CN103410918A - Intelligent drive device - Google Patents
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- CN103410918A CN103410918A CN2013102074005A CN201310207400A CN103410918A CN 103410918 A CN103410918 A CN 103410918A CN 2013102074005 A CN2013102074005 A CN 2013102074005A CN 201310207400 A CN201310207400 A CN 201310207400A CN 103410918 A CN103410918 A CN 103410918A
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Abstract
The invention discloses an intelligent drive device which comprises a drive motor and a reducer, wherein the reducer comprises a power input eccentric shaft, a duplicate gear, a fixed inner gear and a power output inner gear, wherein the duplicate gear comprises an outer gear I and an outer gear II; the outer gear I and the outer gear II are arranged on an eccentric section of the power input eccentric shaft in a rotary matched and sleeved mode; the fixed inner gear and the outer gear I form an engagement pair I with a small tooth difference; the power output inner gear and the outer gear II form an engagement pair II with a small tooth difference; the engagement pair I with the small tooth difference and the engagement pair II with the small tooth difference are respectively provided with a grooving elastic filtering structure; each grooving elastic filtering structure comprises gear tooth grooves formed in gear teeth of the gears and/or gear grooves formed in tooth grooves of the gears; elastic bodies are arranged inside the gear tooth grooves and the gear grooves. The intelligent drive device further comprises a monitoring device, wherein the monitoring device comprises a data receiving device and sensors; the sensors are arranged inside the elastic bodies and are used for monitoring the operation conditions of the engagement pair I with the small tooth difference and the engagement pair II with the small tooth difference respectively; the sensors are in wireless connection with the data receiving device.
Description
Technical field
The invention belongs to the mechanical transmissioning technology field, concrete adopts the few teeth difference theory of engagement and can implement to gear the intelligent drive device of intelligent monitoring for a kind of.
Background technique
Along with developing rapidly of the engineering field causes such as robot, advanced manufacture, vehicle, boats and ships, Aeronautics and Astronautics and weaponry, its transmission accuracy to driving component and transmission system system, reliability, small volume, lightweight and the performance such as non-maintaining have proposed new requirement.
In conventional mechanical devices, drive motor and retarder are all separately designs, so inevitable needs considered the connection design between them, uses the coupling arrangements such as key, coupling, thereby makes structure become complicated, the number of spare parts kind increases, system reliability reduces, and volume weight increases, and causes the shafting alignment error, cause driving mechanism wearing and tearing to occur, easily there is bite in mechanical operation.
For a long time, when mechanized equipment transmission of power and motion converter, be in the process of the output terminal slow-speed of revolution, large torque in the high rotating speed of input end, little torque conversion, inevitably can produce fluctuation.This fluctuation can reduce mechanized equipment transmission accuracy and reliability, and causes mechanical vibration, affects intensity and the life-span of part, reduces kinematic accuracy and service behaviour etc.To cyclic fluctuation, generally by increasing the very large flywheel of rotary inertia, regulate; To the aperiodicity fluctuation, generally adopt speed regulator to regulate.However, practice shows, in fact such adjusting measure is difficult to solve the fluctuation problem in the high-end equipment transmission of power such as high ferro locomotive, industrial robot, space manipulator, boats and ships and satellite and motion converter process.In addition, the manufacture of each part and assembly error in the mechanical system transmission device, during gear teeth meshing engaging-in, nibble out impact, rigidity excitation when gear teeth meshing tooth logarithm alternately changes, the excitation of load behavior to transmission device, and the factors such as fretting wear, temperature variation and environmetal impact of component in running, all will strengthen the fluctuation in the driving mechanism running, thereby have a strong impact on precision, reliability, life-span of mechanical system etc.
In existing drive technology, highi degree of accuracy and highly reliable contradictory relation are not resolved, although harmonic speed reducer, the precision drive parts such as RV retarder and system are in robot, automation, in the engineering field important equipment electromechanical driving systems such as Aero-Space, application is wider, but due to the single staged transmission ratio of harmonic driving be limited in scope (usually<360), by the flexbile gear transmitting torque, the elastic element torsional stiffness is low, transmitting torque is limited, and there is complex structure in RV retarder transmission system, the quality volume is large, dynamic performance is inferior and mechanical efficiency is low, the shortcomings such as additional dynamic load is large.Particularly under particular surroundings and the extreme operating condition volume thermal expansion of (vibration, high low temperature alternation) gear and extraneous severe mechanical environment, such retarder easily produces Non-linear coupling with actuator and vibrates and " bite " or phenomenons such as " stuck " occur, the system cisco unity malfunction of making is total failure even, thereby have a strong impact on the reliability of transmission.
Simultaneously, in some special engineering fields, as fields such as Aeronautics and Astronautics and national defence weapon equipments, also its reliability has been proposed to strict demand meeting under the prerequisite of its functional requirement, require its component to realize information-based, intelligent, can real time on-line monitoring the running state of each component, and to the inefficacy of device make estimate and anticipation to guarantee reliability and people's property safety of equipment.At present both at home and abroad in carrying out retarder middle gear operation process during the signal measurement of parameters, because the transmission device inner space is narrow and small, circumstance complication, sensor is arranged difficulty is installed, the signal transmission easily is disturbed, so lack effective test method, bring very big difficulty for collection, the status monitoring of transmission device dynamic data always.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of intelligent drive device, this intelligent drive device not only can the intelligent monitoring gear operating conditions, and the impact under extreme operating condition and particular surroundings can effectively be prevented and the vibration of the Non-linear coupling that produces, avoid occurring " bite " even problems such as " stuck ", effectively reduce gear teeth hertz contact stress and flexural stress, guarantee that drive unit is in designed transmission accuracy and bearing capacity scope, control motor and be changed to because of the little torque of high speed the fluctuation that low speed high torque produces, and reach and reduce vibration and noise, improve the purpose in drive unit life-span.
