CN108006185B - Linear and/or rotary motion actuator - Google Patents
Linear and/or rotary motion actuator Download PDFInfo
- Publication number
- CN108006185B CN108006185B CN201610939627.2A CN201610939627A CN108006185B CN 108006185 B CN108006185 B CN 108006185B CN 201610939627 A CN201610939627 A CN 201610939627A CN 108006185 B CN108006185 B CN 108006185B
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- China
- Prior art keywords
- driven gear
- main screw
- screw rod
- linear
- fixed sleeve
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- 230000033001 locomotion Effects 0.000 title claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000010862 gear shaping Methods 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
- F16H25/2252—Planetary rollers between nut and screw
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to an actuating mechanism for linear reciprocating motion, in particular to a linear and/or rotary motion actuating mechanism, which mainly comprises a first power transmission pair, a second power transmission pair and a planetary roller screw pair; the planetary roller screw pair consists of a roller nut, a main screw and a plurality of rollers, the first power transmission pair comprises a first driving gear and a first driven gear, the first driven gear is fixedly connected with the roller nut, and the main screw passes through the driven gear; the second power transmission pair comprises a second driving gear, a second driven gear and a fixed sleeve, wherein the fixed sleeve is fixedly inserted into the second driven gear, the fixed sleeve is sleeved on the main screw rod, and the fixed sleeve and the main screw rod are in a radially fixed and axially free state. The invention has two sets of power, and three main motion forms of linear reciprocating motion, rotary motion and rotary and linear reciprocating motion are realized through the mutual linkage of the two sets of power.
Description
Technical Field
The invention relates to an actuating mechanism for performing linear reciprocating motion, in particular to a planetary roller screw pair for accurately converting rotary motion into linear motion.
Background
The planetary roller screw pair is a mechanical device for converting rotary motion into linear motion, and is similar to a transmission mode of a ball screw pair, and the difference is that: in the ball screw pair, load is transmitted from the nut to the screw through the steel balls installed in the thread raceways, and the magnitude of the load is mainly determined by the size of the steel balls and the number of contact points. The load transfer element of the planetary roller screw pair is a threaded roller, and the roller can be processed into an arc convex tooth shape with a larger curvature radius. Each nut typically contains a plurality of threaded rollers, and all of the rollers participate in the work with numerous points of contact, thus the load bearing capacity and stiffness are much higher than ball screw pairs. In applications requiring high load, planetary roller screw pairs have an unparalleled advantage over hydraulic drives. The control system is simple, complex matched systems such as valves, pumps, filters, sensors and the like are not needed, hydraulic oil leakage and unpredictable faults can be effectively avoided, and the hydraulic oil can bear heavy loads or gradually increased heavy loads for thousands of hours under extremely hard working environments. Therefore, the advantages of the planetary roller screw pair make the planetary roller screw pair an ideal choice for use and heavy-duty transmission under severe environmental conditions. Currently, planetary roller screw pairs are used only as linear reciprocating actuators, but not as rotary actuators, or as rotary+linear reciprocating actuators.
Disclosure of Invention
The invention aims to improve a planetary roller screw pair in the prior art, so that the planetary roller screw pair has three motion modes of linear reciprocating motion, rotary motion and rotary and linear reciprocating motion.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the linear and/or rotary motion executing mechanism mainly comprises a first power transmission pair, a second power transmission pair and a planetary roller screw pair;
the planetary roller screw pair consists of a roller nut, a main screw rod and a plurality of rollers, wherein the rollers are uniformly distributed on the main screw rod and meshed with the main screw rod, small-modulus external gears and cylindrical optical axes are processed at two ends of the rollers, a retainer and an annular gear are respectively sleeved at two ends of the main screw rod, the cylindrical optical axes of the rollers are inserted into holes uniformly processed in the retainer, and the small-modulus external gears are meshed with the annular gear;
the first power transmission pair comprises a first driving gear and a first driven gear, the first driven gear is fixedly connected with the roller nut, and the main screw rod passes through the driven gear;
the second power transmission pair comprises a second driving gear, a second driven gear and a fixed sleeve, wherein the fixed sleeve is fixedly inserted into the second driven gear, the fixed sleeve is sleeved on the main screw rod, and the fixed sleeve and the main screw rod are in a radially fixed and axially free state.
The first power transmission pair and the second power transmission pair can independently drive the planetary roller screw pair to move and can also jointly drive the planetary roller screw pair.
