CN105889452B - A kind of dual input planetary gear train differential mechanism - Google Patents
A kind of dual input planetary gear train differential mechanism Download PDFInfo
- Publication number
- CN105889452B CN105889452B CN201610074653.3A CN201610074653A CN105889452B CN 105889452 B CN105889452 B CN 105889452B CN 201610074653 A CN201610074653 A CN 201610074653A CN 105889452 B CN105889452 B CN 105889452B
- Authority
- CN
- China
- Prior art keywords
- gear
- sun gear
- solid
- hollow
- planetary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/2002—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears
- F16H2200/2007—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with two sets of orbital gears
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention belongs to a kind of differential mechanisms, a kind of dual input planetary gear train differential mechanism is specifically disclosed, the differential mechanism includes housing and solid sun gear, hollow sun gear, the first input shaft, the first external gear, the second planet carrier, multiple solid sun gear planet wheel spindles, multiple solid sun gear planetary gears, the second input shaft, the second external gear, first planet carrier, multiple hollow sun gear planet wheel spindles, multiple hollow sun gear planetary gears, multiple needle bearings and multiple spring bearings in housing.For the differential mechanism while spatial volume is reduced, the rotation of two input shafts is non-interference.
Description
Technical field
The invention belongs to a kind of differential mechanisms, and in particular to a kind of dual input planetary gear train differential for electromechanical servo system
Device.
Background technology
Planetary gear train differential mechanism of the prior art is mainly the coaxial WGW type differential mechanisms of planetary gear, and planetary gear is coaxial
For WGW types differential mechanism since planet wheel spindle is coaxial, planet wheel spindle can bear larger shearing force, can by kinematics analysis by force difference
Know, only allow two sun gears differ in size, at this moment WGW types differential mechanism all the way reduction ratio be just, another way reduction ratio be
It is negative, and reduction ratio is decimal, this is unfavorable for electromechanical servo system optimization reduction ratio, therefore is not suitable for electromechanical servo system.
For automobile-used straight-tooth cylinder planet gear speed differentiator (belonging to WWW types differential mechanism) (1) applied to automobile, planet carrier is both input
Axis and housing, therefore housing is rotation, and reducer shell cannot rotate in electromechanical servo system, therefore cannot apply
In electromechanical servo system；(2) planet wheel spindle both sides do not have axially position, and electromechanical servo system has axial force, need axial direction
Positioning, therefore may not apply to electromechanical servo system；(3) wherein, planetary gear is integrally designed with planet axis, and support pattern is both sides
Optical axis directly coordinates with the copper sheathing on planet carrier, and not by needle bearing, friction is serious, and efficiency damage is big；(4) applied to automobile
On, into T-shaped layout, planet carrier inputs in the direction of input and output shaft, and the output of two sun gears can cause electromechanical actuator to occupy sky
Between it is big, space flight electromechanical servo system considers volume and shape requirement, by the way of being arranged in parallel mostly using input and output；(5)
Vehicle-mounted differential mechanism is not high to the required precision of movement, and the requirement to return difference is not very high, can often be repaired, and remaining electromechanics is watched
Differential mechanism kinematic accuracy requirement in dress system is high, and return difference requirement is small, once using cannot frequent detachable maintaining.
Invention content
The purpose of the present invention is to provide a kind of dual input planetary gear train differential mechanism, which is reducing spatial volume
Meanwhile two input shaft rotation it is non-interference.
Realize the technical solution of the object of the invention：A kind of dual input planetary gear train differential mechanism, the differential mechanism include housing, with
It is and solid sun gear in housing, hollow sun gear, the first input shaft, the first external gear, the second planet carrier, multiple solid
It is sun gear planet wheel spindle, multiple solid sun gear planetary gears, the second input shaft, the second external gear, first planet carrier, multiple hollow
Sun gear planet wheel spindle, multiple hollow sun gear planetary gears, multiple needle bearings and multiple spring bearings；In the middle part of solid sun gear
Housing has hollow sun gear and is equipped with needle bearing between the two, be cased with engaging with its gear outside one end of solid sun gear and
The multiple solid sun gear planetary gears being arranged circumferentially along it, the end end of solid sun gear is inserted in the second planet carrier,
And it is equipped with spring bearing between the two, the second planet carrier is mounted on by spring bearing in housing；Multiple solid sun gear planets
Wheel is respectively sleeved on the outside of a solid sun gear planet wheel spindle, and centre is supported by needle bearing, and each solid sun
One end of wheel planet wheel spindle is installed in the second planet carrier；It is cased with being secured to connection outside the other end of solid sun gear
First external gear, the first external gear are cased with the first input shaft engaged with its gear outside；One end end of hollow sun gear is cased with
Multiple hollow sun gear planetary gears that its gear is engaged and is arranged circumferentially along it, hollow sun gear is adjacent to hollow sun gear
Outside at planetary gear is cased with first planet carrier, and spring bearing is equipped between hollow sun gear and first planet carrier；Multiple skies
Heart sun gear planetary gear is respectively sleeved on the outside of a hollow sun gear planet wheel spindle, and centre is supported by needle bearing, and
One end of each hollow sun gear planet wheel spindle is installed in first planet carrier；Be cased with outside the other end of hollow sun gear with
Second external gear of connection, the second external gear are cased with the second input shaft engaged with its gear outside；Each hollow sun gear planet
The wheel shaft other end is installed in the second planet carrier, and the other end of each solid sun gear planet wheel spindle is installed on first
In planet carrier, and hollow sun gear planet wheel spindle is opposite with solid sun gear planet wheel spindle direction；Multiple hollow sun gear planets
Wheel and multiple solid sun gear planetary gear arranged for interval, and two neighboring hollow sun gear planetary gear, solid sun gear planetary gear
Between be intermeshed；Solid sun gear, hollow sun gear, the first input shaft, the second input shaft, the second external gear pass through branch
Bearing is supportted to be mounted in housing.