For achieving the above object, the invention provides following technological scheme:
A kind of intelligent drive device, comprise drive motor and the retarder be connected with drive motor, described retarder comprises power input eccentric shaft, duplicate gear and all rotates engage sleeves and is contained in fixed annulus and the power output inner gear on described power input eccentric shaft;
Described power input eccentric shaft is provided with the eccentric segment that is eccentric setting with respect to its axis, described duplicate gear comprises external gear I and external gear II, and duplicate gear rotation engage sleeves is contained on described eccentric segment, described fixed annulus and described external gear I form few teeth difference engagement pair I, and described power output inner gear and described external gear II form few teeth difference engagement pair II;
In described few teeth difference engagement pair I and few teeth difference engagement pair II, all have at least a gear to be provided with fluting elasticity filter structure;
Described fluting elasticity filter structure comprises the wheel teeth groove be arranged on the gear tooth of place, described take turns that teeth groove comprises two respectively and the flank profil line of the described gear teeth is the curve wheel teeth groove of equidistant curve and be arranged on described gear teeth tooth top and two curve wheel teeth groove joints between and be positioned at the straight line wheel teeth groove of gear radial direction, the described wheel in teeth groove filled and is provided with elastomer; And/or,
Described fluting elasticity filter structure comprises the gear grooved be arranged in the gear tooth slot of place, and described gear grooved comprises the linear gear groove that is symmetricly set in described teeth groove and is positioned at the gear radial direction, fills and is provided with elastomer in described gear grooved;
The output shaft synchronous of described power input eccentric shaft and described drive motor rotates;
Also comprise be used to monitoring the supervisory device of described few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, described supervisory device comprises data sink and is arranged in described elastomer and for monitoring respectively the sensor of described few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, wireless connections between described sensor and data sink.
Further, described sensor is passive transducer, in described data sink, is provided with the electromagnetic wave transmitter installation, in described sensor, is provided with at least one for receiving from the electromagnetic wave of data sink and electromagnetic wave being converted to the transport element of electric energy; Or,
Described sensor is active transducer, and the transformation of energy be provided with in sensor for described elastomeric resilient distortion is produced is the conducting polymer circuit of electric energy.
Further, described supervisory device also comprises the data processing equipment of the monitor data that is connected with described data sink and gathers for the treatment of described sensor; Described sensor is micron order or nanoscale sensor.
Further, the output shaft of described drive motor and described power input eccentric shaft are set to one, and the rotor of described drive motor is fixedly installed on described power input eccentric shaft.
Further, described fixed annulus is provided with the protecting jacket extended towards described drive motor place direction, described drive motor is fixedly mounted in described protecting jacket, and the end of protecting jacket is provided be used to preventing that drive motor is along the axially movable end cap of described power input eccentric shaft;
Described fixed annulus be provided with towards described power output inner gear place direction extend and with the bearing housing of the coaxial setting of described power input eccentric shaft, described power output inner gear rotates engage sleeves and is contained in this bearing housing;
Also comprise the central shaft bearing be fixedly connected with described power output inner gear, described central shaft bearing rotation engage sleeves is contained on described power input eccentric shaft.
Further, also comprise be used to the temperature transducer of measuring described retarder operation temperature, be used to the acceleration transducer of measuring described vibration reducer data be used to measuring the velocity transducer of described drive motor output speed; Described acceleration transducer is two and is arranged on the same radial cross section of described fixed annulus, and the line between the center of two acceleration transducers and its place radial cross section is mutually vertical; Described temperature transducer is arranged on described fixed annulus, and is positioned on the same radial cross section of fixed annulus with described acceleration transducer; The corresponding setting of rotor of described velocity transducer and described drive motor, described fixed annulus is provided be used to arranging the through hole of signaling line.
Further, described external gear I and external gear II are the spiral gear that Hand of spiral is opposite, and described external gear I is on the direction that deviates from described external gear II, its Hand of spiral is opposite with its sense of rotation, described external gear II is on the direction that deviates from described external gear I, and its Hand of spiral is opposite with its sense of rotation; And/or,
Described external gear I and external gear II are variable tooth thickness gear, and described external gear I is on the direction that deviates from described external gear II, and its transverse tooth thickness reduces gradually, and described external gear II is on the direction that deviates from described external gear I, and its transverse tooth thickness reduces gradually; And/or,
Described external gear I and external gear II are bevel gear, and described external gear I is on the direction that deviates from described external gear II, and its nominal diameter reduces gradually, and described external gear II is on the direction that deviates from described external gear I, and its nominal diameter reduces gradually.
Further, described gear grooved also comprises the circle hole groove that is arranged on close described Gear center one end of described linear gear groove; The length of described linear gear groove equal its place gear gear teeth whole depth 0.1-1.5 doubly, the groove width of described linear gear groove equals 0.001 ~ 2mm, the diameter of described circle hole groove equals 0.001 ~ 0.2 times of its place gear compound graduation circular diameter; The length of described straight line wheel teeth groove equal its place gear gear teeth whole depth 0.1-0.5 doubly.
Further, described elastomer is the metal-rubber elastomer, and the metal-rubber elastomer of described metal-rubber elastomer for adopting following technique to prepare:
The wire that diameter is 0.05-0.3mm is made to helical coil, and after this screw roll fixed pitch was stretched, lay formed blank, by heat treatment again after blank circulating cooling forming processes, obtained having the metal-rubber elastomer of elasticity porosity characteristic.
Further, be used to making described elastomeric material wiry, be to be applicable to the high tensile steel of the non-corrosive environment of normal temperature or to be applicable to high temperature/the have Austenitic Stainless Steel of erosion environment; The central diameter of described wire helical coil equals 2-7 times of wire diameter.
