unit comprises a double-sided toothed ring (2), an inner gear ring (3), an outer gear ring (4) and an input eccentric wheel (5);

the motor drives the double-sided toothed ring (2) to eccentrically rotate through the input eccentric wheel (5), and the motor is an inner rotor motor or an outer rotor motor;

9. A power mechanism according to claim 8, wherein,

the motor is an inner rotor motor or an outer rotor motor (300), and comprises a motor shell I (301), a motor stator I (302), a motor rotor I (303), a rear end cover I (304), a sensor element I (306), a motor output shaft I (307), a bearing inner retainer ring I (309) and a bearing cover I (305);

the outer gear ring (4) is an output gear ring and is fixed on a first output shaft (3010) of the speed reducer; the first motor output shaft (307) is provided with an input eccentric wheel (5); the inner gear ring (3) is a fixed gear ring; the double-sided toothed ring (2) is an input gear ring;

the double-sided toothed ring (2) is arranged at the inner side part of the motor stator I (302).

10. A power mechanism according to claim 8, wherein,

the motor is an outer rotor motor or an inner rotor motor (400), and comprises a motor rotor II (403), a motor housing II (404), a motor stator II (402), a sensor element II (406), a motor output shaft II (407), a speed reducer output shaft II (4010), a bearing inner retainer ring II (409) and a speed reducer housing II (401);

the outer gear ring (4) is an output gear ring and is fixed on a second reducer output shaft (4010); a second motor output shaft (407) is provided with an input eccentric wheel (5); the inner gear ring (3) is a fixed gear ring; the double-sided toothed ring (2) is an input gear ring;

the double-sided toothed ring (2) is arranged at the side edge part of the motor stator II (402).