阅读说明：本技术 蜗轮蜗杆传动机构、蜗轮蜗杆减速器和减速电机 (Worm gear and worm transmission mechanism, worm gear and worm reducer and speed reducing motor ) 是由 冯云和 于 2020-05-25 设计创作，主要内容包括：本发明涉及减速器领域,公开了一种蜗轮蜗杆传动结构、蜗轮蜗杆减速器和减速电机。其中,所述蜗轮蜗杆传动结构包括蜗杆和蜗轮组件；所述蜗轮组件包括蜗轮轴、套设在所述蜗轮轴上的蜗轮和齿轮以及用于延迟所述蜗轮和所述齿轮啮合的啮合延迟机构。通过上述技术方案,基于啮合延迟机构的设置,使得所述蜗杆在带动所述蜗轮后,蜗轮不会立刻带动齿轮转动,蜗轮与齿轮之间的运动存在一定的时间差,利用这个时间差,能够提高蜗轮的角动量,角动量能够转化为作用于齿轮的冲量,从而达到克服系统中的最大静摩擦力的目的,克服减速电机的启动困难的问题。(The invention relates to the field of speed reducers and discloses a worm gear transmission structure, a worm gear speed reducer and a speed reducing motor. The worm and gear transmission structure comprises a worm and a worm gear assembly; the worm gear component comprises a worm gear shaft, a worm gear and a gear which are sleeved on the worm gear shaft, and a meshing delay mechanism for delaying meshing of the worm gear and the gear. Through the technical scheme, the worm drives the worm wheel, the worm wheel cannot drive the gear to rotate immediately after the worm is driven by the meshing delay mechanism, a certain time difference exists in the movement between the worm wheel and the gear, the angular momentum of the worm wheel can be improved by the aid of the time difference, and the angular momentum can be converted into the momentum acting on the gear, so that the purpose of overcoming the maximum static friction force in a system is achieved, and the problem of difficulty in starting the speed reduction motor is solved.)

1. A worm gear transmission structure is characterized by comprising a worm (10) and a worm gear assembly; the worm gear assembly comprises a worm gear shaft (21), a worm gear (22) and a gear (23) which are sleeved on the worm gear shaft (21), and a meshing delaying mechanism for delaying meshing of the worm gear (22) and the gear (23).

2. The worm-gear drive structure according to claim 1, characterized in that the engagement delay mechanism is configured to engage with the gear (23) after the worm wheel (22) idles for an angle a to rotate the gear (23).

3. The worm-gear drive structure according to claim 2, characterized in that the meshing delay mechanism includes a first gear tooth (221) provided on an end surface of one side of the worm wheel (22) and a second gear tooth (241) provided on an end surface of the gear (23) opposite to the worm wheel (22);

the first gear tooth (221) is capable of meshing with the second gear tooth (241);

the first gear teeth (221) are located on the motion track of the second gear teeth (241).

4. The worm-and-gear drive as claimed in claim 3, characterized in that the movement path is arranged as an arc of a circle.

5. The worm-gear drive according to claim 3, characterized in that the meshing delay mechanism further comprises a disc (24) for carrying the second gear teeth (241); the second gear teeth (241) are disposed on a circumferential sidewall of the disk (24).

6. The worm-gear transmission structure according to claim 3, wherein one side end surface of the worm wheel (22) is provided with a circular groove (222), and the first gear teeth (221) are arranged in the circular groove (222) and fixedly connected to the side wall of the circular groove (222); the second gear teeth (241) partially extend into the circular groove (222).

7. The worm-gear drive according to claim 6, characterized in that the first gear tooth (221) is provided with clearance from the bottom wall of the circular groove (222).

8. The worm-gear drive according to any one of claims 3 to 7, characterized in that the first gear teeth (221) are provided in two, and the two first gear teeth (221) are rotationally symmetrical about the axis of the worm wheel (22); the number of the second gear teeth (241) is two, and the two second gear teeth (241) are rotationally symmetrical around the axis of the gear (23).

9. The worm-and-gear transmission according to any of the claims 1 to 7, characterized in that one end of the worm (10) is provided with a first claw disk (40) coaxial with the worm (10), and the side of the first claw disk (40) facing away from the worm (10) is provided with a first tooth claw (41); the worm and gear transmission structure further comprises a transmission assembly (50) used for driving the worm (10) to rotate, wherein the transmission assembly (50) is coaxially arranged with the first claw disc (40) and is matched with the first claw (41) to form a gap with the first claw (41) in the circumferential direction of the first claw disc (40).