Beneficial effect of the present invention is:
1, intelligent drive device of the present invention is inputted eccentric shaft by power and is set to rotate with the output shaft synchronous of drive motor, can improve transmission accuracy; By fluting elasticity filter structure is set at least one gear in the few teeth difference engagement pair I at retarder and few teeth difference engagement pair II, can utilize principle of deformation consistency, by controlled elastic deformation amount, filtering out by the little torque conversion of drive motor high speed is the fluctuation that low speed high torque, processing and alignment error etc. produce, by in elastomer, being provided for monitoring respectively the sensor of few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, can monitor in real time the working state of gear, and specifically obtain following beneficial effect:
1) realize the intelligent monitoring function of drive unit
Intelligent drive device of the present invention is by being embedded in sensor at elastomer, utilize the memory characteristic and distortion controllable characteristics of elastomeric material, and the intelligent sensing detectability of sensor, the actual working state of Real-Time Monitoring gear effectively, be that sensor can be monitored the torque of gear in transmission process in real time, rotating speed, stress, strain, the parameter of the reaction such as acceleration and temperature gear operating mode, and according to gear operating mode dynamic adjustments transmission device relevant parameter, make driving mechanism have self adaption distortion controllable function, can make and estimating and anticipation gear-driven inefficacy, solve the transmission device Dynamic Data Acquiring, the difficult problems such as status monitoring difficulty, overcome the technological deficiency that can't monitor the gear ess-strain in existing transmission device, therefore intelligent drive device of the present invention is specially adapted to robot, aviation, space flight and national defence weapon equipment etc. are to the strict engineering field of gear drive performance requirement,
2) has self adaption compatibility of deformation ability
Intelligent drive device of the present invention belongs to planetary drive with small teeth difference, mainly by the interior engagement of two pairs of teeth, transmit motion and power, with common few teeth difference transmission, compare, the difference of intelligent drive device of the present invention is at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II, fluting elasticity filter structure to be set respectively, this makes the gear teeth have more elasticity, when the external gear of few teeth difference engagement pair and internal gear engagement driving, can make sideshake be reduced to a certain minimum value, even eliminate sideshake, thereby between the gear teeth meshing surface, likely obtain zero gap, return difference is significantly reduced, improve transmission accuracy, when gear was in severe operating mode, interference of tooth profiles easily occurred in the common gear teeth, " stuck " " bite " even, and wearing and tearing, the fatigue of the aggravation flank of tooth, even make whole transmission system lose efficacy, and causes reliability to reduce, intelligent drive device of the present invention is by arranging fluting elasticity filter structure at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II respectively, utilize the be hit by a bullet memory characteristic of elastomer material of fluting elasticity filter structure controlled with distortion, can reduce to greatest extent amount of interference (being even zero), intelligent sensing by supervisory device detects, dynamic data in gear transmission is carried out to on-line intelligence observing and controlling, particularly in designed transmission accuracy scope, make driving mechanism have self adaption compatibility of deformation ability, solve highi degree of accuracy and highly reliable 's contradiction, effectively reduce friction, wearing and tearing, vibration, noise, energy consumption and fatigue etc., thereby has highi degree of accuracy, highly reliable, long lifetime, large torque, low energy consumption, the advantages such as intellectuality,
3) reduce vibration and noise and realize energy-efficient
Intelligent drive device of the present invention, adopt eccentric speed reduction mechanism, the at first high frequency waves of elimination drive motor high speed rotating; Adopt simultaneously the few teeth difference engagement pair I and the few teeth difference engagement pair II that by duplicate gear, fixed annulus and power output inner gear, are formed, the rotation of the high frequency of elimination duplicate gear revolution ripple, and output low frequency again;
Owing at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II, fluting elasticity filter structure being set respectively, make the rigidity excitation of few teeth difference engagement pair I and few teeth difference engagement pair II significantly reduce;
By in wheel teeth groove and gear grooved, being filled with elastomer, elastomer can effectively increase the gear train damping, absorb the energy that fluctuation produces, reduce the vibration, the noise that because of transmission device, cause because manufacturing assembly error, gear teeth meshing impact, load behavior excitation etc., filter out the fluctuation produced in transmission of power and motion converter process, reduce the gear vibration amplitude, reduced energy loss, reached energy-efficient purpose;
4) improve the retarder life-span
Intelligent drive device of the present invention, by at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II, fluting elasticity filter structure being set respectively, can effectively reduce a hertz contact stress, by in the wheel teeth groove, the curve wheel teeth groove that is equidistant curve with the gear tooth profile curve being set, can enlarge active surface, improve the contact stress of wheel teeth groove inside, in addition, the flexural stress of tooth root section also can significantly reduce because of the impact of wheel teeth groove and gear grooved, thus the life-span of having improved gear.
2, intelligent drive device of the present invention, by drive motor output shaft and power input eccentric shaft, be set to one, and the rotor of drive motor is set directly on power input eccentric shaft, be retarder and drive motor Integrated design, the unnecessary coupling members such as middle key, coupling have been removed, reduce the installation positioning process, improved transmission accuracy, dwindled the volume and weight of drive unit; By protecting jacket and bearing housing are set on fixed annulus, fixed annulus plays a part housing, is also that fixed annulus and housing become one, and can effectively dwindle the volume and weight of drive unit.
3, intelligent drive device of the present invention is by arranging acceleration transducer, temperature transducer and velocity transducer, can detect in real time vibration, rotating speed and the temperature of retarder, and running state that can real-time detection apparatus extract trouble signal, in conjunction with the sensor be arranged in elastomer, can better to the inefficacy to drive unit, make and estimating and anticipation, therefore intelligent drive device of the present invention be specially adapted to robot, Aeronautics and Astronautics and national defence weapon equipment etc. to the strict engineering field of driving mechanism performance requirement.
