CN108488336A - Synchronous pulley gear for robot - Google Patents
Synchronous pulley gear for robot Download PDFInfo
- Publication number
- CN108488336A CN108488336A CN201810139474.2A CN201810139474A CN108488336A CN 108488336 A CN108488336 A CN 108488336A CN 201810139474 A CN201810139474 A CN 201810139474A CN 108488336 A CN108488336 A CN 108488336A
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- Prior art keywords
- clutch
- level
- belt wheel
- trapezoidal screw
- thrust
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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
- F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
- F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
- F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/035—Gearboxes for gearing with endless flexible members
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
Synchronous pulley gear for robot include holder, the first and second transmission shafts, power output shaft, clutch controller, firsts and seconds pulley transmission mechanism, clutch state mutual exclusion the first and second clutches；Clutch controller chooses different clutches to engage, and switches transmission ratio；When first clutch engages, power passes through the first transmission shaft, first clutch, two level big belt wheel and power output shaft successively；Realize that transmission ratio is 1：1 high speed low torque output；When second clutch engages, external impetus passes through the first transmission shaft, level-one small pulley, level synchronization band, level-one big belt wheel, second clutch, second driving shaft, two level small pulley, secondary synchronization band, the second output big belt wheel and power output shaft successively；Realize that transmission ratio isThe slow-speed of revolution high torque output.Big gear ratio is realized by the series connection of two-stage belt wheel, and speed change switching is steady, can bear load suddenly change.
Description
Technical field
The present invention relates to gears, more particularly, to the synchronous pulley gear of robot.
Background technology
In the prior art, power part needs can adapt to a variety of output operating modes simultaneously, such as the small torque output of high speed and
Low speed and large torque exports, and generally use gear makes power part meet the requirement of various working.It is especially dynamic in robot
When power output differs greatly, generally requires to carry out very big gear ratio switching, the output of robot is made to adapt to different works
Condition.
Invention content
The technical problem to be solved in the present invention is in place of avoiding above-mentioned the deficiencies in the prior art, and proposes a kind of with two
Grade speed change switching capability, without drive gap, the non-slip synchronous pulley gear for robot.
The technical solution that the present invention solves the problems, such as is that a kind of synchronous pulley gear for robot includes：Holder,
Level synchronization belt wheel transmission mechanism and secondary synchronization belt wheel transmission mechanism, for external impetus input being arranged on holder
One transmission shaft, second driving shaft, power output shaft and clutch controller for gear are arranged in the first transmission shaft
On first clutch and the second clutch that is arranged on second driving shaft；Level synchronization belt wheel transmission mechanism includes for same
Level-one small pulley that first transmission shaft is fixedly connected, the level-one big belt wheel being socketed on second driving shaft are used for level-one small pulley
The level synchronization band being driven between level-one big belt wheel；Secondary synchronization belt wheel transmission mechanism includes being fixed for same second driving shaft
The two level small pulley of connection, the two level big belt wheel being socketed on the first transmission shaft, for two level small pulley and two level big belt wheel it
Between the secondary synchronization band that is driven；Power output shaft is fixedly connected with two level big belt wheel；The clutch controller is for controlling
First clutch and second clutch select an engagement；In first clutch engagement state, external impetus passes through first and passes successively
Moving axis, first clutch, two level big belt wheel and power output shaft output；In second clutch engagement state, external impetus is successively
By the first transmission shaft, level synchronization belt wheel transmission mechanism, second clutch, second driving shaft, secondary synchronization belt wheel transmission machine
Structure and power output shaft output.Compared with the existing technology compared with the technical solution is interior in a limited space, limited in pulley diameters
In the case of, big gear ratio is realized by the series connection of two-stage belt wheel；It differs greatly especially suitable for power part operating condition
The case where occasion, such as a power part needs can adapt to low speed high torque and high speed low torque simultaneously.