10. The worm-and-gear transmission arrangement according to claim 9, characterized in that the transmission assembly (50) comprises a second jaw disc (51) and a transmission jaw disc (52) arranged coaxially, the transmission jaw disc (52) being sandwiched between the first jaw disc (40) and the second jaw disc (51).

11. The worm and gear transmission structure according to claim 10, characterized in that a second claw (511) is arranged on one side of the second claw disc (51) close to the driving claw disc (52), the driving claw disc (52) comprises a third claw disc (521) and a fourth claw disc (522) which are coaxially arranged, the third claw disc (521) is arranged close to the first claw disc (40) and is provided with a third claw (5211) on one side close to the first claw disc (40), and a fourth claw (5221) is arranged on one side of the fourth claw disc (522) away from the third claw disc (521); the third claw (5211) is fitted to the first claw (41) and forms a gap in the circumferential direction of the first claw disk (40); the fourth claw (5221) is fitted to the second claw (511) and forms a gap in the circumferential direction of the second claw disk (51).

12. The worm-and-gear transmission according to claim 11, characterized in that a side of the third pawl disk (521) facing away from the third pawl (5211) is fixedly connected with a side of the fourth pawl disk (522) facing away from the fourth pawl (5221).

13. The worm-and-gear transmission according to claim 11, characterized in that the first claw (41), the second claw (511), the third claw (5211) and the fourth claw (5221) are fixed to the edges of the first claw disk (40), the second claw disk (51), the third claw disk (521) and the fourth claw disk (522), respectively.

14. The worm-gear transmission according to claim 11, characterized in that the worm-gear reducer includes a plurality of the first claws (41), a plurality of the second claws (511), a plurality of the third claws (5211), and a plurality of the fourth claws (5221) arranged at intervals in the circumferential direction of the worm (10).

15. The worm-gear drive according to claim 14, characterized in that the first pawl (41), the second pawl (511), the third pawl (5211) and the fourth pawl (5221) are each sector-ring shaped in cross section;

the sum of the angles of the sector ring of each of the first, second, third and fourth pawls (41, 511, 5211, 5221) is less than 150 degrees;

the first claw disk (40), the second claw disk (51) and the transmission claw disk (52) are further provided with spindle holes, and the diameter of each spindle hole in the second claw disk (51) is smaller than that of each spindle hole in the first claw disk (40) and the transmission claw disk (52).

16. A worm gear reducer, characterized in that the worm gear reducer comprises a reducer case (30) and a worm gear transmission structure of any one of claims 1-7, 10-15;

the worm wheel (22) is in bearing connection with the worm wheel shaft (21); the gear (23) is fixedly sleeved on the worm wheel shaft (21), and two ends of the worm wheel shaft (21) are in bearing connection with the reducer box body (30).

17. A geared motor, comprising a motor, a controller, the worm gear reducer of claim 16; the controller is electrically connected with the motor and is used for controlling the rotation direction and the rotation time of the motor.

Technical Field

The invention relates to the field of speed reducers, in particular to a worm and gear transmission structure, a worm and gear speed reducer and a speed reducing motor.

Background

The worm and gear reducer drives the worm wheel to rotate by utilizing the rotation of the worm, so that the effects of reducing the rotating speed and increasing the torque are achieved, and the worm and gear reducer plays a role in matching the rotating speed and transmitting the torque between the prime motor and the working machine or the actuating mechanism. The speed reducing motor is an aggregate of a speed reducer and a motor, a main shaft of the motor is directly connected with the speed reducer, and the rotating speed is output through an output shaft of the speed reducer.

The static friction force and the load torque in the system need to be overcome when the speed reducing motor is started, and the static friction force is larger than the dynamic friction force, and the load torque is kept unchanged, so that when the load torque is larger, the main shaft of the speed reducing motor cannot overcome the maximum static friction when being started, and the problem that the main shaft cannot rotate occurs. The difficulty in starting the speed reducing motor is a problem to be solved urgently at present.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a worm gear transmission structure to solve the problem that a speed reducing motor is difficult to start.

In order to achieve the above object, a first aspect of the present invention provides a worm gear transmission structure including a worm and a worm wheel assembly; the worm gear component comprises a worm gear shaft, a worm gear and a gear which are sleeved on the worm gear shaft, and a meshing delay mechanism for delaying meshing of the worm gear and the gear.