Multiple solid sun gear planetary gears include the first solid sun gear planetary gear, the second solid sun gear planet
Wheel, the solid sun gear planetary gear of third, multiple hollow sun gear planetary gears include the first hollow sun gear planetary gear, second hollow
The hollow sun gear planetary gear of sun gear planetary gear, third, the first solid sun gear planetary gear and the first hollow sun gear planetary gear
Between engage, engaged between the second solid sun gear planetary gear and the second hollow sun gear planetary gear, the solid sun gear row of third
It is engaged between the hollow sun gear planetary gear of star-wheel third.
Each solid sun gear planet wheel spindle, the both ends of hollow sun gear planet wheel spindle with first planet carrier,
It is locked between second planet carrier by interference fit and locking nut.
It is fixedly connected between first external gear and solid sun gear by positioning pin.
It is connected between second external gear and hollow sun gear by spline.
Be cased with ring washer and the second axle sleeve outside the solid sun gear, ring washer and the second axle sleeve be located at hollow sun gear with
Between first external gear.
Shaft-use elastic gear ring is cased with outside the solid sun gear, shaft-use elastic gear ring is located at a left side for the first external gear
Side.
First axle set is cased with outside the hollow sun gear, the first axle sleeve, which is located at, is used to support hollow sun gear and housing
Between spring bearing and the second external gear between, for the axially position of the second external gear, prevent the second external gear along blossoming
The left and right moving of key.
Be provided in the output terminal of second planet carrier for install ball-screw cylinder input shaft delivery outlet
And keyway.
The housing is composed of a fixed connection by multistage housing by screw, multiple hollow sun gear planetary gears and
Multiple solid sun gear planetary gear both sides are equipped with wear-resistant gasket.
The advantageous effects of the present invention：
(1) two-way input structure of the invention is symmetrical, and two-way input rotary inertia is identical so that the dynamic characteristic phase of two-way
Together；
(2) differential operating, speed synthesis are realized, is disputed without torque：The degree of freedom of the differential mechanism of the present invention, can be with for 2
Realize that speed of two inputs under any speed conditions is comprehensive or differential operates；No matter in single channel or two-way steady operation mould
Under formula, transmission torque is constant, disputes without the torque between two-way；
(3) it realizes power dividing, reduces volume：Input torque value is divided equally by multiple planetary gears, than the fixed shaft wheel of same size
It is volume smaller, under the same volume, can realizes large transmission ratio；
(4) double remaining reliabilities are high：Dual input can be driven, while single in each motor and differential mechanism by two motors
One brake between input shaft is installed, is braked rapidly when failure all the way, another way can also work on.
(5) bandwidth of electromechanical servo system can be improved when two-way works：Bandwidth requirement can be converted into angular acceleration requirement,
In acceleration, two-way work reduces half than single channel work angular acceleration, and rotary inertia is constant, therefore moment of inertia ratio
Single channel reduces half when working, in this way, the angular acceleration allowed during two-way is big when can be than single channel, therefore bandwidth is high.
(6) hollow shaft sleeve realizes that two inputs arrange that the support of hollow shaft and axially position are in homonymy outside solid shafting
One innovative point.Supported among hollow shaft and solid shafting by needle bearing, the axially position of hollow shaft by the shaft shoulder, axle sleeve,
Bearing, gear and shaft-use elastic gear ring are realized, can realize that dual input is arranged in homonymy in this way, this layout type is suitable for machine
Electric servoactuation system.
(7) and planet carrier is intended only as exporting, and is not intended as the housing of entire differential mechanism, and such housing will not be with row
Carrier rotates, but stationary, can just be suitable for electromechanical servo actuating system in this way；
(8) motionless housing is designed；Housing is divided into multiple portions composition, easy to process, is easy to support the axis of different piece
It holds, and is easily installed；
(9) there are planetary gear and planet wheel spindle split design, centre is supported by needle bearing so that loss in efficiency subtracts
It is few.