The working principle of the first power transmission pair for independently driving the planetary roller screw pair is as follows: the first driving gear rotates to drive the first driven gear to engage and reversely rotate, the first driven gear drives the roller nut to rotate in the same direction with the roller nut, the roller nut drives the rollers to rotate at one side and do planetary motion around the main screw rod, and the rollers are directly engaged with the main screw rod through threads, so that the main screw rod does axial linear motion at the moment. Because the main screw rod and the fixed sleeve are in a radial fixed and axial free state, the main screw rod does axial movement at the moment and does not cause the movement of the fixed sleeve. The extension or retraction of the main screw is determined by the direction of rotation of the first drive gear.
The working principle of the second power transmission pair for independently driving the planetary roller screw pair is as follows: the second driving gear rotates to drive the second driven gear to rotate in the meshing direction, the second driven gear drives the fixed sleeve to rotate in the same direction as the fixed sleeve, the fixed sleeve drives the main screw rod to rotate in the same direction as the fixed sleeve, the roller moves around the main screw rod in a planetary mode, and as the roller is meshed with the roller nut through threads, the position of the roller nut is in a fixed state, and the main screw rod starts to do linear and rotary motion. The extension or retraction of the main screw is determined by the direction of rotation of the second drive gear.
The working principle of the first power transmission pair and the second power transmission pair for jointly driving the planetary roller screw pair to move is as follows: when the motion directions of the first driving gear and the second driving gear are the same, and the output force of the second driving gear is equal to the output force of the first driving gear multiplied by a planetary transmission ratio, the linear motion of the main screw rod driven by the first power transmission pair is counteracted with the linear motion of the main screw rod driven by the second power transmission pair, and the main screw rod is in pure rotary motion at the moment.
Further, the first driven gear is fixedly connected with the roller nut through a group of concave-convex gear shaping. The concave-convex gear shaping can effectively prevent relative rotation between the first driven gear and the roller nut.
Further, the second driven gear is fixedly connected with the fixed sleeve through concave-convex gear shaping. The concave-convex gear shaping can effectively prevent the relative rotation between the second driven gear and the fixed sleeve.
Further, a connecting sleeve is arranged at one end, opposite to the fixed sleeve, of the first driven gear, and a ball bearing is arranged in the connecting sleeve; one end of the fixed sleeve is inserted into a roller bearing in the connecting sleeve.
Further, the body of the main screw rod is provided with a plurality of axial semicircular grooves I, the inner wall of the fixing sleeve is provided with a semicircular groove II corresponding to the semicircular groove I, the circular groove I and the circular groove II form a circular mounting groove, and a needle roller or steel ball retainer is placed in the circular mounting groove. The needle roller or the steel ball retainer is inserted in the circular mounting groove to limit the radial direction of the main screw rod.
Compared with the prior art, the linear and/or rotary motion actuating mechanism provided by the invention has the beneficial effects that: the invention has two sets of power, and three main motion forms of linear reciprocating motion, rotary motion and rotary and linear reciprocating motion are realized through the mutual linkage of the two sets of power.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.
FIG. 1 is a schematic cross-sectional view of a disclosed linear and/or rotary motion actuator according to one embodiment;
FIG. 2 is a schematic diagram of a first driven gear according to an embodiment of the disclosure;
FIG. 3 is a schematic view of a roller nut according to one embodiment of the disclosure;
FIG. 4 is a schematic view of a portion of a structure of a main screw disclosed in one embodiment;
FIG. 5 is a schematic partial cross-sectional view of a disclosed retaining sleeve according to one embodiment;
fig. 6 is a schematic cross-sectional view of a fixing sleeve and a main screw according to an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
The linear and/or rotary motion actuator shown in fig. 1 mainly comprises a first power transmission pair, a second power transmission pair and a planetary roller screw pair which are sequentially arranged from left to right.
The planetary roller screw pair consists of a roller nut 1a, a main screw 1b and a plurality of rollers 1c, wherein the rollers 1c are uniformly distributed on the main screw 1b, the rollers 1c are meshed with the main screw 1b, small-modulus external gears and cylindrical optical axes are processed at two ends of the rollers 1c, a retainer 1e and an annular gear 1d are respectively sleeved at two ends of the main screw 1b, the cylindrical optical axes of the rollers 1c are inserted into holes uniformly processed in the retainer 1e, and the small-modulus external gears are meshed with the annular gear 1 d.
The first power transmission pair comprises a first driving gear 2a and a first driven gear 2b, see fig. 2 and 3, the first driven gear 2b is fixedly connected with the roller nut 1a through a group of concave-convex gear shaping teeth 2c, and the main screw rod 1b passes through the driven gear. The concave-convex gear shaping can effectively prevent the relative rotation between the first driven gear 2b and the roller nut 1 a.