Through the technical scheme, the worm is directly meshed with the worm wheel, and the worm can drive the worm wheel to rotate after the driving motor drives the worm. Based on the setting of the meshing delay mechanism, the worm wheel does not immediately mesh with the gear to rotate the gear. Because there is a certain time difference in the movement between the worm wheel and the gear wheel. In short, the worm gear rotates for a period of time before engaging the gear. The time difference is utilized to improve the angular momentum of the worm wheel, and the angular momentum can be converted into the impulse acting on the gear, so that the aim of overcoming the maximum static friction force in the system is achieved, and the problem of difficulty in starting the speed reducing motor is solved.

Further, the meshing delay mechanism is used for meshing with the gear after the worm wheel idles for an angle a to drive the gear to rotate.

Further, the meshing delay mechanism comprises a first gear tooth arranged on one side end face of the worm wheel and a second gear tooth arranged on the end face of the gear opposite to the worm wheel;

the first gear teeth are capable of meshing with the second gear teeth;

the first gear teeth are positioned on the motion trail of the second gear teeth.

Further, the motion trail is set to be a circular arc.

Further, the meshing delay mechanism further comprises a wheel disc for carrying the second gear teeth; the second gear teeth are disposed on a circumferential side wall of the wheel disc.

Furthermore, a circular groove is formed in one side end face of the worm wheel, and the first gear teeth are arranged in the circular groove and fixedly connected to the side wall of the circular groove; the second gear tooth portion extends into the circular groove.

Further, a gap is formed between the first gear tooth and the bottom wall of the circular groove.

Further, the number of the first gear teeth is two, and the two first gear teeth are rotationally symmetrical around the axis of the worm wheel; the number of the second gear teeth is two, and the two second gear teeth are rotationally symmetrical by taking the axis of the gear as a center.

Furthermore, one end of the worm is provided with a first claw disc which is coaxial with the worm, and one side of the first claw disc, which is far away from the worm, is provided with a first tooth claw; the worm and gear transmission structure further comprises a transmission assembly used for driving the worm to rotate, the transmission assembly is coaxially arranged with the first claw disc and matched with the first claw so as to form a gap with the first claw in the circumferential direction of the first claw disc.

Further, the transmission assembly comprises a second claw disc and a transmission claw disc which are coaxially arranged, and the transmission claw disc is clamped between the first claw disc and the second claw disc.

Furthermore, a second toothed claw is arranged on one side, close to the transmission claw disc, of the second claw disc, the transmission claw disc comprises a third claw disc and a fourth claw disc which are coaxially arranged, the third claw disc is arranged close to the first claw disc, a third toothed claw is arranged on one side, close to the first claw disc, of the third claw disc, and a fourth toothed claw is arranged on one side, away from the third claw disc, of the fourth claw disc; the third claw and the first claw are mutually matched and form a gap in the circumferential direction of the first claw disk; the fourth pawl and the second pawl are fitted to each other and form a gap in the circumferential direction of the second pawl plate.

Furthermore, one side of the third claw disk, which is far away from the third claw, is fixedly connected with one side of the fourth claw disk, which is far away from the fourth claw.

Further, the first claw, the second claw, the third claw and the fourth claw are fixed to edges of the first claw disc, the second claw disc, the third claw disc and the fourth claw disc, respectively.

Further, the worm gear reducer comprises a plurality of first claws, a plurality of second claws, a plurality of third claws and a plurality of fourth claws arranged at intervals in the circumferential direction of the worm.

Further, the cross sections of the first claw, the second claw, the third claw and the fourth claw are all fan-shaped rings;

the sum of the angles of the sector ring of each of the first, second, third and fourth pawls is less than 150 degrees;

the first claw disc, the second claw disc and the transmission claw disc are further provided with spindle holes, and the diameter of each spindle hole in the second claw disc is smaller than that of each spindle hole in the first claw disc and the transmission claw disc.

The invention provides a worm gear reducer, which comprises a reducer box body and a worm gear transmission structure;

the worm wheel is connected with the worm wheel shaft bearing; the gear is fixedly sleeved on the worm wheel shaft, and two ends of the worm wheel shaft are connected with the reducer box body bearing.

Therefore, the worm is directly meshed with the worm wheel, and the worm can drive the worm wheel to rotate after the driving motor drives the worm. Based on the setting of the meshing delay mechanism, the worm wheel does not immediately mesh with the gear to rotate the gear. Because there is a certain time difference in the movement between the worm wheel and the gear wheel. In short, the worm gear rotates for a period of time before engaging the gear. The time difference is utilized to improve the angular momentum of the worm wheel, and the angular momentum can be converted into the impulse acting on the gear, so that the aim of overcoming the maximum static friction force in the system is achieved, and the problem of difficulty in starting the speed reducing motor is solved.