The accompanying drawing explanation
In order to make purpose of the present invention, technological scheme and beneficial effect clearer, the invention provides following accompanying drawing and describe:
Fig. 1 is intelligent drive device embodiment's of the present invention structural representation;
Fig. 2 is the A-A sectional view of Fig. 1;
Fig. 3 is the structural representation of duplicate gear;
Fig. 4 is the B detail drawing of Fig. 3;
Fig. 5 is the stress cloud atlas of ordinary gear when first contact points;
Fig. 6 is the stress cloud atlas of gear when first contact points that is provided with fluting elasticity filter structure;
Fig. 7 is the stress cloud atlas of ordinary gear when second contact points;
Fig. 8 is the stress cloud atlas of gear when second contact points that is provided with fluting elasticity filter structure;
Fig. 9 is the stress cloud atlas of ordinary gear when the 3rd contact points;
Figure 10 is the stress cloud atlas of gear when the 3rd contact points that is provided with fluting elasticity filter structure;
Figure 11 is the obtains overall meshing stiffness figure of ordinary gear;
Figure 12 is the obtains overall meshing stiffness figure that is provided with the gear of fluting elasticity filter structure.
Description of reference numerals:
1-power input eccentric shaft; The 1a-eccentric segment; The 2-duplicate gear; 2a-external gear I; 2b-external gear II; The 3-fixed annulus; The 3a-bearing housing; The 3b-protecting jacket; 4-power output inner gear; The 5-bearing; The 5a-bearing; 6-takes turns teeth groove; 6a-curve wheel teeth groove; 6b-straight line wheel teeth groove; The 7-gear grooved; 7a-linear gear groove; The 7b-circle hole groove; The 8-elastomer; The 9-needle bearing; 10-central shaft bearing; The 11-bearing; The 12-drive motor; The 12a-rotor; The 12b-stator; The 13-end cap; The 14-bearing; The 15-temperature transducer; The 16-acceleration transducer; The 17-velocity transducer; The 18-screw; The 19-data sink; The 20-sensor.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As shown in Figure 1, be intelligent drive device embodiment's of the present invention structural representation.The present embodiment intelligent drive device, comprise drive motor 12 and the retarder be connected with drive motor 12, retarder comprises power input eccentric shaft 1, duplicate gear 2 and all rotates engage sleeves and be contained in fixed annulus 3 and the power output inner gear 4 on power input eccentric shaft 1, and the fixed annulus 3 of the present embodiment and power output inner gear 4 are contained on power input eccentric shaft 1 by bearing 5 rotation engage sleeves respectively.
Power input eccentric shaft 1 is provided with the eccentric segment 1a that is eccentric setting with respect to its axis, duplicate gear 2 comprises external gear I 2a and external gear II 2b, and duplicate gear 2 rotation engage sleeves are contained on the eccentric segment 1a of power input eccentric shaft 1, and the duplicate gear 2 of the present embodiment is contained on eccentric segment 1a by bearing 5a rotation engage sleeves.Fixed annulus 3 forms few teeth difference engagement pair I with the external gear I 2a of duplicate gear 2, and power output inner gear 4 forms few teeth difference engagement pair II with the external gear II 2b of duplicate gear 2.
In few teeth difference engagement pair I and few teeth difference engagement pair II, all have at least a gear to be provided with fluting elasticity filter structure.As shown in Figure 2, the fluting elasticity filter structure of the present embodiment is separately positioned on the external gear I 2a and external gear II 2b of duplicate gear 2.Fluting elasticity filter structure comprises the wheel teeth groove 6 be arranged on the gear teeth, wheel teeth groove 6 comprise two respectively and the flank profil line of the gear teeth be the curve wheel teeth groove 6a of equidistant curve and be arranged on gear teeth tooth top with two curve wheel teeth groove 6a joints between and be positioned at the straight line wheel teeth groove 6b of gear radial direction, take turns the interior filling of teeth groove 6 and be provided with elastomer 8; And/or fluting elasticity filter structure also comprises the gear grooved 7 that is arranged on teeth groove, gear grooved 7 comprises the linear gear groove 7a that is symmetricly set in teeth groove and is positioned at the gear radial direction, also fills and is provided with elastomer 8 in gear grooved 7.The fluting elasticity filter structure of the present embodiment comprises the wheel teeth groove 6 be arranged on simultaneously on the gear teeth and is arranged on the gear grooved 7 in teeth groove.
Power input eccentric shaft 1 rotates with the output shaft synchronous of drive motor 12, can improve transmission accuracy, and the drive motor 12 of the present embodiment adopts actuating motor;
The intelligent drive device of the present embodiment also comprises be used to monitoring the supervisory device of few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, supervisory device comprises data sink 19 and is arranged in elastomer 8 and for monitoring respectively the sensor 20 of few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, wireless connections between sensor 20 and data sink 19.Sensor 20 can be for being separately positioned at least one on few teeth difference engagement pair I and few teeth difference engagement pair II, in the few teeth difference engagement pair I of the present embodiment and few teeth difference engagement pair II, be equipped with 6 sensors 20, for monitoring respectively few teeth difference engagement pair I and the few teeth difference engagement pair II parameter in the reaction gear operating modes such as torque, rotating speed, stress, strain, acceleration and temperature of transmission process.
The intelligent drive device of the present embodiment is set to rotate with the output shaft synchronous of drive motor 12 by power being inputted to eccentric shaft 1, can improve transmission accuracy; By fluting elasticity filter structure is set at least one gear in the few teeth difference engagement pair I at retarder and few teeth difference engagement pair II, can utilize principle of deformation consistency, by controlled elastic deformation amount, filtering out by the little torque conversion of drive motor high speed is the fluctuation that low speed high torque, processing and alignment error etc. produce, by in elastomer, being provided for monitoring respectively the sensor of few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, can monitor in real time the working state of gear, and specifically obtain following beneficial effect:
1) realize the intelligent monitoring function of drive unit
The intelligent drive device of the present embodiment is by being embedded in sensor 20 at elastomer 8, utilize the memory characteristic and distortion controllable characteristics of elastomeric material, and the intelligent sensing detectability of sensor 20, the actual working state of Real-Time Monitoring gear effectively, be that sensor 20 can be monitored the torque of gear in transmission process in real time, rotating speed, stress, strain, the parameter of the reaction such as acceleration and temperature gear operating mode, and according to gear operating mode dynamic adjustments transmission device relevant parameter, make driving mechanism have self adaption distortion controllable function, can make and estimating and anticipation gear-driven inefficacy, solve the transmission device Dynamic Data Acquiring, the difficult problems such as status monitoring difficulty, overcome the technological deficiency that can't monitor the gear ess-strain in existing transmission device, therefore the intelligent drive device of the present embodiment is specially adapted to robot, aviation, space flight and national defence weapon equipment etc. are to the strict engineering field of gear drive performance requirement.
