TWI819607B - Miniature reducer - Google Patents

Abstract

The present invention provides a miniature reducer including a housing, an input shaft, a rear end-cover moving element, a rear bearing, a rear end-cover fixing element, a first fastening element, a second fastening element and a gear set. The housing includes a first end and a second end opposite to each other in an axial direction, and an accommodation space. The rear end-cover moving element is embedded in the accommodation space, and disposed adjacent to the first end. The rear bearing, the rear end-cover moving element and the housing are concentrically sleeved from the inside to the outside in a radial direction. The rear end-cover fixing element is disposed between of the first end and a main body of a motor, and the rear end-cover moving element, the rear end-cover fixing element and the main body of the motor are arranged in the axial direction. The rear end-cover fixing element and the main body of the motor are axially fastened by the first fastening element. The housing and the rear end-cover fixing element are radially fastened by the second fastening element. The gear set is accommodated in the accommodation space and is spatially corresponding to the input shaft. The gear set passes through the rear bearing and the rear end-cover fixing element in the axial direction, and is concentrically connected with the output shaft of the motor.

Description

Micro reducer

This case is about a reducer structure, especially a micro reducer, which reduces the difficulty of assembly through the arrangement of the rear end cover movable part and the rear end cover fixed part, and realizes the axial assembly of the micro reducer and the motor. At the same time, To achieve the purpose of positioning the rotation phase.

The reducer is a mechanical device that changes the rotational speed. Among many reducers, micro reducers driven by planetary gears have the characteristics of small size, light weight, and long life. Since the planetary gear reducer has the output shaft and the input shaft set on the same axis, when the reducer is connected to the motor, it is necessary to connect the output shaft of the motor and the input center tooth of the reducer, and complete the assembly along the axial direction.

Since the micro reducer has a thin ring gear shell, the assembly with the motor is usually accomplished through tooth hole fastening or side locking. When the combination of the reducer and the motor is locked by axial screw threads and screw holes, the phase of the reducer and the motor in the rotation direction will not be positioned. Furthermore, when fixing the reducer and the motor, a tightening structure must be designed. Otherwise, the tooth holes will not be easy to tighten, and there will be problems of reverse loosening, so they must be fixed with glue. In addition, when the combination of the reducer and the motor is completed by side locking, although the rotation direction can be positioned, the contact problem of the reducer parts in the axial direction still needs to be solved at the same time, so the assembly is not easy, and there may be problems during the assembly process. causing damage to parts.

In view of this, it is necessary to provide a micro-reducer that can facilitate the assembly of the micro-reducer and the motor in the axial direction, and at the same time achieve the purpose of positioning the rotation phase, so as to overcome the shortcomings of the conventional technology.

This case proposes a micro-reducer. The combination of the movable part of the rear end cover and the fixed part of the rear end cover makes it easier to assemble the micro-reducer and the motor in the axial direction, and allows the micro-reducer to position the rotation of the motor's output shaft. phase. The structure of the rear end cover movable part and the rear end cover fixed part structure is simple and retains the original functions. The rear bearing, the rear end cover movable part and the ring tooth thin shell are concentrically nested from the inside out in the radial direction, and the rear end cover is movable. The interference ring tooth thin shell provides supporting thin shell and rounding effect. Furthermore, for the planetary support arm supported by the rear bearing, the movable part of the rear end cover is easy to process and easy to assemble. On the other hand, the rear end cover movable part, the rear end cover fixed part and the motor body are arranged in the axial direction. By interfering with the ring tooth thin shell through the rear end cover movable part, the problem of axial contact of the reducer parts is avoided. Furthermore, the rear end cover fixing part and the motor body are locked in the axial direction, while the rear end cover fixing part and the ring tooth thin shell are locked in the radial direction, which helps to reduce the difficulty of the overall assembly and realize the micro reducer at the same time. Concentric connection with the motor in the axial direction and positioning of the rotational phase.