The invention provides a speed reducing motor in a third aspect, which comprises a motor, a controller and the worm and gear speed reducer; the controller is electrically connected with the motor and is used for controlling the rotation direction and the rotation time of the motor.

Thus, since the worm is directly engaged with the worm wheel, the worm can drive the worm wheel to rotate after the driving motor drives the worm. Based on the setting of the meshing delay mechanism, the worm wheel does not immediately mesh with the gear to rotate the gear. Because there is a certain time difference in the movement between the worm wheel and the gear wheel. In short, the worm gear rotates for a period of time before engaging the gear. The time difference is utilized to improve the angular momentum of the worm wheel, and the angular momentum can be converted into the impulse acting on the gear, so that the aim of overcoming the maximum static friction force in the system is achieved, and the problem of difficulty in starting the speed reducing motor is solved.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

FIG. 1 is a schematic structural view of one embodiment of a worm gear drive configuration of the present invention;

FIG. 2 is a schematic structural view of one embodiment of an assembled relationship of a worm gear and a first gear tooth;

FIG. 3 is a schematic structural view of one embodiment of a gear in assembled relationship with a second gear tooth;

FIG. 4 is a schematic structural view of one embodiment of an assembled relationship of a wheel disc and a second gear tooth;

FIG. 5 is a schematic diagram of a worm gear reducer according to an embodiment of the present invention;

FIG. 6 is an exploded view of the worm and drive assembly;

FIG. 7 is a schematic structural view of one embodiment of a driving pawl disk according to the present invention;

FIG. 8 is a schematic structural view of one embodiment of a second claw disk according to the present invention.

Description of the reference numerals

Worm shaft of 10 worm 21

22 worm wheel 23 gear

24 disc 221 first tooth

222 circular groove 241 second gear tooth

30 first tooth claw of reducer case 41

52 drive pawl 50 drive assembly

40 first jaw plate 522 fourth jaw plate

521 second pawl plate 5221 fourth pawl

5211 third claw

Detailed Description

The following describes in detail specific embodiments of the present invention. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

In the present invention, the use of the terms of orientation such as "upper and lower" in the case where no description is made to the contrary generally means the orientation in the assembled and used state. "inner and outer" refer to the inner and outer contours of the respective component itself.

The present invention provides a first aspect of a worm gear drive structure, as shown in fig. 1, including a worm 10 and a worm wheel assembly; the worm gear assembly comprises a worm gear shaft 21, a worm gear 22 and a gear 23 which are sleeved on the worm gear shaft 21, and a meshing delay mechanism for delaying meshing of the worm gear 22 and the gear 23.

Since the worm 10 is directly engaged with the worm wheel 22, after the driving motor drives the worm 10, the worm 10 drives the worm wheel 22 to rotate. Based on the setting of the mesh delay mechanism, the worm wheel 22 does not immediately mesh with the gear 23 to rotate the gear 23. Because there is a certain time difference in the movement between the worm wheel 22 and the gear wheel 23. In short, the worm wheel 22 rotates for a certain period of time before it engages the gear wheel 23. It is this time difference that is utilized to increase the angular momentum of the worm wheel 22, and the angular momentum can be converted into the impulse acting on the gear 23, so as to overcome the maximum static friction force in the system and solve the problem of difficult starting of the speed reducing motor.

As shown in fig. 2 to 4, the engagement delay mechanism includes a first gear tooth 221 provided on an end surface of one side of the worm wheel 22 and a second gear tooth 241 provided on an end surface of the gear 23 opposite to the worm wheel 22; said first gear tooth 221 is capable of meshing with said second gear tooth 241; the first gear tooth 221 is located on the motion track of the second gear tooth 241. Preferably, the motion trajectory is set to be a circular arc.

In the above, the "time difference" may be specifically realized by engaging with the gear 23 after the worm wheel 22 idles at an angle a. In other words, the time required for the worm wheel 22 to idle at the angle a is the "time difference". The length of this "time difference" depends on two factors. One of which depends on the speed of rotation of the worm gear 22. Secondly, the rotational path to the second tooth 241 is determined by the rotation of the first tooth 221.

The term "idle" means that the worm wheel 22 is operated in a zero load state.