2) has self adaption compatibility of deformation ability
The intelligent drive device of the present embodiment belongs to planetary drive with small teeth difference, mainly by the interior engagement of two pairs of teeth, transmit motion and power, with common few teeth difference transmission, compare, the difference of intelligent drive device of the present invention is at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II, fluting elasticity filter structure to be set respectively, this makes the gear teeth have more elasticity, when the external gear of few teeth difference engagement pair and internal gear engagement driving, can make sideshake be reduced to a certain minimum value, even eliminate sideshake, thereby between the gear teeth meshing surface, likely obtain zero gap, return difference is significantly reduced, improve transmission accuracy, when gear was in severe operating mode, interference of tooth profiles easily occurred in the common gear teeth, " stuck " " bite " even, and wearing and tearing, the fatigue of the aggravation flank of tooth, even make whole transmission system lose efficacy, and causes reliability to reduce, intelligent drive device of the present invention is by arranging fluting elasticity filter structure at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II respectively, utilize the be hit by a bullet memory characteristic of elastomer material of fluting elasticity filter structure controlled with distortion, can reduce to greatest extent amount of interference (being even zero), intelligent sensing by supervisory device detects, dynamic data in gear transmission is carried out to on-line intelligence observing and controlling, particularly in designed transmission accuracy scope, make driving mechanism have self adaption compatibility of deformation ability, solve highi degree of accuracy and highly reliable 's contradiction, effectively reduce friction, wearing and tearing, vibration, noise, energy consumption and fatigue etc., thereby has highi degree of accuracy, highly reliable, long lifetime, large torque, low energy consumption, the advantages such as intellectuality.
3) reduce vibration and noise and realize energy-efficient
The intelligent drive device of the present embodiment, adopt eccentric speed reduction mechanism, the at first high frequency waves of elimination drive motor high speed rotating; Adopt simultaneously the few teeth difference engagement pair I and the few teeth difference engagement pair II that by duplicate gear 2, fixed annulus 3 and power output inner gear 4, are formed, the rotation of the high frequency of elimination duplicate gear 2 revolution ripple, and output low frequency again;
Owing at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II, fluting elasticity filter structure being set respectively, make the rigidity excitation of few teeth difference engagement pair I and few teeth difference engagement pair II significantly reduce;
By in wheel teeth groove 6 and gear grooved 7, being filled with elastomer 8, elastomer 8 can effectively increase the gear train damping, absorb the energy that fluctuation produces, reduce the vibration, the noise that because of transmission device, cause because manufacturing assembly error, gear teeth meshing impact, load behavior excitation etc., filter out the fluctuation produced in transmission of power and motion converter process, reduce the gear vibration amplitude, reduced energy loss, reached energy-efficient purpose.
4) improve the retarder life-span
The intelligent drive device of the present embodiment, by at least one gear in few teeth difference engagement pair I and few teeth difference engagement pair II, fluting elasticity filter structure being set respectively, can effectively reduce a hertz contact stress, by at the wheel interior setting of teeth groove 6 and gear tooth profile curve, being the curve wheel teeth groove 6a of equidistant curve, can enlarge active surface, improve the contact stress of wheel teeth groove 6 inside, in addition, the flexural stress of tooth root section also can significantly reduce because of the impact of wheel teeth groove 6 and gear grooved 7, thus the life-span of having improved gear.
As shown in Fig. 5-10, be respectively the stressed cloud atlas of dynamic simulation of ordinary gear and the gear that is provided with fluting elasticity filter structure, ordinary gear is with the parameter of the gear that is provided with fluting elasticity filter structure: modulus M=1, tooth number Z=20, the gear material Young's modulus is 200Gpa, and the Young's modulus of the elastomer 8 of fluting elasticity filter structure is 10Gpa.In the situation that ordinary gear and the gear that is provided with fluting elasticity filter structure are applied to same load:
1) as shown in Figure 5 and Figure 6, for ordinary gear with the stress cloud atlas while being provided with first identical contact points of gear of fluting elasticity filter structure, the maximum stress 737Mpa of ordinary gear as can be known, be provided with the maximum stress 620Mpa of the gear of fluting elasticity filter structure;
2) as shown in Figure 7 and Figure 8, for ordinary gear with the stress cloud atlas while being provided with second identical contact points of gear of fluting elasticity filter structure, the maximum stress 562Mpa of ordinary gear as can be known, be provided with the maximum stress 439Mpa of the gear of fluting elasticity filter structure;
3) as shown in Figure 9 and Figure 10, for ordinary gear with the stress cloud atlas while being provided with the 3rd the identical contact points of gear of fluting elasticity filter structure, the maximum stress 607Mpa of ordinary gear as can be known, be provided with the maximum stress 525Mpa of the gear of fluting elasticity filter structure;
By above-mentioned simulation analysis result, can be drawn, the stress distribution of gear that is provided with fluting elasticity filter structure is comparatively even, and maximum stress value also reduces thereupon, and elastomer has played the effect of compatibility of deformation, and has alleviated the situation that stress is concentrated.
Figure 11 and Figure 12 are respectively ordinary gear and are provided with the obtains overall meshing stiffness figure of the gear of fluting elasticity filter structure, by wheel teeth groove 6 and gear grooved 7 are chosen to suitable sideshake, the Sudden Changing Rate d2 that is provided with the gear of fluting elasticity filter structure can be reduced to 0.5 ~ 0.2 times of ordinary gear d1, has namely reduced vibration.