In order to achieve the aforementioned purpose, this case provides a micro reducer for connecting to a motor output shaft of a motor. The micro reducer includes a housing, an input shaft, a rear end cover movable part, a rear bearing, a rear end cover fixed part, at least one first locking member, at least one second locking member and a gear set. The housing includes a first end, a second end and an accommodating space. The first end and the second end are arranged oppositely along an axial direction, and the accommodating space is connected between the first end and the second end. The movable part of the rear end cover is embedded in the accommodation space of the housing. The rear bearing is accommodated in the accommodation space, and the rear bearing, the rear end cover movable part and the housing are sleeved concentrically from the inside out in a radial direction to support the input shaft. The rear end cover fixing member is arranged between the first end of the housing and the motor body of the motor, is arranged in the axial direction with the rear end cover movable member and the motor body, and includes a hollow portion disposed along the axial direction. The first locking member axially locks the rear end cover fixing member and the motor body, and the second locking member radially locks the housing and the rear end cover fixing member. The gear set is accommodated in the accommodation space and includes a first planet support arm and at least one first planet gear. The first planetary support arm includes a first rear support arm and a first front support arm. The first rear support arm is connected between the rear bearing and the input shaft. The first planetary gear is rotatably arranged and supported in the axial direction. Between the supporting rear arm and the first supporting front arm, the input shaft is spatially arranged relative to the first planetary gear. The input shaft axially penetrates the hollow portion of the first supporting rear arm of the first planetary supporting arm, the rear bearing, and the rear end cover fixing member, and is concentrically connected to the motor output shaft.

In one embodiment, the micro-reducer has an outer diameter of the device, wherein the outer diameter of the housing, the outer diameter of the rear end cover fixing part, or the outer diameter of the motor is less than or equal to the outer diameter of the device.

In one embodiment, the rear bearing includes an inner ring and an outer ring, the rear end cover movable member is sleeved on the outer ring, and the inner ring is sleeved on the sleeve portion of the first supporting rear arm.

In one embodiment, the rear end cover fixing member includes a fitting section, which is fitted from the first end of the housing into the accommodation space of the housing, so that the housing covers the fitting section.

In one embodiment, the housing includes a first positioning hole adjacent to the first end and radially connected to the accommodation space, and the rear end cover fixing member includes a second positioning hole provided in the fitting section and along the Radially connected to the hollow part, the second locking member radially passes through the first positioning hole and the second positioning hole to lock the housing and the rear end cover fixing member and position the rotation phase of the motor output shaft.

In one embodiment, the first planetary support arm supports the first planetary gear, the first support rear arm has a fitting portion, the inner ring of the rear bearing is sleeved on the fitting portion, and the input shaft passes through the fitting portion and the rear end. The hollow part of the cover fixing member is assembled to drive the first planetary gear.

In one embodiment, the input shaft includes an active end and a sun gear ring disposed on an outer peripheral wall of the active end, and the sun gear is spatially relative to the first planetary gear to drive the first planetary gear.

In one embodiment, the housing further includes ring teeth, which are arranged on the inner peripheral wall of the housing, are spatially relative to the first planetary gear, and are in contact with the outer end surface of the first planetary gear.

In one embodiment, the micro reducer further includes a front end cover and a front bearing. The front end cover is disposed at the second end to cover the accommodation space. The front bearing is disposed along the axial direction and is disposed at the second end through the front end cover.

In one embodiment, the micro-reducer further includes an output shaft, which is arranged in the accommodation space along the axial direction. The output shaft is connected to the input shaft through the gear set, and is supported on the second end through the front bearing.

In one embodiment, one end of the output shaft is fixed to the other side of the first supporting forearm supporting the first planetary gear.