The second power transmission pair comprises a second driving gear 3a, a second driven gear 3b and a fixed sleeve 3c, wherein the fixed sleeve 3c is inserted into the second driven gear 3b and is fixedly connected through concave-convex gear shaping 3 e. The concave-convex gear shaping can effectively prevent the relative rotation between the second driven gear 3b and the fixed sleeve 3 c. Referring to fig. 4-5, a fixing sleeve 3c is sleeved on a main screw rod 1b, a plurality of axial semicircular grooves I3 f are formed in the main screw rod 1b, a semicircular groove II 3g is formed in the inner wall of the fixing sleeve 3c corresponding to the semicircular groove I, a circular mounting groove is formed by the circular groove I and the circular groove II, and a needle roller 3h is arranged in the circular mounting groove. The needle roller is inserted into the circular mounting groove to enable the fixing sleeve 3c and the main screw rod 1b to be in a radial fixed and axial free state. The steel ball retainer can be inserted into the circular mounting groove, and the service performance of the steel ball retainer is better than that of the needle roller.
One end of the first driven gear 2b opposite to the fixed sleeve 3c is provided with a connecting sleeve 2d in which a ball bearing 2e is arranged; one end of the fixed sleeve 3c is inserted into the roller 1c bearing in the connecting sleeve.
The first power transmission pair and the second power transmission pair can independently drive the planetary roller screw pair to move and can also jointly drive the planetary roller screw pair.
The working principle of the first power transmission pair for independently driving the planetary roller screw pair is as follows: the first driving gear 2a rotates to drive the first driven gear 2b to rotate in a meshing reverse direction, the first driven gear 2b drives the roller nut 1a to rotate in the same direction, the roller nut 1a drives the rollers 1c to rotate and do planetary motion around the main screw rod 1b, and the rollers 1c and the main screw rod 1b are directly meshed through threads, so that the main screw rod 1b does axial linear motion at the moment. Since the main screw 1b and the fixing sleeve 3c are in a radially fixed and axially free state, the main screw 1b does not cause the fixing sleeve 3c to move in the axial direction at the moment. The extension or retraction of the main screw 1b is determined by the rotation direction of the first driving gear 2 a.
The working principle of the second power transmission pair for independently driving the planetary roller screw pair is as follows: the second driving gear 3a rotates to drive the second driven gear 3b to rotate in the meshing direction, the second driven gear 3b drives the fixed sleeve 3c to rotate in the same direction, the fixed sleeve 3c drives the main screw rod 1b to rotate in the same direction, the roller 1c performs planetary motion around the main screw rod 1b, and as the roller 1c is in threaded meshing with the roller nut 1a, the position of the roller nut 1a is in a fixed state, and the main screw rod 1b starts to perform linear and rotary motion. The extension or retraction of the main screw 1b is determined by the rotation direction of the second driving gear 3 a.
The working principle of the first power transmission pair and the second power transmission pair for jointly driving the planetary roller screw pair to move is as follows: when the movement direction of the first driving gear 2a is the same as that of the second driving gear 3a, and the output force of the second driving gear 3a is equal to the output force of the first driving gear 2a multiplied by a planetary transmission ratio, the linear movement of the first power transmission pair driving the main screw 1b is offset from the linear movement of the second power transmission pair driving the main screw 1b, and the main screw 1b is in pure rotation.
The results of the above three driving modes are shown in the following table:
wherein S1 represents a first driving gear, S2 represents a second driving gear, N1 represents the output power of the first driving gear, N2 represents the output power of the second driving gear, +/-represents the output direction, and f represents the planetary gear ratio.
The above description is that three main movement modes of the screw pair exist, and other movement modes exist, which are not described herein.
As can also be seen from fig. 1, the planetary roller screw pair is provided with a ball bearing 1w on the outer side of the roller nut in actual use. Since the radial force applied to the screw rod is large in three motion states of the actuator, the ball bearings 1w and 1e are deep groove ball bearings.
Example two
Unlike the first embodiment, the arrangement direction of the first power transmission pair, the second power transmission pair and the planetary roller screw pair may be from right to left, or the planetary roller screw pair may be disposed between the first power transmission pair and the second power transmission pair.
The remaining undescribed components are referred to in embodiment one.
Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The linear and/or rotary motion executing mechanism is characterized by mainly comprising a first power transmission pair, a second power transmission pair and a planetary roller screw pair;
the planetary roller screw pair consists of a roller nut, a main screw rod and a plurality of rollers, wherein the rollers are uniformly distributed on the main screw rod and meshed with the main screw rod, small-modulus external gears and cylindrical optical axes are processed at two ends of the rollers, a retainer and an annular gear are respectively sleeved at two ends of the main screw rod, the cylindrical optical axes of the rollers are inserted into holes uniformly processed in the retainer, and the small-modulus external gears are meshed with the annular gear;
the first power transmission pair comprises a first driving gear and a first driven gear, the first driven gear is fixedly connected with the roller nut, and the main screw rod passes through the driven gear;
the second power transmission pair comprises a second driving gear, a second driven gear and a fixed sleeve, wherein the fixed sleeve is fixedly inserted into the second driven gear, the fixed sleeve is sleeved on the main screw rod, and the fixed sleeve and the main screw rod are in a radially fixed and axially free state.
2. The linear and/or rotary motion actuator of claim 1 wherein the first driven gear is fixedly connected to the roller nut by a set of male and female gear inserts.
3. The linear and/or rotary motion actuator of claim 1 or 2, wherein the second driven gear is fixedly connected to the fixed sleeve by means of a male-female gear arrangement.
4. A linear and/or rotary motion actuator according to claim 3, wherein an end of the first driven gear opposite the fixed sleeve is provided with a connecting sleeve in which a ball bearing is provided; one end of the fixed sleeve is inserted into a roller bearing in the connecting sleeve.
5. The linear and/or rotary motion actuator according to claim 4, wherein the main screw body is provided with a plurality of axial semicircular grooves I, the inner wall of the fixing sleeve is provided with a semicircular groove II corresponding to the semicircular groove I, the circular groove I and the circular groove II form a circular mounting groove, and a needle roller is placed in the circular mounting groove.
6. The linear and/or rotary motion actuator according to claim 4, wherein the main screw body is provided with a plurality of axial semicircular grooves I, the inner wall of the fixing sleeve is provided with a semicircular groove II corresponding to the semicircular groove I, the circular groove I and the circular groove II form a circular mounting groove, and a steel ball retainer is arranged in the circular mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939627.2A CN108006185B (en) | 2016-11-01 | 2016-11-01 | Linear and/or rotary motion actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610939627.2A CN108006185B (en) | 2016-11-01 | 2016-11-01 | Linear and/or rotary motion actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108006185A CN108006185A (en) | 2018-05-08 |
| CN108006185B true CN108006185B (en) | 2023-12-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610939627.2A Active CN108006185B (en) | 2016-11-01 | 2016-11-01 | Linear and/or rotary motion actuator |
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| Country | Link |
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| CN (1) | CN108006185B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111779810B (en) * | 2020-06-01 | 2022-04-08 | 北京精密机电控制设备研究所 | Planetary roller screw |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3306998A1 (en) * | 1982-03-02 | 1983-09-15 | Matsushita Electric Works, Ltd., Kadoma, Osaka | REDUCTION GEARBOX |
| JP2000110907A (en) * | 1998-10-05 | 2000-04-18 | Toyota Motor Corp | Planetary roller screw and brake device having the same |
| CN1717553A (en) * | 2003-04-24 | 2006-01-04 | 丰田自动车株式会社 | Planetary differential screw-type rotational motion/linear motion converter |
| CN102829145A (en) * | 2012-09-07 | 2012-12-19 | 西北工业大学 | Planetary roller screw pair capable of being self-locked |
| DE102015207642A1 (en) * | 2015-04-27 | 2016-10-27 | Schaeffler Technologies AG & Co. KG | Actuator with planetary roller screw drive |
| CN206175601U (en) * | 2016-11-01 | 2017-05-17 | 儒拉玛特自动化技术(苏州)有限公司 | Straight line and/or rotary motion actuating mechanism |
-
2016
- 2016-11-01 CN CN201610939627.2A patent/CN108006185B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3306998A1 (en) * | 1982-03-02 | 1983-09-15 | Matsushita Electric Works, Ltd., Kadoma, Osaka | REDUCTION GEARBOX |
| JP2000110907A (en) * | 1998-10-05 | 2000-04-18 | Toyota Motor Corp | Planetary roller screw and brake device having the same |
| CN1717553A (en) * | 2003-04-24 | 2006-01-04 | 丰田自动车株式会社 | Planetary differential screw-type rotational motion/linear motion converter |
| CN102829145A (en) * | 2012-09-07 | 2012-12-19 | 西北工业大学 | Planetary roller screw pair capable of being self-locked |
| DE102015207642A1 (en) * | 2015-04-27 | 2016-10-27 | Schaeffler Technologies AG & Co. KG | Actuator with planetary roller screw drive |
| CN206175601U (en) * | 2016-11-01 | 2017-05-17 | 儒拉玛特自动化技术(苏州)有限公司 | Straight line and/or rotary motion actuating mechanism |
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| Publication number | Publication date |
|---|---|
| CN108006185A (en) | 2018-05-08 |
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