Further, the output shaft of drive motor 12 and power input eccentric shaft 1 are set to one, and the rotor 12a of drive motor 12 is fixedly installed on power input eccentric shaft 1, the stator 12b of the drive motor 12 of the present embodiment is fixedly mounted on fixed annulus 3, by drive motor 12 output shafts and power input eccentric shaft 1 are set to one, and the rotor 12a of drive motor 12 is set directly on power input eccentric shaft 1, be retarder and drive motor 12 Integrated designs, removed middle key, the coupling member that coupling etc. are unnecessary, reduced the installation positioning process, improved transmission accuracy, dwindled the volume and weight of drive unit.
Further; fixed annulus 3 is provided with the protecting jacket 3b extended towards drive motor 12 place directions; drive motor 12 is fixedly mounted in protecting jacket 3b; and the end of protecting jacket 3b is provided be used to preventing that drive motor 12 is along the axially movable end cap 13 of power input eccentric shaft 1; end cap 13 coordinates with power input eccentric shaft 1 by bearing 14, and end cap 13 is fixedly mounted on fixed annulus 3 by screw 18.Fixed annulus 3 be provided with towards power output inner gear 4 place directions extend and with the bearing housing 3a of the coaxial setting of power input eccentric shaft 1, power output inner gear 4 rotation engage sleeves are contained in this bearing housing 3a, between the periphery wall of the power output inner gear 4 of the present embodiment and bearing housing 3a inner circle wall, be provided with needle bearing 9, be beneficial to and eliminate from the interference of axial force to driving mechanism, improve the kinematic accuracy of mechanism.By protecting jacket 3b and bearing housing 3a are set on fixed annulus 3, fixed annulus 3 plays a part housing, is also that fixed annulus 3 becomes one with housing, can effectively dwindle the volume and weight of drive unit.
Preferably, the intelligent drive device of the present embodiment also comprises the central shaft bearing 10 be fixedly connected with power output inner gear 4, central shaft bearing 10 rotation engage sleeves are contained on power input eccentric shaft 1, the central shaft bearing 10 of the present embodiment is fixedly connected on power output inner gear 4 by screw, and central shaft bearing 10 is inputted between eccentric shaft 1 and is coordinated by bearing 11 rotations with power, adopt power output inner gear 4 compact structures of this structure, and make power output inner gear 4 have stable support, be beneficial to the stationarity that keeps transmission, on the power output inner gear 4 of the present embodiment, also be provided be used to connecting the linkage structure of miscellaneous equipment outputting power.Adopt the retarder of this structure, the output shaft of drive motor 12, i.e. power input eccentric shaft 1, by bearing 14 and bearing 11 stable support, can guarantee the transmission stability of drive unit.
Further, the intelligent drive device of the present embodiment also comprises be used to the temperature transducer 15 of measuring the retarder operation temperature, be used to the acceleration transducer 16 of measuring the vibration reducer data be used to measuring the velocity transducer 17 of drive motor 12 output speeds.Acceleration transducer 16 is two and is arranged on the same radial cross section of fixed annulus 3, and the line between the center of two acceleration transducers 16 and its place radial cross section is mutually vertical, acceleration transducer 16 is arranged near on the position of fixed annulus 3 tooth roots.Temperature transducer 15 is arranged on fixed annulus 3, and is positioned on the same radial cross section of fixed annulus 3 with acceleration transducer 16.The corresponding setting of rotor 12a of velocity transducer 17 and drive motor 12, the velocity transducer 17 of the present embodiment are arranged on the position near rotor 12a end face.The acceleration transducer 16 of the present embodiment and the axis of temperature transducer 15 are positioned at described fixed annulus 3 in the radial direction.By two acceleration transducers 16 that arrange of quadrature, can measure two vibration datas on orthogonal direction, the vibration data measured is more accurate.Preferably, the intelligent drive device of the present embodiment also comprises the amplification circuit for external computer, fixed annulus 3 is provided be used to arranging the through hole of signaling line, and amplification circuit comprises the acceleration signal amplification circuit be connected with acceleration transducer 16, the temperature signal amplification circuit be connected with temperature transducer 15 and the rate signal amplification circuit be connected with velocity transducer 17.The data-signal that amplification circuit will measure is sent to computer after amplifying and carries out subsequent treatment.
The inefficacy of drive unit is generally to start from the lubrication failure of friction pair, its form of expression mainly contains vibration and noise strengthens, temperature and friction torque rise, acceleration transducer 16 is installed at the tooth root position, velocity transducer 17, temperature transducer 15, can closely detect more truly the operation of drive motor 12 and retarder, vibration, temperature conditions, during the dead load operation, detect the electric current of drive motor 12, voltage functuation can be reacted the friction torque situation of drive unit, therefore the running state of whole drive unit can obtain Real-Time Monitoring, and can extract trouble signal by the processing to data information, in conjunction with being arranged on elastomer, sensor 20 in 8, with the inefficacy to drive unit, make and estimating and anticipation, realize the informationization of drive unit, intelligent, therefore the intelligent drive device of the present embodiment is specially adapted to robot, aviation, space flight and national defence weapon equipment etc. are to the strict engineering field of driving mechanism performance requirement.
Further, the external gear I 2a of the present embodiment and external gear II 2b are the spiral gear that Hand of spiral is opposite, and the external gear I 2a of the present embodiment is on the direction that deviates from described external gear II 2b, and its Hand of spiral is opposite with its sense of rotation; External gear II 2b is on the direction that deviates from described external gear I 2a, and its Hand of spiral is opposite with its sense of rotation; And/or external gear I 2a and external gear II 2b are variable tooth thickness gear, external gear I 2a is on the direction that deviates from external gear II 2b, and its transverse tooth thickness reduces gradually, and external gear II 2b is on the direction that deviates from external gear I 2a, and its transverse tooth thickness reduces gradually; And/or external gear I 2a and external gear II 2b are bevel gear, and external gear I 2a is on the direction that deviates from external gear II 2b, and its nominal diameter reduces gradually, and external gear II 2b is on the direction that deviates from external gear I 2a, and its nominal diameter reduces gradually.