Some typical embodiments embodying the features and advantages of this case will be described in detail in the following description. It should be understood that this case can have various changes in different aspects without departing from the scope of this case, and the descriptions and drawings are essentially for illustrative purposes and are not used to limit this case. For example, different embodiments of the present application may use repeated reference symbols and/or labels. These repetitions are for the purpose of simplicity and clarity and are not intended to limit the relationship between the various embodiments and/or the described appearance structures. In addition, when a component is referred to as being "connected to" or "coupled to" another component, it can be directly connected or coupled to the other component or intervening components may be present. Although the broad numerical ranges and parameters set forth in this case are approximations, the values are stated as precisely as possible in the specific examples. In addition, it is understood that although terms such as "first", "second" and "third" may be used in the scope of the patent application to describe different components, these components should not be limited by these terms. , the components described accordingly in the embodiments are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be termed a second component, and similarly, a second component may be termed a first component, without departing from the scope of the embodiments. As used, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Refer to Figure 1 to Figure 6. This case discloses a micro reducer 1, which is connected to a motor output shaft 90 of a motor 9 to form a reducer motor assembly structure 2. The motor 9 includes a motor output shaft 90, a motor body 91, a rotor 93, a stator 94, a flange 95 and at least one motor bearing 96. The motor output shaft 90 and the motor body 91 are connected through the motor bearing 96 and sealed with a flange 95. Fixed in the motor body 91, the motor output shaft 90 penetrates the flange 95, connects the rotor 93, and rotates synchronously with the rotor 93 when the rotor 93 and the stator 94 interact. In this embodiment, the micro reducer 1 includes a housing 10, an input shaft 20, a rear end cover movable member 30, a rear bearing 40, a rear end cover fixing member 50, at least one first locking member 60, and at least one second locking member. Firmware 70 and gear set 80 . The outer appearance of the housing 10 is, for example, tubular, including a first end 11 , a second end 12 and an accommodation space 13 . The first end 11 and the second end 12 are arranged opposite to the housing 10 along an axial direction J, and the accommodating space 13 is connected between the first end 11 and the second end 12 . The rear end cover movable component 30 is embedded in the accommodation space 13 of the housing 10 , adjacent to the first end 11 , and abuts against the side edge of the rear end cover fixing component 50 . The rear bearing 40 is accommodated in the accommodation space 13, and the rear bearing 40, the rear end cover movable part 30 and the housing 10 are concentrically sleeved in a radial direction from the inside to the outside. The rear end cover fixing part 50 is disposed between the first end 11 of the housing 10 and the motor body 91 of the motor 9. The rear end cover movable part 30, the rear end cover fixing part 50 and the motor body 91 of the motor 9 are arranged along the axial direction J arranged, and the rear end cover fixing part 50 is disposed between the rear end cover movable part 30 and the motor body 91 . The rear end cover fixing member 50 includes a hollow portion 51 arranged along the axial direction. The first locking member 60 locks the rear end cover fixing member 50 and the motor body 91 of the motor 9 along the axial direction J, and the second locking member 70 locks the housing 10 and the rear end cover fixing member 50 along the radial direction. It should be noted that the rear end cover movable part 30 and the rear end cover fixed part 50 are arranged in space to cooperate with each other, providing a function similar to the end cover connected between the reducer and the motor in the conventional technology, but the two-piece type disclosed in this case The design can also achieve other functions, which will be detailed later. The gear set 80 is received in the accommodation space 13 and includes a first planetary support arm 81 and a first planetary gear 82 . The first planetary support arm 81 includes a first rear support arm 811 and a first front support arm 812. The first rear support arm 811 is connected between the rear bearing 40 and the input shaft 20. The first planetary gear 82 extends along the axial direction J Rotably disposed and supported between the first supporting rear arm 811 and the first supporting front arm 812 , the input shaft 20 is spatially arranged relative to the first planetary gear 82 . One end of the input shaft 20 passes through the first supporting rear arm 811 of the first planetary supporting arm 81 , the rear bearing 40 , and the hollow portion 51 of the rear end cover fixing member 50 along the axial direction J, and is concentrically connected to the motor output shaft 90 .

It is worth noting that in this embodiment, the assembly of the micro reducer 1 and the motor 9 is further realized by the combination of the rear end cover movable part 30 and the rear end cover fixed part 50, so that the micro reducer 1 and the motor 9 The assembly in the axial direction J is easier, and the rotation phase of the motor output shaft 90 can be positioned when the micro reducer 1 is assembled with the motor 9 . The structure of the rear end cover movable part 30 and the rear end cover fixed part 50 is simple and retains the functions of the original rear end cover. The rear bearing 40, the rear end cover movable part 30 and the housing 10 are arranged radially from the inside out. The rear end cover movable part 30 is concentrically arranged, and the rear end cover movable part 30 is in interference connection with the inner peripheral wall of the housing 10 . Therefore, the rear end cover movable part 30 further supports the housing 10 and maintains the roundness of the housing 10 . For the first planetary support arm 81 supported by the rear bearing 40, the annular rear end cover movable part 30 is easy to process, and is convenient for matching and assembling with the first planetary support arm 81. On the other hand, in this embodiment, the thickness of the rear end cover movable member 30 in the axial direction J is approximately equal to that of the rear bearing 40 . The rear end cover movable part 30, the rear end cover fixed part 50 and the motor body 91 of the motor 9 are arranged along the axial direction J, and are connected to the inner peripheral wall of the housing 10 through the interference of the rear end cover movable part 30, thereby avoiding the rear bearing 40 and the gear. Group 80 may have assembly contact problems in the axial direction J. Furthermore, through the use of the first locking member 60 and the second locking member 70, the motor body 91, the rear end cover fixing member 50, the housing 10, etc. are locked and fixed in the axial and radial directions respectively, thereby completing the micro reducer. 1 is assembled and fixed with the motor 9; the rear end cover fixing member 50 and the motor body 91 of the motor 9 are locked and fixed along the axial direction J through the first locking member 60, while the rear end cover fixing member 50 and the housing 10 are locked and fixed through the second locking member 60. The fasteners 70 are locked and fixed in the radial direction, which helps to reduce the difficulty of the overall assembly, and simultaneously realizes the concentric connection of the micro reducer 1 and the motor 9 in the axial direction J and the positioning of the rotation phase.

