Four-rotor driving type geared motor

Abstract

The invention discloses a four-rotor driving type geared motor. Four rotor shafts are symmetrically arranged in the radial direction, and each rotor shaft comprises an eccentric shaft and two tile-type permanent magnets symmetrically mounted on the rear segment; a stator is in a structure that a circular ring is arranged on the outer side, and the middle part is crisscross, a circular gap is arranged on each of the four corners, two symmetrical pole shoes are arranged at each gap, one segment, on which the permanent magnet is mounted, of each of the four rotor shafts passes through the corresponding circular gap to form a single-phase bipolar magnetic pole; upper bearings are mounted on the two eccentric segments of the four rotor shafts and are respectively mounted in the bearing block holes of two inner gear rings, and the two ends of each rotor shaft are respectively mounted in bearing holes formed in a front cover and a rear cover; two windings are symmetrically mounted on the stator in the radial direction, the four rotor shafts can be simultaneously driven to rotate by properly controlling the conduction time and current direction of the two windings, meanwhile the inner gear ring is driven to move in a revolution manner in a radial plane and be meshed with a fixed shaft outer gear, and the outer gear drives a main shaft to output rotation. According to the four-rotor driving type geared motor, the structure is compact, and the transmission ratio is large.

Description

Technical field [0001] The invention belongs to the technical field of electric drive equipment, and specifically relates to a four-rotor drive type meshing motor. Background technique [0002] Current industrial robot joints generally use a drive device composed of a servo motor and a harmonic reducer or an RV reducer, which has a long transmission chain and high cost. In recent years, the research on the integration of the reduction mechanism and the motor has made good progress: the piezoelectric cycloid motor based on the reduction transmission principle of gear meshing is adopted through the meshing of a pair of cycloid gears to connect the piezoelectric drive The telescopic movement is converted into the rotation of the rotor, and then the cycloidal motor is driven to rotate by the driving force output by the piezoelectric driver to output torque. The reduction ratio of a piezoelectric cycloid motor is the ratio of the difference between the number of teeth of the rotor an...

AI Technical Summary

Problems solved by technology

Motors driven by piezoelectric or giant magnetostrictive materials are difficult to be of practical value because the action stroke of the driver is too short (only on the order of microns)

In order to meet the actual needs of the stator movement stroke, a set of levers should be added to increase its action stroke, which increases the components and weight of the driving device, and the structure is too complicated and impractical

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