The external gear I 2a of the present embodiment and external gear II 2b are the spiral gear that Hand of spiral is opposite; And external gear I 2a is on the direction that deviates from described external gear II 2b, and its Hand of spiral is opposite with its sense of rotation; External gear II 2b is on the direction that deviates from described external gear I 2a, and its Hand of spiral is opposite with its sense of rotation.Certainly, fixed annulus 3 is and the spiral gear of external gear I 2a engagement that power output inner gear 4 is the spiral gear meshed with external gear II 2b.By few teeth difference engagement pair I and few teeth difference engagement pair II, be set to the spiral gear engagement pair, be beneficial to and eliminate back lash, guarantee that few teeth difference engagement pair I and few teeth difference engagement pair II not there will be " bite " even problems such as " stuck ", guarantee stationarity and the highi degree of accuracy of transmission.In addition, the external gear I 2a of the present embodiment and external gear II 2b are variable tooth thickness gear, and external gear I 2a and external gear II 2b are bevel gear, adopt the duplicate gear 2 of this structure, after few teeth difference engagement pair I and few teeth difference engagement pair II engagement, axial thrust load can make external gear I 2a move to relative direction with external gear II 2b, and namely the axial thrust load of external gear I 2a and external gear II 2b offsets, be beneficial to and eliminate back lash, keep the highi degree of accuracy transmission.
Further, gear grooved 7 also comprises the circle hole groove 7b that is arranged on close Gear center one end of linear gear groove 7a; The length of linear gear groove 7a equal its place gear gear teeth whole depth 0.1-1.5 doubly, the groove width of linear gear groove 7a equals 0.001 ~ 2mm, the diameter of circle hole groove 7b equals 0.001 ~ 0.2 times of its place gear compound graduation circular diameter; The length of straight line wheel teeth groove 7a equal its place gear gear teeth whole depth 0.1-0.5 doubly.The length of the linear gear groove 7a of the present embodiment equals 0.8 times of gear teeth whole depth of its place gear, and the groove width of linear gear groove 7a equals 0.05mm, and the diameter of circle hole groove 7b equals 0.1 times of its place gear compound graduation circular diameter; The length of straight line wheel teeth groove 7a equals 0.2 times of gear teeth whole depth of its place gear.
Further, elastomer 8 is polymer rubber alloy elastomer or metal-rubber elastomer.The elastomer 8 of the present embodiment is the metal-rubber elastomer, and the metal-rubber elastomer of metal-rubber elastomer for adopting following technique to prepare:
The wire that diameter is 0.05-0.3mm is made to helical coil, and after this screw roll fixed pitch is stretched, according to definite shape, the helical coil lay is formed to blank, blank circulation is placed in corresponding mould after cooling forming is processed, heat treatment again, and the metal-rubber elastomer that finally obtains having the elasticity porosity characteristic.
The metal-rubber elastomer of the present embodiment, special, has the inherent characteristic of selected metal with extreme environment (high temperature, low temperature, high pressure, high vacuum and high vibration), have again and be similar to the elasticity that rubber is the same, under space environment, do not evaporate, do not fear high temperature and low temperature, be not afraid of space radiation and particle hits, select all right corrosion-resistant environment of different metals, and without aging may, and have the characteristic such as damping vibration attenuation.Namely adopt the metal-rubber elastomer that this technological method prepares have the Young's modulus of working as with selected Metal Phase and have the flexibility as rubber, and larger with respect to the damping of polymer rubber alloy elastomer, have better damping vibration attenuation ability.
Preferably, for the material wiry of making elastomer 8, it is the high tensile steel that is applicable to the non-corrosive environment of normal temperature, it as the trade mark, is the high tensile steel of 50CrVA and 30VMnSi, or be applicable to high temperature/the have Austenitic Stainless Steel of erosion environment, as the trade mark, be GH35, GH20, 0Cr18Ni9Ti, the Austenitic Stainless Steel of 1Cr18Ni9Ti, the material that is elastomer 8 is selected according to the working environment of retarder, the intelligent drive device of the present embodiment is applied to high temperature to be had in the environment of erosion, it is the Austenitic Stainless Steel making of 0Cr18Ni9Ti that elastomer 8 is selected the trade mark, can meet the requirement of Environmental Conditions, improve the working life of elastomer 8.Preferably, the central diameter of wire helical coil equals 2-7 times of wire diameter, adopts the elastomer 8 of this structure, can guarantee that elastomer 8 has enough damping characteristics.
The present embodiment adopts on external gear I 2a in few teeth difference engagement pair I and few teeth difference engagement pair II and external gear II 2b fluting elasticity filter structure is set, certainly, the fluting elasticity filter structure be arranged in few teeth difference engagement pair I also can arrange on fixed annulus 3 or be arranged on simultaneously on external gear I 2a and fixed gear 3; The fluting elasticity filter structure be arranged in few teeth difference engagement pair II also can arrange on power output inner gear 4 or be arranged on simultaneously on external gear II 2b and power output inner gear 4, and it is identical that it implements principle, is not repeated.
In addition, the fluting elasticity filter structure of the present embodiment comprises the wheel teeth groove 6 be arranged on simultaneously on the gear teeth and is arranged on the gear grooved 7 in teeth groove, as required, fluting elasticity filter structure can be for only at the wheel teeth groove 6 arranged on the gear teeth or the gear grooved 7 that only arranges in teeth groove, all can realize technical purpose of the present invention, be not repeated.
Finally explanation is, above preferred embodiment is only unrestricted in order to technological scheme of the present invention to be described, although the present invention is described in detail by above preferred embodiment, but those skilled in the art are to be understood that, can to it, make various changes in the form and details, and not depart from the claims in the present invention book limited range.