In this embodiment, the rear end cover fixing member 50 includes a fitting section 52 and a protruding section 55. The fitting section 52 is fitted from the first end 11 of the housing 10 into the accommodating space 13 of the housing 10. , so that the housing 10 covers the fitting section 52 . The protruding section 55 is connected to the fitting section 52 . When the housing 10 covers the fitting section 52 during the assembly process, the protruding section 55 is connected to the first end 11 of the housing 10 and forms a flat extended annular surface with the housing 10 . Of course, this case is not limited to this. In this embodiment, the rear end cover fixing member 50 includes at least one first locking hole 53 penetrating the rear end cover fixing member 50 along the axial direction J. In this embodiment, for example, three first locking holes 53 penetrate the rear end cover fixing member 50 along the axial direction J, and are provided at equal intervals around the hollow portion 51 . The three first locking holes 53 spatially correspond to the three second locking holes 92 on the flange 95 of the motor 9 . The three first locking parts 60 pass through the corresponding three first locking holes 50 and the three second locking holes 92 respectively, so that the rear end cover fixing part 50 is connected with the flange 95 of the motor 9, and the motor shaft is removed. 90 passes through the hollow portion 51 of the rear end cover fixing member 50 . In addition, in this embodiment, the housing 10 includes a first positioning hole 14 adjacent to the first end 11 and radially connected to the accommodating space 13 , and the rear end cover fixing member 50 includes a second positioning hole. 54, is provided in the fitting section 52 and is connected to the hollow portion 51 in the radial direction, wherein the second locking member 70 passes through the first positioning hole 14 and the second positioning hole 54 in the radial direction to lock the housing 10 and the rear end cover. The fixing member 50 also locates the rotation phase of the motor output shaft 90 . It should be noted that in other embodiments, the number of the first locking hole 53 , the second locking hole 92 , the first locking piece 60 , the first positioning hole 14 , the second positioning hole 54 and the second locking piece 70 It can be adjusted according to actual application requirements, and this case is not limited to this.

In this embodiment, the input shaft 20 includes a sleeve end 21 and an active end 22 opposite to each other, wherein the sleeve end 21 forms a concentric connection with the motor output shaft 50 . The input shaft 20 further includes a sun gear, which is arranged around the outer peripheral wall of the working end 22 and is spatially relative to the first planetary gear 82 . The sun gear is in contact with the inner end face of the first planetary gear 82 at the motor outlet. The shaft 90 drives the input shaft 20 to rotate and drives the first planetary gear 82 . In this embodiment, the housing 10 further includes a ring tooth 15 , which is ringed on the inner peripheral wall of the housing 10 and spatially arranged relative to the first planetary gear 82 . The ring tooth 15 is in contact with the outer end surface of the first planetary gear 82 docking. The micro-reducer 1 further includes a front end cover 16, which can be provided individually or integrally on the side edge of the second end 12 of the housing 10 to cover the accommodation space 13 from the second end 12 along the axial direction J. The micro reducer 1 further includes a front bearing 40a, which is arranged along the axial direction J and is arranged on the second end 12 of the housing 10 through the front end cover 16. In this embodiment, the micro-reducer 1 further includes an output shaft 83, which is disposed in the accommodation space 13 along the axial direction J. The output shaft 83 is connected to the input shaft 20 through the gear set 80, and is supported and disposed in the front bearing 40a. The second end 12 of the housing 10 . One end of the output shaft 83 is fixed to the other side of the first supporting forearm 812 supporting the first planetary gear 82 . Therefore, when the motor output shaft 90 of the motor 9 drives the input shaft 20 to rotate, the outer end surface of the first planetary teeth 82 remains in contact with the ring teeth 15 of the housing 10 , and the inner end surface of the first planetary teeth 82 remains in contact with the input shaft 20 The sun teeth of the active end 22 are in contact with each other, causing the first planetary teeth 82 to rotate around the input shaft 20 .