It should be noted that the first gear tooth 221 and the second gear tooth 241 may be respectively provided in one, two or more. In the embodiment where two first gear teeth 221 and two second gear teeth 241 are provided, the first gear teeth 221 and the second gear teeth 241 are arranged crosswise, i.e. one said second gear tooth 241 is provided between two said first gear teeth 221. In contrast, one first gear tooth 221 is disposed between two second gear teeth 241.

In a preferred embodiment, the number of the first gear teeth 221 is two, and the two first gear teeth 221 are rotationally symmetrical around the axis of the worm wheel 22; the number of the second gear teeth 241 is two, and the two second gear teeth 241 are rotationally symmetrical around the axis of the gear 23. Further, the first gear teeth 221 and the second gear teeth 241 are provided in a fan shape. The first gear tooth 221 rotates from one second gear tooth 241 to contact with the other second gear tooth 241, and the rotation angle is preferably set to about 150 °.

Further, the meshing delay mechanism further includes a disc 24 for carrying the second gear tooth 241; the second gear teeth 241 are disposed on a circumferential sidewall of the disk 24. Preferably, the second gear tooth 241 is generated by extending the wheel disc 24 outward, and it can be understood that the second gear tooth 241 is integrally formed with the wheel disc 24, so that the second gear tooth 241 is more firmly connected with the wheel disc 24, and the service life is prolonged.

Further, a circular groove 222 is formed in one side end surface of the worm wheel 22, and the first gear tooth 221 is disposed in the circular groove 222 and fixedly connected to a side wall of the circular groove 222; the second gear teeth 241 partially extend into the circular groove 222. Also, preferably, the first gear teeth 221 are formed by extending the worm wheel 22 inward, and it is understood that the first gear teeth 221 and the worm wheel 22 are integrally formed, so that the first gear teeth 221 and the worm wheel 22 can be more firmly connected, and the service life can be prolonged.

In order to reduce the friction between the first gear tooth 221 and the circular groove 222. A gap is provided between the first gear tooth 221 and the bottom wall of the circular groove 222. I.e. the first gear tooth 221 is not in contact with the bottom wall of said circular groove 222.

The worm wheel 22 and the worm wheel shaft 21 are rotatably connected, i.e. the worm wheel 22 is rotatable around the axis of the worm wheel shaft 21. The gear 23 may be rotatably connected to the worm gear shaft 21, or may be fixedly sleeved on the worm gear shaft 21. If the gear 23 is arranged to be rotatably connected to the worm wheel shaft 21, the worm wheel shaft 21 should be arranged to be stationary, for example the worm wheel shaft 21 may be fixedly connected to the gear housing. If the gear 23 is arranged to be fixedly attached to the worm wheel shaft 21, i.e. the gear 23 is not rotatable relative to the worm wheel shaft 21, the worm wheel shaft 21 may not be arranged to be fixed, e.g. both ends of the worm wheel shaft 21 may be arranged to be in bearing connection with a reducer housing.

On the basis of the above technical solution, as shown in fig. 6, a first claw disk 40 coaxial with the worm 10 may be further disposed at one end of the worm 10, and a first tooth claw 41 is disposed on a side of the first claw disk 40 facing away from the worm 10; the worm and gear transmission structure further comprises a transmission assembly 50 for driving the worm 10 to rotate, wherein the transmission assembly 50 is coaxially arranged with the first claw disk 40 and is matched with the first claw 41 to form a gap with the first claw 41 in the circumferential direction of the first claw disk 40. In this way, based on the fact that the transmission assembly 50 is coaxially arranged with the first claw 41 and is matched with the first claw 41 to form a gap in the circumferential direction of the first claw disk 40, a time difference exists between the movement of the transmission assembly 50 and the movement of the first claw disk 40, and by utilizing the time difference, the angular momentum of the transmission assembly 50 can be increased, and the angular momentum of the transmission assembly 50 can be converted into an impulse acting on the worm 10, so that the purpose of overcoming the maximum static friction force in the system is achieved, and the speed reduction motor is easy to start.

Specifically, by providing the first claw disk 40 at one end of the worm 10, the transmission assembly 50 drives the first claw disk 40 to rotate, and since there is a circumferential gap between the first tooth claw 41 and the transmission assembly 50, the transmission assembly 50 rotates first without driving the first claw disk 40 to rotate, when the transmission assembly 40 collides with the first claw disk 40, the angular momentum of the transmission assembly 50 is converted into an impulse acting on the worm 10, and the transmission assembly 50 drives the first claw disk 40 to rotate continuously, so as to start the speed reduction motor.