(10) remaining electromechanical servo system is in use, can have the acceleration along gear axial direction, and therefore, planet wheel spindle needs
To increase nut on the outside of planet carrier, realize axially position and carrying.
(11) spring bearing of two-way input shaft and planet carrier supports each other, coordinated with each other consistent, realizes two inputs
The common support of axis and planet carrier, reduces volume.
(12) using displacement method realize involute spur gear with tooth, under the premise of root is not cut, realize sun gear with
Engaging between planetary gear, between planetary gear and planetary gear realizes that planetary gear is less than sun gear, advantageously reduces rotary inertia,
And so that return difference is controllable.
Description of the drawings
Fig. 1 is a kind of schematic cross-sectional view of dual input planetary gear train differential mechanism provided by the present invention；
Fig. 2 is planetary gear position of engagement close-up schematic view in Fig. 1；
Fig. 3 is the B-B direction sectional view of Fig. 1；
Fig. 4 is the C-C of Fig. 1 to sectional view；
Fig. 5 is the D-D views of Fig. 3.
In figure：1. solid sun gear, 2. hollow sun gears, 3. first planet carriers, 4. first input shaft Left-side support bearings,
5. solid sun gear planet wheel spindle, 6. second input shaft Right side support bearings, 7. first needle bearings, 8. second needle bearings,
9. the first external gear, 10. positioning pins, 11. first solid sun gear planetary gears, 12. second solid sun gear planetary gears, 13.
Three solid sun gear planetary gears, 14. nuts, 15. second external gears, 16. first input shafts, 17. second input shafts, 18. first
Axle sleeve, 19. ring washers, 20. second axle sleeves, 21. first hollow sun gear planetary gears, 22. second hollow sun gear planetary gears, 23.
The hollow sun gear planetary gear of third, 24. shaft-use elastic gear rings, 25. first spring bearings, 26. second spring bearings, 27. thirds
Spring bearing, 28. the 4th spring bearings, 29. second input shaft Left-side support bearings, 30. second planet carriers, 31. the 5th supports
Bearing, 32. the 6th spring bearings, 33. first shells, 34. second shells, 35. third housings, 36. the 4th housings, 37. the 5th
Housing, 38. first gaskets, 39. second gaskets, 40. second input shaft Right side support bearings, 41. splines, 42. solid sun gears
The shaft shoulder, 43. big holes, 44. long spiro nails and small sircle hole；45. hollow sun gear planet wheel spindle.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, solid 1 middle part housing of sun gear has hollow sun gear 2, the hollow sun
Wheel 2 both ends and solid sun gear 1 between each nested needle bearing 8, solid sun gear 1 be solid shafting, hollow sun gear 2
For hollow shaft.Hollow 2 end of sun gear is equipped with is sleeved on hollow sun gear 2 with its integrally formed external gear, first planet carrier 3
Outside and adjacent to the external gear of hollow sun gear 2, the 4th spring bearing is nested between first planet carrier 3 and hollow sun gear 2
28.Hollow sun gear planet wheel spindle 45 is three, is covered respectively outside each hollow 45 third left step of sun gear planet wheel spindle
There are the first hollow sun gear planetary gear 21, the second hollow sun gear planetary gear 22, the hollow sun gear planetary gear 23, Mei Gekong of third
45 and first hollow sun gear planetary gear 21 of heart sun gear planet wheel spindle, the second hollow sun gear planetary gear 22, third are hollow too
Each nested first needle bearing 7 between sun wheel planetary gear 23；The circumferentially six planet wheel bore of first planet carrier 3, three
One end of a hollow sun gear planet wheel spindle 45 is respectively separated in a planet wheel bore for being inserted into first planet carrier 3.It is at this point, hollow
The external gear of 2 end of sun gear and the first hollow sun gear planetary gear 21, the second hollow sun gear planetary gear 22, third are hollow too
It is engaged between sun wheel planetary gear 23.
Solid sun gear 1 adjacent to one end of hollow 2 external gear of sun gear be equipped with its integrally formed external gear, it is solid too
Sun wheel 1 is cased with the second spring bearing 26 outside the end of the external gear.Solid sun gear planet wheel spindle 5 is three, Mei Geshi
It is cased with the first solid sun gear planetary gear 11, the second solid sun respectively outside 5 third right step of heart sun gear planet wheel spindle
Take turns planetary gear 12, the solid sun gear planetary gear 13 of third, each solid 5 and first solid sun gear planet of sun gear planet wheel spindle
Take turns each nested first needle bearing between the 11, second solid sun gear planetary gear 12, the solid sun gear planetary gear 13 of third
7；The second spring bearing 26 outside solid sun gear 1 is nested in the centre bore of 30 inside of the second planet carrier；Second planet carrier 30
Circumferentially six planet wheel bore, one end of each solid sun gear planet wheel spindle 5, which is respectively separated, is inserted into the second planet carrier 30
A planet wheel bore in.The other end of each solid sun gear planet wheel spindle 5 is inserted into a planet of first planet carrier 3 respectively
In wheel bore, the other end of each hollow sun gear planet wheel spindle 45 is inserted into respectively in a planet wheel bore of the second planet carrier 30.