In this embodiment, the micro reducer 1 has a device outer diameter OD, an outer diameter of the housing 10 , an outer diameter of the rear end cover fixing member 50 or a motor outer diameter of the motor 9 are all Less than or equal to the device outer diameter OD. In this embodiment, the outer diameter of the housing 10 , the outer diameter of the rear end cover fixing member 50 or the outer diameter of the motor 9 are all smaller than the device outer diameter OD of the micro reducer 1 , so that It can ensure that the micro reducer 1 has a smaller volume after assembly. In this embodiment, when the micro reducer 1 and the motor 9 are assembled to form the reducer motor assembly structure 2, the first end 11 of the housing 10 is connected to the motor 9 through the protruding section 55 of the rear end cover fixing part 50. The orchid 95 and the motor body 91 form a flat cylindrical structure to facilitate further assembly and application of the reducer motor assembly structure 2 . Of course, the appearance of the reducer motor assembly structure 2 in this case is not limited to this.

Figures 7A to 7D further reveal that the micro reducer 1 and the motor 9 are assembled to form a reducer motor assembly structure 2. First, as shown in Figure 7A, the front bearing 40a, the output shaft 83, the first supporting front arm 812, the first planetary gear 82, the first supporting rear arm 811 and the rear bearing 40 of the micro reducer 1 are placed in the housing in sequence. After the accommodation space 13 of 10 is provided, the internal parts of the micro reducer 1 are fixed in the housing 10 by tightly fitting the rear end cover movable member 30 with the inner peripheral wall of the housing 10 to form an interference connection. In this embodiment, the three first planetary gears 82 are respectively disposed between the first supporting rear arm 811 and the first supporting front arm 812 through the pivot shaft 813, so that each first planetary gear 82 is rotatable along the axial direction J. is disposed and supported between the first supporting rear arm 811 and the first supporting front arm 812, and the outer end surface of each planetary gear 82 is butted with the ring teeth 15 of the housing 10. In other embodiments, the number of the first planetary gears 82 can be adjusted according to actual application requirements, and this case is not limited thereto. In this embodiment, the rear bearing 40 includes an inner ring 41 and an outer ring 42. The rear end cover movable part 30 is (loosely fitted) sleeved on the outer ring 42, and the inner ring 41 (tightly fitted) is sleeved on the outer ring 42. The first support is on the fitting portion 814 of the rear arm 811 . Through the arrangement of the rear end cover movable part 30, the risk of the rear bearing 40 and the gear set 80 coming into contact with the rear end cover fixing part 50 or the housing 10 during the subsequent assembly process is avoided. In addition, as shown in FIG. 7B , the sleeve end 21 of the input shaft 20 is concentrically connected to the motor output shaft 90 by, for example, a thermal sleeve method. The protruding section 55 of the rear end cover fixing member 50 is connected to the flange 95 of the motor 9, and the three first locking holes 53 are aligned with the three second locking holes 92 on the flange 95. The fasteners 60 pass through the three first locking holes 50 and the three second locking holes 92 respectively, so that the rear end cover fixing member 50 is docked with the flange 95 of the motor 9 and is concentrically connected to the input shaft of the motor output shaft 90 20 further penetrates the hollow portion 51 of the rear end cover fixing member 50 so that the sun teeth on the active end 22 of the input shaft 20 are exposed. Then, as shown in FIG. 7C , the sun gear on the working end 22 of the input shaft 20 is aligned to the inner end surface of the first planetary gear 82 through the rear bearing 40 and the first supporting rear arm 811 , and the rear end cover fixing member 50 The fitting section 52 is inserted into the accommodating space 13 from the first end 11 of the housing 10 and is connected to the rear end cover movable member 30 . After the housing 10 covers the fitting section 52 of the rear end cover fixing part 50, the three first positioning holes 14 of the housing 10 can be respectively aligned with the three third positioning holes 14 on the fitting section 52 of the rear end cover fixing part 50. Two positioning holes 54, as shown in Figure 7D. At this time, the three second locking members 70 can radially pass through the first positioning hole 14 and the second positioning hole 54 to lock the housing 10 and the rear end cover fixing member 50 and position the rotation phase of the motor output shaft 90 .