In order to further increase the value of the impulse acting on the worm 10, the transmission assembly 50 comprises a second jaw disc 51 and a transmission jaw disc 52 which are coaxially arranged, and the transmission jaw disc 52 is clamped between the first jaw disc 40 and the second jaw disc 51. By providing the transmission pawl plate 52, the relative rotation angle between the second pawl plate 51 and the first pawl plate 40 can be increased, so that the angular momentum of the transmission assembly 50 is increased, and the momentum acting on the worm 10 when the transmission assembly 50 impacts the worm 10 is increased.

As shown in fig. 6, a second tooth claw 511 is disposed on a side of the second claw disc 51 close to the driving claw disc 52, the driving claw disc 52 includes a third claw disc 521 and a fourth claw disc 522 which are coaxially disposed, the third claw disc 521 is disposed close to the first claw disc 40 and is provided with a third tooth claw 5211 on a side thereof close to the first claw disc 40, and a fourth tooth claw 5221 is disposed on a side of the fourth claw disc 522 away from the third claw disc 521; the third claw 5211 is fitted to the first claw 41 with a gap formed in the circumferential direction of the first claw disk 40; the fourth pawl 5221 and the second pawl 511 are fitted to each other and form a gap in the circumferential direction of the second pawl plate 51.

By providing the transmission dial 52, the first dial 40 and the third dial 521, and the second dial 51 and the fourth dial 522 are coaxially rotatable, so that the relative rotation angle between the first dial 40 and the second dial 521 is increased, and the angular velocity of the second dial 51 is increased, thereby increasing the angular momentum of the second dial 51.

In order to increase the energy transfer efficiency of the system, as shown in fig. 4, the side of the third claw disk 521 facing away from the third claw 5211 is fixedly connected to the side of the fourth claw disk 522 facing away from the fourth claw 5221. The purpose of synchronous movement of the third claw disc 521 and the fourth claw disc 522 is achieved.

In order to increase the maximum value of the pawl transmission torque, the first pawl 41, the second pawl 511, the third pawl 5211 and the fourth pawl 5221 are fixed to the edges of the first pawl disk 40, the second pawl disk 51, the third pawl disk 521 and the fourth pawl disk 522, respectively (see fig. 6 to 8).

The number of the first claw 41, the second claw 511, the third claw 5211, and the fourth claw 5221 is not limited, and may be 1 or more. In order to increase the strength of the jaw plates and the relative rotation angle between the jaw plates, according to a preferred embodiment of the present invention, the worm gear reducer includes a plurality of the first teeth 41, a plurality of the second teeth 511, a plurality of the third teeth 5211, and a plurality of the fourth teeth 5221, which are arranged at intervals in the circumferential direction of the worm 10. Further preferably, the first claw 41, the second claw 511, the third claw 5211 and the fourth claw 5221 are provided in an amount of 1 to 3, respectively. More preferably, the first claw 41, the second claw 511, the third claw 5211, and the fourth claw 5221 are provided in 2 pieces, respectively.

In order to reduce the pressure between the jaw contact surfaces, the cross-sections of the first jaw 41, the second jaw 511, the third jaw 5211 and the fourth jaw 5221 are all sector-shaped; thus, the claws are in surface contact with each other, so that the pressure between the claws is reduced.

In order to increase the relative rotation angle between the pawl discs, the sum of the angles of the sector ring of each of the first pawl 41, the second pawl 511, the third pawl 5211 and the fourth pawl 5221 is less than 150 degrees. Preferably, the sum of the angles of the sector ring of each of the first pawl 41, the second pawl 511, the third pawl 5211 and the fourth pawl 5221 is between 40 degrees and 120 degrees, which ensures that there is a sufficient clearance between the mating pawls.

In addition, the first claw disk 40, the second claw disk 51 and the transmission claw disk 52 are further provided with spindle holes, and the diameter of the spindle hole in the second claw disk 51 is smaller than the diameter of the spindle hole in the first claw disk 40 and the diameter of the spindle hole in the transmission claw disk 52. This arrangement allows the input shaft engaged with the worm gear to have an interference fit with the second jaw plate 51 and a clearance fit with the driving jaw plate 52 and the first jaw plate 40, so that when the input shaft rotates, the second jaw plate 513 rotates, and the driving jaw plate 52 and the first jaw plate 40 remain stationary.

The second aspect of the present invention provides a worm gear reducer, as shown in fig. 1 and 5, which includes a reducer casing 30 and the worm gear transmission structure; the worm wheel 22 is in bearing connection with the worm wheel shaft 21; the gear 23 is fixedly sleeved on the worm wheel shaft 21. Two ends of the worm wheel shaft 21 are in bearing connection with the reducer case 30.