At this point, the external gear of solid 1 end of sun gear and the first solid sun gear planetary gear 11, the second solid sun gear planetary gear 12,
The solid sun gear planetary gear 13 of third engages, moreover, the first solid 11 and first hollow sun gear planet of sun gear planetary gear
It engages, is engaged between the second solid sun gear planetary gear 12 and the second hollow sun gear planetary gear 22, third is solid between wheel 21
It is engaged between the hollow sun gear planetary gear 23 of 13 third of sun gear planetary gear.
Three solid sun gear planet wheel spindles 5 are identical with the shape of three hollow sun gear planet wheel spindles 45, are ladder
Shape solid shafting, but the installation site of solid sun gear planet wheel spindle 5 and hollow sun gear planet wheel spindle 45 is symmetric.Often
A solid sun gear planet wheel spindle 5, hollow sun gear planet wheel spindle 45 both ends be respectively connected through a screw thread a nut 14.
The 6th spring bearing 32 is cased with outside the middle part of second planet carrier 30, the 5th is cased with outside the end of the second planet carrier 30
Bearing 31 is supportted, the 5th spring bearing 31 is nested in first shell 33, and the 6th spring bearing 32 is nested in second shell 34, and
It is fixedly connected between first shell 33, second shell 34 by long spiro nail, small sircle hole 44.
Delivery outlet and keyway are provided in the output terminal of second planet carrier 30, the input shaft of ball-screw cylinder, which is inserted in this, to be had
In delivery outlet, and pass through key connection between the input shaft of ball-screw cylinder and the second planet carrier 30.
Hollow sun gear 2 is cased with third spring bearing 27, outside the first axle sleeve 18, second successively from the outside in centre to left side
Gear 15 is connected between second external gear 15 and hollow sun gear 2 by spline 41, and third shell is cased with outside third spring bearing 27
Body 35 is fixedly connected between third housing 35 and second shell 34 by long spiro nail, small sircle hole 44.
9, two ring washer 19, the second axle sleeve 20, the first external gear shaft-use elastic gear rings 24 are sequentially sleeved in outside solid sun gear 1
Portion, and 19 and second external gear of ring washer, 15 left contact.Positioning pin 10 extends radially through the first external gear 9 along solid sun gear 1
Boss and solid sun gear 1, i.e., by the way that solid sun gear 1 is fixedly connected by positioning pin 10 with the first external gear 9.
4th housing 36 is fixedly connected on the left side of third housing 35 by long spiro nail 44, and one end of the second input shaft 17 is set
Have with its integrally formed external gear, on the second input shaft 17, the second input shaft right side is cased with outside the end of the neighbouring external gear
Spring bearing 40,17 middle part of the second input shaft is outer to be cased with the second input shaft Left-side support bearing 29, the second input shaft Right side support
The external gear of 40 and second input shaft 17 of bearing is located in 35 lower part of third housing, and the second input shaft Right side support bearing 40 is embedded in
In the right side wall of third housing 35；The external gear of second input shaft 17 is engaged with the second external gear 15.The one of first input shaft 16
End be equipped with its integrally formed external gear, be cased with the first input shaft respectively outside the first input shaft 16 of the both sides of the external gear
It is propped up on the right side of Left-side support bearing 4, the second input shaft Right side support bearing 6, the external gear of the first input shaft 16 and the second input shaft
Bearing 6 is supportted in 36 right side wall of the 4th housing；The external gear of first input shaft 16 is engaged with the first external gear 9.
The first spring bearing 25 is cased with outside the left end of solid sun gear 1.5th housing 37 runs through the first input shaft 16, second
Input shaft 17, the first spring bearing 25 are nested in the centre bore of the 5th housing 37, and the first input shaft 16, the second input shaft 17 are right
Title is distributed in the both sides of solid sun gear 1.Second input shaft Left-side support bearing 29, the first input shaft Left-side support bearing 4 divide
It is not nested in the circular hole of 37 both sides of the 5th housing, and the second input shaft Left-side support bearing 29, the first input shaft Left-side support
Bearing 4 is symmetrically distributed in the both sides of solid sun gear 1.5th housing 37 is fixed on a left side for the 4th housing 36 by long spiro nail 44
Side.
5th housing 37 is threaded hole in long spiro nail and 44 position of small sircle hole, first housing 33, second shell 34, third
Housing 35, the 4th housing 36 are small sircle hole in long spiro nail and 44 position of small sircle hole, and five housings are mounted on one by long spiro nail 44
It rises.