First clutch includes the first clutch initiative part and first clutch operand by being engaged；First from
Clutch initiative part is slidably socketed on the first transmission shaft；First clutch operand is fixedly connected with two level big belt wheel；Second from
Clutch includes the second clutch initiative part and second clutch operand by being engaged；Second clutch initiative part slides
It is socketed on second driving shaft；Second clutch operand is fixedly connected with level-one big belt wheel.
The clutch controller includes switching the engaging power device of power and for for providing clutch
The thrust attachment device that one clutch and second clutch push, engaging power device connect driving thrus attachment device.
Thrust attachment device is connected including the first promotion arm, the first pushing part, the second promotion arm, the second pushing part with thrust
Part central part；Thrust links central part obtains power for being connected with engaging power device；First pushing part is pushed away by first
Swing arm is fixedly connected with thrust links central part；Second pushing part is fixed by the second promotion arm with thrust links central part
Connection；First pushing part is socketed in one end of first clutch initiative part, the movement for pushing first clutch initiative part；The
Two pushing parts are socketed in one end of second clutch initiative part, the movement for pushing second clutch initiative part.
The clutch controller further includes the first elastomeric element and the second elastomeric element；First pushing part by
First pushing part bearing is connect with first clutch initiative part, and first elastomeric element is socketed in the first pushing part bearing and
Between one clutch initiative part；Second pushing part is connect by the second pushing part bearing with second clutch initiative part, institute
The second elastomeric element is stated to be socketed between the second pushing part bearing and second clutch initiative part.
First elastomeric element is the first disk spring；Second elastomeric element is the second disk spring.
The clutch controller further includes that the rotational transform for exporting engaging power device connects dress at thrust
Set the direction of motion converting means of linear motion；The direction of motion converting means includes trapezoidal screw and trapezoidal screw nut；
The output shaft of the engaging power device is fixedly connected with trapezoidal screw；On the thrust links central part inner wall of hollow structure
Equipped with trapezoidal screw nut, the thrust attachment device is socketed in by trapezoidal screw nut on the trapezoidal screw；Or it is hollow
The thrust links central part inner wall of structure is equipped with and the trapezoidal screw screw thread of trapezoidal screw cooperation, thrust links central part
It is connected with the trapezoidal screw by trapezoidal screw screw thread；The output shaft rotation of engaging power device drives the trapezoidal screw to turn
Dynamic, the trapezoidal screw and trapezoidal screw nut coordinate the rotational transform of the trapezoidal screw into thrust attachment device edge
The linear motion of the trapezoidal screw axial direction.
First clutch operand and first clutch initiative part use the castellated engagement of triangle；Second clutch is actively
Portion and second clutch operand use the castellated engagement of triangle.
The holder includes first support and second support；The two of first transmission shaft, second driving shaft and trapezoidal screw
End is separately fixed at by bearing in first support and second support, enables three components around respective axis rotation；
The first thrust ball bearing for bearing axial load axial load, the setting of the first thrust ball bearing are additionally provided on two transmission shafts
Between first support and level-one big belt wheel；For bearing axial load axial load is additionally provided on the first transmission shaft
Two thrust ball bearings, the second thrust ball bearing are arranged between second support and two level big belt wheel；The both ends of the trapezoidal screw
It is also respectively provided with the first lead screw thrust ball bearing and the second lead screw thrust ball bearing for bearing axial load axial load；
First lead screw thrust ball bearing is arranged between trapezoidal screw power intake and first support；Second lead screw thrust ball bearing is set
It sets between trapezoidal screw non-powered input terminal and second support.
First clutch initiative part and the first transmission shaft realize the company of sliding axially by drive gap for micron-sized spline
It connects；Second clutch initiative part and second driving shaft are in axial sliding connection by trapezoid spline or ball spline realization.
It is fixedly connected by modes such as square shaft or keys between level-one small pulley and the first transmission shaft；Two level small pulley and second
It is fixedly connected by modes such as square shaft or keys between transmission shaft；Two level big belt wheel is mounted on the by two the second deep groove ball bearings
On one transmission shaft；Level-one big belt wheel is mounted on by two the first deep groove ball bearings on second driving shaft.