The bearing connection between the two ends of the worm wheel shaft 21 and the reducer case 30 can be realized as follows: referring to fig. 1, bearings 211 are provided at both ends of the worm shaft 21, and the worm shaft 21 is connected to the reduction gear case 30 through the bearings 211.

In this way, since the worm 10 is directly engaged with the worm wheel 22, after the driving motor drives the worm 10, the worm 10 drives the worm wheel 22 to rotate. The worm wheel 22 does not immediately mesh with the gear 23 based on the setting of the meshing delay mechanism. Because there is a certain time difference in the movement between the worm wheel 22 and the gear wheel 23. In short, the worm wheel 22 rotates for a certain period of time before it engages the gear wheel 23. By utilizing the time difference, the angular momentum of the worm wheel 22 can be increased, and the angular momentum can be converted into the impulse acting on the gear 23, so that the aim of overcoming the maximum static friction force in the system is achieved, and the problem of difficulty in starting the speed reducing motor is solved.

Further, as shown in fig. 5, the worm gear assembly further includes a third worm gear 25 and a fourth worm gear 26, the gear 23 is engaged with the third worm gear 25, and the third worm gear 25 is engaged with the fourth worm gear 26.

The invention provides a speed reducing motor in a third aspect, which comprises a motor, a controller and the worm and gear speed reducer; the controller is electrically connected with the motor and is used for controlling the rotation direction and the rotation time of the motor.

Thus, since the worm 10 is directly engaged with the worm wheel 22, the worm 10 drives the worm wheel 22 to rotate after the motor drives the worm 10. The worm wheel 22 does not immediately mesh with the gear 23 based on the setting of the meshing delay mechanism. Because there is a certain time difference in the movement between the worm wheel 22 and the gear wheel 23. In short, the worm wheel 22 rotates for a certain period of time before it engages the gear wheel 23. By utilizing the time difference, the angular momentum of the worm wheel 22 can be increased, and the angular momentum can be converted into the impulse acting on the gear 23, so that the aim of overcoming the maximum static friction force in the system is achieved, and the problem of difficulty in starting the speed reducing motor is solved.

The operation principle of the gear motor of the present invention is briefly explained as follows:

in the embodiment without the first jaw 40 and the transmission assembly 50, the operating principle of the reduction motor is as follows: in general, the motor drives the worm 10, and the worm 10 drives the worm wheel 22, and since the first gear tooth 221 is not engaged with the second gear tooth 241, but is engaged with the second gear tooth 241 after the worm wheel 22 is rotated for a certain time, the first gear tooth 221 accumulates a certain impulse, which is enough to drive the gear 23 to rotate when the first gear tooth 221 is engaged with the second gear tooth 241.

Specifically, when a forward rotation signal is input from the outside, the controller performs reverse rotation, sends a reverse rotation signal, and continues for a certain time, during the time, the motor drives the worm 10 to move, the worm 10 drives the worm wheel 22 to rotate until the first gear tooth 221 and the second gear tooth 241 are contacted, and then, the controller sends a forward rotation signal, and the motor rotates forward; when a reverse rotation signal is input from the outside, the controller performs reverse rotation, sends a forward rotation signal, and continues for a certain time, during which time, the worm 10 drives the transmission worm wheel 22 to rotate until the first gear tooth 221 and the second gear tooth 241 are contacted, and then, the controller sends a reverse rotation signal, and the motor rotates reversely.

More specifically, for a particular motor, its angular acceleration α is determined, α ═ M₁I, wherein M₁Is a starting torque, is 1.7 to 2.2 times a rated torque M₀Taking M₁Is 2.2M₀And I is the moment of inertia,

α is thenMaximum free rotation of an electric machineDynamic angleIt is determined that the maximum free rotation angle is the maximum angle at which the spindle of the motor rotates without the worm 10, because α and

is determined according to a formula

To obtain the maximum free rotation time of the main shaft of the motorFrom this, it follows from the formula ω α t,the main shaft of the motor is regarded as a cylinder, the rotation center of the cylinder is the axis of the cylinder, and the rotational inertia of the main shaft of the motor is obtainedWherein m is the mass of the main shaft, and r is the radius of the cylinder; for a specific motor, the rotational inertia of the spindle is a constant value, and a calculation formula L ═ I ω of the angular momentum is obtainedObtaining the rotation angle of the motor according to the formulaThen, angular momentum is generated