First housing 33, second shell 34, third housing 35, all there are four pass through at same position on the 4th housing 36
The big hole 43 worn at the position of four big holes of face is four threaded holes, actuator housing and differential mechanism on the 5th housing
First shell, second shell, third housing, the 4th housing by four perforative big holes, installing the mode of long spiro nail,
It is connected with four threaded holes on the 5th housing.
As shown in Figure 1, a kind of dual input of dual input planetary gear train differential mechanism provided by the present invention is：Sun gear all the way
For hollow sun gear 2, the hollow sun gear 1 solid with another way of sun gear 2 realizes not doing mutually for two-way by two needle bearings 8
Relate to rotation.
The axially position of hollow sun gear 2 be by the shaft shoulder 42 and ring washer 19 of solid sun gear 1, axle sleeve 20, first outside
Gear 9 and two shaft-use elastic gear rings 24 are realized；Hollow sun gear 2 is by 27 and the 4th spring bearing 28 of third spring bearing
Support, the solid sun gear 1 of another way are supported by the first spring bearing 25 and the second spring bearing 26；Second external gear 15 with it is hollow too
Sun wheel 2 is connected by spline 41, the shaft shoulder, third spring bearing 27 and first axle that the second external gear 15 passes through hollow sun gear 2
Set 18 and ring washer 19 realize axially position；First external gear 9 is fixedly connected with solid sun gear 1 by positioning pin 10, reduces body
Product, is conducive to carry.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the first solid sun gear planetary gear 11, the second solid sun gear planet
Wheel 12, the solid sun gear planetary gear 13 of third, the first hollow sun gear planetary gear 21, the second hollow sun gear planetary gear 22, the
Three hollow sun gear planetary gears 23 are respectively installed to each by first needle bearing 7 on a planet wheel spindle 5 or 45, and six
A 11,12,13,21,22,23 both sides of planetary gear are installed by one the first gasket 38 and second gasket 39, six planets respectively
The both ends of wheel shaft 5 or 45 are respectively installed to the planet wheel bore of first planet carrier 3 and the planet of the second planet carrier 30 by multi-diameter shaft
In wheel bore, each by one nut 14 of installation is threadedly coupled on the outside of the both ends of six planet wheel spindles 5 or 45, planet wheel spindle is realized
The separate structure of 5 or 45 axially position, this planet wheel spindle and planet carrier is easy to process, is conducive to according to different positions
Intensity requirement and hardness requirement, may be used using different technique processing methods, such as 38 second gasket 39 of the first gasket
Glass hard steel, it is more resistant.
Second planet carrier 30 is respectively supported at first shell 33, second by the 5th spring bearing 31, the 6th spring bearing 32
On housing 34, hollow sun gear 2 is supported on by third spring bearing 27 on third housing 35, and the end of solid sun gear 1 is by
One spring bearing 25 is supported on the 5th housing 37, and bearing 25,27,31,32 is supported on housing, can reduce in this way volume and
Weight；Bearing 26,28 causes solid sun gear wheel 1, hollow sun gear 2, first planet carrier 3, the second mutually support of planet carrier 30,
Second spring bearing 26 is supported between solid sun gear 1 and first planet carrier 3, and the 4th spring bearing 28 is supported on the hollow sun
Between 2 and second planet carrier 30 of wheel.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of work of dual input planetary gear train differential mechanism provided by the present invention
It is as follows to make principle：
By key connection, the output shaft rotation of motor drives the first input for the output shaft of motor and the first input shaft 16 all the way
Axis 16 rotates, and due to being engaged between the external gear and the first external gear 9 of the first input shaft 16, the first input shaft 16 is passed by gear
It is dynamic to pass torque to the first external gear 9 so that the first input shaft 16 drives the first external gear 9 to rotate.Due to the first external gear 9
It is fixedly connected between solid sun gear 1, the first external gear 9 drives solid sun gear 1 to rotate, outside solid 1 end of sun gear
Gear and the first solid sun gear planetary gear 11, the second solid sun gear planetary gear 12, the solid sun gear planetary gear 13 of third are equal
Engagement so that solid sun gear 1 drives the first solid sun gear planetary gear 11, the second solid sun gear planetary gear 12, third real
Heart sun gear planetary gear 13 rotates.
By key connection, the output shaft rotation of motor drives the second input shaft for the output shaft of another way and the second input shaft 17
17 rotations, due to being engaged between the external gear and the second external gear 15 of the second input shaft 17, the second input shaft 17 is passed by gear
It is dynamic to pass torque to the second external gear 15 so that the second input shaft 17 drives the second external gear 15 to rotate.Due to the second external tooth
It is connected between wheel 15 and hollow sun gear 2 by spline 41, the second external gear 15 drives hollow sun gear 2 to rotate, the hollow sun
Take turns the external gear of 2 ends and the first hollow sun gear planetary gear 21, the second hollow sun gear planetary gear 22, the hollow sun gear of third
It is engaged between planetary gear 23 so that hollow sun gear 2 drives the first hollow sun gear planetary gear 21, the second hollow sun gear row
The hollow sun gear planetary gear 23 of star-wheel 22, third rotates.