In this embodiment, the micro reducer 1 further includes an additional positioning member 17 , such as a wire insertion hole, which is provided at the second end 12 or the front end cover 16 of the housing 10 and is aligned with the second locking member 70 It passes through the first positioning hole 14 and the second positioning hole 54 . Since the additional positioning member 17 and the first positioning hole 14 are both provided in the housing 10, and the first positioning hole 14 is connected to the corresponding second positioning hole 54, when the second locking member 70 radially passes through the first positioning hole 14 and When the second positioning hole 54 locks the motor 9 connected to the housing 10 and the rear end cover fixing part 50, the rotation phase of the additional positioning part 17 and the motor output shaft 90 can be positioned. In this embodiment, the motor 9 further includes an outlet end 97. When the second locking member 70 radially passes through the first positioning hole 14 and the second positioning hole 54, the housing 10 and the rear end cover fixing member 50 are locked. When the motor 9 is connected, the outlet end 97 of the motor 9 can be aligned with the additional positioning member 17 on the micro reducer 1, and a ground wire (not shown) of the motor 9 is led out from the outlet end 97 and electrically connected to the additional positioning member 17. The positioning member 17 forms a ground connection and positions the rotation phase of the motor output shaft, thereby establishing the shortest distance connection. Of course, this case is not limited to this.

Figures 8 to 12 illustrate the micro-reducer of the second embodiment of the present invention. In this embodiment, the micro reducer 1a, the reducer motor assembly structure 2a and the motor 9 are similar to the micro reducer 1, the reducer motor assembly structure 2 and the motor 9 shown in Figures 1 to 5, and the same Component numbers represent the same components, structures and functions, and will not be described again here. In this embodiment, in order to achieve a higher reduction ratio, the micro reducer 1a has a two-stage reduction design in the gear set 80a, which includes a first planetary support arm 81, at least one first planetary gear 82, a second sun gear 84, The second planet support arm 85 and at least one second planet gear 86 are arranged along the axial direction J. The first planetary gear 82 is rotatably disposed and supported along the axial direction J between the first supporting rear arm 811 and the first supporting front arm 812 . The second planet support arm 85 includes a second support rear arm 851 and a second support front arm 852. The second planet gear 86 is rotatably disposed and supported along the axial direction J on the second support rear arm 851 and the second support front arm 852. Between them, the second sun gear 84 is spatially relative to the second planetary gear 86. One end of the second sun gear 84 passes through the second supporting rear arm 851 and is fixed to the other end of the first supporting front arm 812 supporting the first planetary gear 82. On one side, the other end of the second sun gear 84 is connected to the second supporting forearm 852 through a third bearing 40b. The second sun gear 84 is docked with the second planetary gear 86. One end of the output shaft 83 is fixed to the second supporting forearm 852. The other side of the second planet gear 86 is supported. During assembly, the front bearing 40a of the micro reducer 1a, the output shaft 83, the second supporting front arm 852, the third bearing 40b, the second planetary gear 86, the second supporting rear arm 851, the second sun gear 84, and the first supporting After the front arm 812, the first planetary gear 82, the first supporting rear arm 811 and the rear bearing 40 are placed in the accommodating space 13 of the housing 10 in sequence, the rear end cover movable part 30 is closely matched with the inner peripheral wall of the housing 10 to form Interference connection fixes the internal parts of the micro reducer 1a in the housing 10. Through the arrangement of the rear end cover movable part 30, the risk of the rear bearing 40 and the gear set 80a coming into contact with the rear end cover fixing part 50 during the subsequent assembly process is avoided. Thereafter, the rear end cover fixing member 50 and the motor body 91 of the motor 9 are locked and fixed in the axial direction J through the first locking member 60 , while the rear end cover fixing member 50 and the housing 10 are locked in the radial direction through the second locking member 70 After being fixed, the reducer motor assembly structure 2a can be completed, and at the same time, the concentric connection of the micro reducer 1a and the motor 9 in the axial direction J and the positioning of the rotation phase can be achieved. In other embodiments, the gear set 80a further adopts a multi-stage reduction design, but does not affect the operation of the micro-reducer 1a being connected to the motor 9 through the rear end cover movable part 30 and the rear end cover fixed part 50. This case is not limited to this and will not be described again.