The main shaft drives the worm 10, the worm 10 drives the first gear teeth 221 on the worm wheel 22 to impact the second gear teeth 241 on the gear 23, and the angular momentum of the main shaft is at t₂The momentum is converted into the momentum of the first gear tooth 221 within time, and according to the impulse calculation formula I ═ Mdt, we obtain

Finally obtaining M₂Is composed ofM₂/M₁To obtain

Through multiple experiments, the average impact time delta t is about 0.057s, the equivalent diameter of the rotor of the motor in the experiment is 40mm, the mass of the rotor is 350g, and the maximum free rotation angle is measured0.75 π rad, torque 0.037NM, according to the above data, are substituted

To obtain M₂/M₁2.24, torque M due to impact₂Is 2.24 times of the starting torque of the motor, so as to break through the maximum static friction force in the speed reducing motor and drive the gear 23 to rotate. In the prior art, when the motor is started, the main shaft, the worm 10 and the worm wheel 22 move synchronously, and the process of converting the medium angular momentum into the impulse cannot be completed, so that when the load moment is large, the motor cannot overcome the maximum static friction force, and the main shaft cannot rotate.

In an embodiment in which the first jaw 40 and the transmission assembly 50 are provided, the operating principle of the gear motor is as follows:

in general, the motor drives the worm 10, the worm 10 drives the worm wheel 22 to rotate through the first jaw 40 and the transmission assembly 50, and the worm wheel 22 drives the gear 23 to rotate through the meshing delay mechanism. Unlike the previous embodiment, this embodiment has two opportunities for impulse build-up, one with the first jaw 40 and the transmission assembly 50 and one with the engagement delay mechanism.

Specifically, when a forward rotation signal is input from the outside, the controller performs reverse rotation, sends a reverse rotation signal, and continues for a certain time, during the time, the second claw disc 51 drives the transmission claw disc 52 to move until the third claw 5211 of the transmission claw disc 52 is in contact with the first claw 41, and then, the controller sends a forward rotation signal, and the motor rotates forward; when a reverse rotation signal is input from the outside, the controller performs reverse rotation, sends a forward rotation signal, and continues for a certain time, during which time, the second claw disk 51 drives the transmission claw disk 52 to move until the third claw 5211 of the transmission claw disk 52 is in contact with the first claw 41, and then, the controller sends a reverse rotation signal, and the motor rotates reversely.

More specifically, for a particular motor, its angular acceleration α is determined, α ═ M₁I, wherein M₁Is a starting torque, is 1.7 to 2.2 times a rated torque M₀Taking M₁Is 2.2M₀And I is the moment of inertia,α is then

Maximum free rotation angle of motorIt is determined that the maximum free rotation angle is the maximum angle at which the spindle of the motor rotates without the worm rotating because α andis determined according to a formula

To obtain the maximum free rotation time of the main shaft of the motor

From this, it follows from the formula ω α t,

the main shaft of the motor is regarded as a cylinderThe rotation center of the cylinder is the axis of the cylinder, and the rotational inertia of the main shaft of the motor is obtained

Wherein m is the mass of the main shaft, and r is the radius of the cylinder; for a specific motor, the rotational inertia of the spindle is a constant value, and a calculation formula L ═ I ω of the angular momentum is obtainedObtaining the rotation angle of the motor according to the formulaThen, angular momentum is generated

The main shaft drives the second claw disk 51 to impact the first claw disk 40, and the angular momentum of the main shaft is t₂The momentum of the worm 10 is converted in time, and according to the impulse calculation formula I ═ MDt, the momentum is obtainedFinally obtaining M₂Is composed of

M₂/M₁To obtain

Through multiple experiments, the average impact time delta t is about 0.058s, the equivalent diameter of the rotor of the motor in the experiment is 40mm, the mass of the rotor is 350g, and the maximum free rotation angle is measured0.75 π rad, torque 0.037NM, according to the above data, are substituted

To obtain M₂/M₁2.24, torque M due to impact₂Is electricityThe starting torque of the machine is 2.24 times, so that the maximum static friction force in the speed reducing motor is broken through, and the worm 10 is driven to rotate. In the prior art, when the motor is started, the main shaft drives the worm to move synchronously, and the process of converting the medium angular momentum into the impulse cannot be completed, so that when the load moment is large, the motor cannot overcome the maximum static friction force, and the main shaft cannot rotate.

In the above, the maximum free rotation time t of the main shaft of the motor₁The duration of the inverted signal after the controller inverts the input signal is also the same.

The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.