Between first solid 11 and first hollow sun gear planetary gear 21 of sun gear planetary gear, the second solid sun gear planet
Wheel 12 and second is between hollow sun gear planetary gear 22, the solid sun gear planetary gear 13 of third and the hollow sun gear planetary gear of third
It is engaged between 23 for straight-tooth involute profile, fulcrum, moves along involute profile each other, and transmits torque, pushes mutually, planet
Torque and movement are passed to three planet wheel spindles 5 by wheel 11, planetary gear 12, planetary gear 13 by needle bearing 7, planetary gear 21,
Torque and movement are passed to three planet wheel spindles 45, three planet wheel spindles 5 by planetary gear 22, planetary gear 23 by needle bearing 7
1 and second planet carrier 30 of first planet carrier is driven jointly with three planet wheel spindles 45, realizes the transmission that two-way input is independent of each other
Torque and movement.
Therefore, the input of more than two-way forms non-interference rotation, while two-way input gearratio is identical (being all 2),
The differential output of two-freedom planetary gear train is formd, and passes through the second planet carrier 30 and differential output is transferred to ball-screw
The input shaft of cylinder realizes differential output.
Operating mode can be following two forms, and the input of (1) two-way works at the same time, failure all the way, brake and locking this
Road, another way can also continue half-power work or accelerate to full power operation；(2) it works all the way, another way locking, working ways
When breaking down, another way is started from scratch acceleration, and is come into operation rapidly.This feature increases reliable when breaking down
Property.During due to failover, two-way is individual control loop, if the control parameter of two-way is identical, can be substantially reduced dynamic
The difficulty of state control, therefore the rotary inertia that two-way is converted to input side is designed as by counterweight by identical value.
The present invention is explained in detail above in conjunction with drawings and examples, but the present invention is not limited to above-mentioned implementations
Example, within the knowledge of a person skilled in the art, can also make under the premise of present inventive concept is not departed from
Go out various change.The prior art may be used in the content not being described in detail in the present invention.
Claims (9)
1. a kind of dual input planetary gear train differential mechanism, it is characterised in that：The differential mechanism includes housing and the reality in housing
Heart sun gear (1), hollow sun gear (2), the first input shaft (16), the first external gear (9), the second planet carrier (30), Duo Geshi
Heart sun gear planet wheel spindle (5), multiple solid sun gear planetary gears, the second input shaft (17), the second external gear (15), the first row
Carrier (3), multiple hollow sun gear planet wheel spindles (45), multiple hollow sun gear planetary gears, multiple needle bearings and multiple
Support bearing；Housing has hollow sun gear (2) and is equipped with needle bearing, solid sun gear between the two in the middle part of solid sun gear (1)
(1) the multiple solid sun gear planetary gears that is cased with engaging with its gear outside one end and be arranged circumferentially along it, the solid sun
The end end of wheel (1) is inserted in the second planet carrier (30) and is equipped with spring bearing between the two, and the second planet carrier (30) passes through
Spring bearing is mounted in housing；Multiple solid sun gear planetary gears are respectively sleeved on a solid sun gear planet wheel spindle (5)
Outside, and one end of each solid sun gear planet wheel spindle (5) is installed in the second planet carrier (30)；Solid sun gear
(1) it is cased with being secured to the first external gear (9) of connection outside the other end, is cased with engaging with its gear outside the first external gear (9)
The first input shaft (16)；One end end of hollow sun gear (2) is cased with the engagement of its gear and is arranged circumferentially along it more
A hollow sun gear planetary gear, outside of the hollow sun gear (2) at hollow sun gear planetary gear are cased with first planet carrier
(3), and between hollow sun gear (2) and first planet carrier (3) it is equipped with spring bearing；Multiple hollow sun gear planetary gears respectively cover
Mounted in the outside of a hollow sun gear planet wheel spindle (45), and one end of each hollow sun gear planet wheel spindle (45) is fixed
In first planet carrier (3)；It is cased with the second external gear (15) connected to it outside the other end of hollow sun gear (2), second
The second input shaft (17) engaged with its gear is cased with outside external gear (15)；Each hollow sun gear planet wheel spindle (45) other end
It is installed in the second planet carrier (30), the other end of each solid sun gear planet wheel spindle (5) is installed on the first row
In carrier (3)；Be provided in the output terminal of second planet carrier (30) for install ball-screw cylinder input shaft delivery outlet
And keyway；Multiple hollow sun gear planetary gears and multiple solid sun gear planetary gear arranged for interval, and the two neighboring hollow sun
It is intermeshed between wheel planetary gear, solid sun gear planetary gear；Solid sun gear (1), hollow sun gear (2), the first input shaft
(16), the second input shaft (17), the second external gear (15) are mounted on by spring bearing in housing.