Compared with the existing technology compared with, the beneficial effects of the invention are as follows：In in a limited space, in the feelings that pulley diameters are limited
Under condition, big gear ratio is realized by the series connection of two-stage belt wheel；The gear ratio of design scheme of the present invention is big, especially suitable for power part
The occasion that part operating condition differs greatly, such as a power part needs can adapt to low speed high torque and high speed low torque simultaneously
The case where.
Description of the drawings
Fig. 1 is the vertical view orthographic projection schematic diagram of one of preferred embodiment of the present invention；
Fig. 2 is the axonometric projection schematic diagram of one of preferred embodiment of the present invention；
Fig. 3 is cross-sectional sectional views of the Fig. 2 along plane where the axle center of the first transmission shaft 100 and second driving shaft 200.
Specific implementation mode
Embodiments of the present invention are further described below in conjunction with each attached drawing.
As shown in Figure 1 to Figure 3, level synchronization belt wheel transmission mechanism 510 includes for being fixedly connected with the first transmission shaft 100
Level-one small pulley 511, the level-one big belt wheel 513 that is socketed in by bearing on second driving shaft 200, be used for level-one small pulley
The level synchronization band 512 being driven between 511 and level-one big belt wheel 513；The power of level-one small pulley 511 and the first transmission shaft 100
Input terminal is fixedly connected, and level-one small pulley 511 follows the first transmission shaft 100 to rotate；Level-one small pulley 511 passes through level synchronization band
512 drive level-one big belt wheel 513；Level-one big belt wheel 513 is connected with second driving shaft 200 by bearing.
As shown in Figure 1 to Figure 3, secondary synchronization belt wheel transmission mechanism 590 includes being fixedly connected for same second driving shaft 200
Two level small pulley 591, be socketed in by bearing on the first transmission shaft 100 two level big belt wheel 593, be used for two level small pulley
The secondary synchronization band 592 being driven between 591 and two level big belt wheel 593；Two level small pulley 591 and second driving shaft 200, which are fixed, to be connected
It connects, the rotation of second driving shaft 200 drives two level small pulley 591 to rotate；Two level small pulley 591 passes through 592 band of secondary synchronization band
Dynamic two level big belt wheel 593；The power output end of two level big belt wheel 593 is fixedly connected with power output shaft 600, is used as synchronous pulley
The power output end of gear.
As shown in Figure 1 to Figure 3, first clutch 310 includes first clutch initiative part 311 and first clutch operand
312, pass through engaged transmission between first clutch initiative part 311 and first clutch operand 312；First clutch initiative part
311 are socketed on the first transmission shaft 100；First clutch operand 312 is fixedly connected with two level big belt wheel 593；Clutch control
When device 400 processed controls first clutch initiative part 311 and the engagement of first clutch initiative part 311, external impetus passes through successively
First transmission shaft, 100 power intake, first clutch initiative part 311, first clutch operand 312, two level big belt wheel
593, the power output end of two level big belt wheel 593 is fixedly connected with power output shaft 600, is used as the dynamic of synchronous pulley gear
Power output end.Synchronous pulley gear is in high speed low torque output state, transmission ratio 1：1；Power transmission line such as Fig. 3
In path 1 shown in.
As shown in Figure 1 to Figure 3, two level big belt wheel 593 is socketed in the first transmission shaft 100 by the second deep groove ball bearing 5931
On；In 310 engagement state of first clutch, the first transmission shaft 100 rotation can drive first clutch 310 rotate, first from
Clutch 310 drives two level big belt wheel 593 to rotate.When first clutch detaches, first clutch initiative part 311 can be passed along first
Moving axis 100 slides, and the first transmission shaft 100 can also be followed to rotate；When first clutch engages, first clutch initiative part 311
The first transmission shaft 100 is followed to rotate, to drive first clutch that the first transmission shaft 100 is integrally followed to rotate.
As shown in Figure 1 to Figure 3, second clutch 390 includes the second clutch initiative part 391 by engaged transmission and the
Two clutch operands 392；Second clutch initiative part 391 is slidably socketed on second driving shaft 200；Second clutch is passive
Portion 392 is fixedly connected with level-one big belt wheel 513；When second clutch 390 detaches, second clutch initiative part 391 can be along
Two transmission shafts 200 slide, and second driving shaft 200 can also be followed to rotate；Second clutch operand 392 follows level-one big belt wheel
513 rotations；When second clutch 390 engages, second clutch initiative part 391 follows level-one big belt wheel 513 to rotate, and level-one is big
Belt wheel 513 drives second clutch operand 392 to rotate, and drives second driving shaft 200 to rotate by second clutch 390；
Second driving shaft 200 drives two level small pulley 591 to rotate, and two level small pulley 591 drives the second output by secondary synchronization band 592
The rotation output of big belt wheel 593.
As shown in Figure 1 to Figure 3, the clutch controller 400 includes the clutch for switching power for providing clutch
Power plant 430, the thrust attachment device 410 pushed for first clutch 310 and second clutch 390, for by clutch
The direction of motion converting means 420 for being converted into the linear motion of thrust attachment device 410 of power plant 430；The direction of motion
The input terminal of converting means 420 is connected with the power output end of engaging power device 430 obtains clutch switching power；The direction of motion
The output end and thrust attachment device 410 of converting means 420 connect, and thrust attachment device 410 is pushed to be moved in a straight line axially.
As shown in Figure 1 to Figure 3, the thrust attachment device 410, for pushing first clutch initiative part 311 and second
The axis that clutch initiative part 391 slides along socket does axial linear movement；Thrust attachment device 410, which pushes, realizes the first clutch
Device initiative part 311 and first clutch operand 312 engage, second clutch initiative part 391 and second clutch operand 392
Separation；Or thrust attachment device 410 pushes and realizes that first clutch initiative part 311 and first clutch operand 312 detach, the
Two clutch initiative parts 391 and second clutch operand 392 engage.
As shown in Figure 1 to Figure 3, thrust attachment device 410 is pushed away including the first promotion arm 411, the first pushing part 417, second
Swing arm 412, the second pushing part 418 and thrust links central part 413；Thrust links central part 413 is for thrust connection dress
Set 410 and the connection acquisition power of direction of motion converting means 420；First pushing part 417 pushes arm 411 and thrust to connect by first
Fitting central part 413 is fixedly connected；Second pushing part 418 pushes 412 thrust links central part 413 of arm to fix company by second
It connects；The thrust attachment device 410 includes the first pushing part 417 and the second pushing part 418；First pushing part 417 passes through first
Pushing part bearing 4171 is socketed in one end of first clutch initiative part 311, the fortune for pushing first clutch initiative part 311
It is dynamic；Second pushing part 418 is socketed in one end of second clutch initiative part 391 by the second pushing part bearing 4181, for pushing away
The movement of dynamic second clutch initiative part 391.
The clutch controller 400 further includes two clutch detection dresses detected in place for clutch engagement
It sets, which includes the sensor being oppositely arranged and sensor sensing plate, and sensor can detect itself and sensor
The stroke distances of the distance between tablet, the distance and clutch initiative part correspond to, clutch detecting device for detect from
Whether clutch engages in place.The first sensor tablet 4162 of first clutch detection device 416 is fixed on the second promotion arm
On 412, the position of the fixed position and first sensor tablet 4162 and first clutch operand of first sensor 4161
Set correspondence.First sensor 4161 can be fixed in second support 920, can also be fixed on other component.Second clutch
The second sensor tablet 4152 of device detection device 415 is fixed on the first promotion arm, the fixed bit of second sensor 4151
It sets corresponding with the position of second sensor tablet 4152 and second clutch operand.Second sensor 4151 can fix
In first support 910, it can also be fixed on other component.
As shown in Figure 1 to Figure 3, the clutch controller 400 further includes the first elastomeric element 440 and the second elastic portion
Part 460；First elastomeric element 440 is socketed between the first pushing part bearing 4171 and first clutch initiative part 311, for into
One step pushes first clutch initiative part 311 to be moved to first clutch operand 312, when increasing the engagement of first clutch 310
Engagement retentivity；Second elastomeric element 460 be socketed in the second pushing part bearing 4181 and second clutch initiative part 391 it
Between, for further second clutch initiative part 391 being pushed to be moved to second clutch operand 392, increase second clutch
Engagement retentivity when 390 engagement.First elastomeric element is the first disk spring；Second elastomeric element is the second dish
Shape spring.
As shown in Figure 1 to Figure 3, the direction of motion converting means 420 includes trapezoidal screw 422, trapezoidal screw nut
424；430 output shaft of engaging power device is fixedly connected with trapezoidal screw 422；Trapezoidal screw 422 is used to support fixed institute
Thrust attachment device 410 is stated, thrust links central part 413 is hollow structure, and trapezoidal screw nut is provided on inner wall
424, the thrust attachment device 410 is socketed in by trapezoidal screw nut 424 on trapezoidal screw 422；Engaging power device 430
Output shaft rotation drive the trapezoidal screw 422 to rotate, the trapezoidal screw 422 and the cooperation of trapezoidal screw nut 424 are by institute
The rotational transform of engaging power trapezoidal screw 422 is stated into the thrust attachment device 410 along axial straight of the trapezoidal screw 422
Line moves.The engaging power device 430 includes steering engine 431 or motor.
Trapezoidal screw nut 424 and thrust links central part 413 can be combined together into a component, that is, push away
The screw thread of setting and trapezoidal screw cooperation, makes the thrust links central part 413 rise on the hollow wall of power connector central part
To the effect of trapezoidal nut.
Since the connection type between trapezoidal screw and trapezoidal screw nut has self-locking function, in clutched state
When, after the power output of engaging power device stops, clutch can also remain locked in the position of engagement, be not necessarily to engaging power
Device persistently exports power, it is ensured that the reliability of clutch engagement.
As shown in Figure 1 to Figure 3, first clutch operand 312 and first clutch initiative part 311 use triangle dental inlay
Formula engages；Second clutch initiative part 391 and second clutch operand 392 use the castellated engagement of triangle.The triangle
Teeth can be equilateral triangle, can also be other types triangle, including right angled triangle and isosceles triangle.
As shown in Figure 1 to Figure 3, the holder 900 includes first support 910 and second support 920；First transmission shaft 100,
The both ends of second driving shaft 200 and trapezoidal screw 422, three components are separately fixed at first support 910 by bearing
In second support 920, enable three components around respective axis rotation.
As shown in figure 3, one end of the first transmission shaft 100 is mounted on first support by two the first transmission shaft bearings 110
On 910；Two level big belt wheel 593 is mounted on by two the second deep groove ball bearings 5931 on the first transmission shaft 100；Power output shaft
600 one end are fixedly connected with two level big belt wheel 593, power output shaft 600 and the first transmission shaft 100 and two level big belt wheel 593
The other end of coaxial arrangement, power output shaft 600 is mounted on by two power take-off lever bearings 610 in second support 920.
As shown in figure 3, the both ends of trapezoidal screw 422 are mounted on first support by two trapezoidal screw bearings 4223 respectively
910 and second support 920 on.
As shown in figure 3, the both ends of the trapezoidal screw 422 are additionally provided with the first lead screw thrust for bearing axial load
Ball bearing 4221 and the second lead screw thrust ball bearing 4222；The setting of first lead screw thrust ball bearing 4221 is dynamic in trapezoidal screw 422
Between the end and first support 910 of power input terminal；Second lead screw thrust ball bearing 4222 is arranged in 422 non-powered of trapezoidal screw
Between input terminal and second support 920.Above-mentioned each thrust ball bearing may be replaced with cylinder thrust bearing, taper roller axis
Hold the bearing for being suitable for bearing axial load with angular contact ball bearing etc..
As shown in figure 3, being fixedly connected by square shaft between level-one small pulley 511 and the first transmission shaft 100；Two level small pulley
It is fixedly connected by square shaft between 591 and second driving shaft 200.Level-one big belt wheel 513 passes through two the first deep groove ball bearings
5131 are mounted on second driving shaft 200.
As shown in figure 3, the both ends of second driving shaft 200 are mounted on first support by second driving shaft bearing 210 respectively
910 and second support 920 on.Two second driving shaft bearings 210 can be respectively set at the both ends of second driving shaft 200, altogether
Four second driving shaft bearings 210；A second driving shaft bearing can also be respectively set at the both ends of second driving shaft 200
210 totally two second driving shaft bearings 210；It can also set up separately in one end of second driving shaft 200 and set a second driving shaft axis
210 are held, two second driving shaft bearings 210 are arranged in the other end, totally four second driving shaft bearings 210.
As shown in figure 3, being additionally provided with the first thrust ball bearing for bearing axial load on second driving shaft 200
5139, the first thrust ball bearing 5139 is arranged between first support 910 and level-one big belt wheel 513；
As shown in figure 3, being additionally provided with the second thrust ball bearing for bearing axial load on power output shaft 600
5939, the second thrust ball bearing 5939 is arranged between second support 920 and two level big belt wheel 593.
Above-mentioned each thrust ball bearing may be replaced with cylinder thrust bearing, taper roll bearing and angular contact ball bearing
Deng the bearing suitable for bearing axial load.
As shown in figure 3, first clutch initiative part 311 and the first transmission shaft 100 are real by trapezoid spline or ball spline
Now it is slidably connected；In first clutch discrete state, first clutch initiative part 311 can be in 100 upper edge axis of the first transmission shaft
To sliding, the first transmission shaft 100 can also be followed to rotate；311 meeting of first clutch initiative part in first clutch engagement state
The first transmission shaft 100 is followed to rotate.Other biographies can also be passed through between first clutch initiative part 311 and the first transmission shaft 100
The small spline connection in dynamic gap, the especially spline of drive gap in the micron-scale.
As shown in figure 3, second clutch initiative part 391 and second driving shaft 200 are real by trapezoid spline or ball spline
Now it is slidably connected；In second clutch discrete state, second clutch initiative part 391 can be in 200 upper edge axis of second driving shaft
To sliding, second driving shaft 200 can also be followed to rotate；In second clutch engagement state, 391 meeting of second clutch initiative part
Second driving shaft 200 is followed to rotate.
The small spline of other drive gaps can also be passed through between second clutch initiative part 391 and second driving shaft 200
Connection, the especially spline of drive gap in the micron-scale.
Gear involved in prior art transmission device, the step speed change of generally use gear or frictional stepless change
Speed, but gear engagement, which not only will produce drive gap, influences control accuracy, and also back lash also will produce noise；Stepless change
Fast generally use frictional drive is realized, although drive gap can be eliminated, when bearing load suddenly change or switching speed change
Shi Rongyi skids, and cannot achieve the speed change switching of quick high reliability.
Compared with the existing technology compared with the design method of triangle jaw clutch of the present invention avoids engagement backlash, no
Drive gap is only eliminated, and eliminates the hidden danger of transmission slip；The butterfly spring being arranged in the present invention increases clutch
Engagement retentivity under engagement state so that transmission is more reliable；The setting of many places thrust ball bearing so that synchronous pulley speed change
Mechanism can bear larger engagement retentivity, avoid structural failure.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize invention
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field is included within the scope of the present invention.
Claims (11)
1. a kind of synchronous pulley gear for robot, including：
Holder（900）, level synchronization belt wheel transmission mechanism（510）With secondary synchronization belt wheel transmission mechanism（590）, it is arranged in holder
On for external impetus input the first transmission shaft（100）, for the second driving shaft of gear（200）, power output
Axis（600）And clutch controller（400）, it is arranged in the first transmission shaft（100）On first clutch（310）Exist with setting
Second driving shaft（200）On second clutch（390）；
Level synchronization belt wheel transmission mechanism（510）Including being used for the first transmission shaft（100）The level-one small pulley being fixedly connected
（511）, be socketed in second driving shaft（200）On level-one big belt wheel（513）, it is used for level-one small pulley（511）With the big band of level-one
Wheel（513）Between the level synchronization band that is driven（512）；
Secondary synchronization belt wheel transmission mechanism（590）Including being used for same second driving shaft（200）The two level small pulley being fixedly connected
（591）, be socketed in the first transmission shaft（100）On two level big belt wheel（593）, be used for two level small pulley（591）With the big band of two level
Wheel（593）Between the secondary synchronization band that is driven（592）；Power output shaft（600）With two level big belt wheel（593）It is fixedly connected；
The clutch controller（400）For controlling first clutch（310）And second clutch（390）Select and one connect
It closes；In first clutch（310）Engagement state, external impetus pass through the first transmission shaft successively（100）, first clutch（310）、
Two level big belt wheel（593）And power output shaft（600）Output；In second clutch（390）Engagement state, external impetus pass through successively
Cross the first transmission shaft（100）, level synchronization belt wheel transmission mechanism（510）, second clutch（390）, second driving shaft（200）、
Secondary synchronization belt wheel transmission mechanism（590）And power output shaft（600）Output.
2. synchronous pulley gear according to claim 1, it is characterised in that：
First clutch（310）It include the first clutch initiative part by being engaged（311）With first clutch operand
（312）；First clutch initiative part（311）It is slidably socketed in the first transmission shaft（100）On；First clutch operand（312）
With two level big belt wheel（593）It is fixedly connected；
Second clutch（390）It include the second clutch initiative part by being engaged（391）With second clutch operand
（392）；Second clutch initiative part（391）It is slidably socketed in second driving shaft（200）On；Second clutch operand（392）
With level-one big belt wheel（513）It is fixedly connected.
3. synchronous pulley gear according to claim 1, it is characterised in that：
The clutch controller（400）, include the engaging power device for switching power for providing clutch（430）And
For first clutch（310）And second clutch（390）The thrust attachment device of promotion（410）, engaging power device（430）
Connect driving thrus attachment device（410）.
4. synchronous pulley gear according to claim 3, it is characterised in that：
Thrust attachment device（410）Arm is pushed including first（411）, the first pushing part（417）, second push arm（412）, second
Pushing part（418）With thrust links central part（413）；
Thrust links central part（413）, it is used for and engaging power device（430）Connection obtains power；First pushing part（417）
Arm is pushed by first（411）With thrust links central part（413）It is fixedly connected；Second pushing part（418）It is pushed away by second
Swing arm（412）With thrust links central part（413）It is fixedly connected；
First pushing part（417）It is socketed in first clutch initiative part（311）One end, for pushing first clutch initiative part
（311）Movement；
Second pushing part（418）It is socketed in second clutch initiative part（391）One end, for pushing second clutch initiative part
（391）Movement.
5. synchronous pulley gear according to claim 4, it is characterised in that：
The clutch controller（400）It further include the first elastomeric element（440）With the second elastomeric element（460）；
First pushing part（417）By the first pushing part bearing（4171）With first clutch initiative part（311）Connection, institute
State the first elastomeric element（440）It is socketed in the first pushing part bearing（4171）With first clutch initiative part（311）Between；
Second pushing part（418）By the second pushing part bearing（4181）With second clutch initiative part（391）Connection, institute
State the second elastomeric element（460）It is socketed in the second pushing part bearing（4181）With second clutch initiative part（391）Between.
6. synchronous pulley gear according to claim 5, it is characterised in that：
First elastomeric element（440）For the first disk spring；Second elastomeric element（460）For the second disk spring.
7. synchronous pulley gear according to claim 1, it is characterised in that：
The clutch controller（400）Further include for by engaging power device（430）The rotational transform of output is at thrust
Attachment device（410）The direction of motion converting means of linear motion（420）；
The direction of motion converting means（420）Including trapezoidal screw（422）With trapezoidal screw nut（424）；The clutch is dynamic
Power apparatus（430）Output shaft and trapezoidal screw（422）It is fixedly connected；
The thrust links central part of hollow structure（413）Inner wall is equipped with trapezoidal screw nut（424）, the thrust connection dress
It sets（410）Pass through trapezoidal screw nut（424）It is socketed in the trapezoidal screw（422）On；Or the thrust links of hollow structure
Central part（413）Inner wall is equipped with and the trapezoidal screw screw thread of trapezoidal screw cooperation, thrust links central part（413）Pass through ladder
Shape wire rod thread and the trapezoidal screw（422）Connection；
Engaging power device（430）Output shaft rotation drive the trapezoidal screw（422）Rotation, the trapezoidal screw（422）
With trapezoidal screw nut（424）Coordinate the trapezoidal screw（422）Rotational transform at the thrust attachment device（410）Edge
The trapezoidal screw（422）Axial linear motion.
8. synchronous pulley gear according to claim 2, it is characterised in that：
First clutch operand（312）With first clutch initiative part（311）Using the castellated engagement of triangle；
Second clutch initiative part（391）With second clutch operand（392）Using the castellated engagement of triangle.
9. synchronous pulley gear according to claim 7, it is characterised in that：
The holder（900）Including first support（910）And second support（920）；First transmission shaft（100）, second driving shaft
（200）And trapezoidal screw（422）Both ends first support is separately fixed at by bearing（910）And second support（920）
On, enable three components around respective axis rotation；
In second driving shaft（200）On be additionally provided with the first thrust ball bearing for bearing axial load（5139）, first pushes away
Power ball bearing（5139）It is arranged in first support（910）With level-one big belt wheel（513）Between；
In the first transmission shaft（100）On be additionally provided with the second thrust ball bearing for bearing axial load（5939）, second pushes away
Power ball bearing（5939）It is arranged in second support（920）With two level big belt wheel（593）Between；
The trapezoidal screw（422）Both ends be also respectively provided with the first lead screw thrust ball bearing for bearing axial load
（4221）With the second lead screw thrust ball bearing（4222）；
First lead screw thrust ball bearing（4221）It is arranged in trapezoidal screw（422）Power intake and first support（910）Between；
Second lead screw thrust ball bearing（4222）It is arranged in trapezoidal screw（422）Non-powered input terminal and second support（920）Between.
10. synchronous pulley gear according to claim 2, it is characterised in that：
First clutch initiative part（311）With the first transmission shaft（100）It is that micron-sized spline realizes axial by drive gap
It is slidably connected；
Second clutch initiative part（391）And second driving shaft（200）It is slid axially by trapezoid spline or ball spline realization
Connection.
11. synchronous pulley gear according to claim 1, it is characterised in that：
Level-one small pulley（511）With the first transmission shaft（100）Between be fixedly connected by square shaft or key；
Two level small pulley（591）And second driving shaft（200）Between be fixedly connected by square shaft or key；
Two level big belt wheel（593）Pass through two the second deep groove ball bearings（5931）Mounted on the first transmission shaft（100）On；
Level-one big belt wheel（513）Pass through two the first deep groove ball bearings（5131）Mounted on second driving shaft（200）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139474.2A CN108488336A (en) | 2018-02-11 | 2018-02-11 | Synchronous pulley gear for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139474.2A CN108488336A (en) | 2018-02-11 | 2018-02-11 | Synchronous pulley gear for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108488336A true CN108488336A (en) | 2018-09-04 |
Family
ID=63340377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810139474.2A Pending CN108488336A (en) | 2018-02-11 | 2018-02-11 | Synchronous pulley gear for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108488336A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20230106827A (en) * | 2022-01-07 | 2023-07-14 | 주식회사 테스크 | power take off device on rear axle |
| KR20230119904A (en) * | 2022-02-08 | 2023-08-16 | 주식회사 테스크 | A power take-off system that selectively operates a plurality of driving devices according to the engine speed |
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