Claims (10)
1. intelligent drive device, comprise drive motor and the retarder be connected with drive motor, it is characterized in that: described retarder comprises power input eccentric shaft, duplicate gear and all rotates engage sleeves and is contained in fixed annulus and the power output inner gear on described power input eccentric shaft;
Described power input eccentric shaft is provided with the eccentric segment that is eccentric setting with respect to its axis, described duplicate gear comprises external gear I and external gear II, and duplicate gear rotation engage sleeves is contained on described eccentric segment, described fixed annulus and described external gear I form few teeth difference engagement pair I, and described power output inner gear and described external gear II form few teeth difference engagement pair II;
In described few teeth difference engagement pair I and few teeth difference engagement pair II, all have at least a gear to be provided with fluting elasticity filter structure;
Described fluting elasticity filter structure comprises the wheel teeth groove be arranged on the gear tooth of place, described take turns that teeth groove comprises two respectively and the flank profil line of the described gear teeth is the curve wheel teeth groove of equidistant curve and be arranged on described gear teeth tooth top and two curve wheel teeth groove joints between and be positioned at the straight line wheel teeth groove of gear radial direction, the described wheel in teeth groove filled and is provided with elastomer; And/or,
Described fluting elasticity filter structure comprises the gear grooved be arranged in the gear tooth slot of place, and described gear grooved comprises the linear gear groove that is symmetricly set in described teeth groove and is positioned at the gear radial direction, fills and is provided with elastomer in described gear grooved;
The output shaft synchronous of described power input eccentric shaft and described drive motor rotates;
Also comprise be used to monitoring the supervisory device of described few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, described supervisory device comprises data sink and is arranged in described elastomer and for monitoring respectively the sensor of described few teeth difference engagement pair I and few teeth difference engagement pair II operating conditions, wireless connections between described sensor and data sink.
2. intelligent drive device according to claim 1, it is characterized in that: described sensor is passive transducer, in described data sink, be provided with the electromagnetic wave transmitter installation, in described sensor, be provided with at least one for receiving from the electromagnetic wave of data sink and electromagnetic wave being converted to the transport element of electric energy; Or,
Described sensor is active transducer, and the transformation of energy be provided with in sensor for described elastomeric resilient distortion is produced is the conducting polymer circuit of electric energy.
3. intelligent drive device according to claim 2 is characterized in that: described supervisory device also comprises the data processing equipment of the monitor data that is connected with described data sink and gathers for the treatment of described sensor; Described sensor is micron order or nanoscale sensor.
4. intelligent drive device according to claim 1 is characterized in that: the output shaft of described drive motor and described power input eccentric shaft are set to one, and the rotor of described drive motor is fixedly installed on described power input eccentric shaft.
5. intelligent drive device according to claim 4, it is characterized in that: described fixed annulus is provided with the protecting jacket extended towards described drive motor place direction, described drive motor is fixedly mounted in described protecting jacket, and the end of protecting jacket is provided be used to preventing that drive motor is along the axially movable end cap of described power input eccentric shaft;
Described fixed annulus be provided with towards described power output inner gear place direction extend and with the bearing housing of the coaxial setting of described power input eccentric shaft, described power output inner gear rotates engage sleeves and is contained in this bearing housing;
Also comprise the central shaft bearing be fixedly connected with described power output inner gear, described central shaft bearing rotation engage sleeves is contained on described power input eccentric shaft.
6. intelligent drive device according to claim 1 is characterized in that: also comprise be used to the temperature transducer of measuring described retarder operation temperature, be used to the acceleration transducer of measuring described vibration reducer data be used to measuring the velocity transducer of described drive motor output speed; Described acceleration transducer is two and is arranged on the same radial cross section of described fixed annulus, and the line between the center of two acceleration transducers and its place radial cross section is mutually vertical; Described temperature transducer is arranged on described fixed annulus, and is positioned on the same radial cross section of fixed annulus with described acceleration transducer; The corresponding setting of rotor of described velocity transducer and described drive motor, described fixed annulus is provided be used to arranging the through hole of signaling line.
7. intelligent drive device according to claim 1, it is characterized in that: described external gear I and external gear II are the spiral gear that Hand of spiral is opposite, and described external gear I is on the direction that deviates from described external gear II, its Hand of spiral is opposite with its sense of rotation, described external gear II is on the direction that deviates from described external gear I, and its Hand of spiral is opposite with its sense of rotation; And/or,
Described external gear I and external gear II are variable tooth thickness gear, and described external gear I is on the direction that deviates from described external gear II, and its transverse tooth thickness reduces gradually, and described external gear II is on the direction that deviates from described external gear I, and its transverse tooth thickness reduces gradually; And/or,
Described external gear I and external gear II are bevel gear, and described external gear I is on the direction that deviates from described external gear II, and its nominal diameter reduces gradually, and described external gear II is on the direction that deviates from described external gear I, and its nominal diameter reduces gradually.
8. according to the described intelligent drive device of claim 1-7 any one, it is characterized in that: described gear grooved also comprises the circle hole groove that is arranged on close described Gear center one end of described linear gear groove; The length of described linear gear groove equal its place gear gear teeth whole depth 0.1-1.5 doubly, the groove width of described linear gear groove equals 0.001 ~ 2mm, the diameter of described circle hole groove equals 0.001 ~ 0.2 times of its place gear compound graduation circular diameter; The length of described straight line wheel teeth groove equal its place gear gear teeth whole depth 0.1-0.5 doubly.
9. according to the described intelligent drive device of claim 1-7 any one, it is characterized in that: described elastomer is the metal-rubber elastomer, and the metal-rubber elastomer of described metal-rubber elastomer for adopting following technique to prepare:
The wire that diameter is 0.05-0.3mm is made to helical coil, and after this screw roll fixed pitch was stretched, lay formed blank, by heat treatment again after blank circulating cooling forming processes, obtained having the metal-rubber elastomer of elasticity porosity characteristic.
10. intelligent drive device according to claim 9 is characterized in that: be to be applicable to the high tensile steel of the non-corrosive environment of normal temperature or to be applicable to high temperature/the have Austenitic Stainless Steel of erosion environment be used to making described elastomeric material wiry; The central diameter of described wire helical coil equals 2-7 times of wire diameter.
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| CN103410918B (en) | 2015-12-23 |
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