2. a kind of dual input planetary gear train differential mechanism according to claim 1, it is characterised in that：It is described it is multiple it is solid too
Sun wheel planetary gear includes the first solid sun gear planetary gear (11), the second solid sun gear planetary gear (12), the solid sun of third
Planetary gear (13) is taken turns, multiple hollow sun gear planetary gears include the first hollow sun gear planetary gear (21), the second hollow sun gear
The hollow sun gear planetary gear (23) of planetary gear (22), third, the first solid sun gear planetary gear (11) and the first hollow sun gear
Planetary gear engages between (21), is nibbled between the second solid sun gear planetary gear (12) and the second hollow sun gear planetary gear (22)
It closes, is engaged between the hollow sun gear planetary gear (23) of solid sun gear planetary gear (13) third of third.
3. a kind of dual input planetary gear train differential mechanism according to claim 2, it is characterised in that：It is described it is each it is solid too
Sun wheel planet wheel spindle (5), hollow sun gear planet wheel spindle (45) both ends with first planet carrier (3), the second planet carrier (30)
Between pass through locking nut (14) lock.
4. a kind of dual input planetary gear train differential mechanism according to claim 3, it is characterised in that：First external gear
(9) it is fixedly connected between solid sun gear (1) by positioning pin (10).
5. a kind of dual input planetary gear train differential mechanism according to claim 4, it is characterised in that：Second external gear
(15) it is connect between hollow sun gear (2) by spline (41).
6. a kind of dual input planetary gear train differential mechanism according to claim 5, it is characterised in that：The solid sun gear
(1) external to be cased with ring washer (19) and the second axle sleeve (20), ring washer (19) and the second axle sleeve (20) are positioned at hollow sun gear (2) and the
Between one external gear (9).
7. a kind of dual input planetary gear train differential mechanism according to claim 6, it is characterised in that：The solid sun gear
(1) external to be cased with shaft-use elastic gear ring (24), shaft-use elastic gear ring (24) is positioned at the left side of the first external gear (9).
8. a kind of dual input planetary gear train differential mechanism according to claim 7, it is characterised in that：The hollow sun gear
(2) external to be cased with first axle set (18), the first axle sleeve (18) is positioned at being used to support support of the hollow sun gear (2) between housing
Between bearing and the second external gear (15).
9. a kind of dual input planetary gear train differential mechanism according to claim 8, it is characterised in that：The housing is by multistage
Housing is composed of a fixed connection by screw, multiple hollow sun gear planetary gears and multiple solid sun gear planetary gear both sides
It is equipped with gasket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074653.3A CN105889452B (en) | 2016-02-03 | 2016-02-03 | A kind of dual input planetary gear train differential mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074653.3A CN105889452B (en) | 2016-02-03 | 2016-02-03 | A kind of dual input planetary gear train differential mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105889452A CN105889452A (en) | 2016-08-24 |
| CN105889452B true CN105889452B (en) | 2018-06-22 |
Family
ID=57014214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610074653.3A Active CN105889452B (en) | 2016-02-03 | 2016-02-03 | A kind of dual input planetary gear train differential mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105889452B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107166008B (en) * | 2017-06-19 | 2020-01-03 | 北京航天发射技术研究所 | Differential mechanism of transfer case |
| CN107269732A (en) * | 2017-08-08 | 2017-10-20 | 浙江万里扬股份有限公司 | Bi-motor automatic clutch actuator |
| CN107842590B (en) * | 2017-09-30 | 2020-09-18 | 北京精密机电控制设备研究所 | Redundancy angular displacement output type differential mechanism |
| CN108180281B (en) * | 2018-02-27 | 2024-03-08 | 徐州徐工基础工程机械有限公司 | Split type planet carrier adopted in torque increasing structure of power head of rotary drilling rig |
| CN109505942B (en) * | 2018-08-16 | 2020-11-20 | 北京精密机电控制设备研究所 | Linear dual-redundancy differential |
| CN110687632A (en) * | 2018-10-12 | 2020-01-14 | 安徽澜轩光电科技有限责任公司 | Special planet axle of optic fibre rotary connector |
| CN110469641A (en) * | 2019-09-17 | 2019-11-19 | 上海智御动力技术有限公司 | Rub planetary power device |
| CN110735905A (en) * | 2019-10-29 | 2020-01-31 | 安徽工程大学 | differential transmission device with active high speed regulation |