To sum up, this project provides a micro reducer. Through the combination of the rear end cover movable part and the rear end cover fixed part, it is easier to assemble the micro reducer and the motor in the axial direction and position the micro reducer. The rotation phase of the motor output shaft. The structure of the rear end cover movable part and the rear end cover fixed part structure is simple and retains the original functions. The rear bearing, the rear end cover movable part and the ring tooth thin shell are concentrically nested from the inside out in the radial direction, and the rear end cover is movable. The interference ring tooth thin shell provides supporting thin shell and rounding effect. Furthermore, for the planetary support arm supported by the rear bearing, the movable part of the rear end cover is easy to process and easy to assemble. On the other hand, the rear end cover movable part, the rear end cover fixed part and the motor body are arranged in the axial direction. By interfering with the ring tooth thin shell through the rear end cover movable part, the problem of axial contact of the reducer parts is avoided. Furthermore, the rear end cover fixing piece and the motor body are locked and fixed in the axial direction, while the rear end cover fixing piece and the ring tooth thin shell are locked and fixed in the radial direction, which helps to reduce the difficulty of the overall assembly and achieves miniaturization at the same time. The concentric connection of the reducer and the motor in the axial direction and the positioning of the rotation phase.

This case can be modified in various ways as desired by those who are familiar with this technology, but none of them deviate from the intended protection within the scope of the patent application.

1. 1a: Micro reducer

10: Shell

11:First end

12:Second end

13: Accommodation space

14: First positioning hole

15: ring teeth

16:Front cover

17: Additional positioning parts

20:Input shaft

21: Socket end

22: Action end

30: Rear end cover movable parts

40:Rear bearing

41:Inner ring

42:Outer ring

40a:Front bearing

40b:Third bearing

50: Rear end cover fixing piece

51: Hollow part

52: Fit section

53:First locking hole

54:Second positioning hole

55:Protruding section

60:First lock firmware

70:Second lock firmware

80, 80a: gear set

81:First planetary support arm

811:First support rear arm

812: First support forearm

813: Pivot shaft

814: Fitting Department

82:First planetary gear

83:Output shaft

84: Second sun tooth

85:Second planet support arm

851: Second support rear arm

852: Second support forearm

86: Second planetary gear

2. 2a: Reducer motor assembly structure

9: Motor

90:Motor shaft output

91:Motor body

92:Second locking hole

93:Rotor

94:Stator

95:Flange

96:Motor bearing

97: Outgoing terminal

AA, BB, CC, DD: line segments

J: Axial

OD: device outer diameter

Figure 1 shows a cutaway view of the micro-reducer and the corresponding motor according to the first embodiment of the present invention. Figure 2 is a cross-sectional view showing the assembly of the micro-reducer and the motor according to the first embodiment of the present invention. Figure 3 is a three-dimensional view showing the combination of the micro-reducer and the motor according to the first embodiment of the present invention. Figure 4 shows a cross-sectional view taken along line AA in Figure 3. Figure 5 shows a cross-sectional view taken along line BB in Figure 3. Figure 6 is a perspective view of the rear end cover fixing member in the first embodiment of the present invention. Figures 7A to 7D are schematic diagrams showing the process of assembling the micro-reducer and the motor according to the first embodiment of the present invention. Figure 8 is a cross-sectional view showing the micro-reducer and the corresponding motor according to the second embodiment of the present invention. Figure 9 is a cross-sectional view showing the assembly of the micro-reducer and the motor according to the second embodiment of the present invention. Figure 10 is a three-dimensional view showing the assembly of the micro-reducer and the motor according to the second embodiment of the present invention. Figure 11 shows a cross-sectional view taken along line CC in Figure 10 . Figure 12 shows a cross-sectional view taken along line DD in Figure 10 .

1:Micro reducer

10: Shell

11:First end

12:Second end

13: Accommodation space

14: First positioning hole

15: ring teeth

16:Front cover

20:Input shaft

21: Socket end

22: Action end

30: Rear end cover movable parts

40:Rear bearing

40a:Front bearing

50: Rear end cover fixing piece

51: Hollow part

52: Fit section

53:First locking hole

54:Second positioning hole

60:First lock firmware

70:Second lock firmware

80:Gear set

81:First planetary support arm

811:First support rear arm

812: First support forearm

814: Fitting Department

82:First planetary gear

83:Output shaft

2: Reducer motor assembly structure

9: Motor

90:Motor shaft output

91:Motor body

92:Second locking hole

93:Rotor

94:Stator

95:Flange

96:Motor bearing

J: Axial

Claims (10)

A micro reducer, used to connect to a motor output shaft of a motor, and includes: a housing including a first end, a second end and an accommodation space, the first end and the second end are along An axially opposite arrangement, and the accommodating space is connected between the first end and the second end; an input shaft; a rear end cover movable part embedded in the accommodating space; a rear bearing, accommodating in the accommodating space, and is sleeved concentrically with the input shaft, the rear end cover movable member and the housing in a radial direction from the inside out adjacent to the first end to support the input shaft; a rear The end cover fixing member is disposed between the first end and a motor body of the motor, is arranged along the axial direction with the rear end cover movable member and the motor body, and includes a hollow portion disposed along the axial direction; at least A first locking member locks the rear end cover fixing member and the motor body along the axial direction; at least a second locking member locks the housing and the rear end cover fixing member along the radial direction; and a gear The group is accommodated in the accommodation space and includes a first planetary support arm and at least a first planetary gear, wherein the first planetary support arm includes a first rear support arm and a first front support arm, the first The support rear arm is connected between the rear bearing and the input shaft. The first planetary gear is rotatably arranged along the axial direction and supported between the first support rear arm and the first support front arm. The input shaft is at Spatially arranged relative to the first planetary gear; wherein the input shaft penetrates the first supporting rear arm, the rear bearing, and the hollow portion along the axial direction, and is concentrically connected to the motor output shaft. The micro reducer as claimed in claim 1 has a device outer diameter, wherein a housing outer diameter of the housing, an outer diameter of the rear end cover fixing member or a motor outer diameter of the motor Less than or equal to the outer diameter of the device. The micro reducer of claim 1, wherein the rear bearing includes an inner ring and an outer ring, the rear end cover movable member is sleeved on the outer ring, and the inner ring is sleeved on the first supporting rear arm. of a set of joints. The micro reducer as claimed in claim 1, wherein the rear end cover fixing member includes a fitting section that is fitted into the accommodating space from the first end, and the housing includes a first positioning hole adjacent to Provided at the first end and connected to the accommodation space along the radial direction, the rear end cover fixing member includes a second positioning hole provided at the fitting section and connected to the hollow portion along the radial direction, wherein the At least one second locking member passes through the first positioning hole and the second positioning hole along the radial direction to lock the housing and the rear end cover fixing member and position the rotation phase of the motor output shaft. The micro-reducer of claim 1, wherein the first planetary support arm supports the first planetary gear, the first support rear arm has a fitting portion, the rear bearing is provided on the fitting portion, and the The input shaft passes through the fitting portion and the hollow portion to assemble and drive the first planetary gear. The micro-reducer as claimed in claim 1, wherein the input shaft includes an active end and a sun gear ring disposed on the outer peripheral wall of the active end, and the sun gear is spatially relative to the first planet gear to drive the first planetary gear. First planetary gear. The micro speed reducer of claim 1, wherein the housing further includes a ring tooth, which is annularly provided on the inner peripheral wall of the housing and is in contact with the outer end face of the first planetary gear. The micro-reducer of claim 1 further includes a front end cover and a front bearing. The front end cover is disposed at the second end to cover the accommodation space. The front bearing is disposed along the axial direction and passes through the front end. The cover is disposed on the second end. The micro-reducer of claim 8 further includes an output shaft, which is disposed in the accommodation space along the axial direction, connected to the input shaft through the gear set, and supported on the second end through the front bearing. The micro-reducer of claim 9, wherein one end of the output shaft is fixed to the other side of the first supporting forearm supporting the first planetary gear.