| CN112112946A (en) * | 2020-11-05 | 2020-12-22 | 机械科学研究总院青岛分院有限公司 | Double-input single-output planetary transmission device |
| CN113958682A (en) * | 2021-08-11 | 2022-01-21 | 北京自动化控制设备研究所 | Dual-redundancy differential mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2064105C1 (en) * | 1992-07-14 | 1996-07-20 | Научно-производственное предприятие "АВВИ" | Differential drive |
| WO1999030060A1 (en) * | 1997-12-11 | 1999-06-17 | Viktor Mikhailovich Kuzevanov | Power distributing mechanism for driving the driving axles and wheels of a vehicle |
| US6776737B2 (en) * | 2002-04-16 | 2004-08-17 | Yen Hsiang Liu | Planetary differential gear |
| CN201351712Y (en) * | 2008-11-27 | 2009-11-25 | 国茂减速机集团有限公司 | Differential type internal-tooth-free planet gear speed reducer |
| CN201747868U (en) * | 2010-08-06 | 2011-02-16 | 江苏省金象减速机有限公司 | Double input power split differential planetary reducer |
| CN104595451A (en) * | 2013-10-31 | 2015-05-06 | 北京精密机电控制设备研究所 | Double-input-channel differential mechanism type electromechanical actuator |
-
2016
- 2016-02-03 CN CN201610074653.3A patent/CN105889452B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2064105C1 (en) * | 1992-07-14 | 1996-07-20 | Научно-производственное предприятие "АВВИ" | Differential drive |
| WO1999030060A1 (en) * | 1997-12-11 | 1999-06-17 | Viktor Mikhailovich Kuzevanov | Power distributing mechanism for driving the driving axles and wheels of a vehicle |
| US6776737B2 (en) * | 2002-04-16 | 2004-08-17 | Yen Hsiang Liu | Planetary differential gear |
| CN201351712Y (en) * | 2008-11-27 | 2009-11-25 | 国茂减速机集团有限公司 | Differential type internal-tooth-free planet gear speed reducer |
| CN201747868U (en) * | 2010-08-06 | 2011-02-16 | 江苏省金象减速机有限公司 | Double input power split differential planetary reducer |
| CN104595451A (en) * | 2013-10-31 | 2015-05-06 | 北京精密机电控制设备研究所 | Double-input-channel differential mechanism type electromechanical actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105889452A (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105889452B (en) | A kind of dual input planetary gear train differential mechanism | |
| CN107725705A (en) | A kind of double remaining electromechanical actuators of linear antiseize | |
| CN103291870A (en) | Planetary roller screw pair actuating cylinder capable of self locking | |
| CN206047631U (en) | Numerical-control double-shaft rotary table | |
| CN107425649A (en) | A kind of double remaining electromechanical actuators based on motor speed synthesis | |
| CN104455226A (en) | Three cycloidal gear type RV speed reducer | |
| CN105848945B (en) | For the driving device of hybrid vehicle | |
| CN106271697A (en) | Numerical-control double-shaft rotary table | |
| CN203868259U (en) | Planetary gear transmission device capable of shifting gears | |
| CN205350242U (en) | No return difference single -stage cycloid awl tooth reduction gear | |
| CN205715508U (en) | Set composite in rotary moving | |
| RU2720600C2 (en) | Speed reducer with intermediate transmission line | |
| CN101523080B (en) | Multi-speed reduction gear | |
| CN205315617U (en) | Ball worm reducer | |
| CN109578540A (en) | A kind of straight-tooth planetary gear ball Combined speed reducer | |
| CN101201099A (en) | Mechanism for unhitching and resetting worm wheel endless screw | |
| RU2646288C1 (en) | Multistage reducer of powered drive of drilling unit | |
| CN110255410A (en) | Raising gear and jack up unit | |
| CN110345202A (en) | A kind of AGV driving wheel of double reduction | |
| US20100229665A1 (en) | Modified eccentric gearbox | |
| CN102120549B (en) | Winch speed reducer for mines | |
| CN202194957U (en) | Ball spline transmission assembly | |
| EP3656931B1 (en) | Planetary gear module for swing drive of a construction machine | |
| CN104653727A (en) | Variable speed winding planetary reducer | |
| CN107923461A (en) | Adjusting apparatus for disk brake |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Huang Yuping Inventor after: Liu Ting Inventor after: Shi Wei Inventor after: Cui Peijuan Inventor after: Zhao Guoping Inventor after: Xu Qiang Inventor after: Wang Shuiming Inventor before: Huang Yuping Inventor before: Xu Qiang Inventor before: Wang Shuiming Inventor before: Zhao Guoping |
|
| COR | Change of bibliographic data | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Huang Yuping Inventor after: Liu Ting Inventor after: Shi Wei Inventor after: Cui Peijuan Inventor after: Zhao Guoping Inventor after: Xu Qiang Inventor after: Wang Shuiming Inventor before: Huang Yuping Inventor before: Liu Ting Inventor before: Shi Wei Inventor before: Cui Peijuan Inventor before: Zhao Guoping Inventor before: Xu Qiang Inventor before: Wang Shuiming |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |