CN110259900A - A kind of slewing equipment for transmission, the drive apparatus including it and drive method - Google Patents
A kind of slewing equipment for transmission, the drive apparatus including it and drive method Download PDFInfo
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- CN110259900A CN110259900A CN201910535454.1A CN201910535454A CN110259900A CN 110259900 A CN110259900 A CN 110259900A CN 201910535454 A CN201910535454 A CN 201910535454A CN 110259900 A CN110259900 A CN 110259900A
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- axis
- slewing equipment
- driving member
- driving
- raceway
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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
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
- F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
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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
- F16H57/0006—Vibration-damping or noise reducing means specially adapted for gearings
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/048—Type of gearings to be lubricated, cooled or heated
- F16H57/0487—Friction gearings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
Abstract
The present invention relates to a kind of slewing equipment for transmission, the drive apparatus including it and drive methods.The slewing equipment includes matrix, is disposed with the end to end raceway for accommodating several first roll bodies；In the case where two adjacent the first roll bodies partially contact each other, several roll bodies are full of raceway in the way of partially contacting each other with raceway, so that the dynamic friction pair that matrix can be formed in a manner of non-pure rolling with raceway based on the first roll body is rotated around its own axis in the case where at least one of several first roll bodies are rotated and moved along raceway around its own axis；Or, at least one of several first roll bodies can be rotated and along rolling path rolling based on the first roll body with the rolling friction pair that non-pure rolling and raceway are formed around its own axis in the case where matrix is rotated around its own axis.
Description
Technical field
The present invention relates to technical field of mechanical transmission more particularly to a kind of slewing equipments for transmission, the biography including it
Dynamic device and method.
Background technique
Transmission device (transmission device) is the intermediate equipment power device transmitting operating mechanism etc.,
Size and Orientation and torque between power source and executing agency, for changing movement velocity, motion mode and power
Size and Orientation.In Industrial Robot Technology field, common transmission device includes worm-gear speed reducer, harmonic wave speed reducing machine
With planetary reducer etc..However, worm-gear speed reducer structure bulky, transmission efficiency is low, and precision is poor, and inputs with output not
Coaxially, operation stability is poor；The core component flexbile gear of harmonic wave speed reducing machine generates cyclic deformation in operation, is easy to happen fatigue
Damage, and the impact resistance of complete machine and rigidity are poor, input speed is limited；Although planetary reducer overall performance is excellent, can
Meet equipment operation demand, but the requirement to the selection of component raw material, manufacturing process and machining accuracy etc. is very high, causes
Equipment price is expensive.In order to which efficiently against above-mentioned technical problem, scientific research personnel has done a large amount of research work, and obtains
Following scientific achievement.
For example, a kind of transmission decelerating device of the PCT Publication of Publication No. WO/2018/120541, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet, be additionally provided on the worm component worm component described in third shaft and
Between Worm-gear assembly, the is realized by the worm tooth that is arranged on worm component and the first worm-gear toothing being arranged on Worm-gear assembly
Level-one engaged transmission；Pass through the middle revolving body being arranged on Worm-gear assembly between the Worm-gear assembly and output shaft and is fixed on defeated
Rotary disc assembly on shaft realizes second level engaged transmission.The transmission decelerating device that the invention provides, compact-sized, transmission ratio
Greatly, precision is high, fretting wear is small, is easy to carry out industrialized production manufacture, while cheap, is suitable for industrial robot joint
It is required and the precise heavy-load of volumetric constraint transmission occasion Deng with large transmission ratio.
For example, the PCT Publication of Publication No. WO/2018/120542 including be arranged in cabinet worm component,
Worm-gear assembly and output shaft are additionally provided with third shaft on the worm component.Multiple worm-gear toothings on the Worm-gear assembly are embedded in
In the trench, worm-gear toothing can move in the trench along groove direction and Worm-gear assembly is driven to revolve under the driving of worm component component
Turn.The transmission decelerating device that the invention provides, it is compact-sized, transmission ratio is big, precision is high, fretting wear is small, it is easy to carry out industry
Change and manufacture, while is cheap, suitable for industrial robot joint etc. there is large transmission ratio to require the essence with volumetric constraint
Close heavy load transmission occasion.
For example, a kind of transmission decelerating device disclosed in the Chinese patent of Publication No. CN206419433U, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet are additionally provided with third shaft on the worm component.On the Worm-gear assembly
Multiple worm-gear toothings be embedded in the trench, worm-gear toothing can be moved along groove direction in the trench under the driving of worm component component
And Worm-gear assembly is driven to rotate.The utility model provide transmission decelerating device, it is compact-sized, transmission ratio is big, precision is high, friction
It wears small, is easy to carry out industrialized production manufacture, while cheap, being suitable for industrial robot joint etc. has large transmission ratio
It is required that the precise heavy-load with volumetric constraint is driven occasion.
For example, a kind of transmission decelerating device disclosed in the Chinese patent of Publication No. CN206816755U, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet are additionally provided with third shaft on the worm component.The Worm-gear assembly is whole
Body almost spherical is composed of the lower worm wheel body and upper worm wheel body of near hemispherical；It is set between lower worm wheel body and upper worm wheel body
There is discoidal middle revolving body, be equipped with rotating shaft in the axial direction, the lower end of rotating shaft and upper end are distinguished in the axial direction under
The lower part of worm wheel body and the top of upper worm wheel body extend out.The transmission decelerating device that the utility model provides, compact-sized, biography
It moves than big, precision is high, fretting wear is small, is easy to carry out industrialized production manufacture, while cheap, is suitable for industrial robot
There is large transmission ratio to require to be driven occasion with the precise heavy-load of volumetric constraint in joint etc..
For example, a kind of transmission decelerating device disclosed in the Chinese patent of Publication No. CN206929330U, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet are additionally provided with third shaft on the worm component.The cabinet is generally
Near cylindrical is enclosed by discoidal bottom base, top base and columnar middle pedestal.The utility model provides
Transmission decelerating device, it is compact-sized, transmission ratio is big, precision is high, fretting wear is small, be easy to carry out industrialized production manufacture, together
When it is cheap, suitable for industrial robot joint etc. have large transmission ratio require and volumetric constraint precise heavy-load be driven field
It closes.
For example, a kind of transmission decelerating device disclosed in the Chinese patent of Publication No. CN106499775A, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet are additionally provided with third shaft on the worm component.On the Worm-gear assembly
Multiple worm-gear toothings be embedded in the trench, worm-gear toothing can be moved along groove direction in the trench under the driving of worm component component
And Worm-gear assembly is driven to rotate.The transmission decelerating device that the invention provides, it is compact-sized, transmission ratio is big, precision is high, fretting wear
It is small, it is easy to carry out industrialized production manufacture, while cheap, being suitable for industrial robot joint etc. has large transmission ratio requirement
Occasion is driven with the precise heavy-load of volumetric constraint.
For example, a kind of transmission decelerating device disclosed in the Chinese patent of Publication No. CN206929280U, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet.Chassis assembly and defeated is additionally provided between the worm component and output shaft
Shaft mounting assembly, the axis coincidence of the worm component, chassis assembly, output shaft mounting assembly and output shaft.This is practical new
The transmission decelerating device that type provides, it is compact-sized, transmission ratio is big, precision is high, fretting wear is small, it is easy to carry out industrialized production system
It makes, while cheap, suitable for industrial robot joint etc. there is large transmission ratio to require to pass with the precise heavy-load of volumetric constraint
Dynamic occasion.
For example, a kind of transmission decelerating device disclosed in the Chinese patent of Publication No. CN106499774B, including setting exist
Worm component, Worm-gear assembly and output shaft in cabinet, be additionally provided on the worm component worm component described in third shaft and
Between Worm-gear assembly, the is realized by the worm tooth that is arranged on worm component and the first worm-gear toothing being arranged on Worm-gear assembly
Level-one engaged transmission；Pass through the middle revolving body being arranged on Worm-gear assembly between the Worm-gear assembly and output shaft and is fixed on defeated
Rotary disc assembly on shaft realizes second level engaged transmission.The transmission decelerating device that the invention provides, compact-sized, transmission ratio
Greatly, precision is high, fretting wear is small, is easy to carry out industrialized production manufacture, while cheap, is suitable for industrial robot joint
It is required and the precise heavy-load of volumetric constraint transmission occasion Deng with large transmission ratio.
In addition, on the one hand since the understanding to those skilled in the art has differences；On the other hand since inventor makes
Lot of documents and patent are had studied when of the invention, but length limits and do not enumerate all details and content in detail, however this is absolutely
Non-present invention does not have the feature of these prior arts, and present invention has been provided with all features of the prior art, Er Qieshen
Ask someone to retain the right for increasing related art in the background technology.
Summary of the invention
For the deficiencies of the prior art, the invention also discloses a kind of slewing equipments for transmission, comprising: matrix,
Be disposed with the raceway for accommodating several first roll bodies, first roll body can according to the constant mode of sequence each other and according to
The mode at least partly contacted with the raceway shuttling movement in the raceway, so that in several first roll bodies
At least one around its own axis rotate in the case where, described matrix can be based on first roll body in the form of non-pure rolling
The dynamic friction formed with the raceway is secondary and rotates around its own axis.
According to a kind of preferred embodiment, the slewing equipment includes that circumferentially having of connecting with described matrix is several
First driving turntable in hole is rolled, if the dry milling hole with the second roll body circumferentially on the first driving member according to can roll
The mode of friction is arranged so that the slewing equipment can at least one of described several first roll bodies can around its from
If the body axis rotation and rolling formed based on the dry milling hole with second roll body in the case where the rolling path rolling is rubbed
Wipe the secondary axis rotation for driving first driving member around first driving member；Or, first driving member can be around it
If in the case where own axis can based on the rolling friction pair that the dry milling hole and second roll body are formed so that
The slewing equipment is rotated around the axis of the slewing equipment.
According to a kind of preferred embodiment, the slewing equipment includes at least two raceways, at least two raceways
The axially different position of the slewing equipment is arranged in the way of accommodating first roll body independently from each other.
According to a kind of preferred embodiment, the slewing equipment includes the first matrix and the second matrix, first base
Body and second matrix are according to the first rolling on the first matrix described in the case where the slewing equipment is around its own rotation
Dynamically balanced mode is arranged the axial force that the axial force that body is subject to is subject to the first roll body on second matrix each other.
According to a kind of preferred embodiment, the axis of the axis of the slewing equipment and first driving turntable can
According to not being overlapped each other but mode in the same direction is arranged, so that in the case where the slewing equipment is rotated around its own axis,
If intermittent biography is realized in the intermittent rolling friction that first driving member can be formed based on the dry milling hole and the second roll body
It is dynamic.
According to a kind of preferred embodiment, the invention also discloses a kind of drive apparatus, including preceding claims it
Slewing equipment described in one, the drive apparatus include the second driving member, and institute can be driven by being provided on second driving member
It states several first roll bodies to rotate around its own axis and along several driving bodies of the rolling path rolling, wherein several drivings
Body is circumferentially in second driving member, so that second driving member is around the rotation of its own axis, if
Doing at least one of described driving body can contact at least one of several first roll bodies, to drive the revolution
Device is rotated around its own axis.
According to a kind of preferred embodiment, the drive apparatus include at least two slewing equipments, it is described at least
Two slewing equipments according to the part in respective first roll body can from the different radial positions of second driving member
The mode that driving body contacts simultaneously is arranged, so that producing between the driving body and first roll body on different slewing equipments
Raw radial force can mutually balance each other each other, so that the drive apparatus can be driven in a manner of dynamically balanced.
According to a kind of preferred embodiment, second biography is set to according to dismountable mode in the driving body
On moving part so that the slewing equipment can based on the sliding friction formed between the driving body and first roll body and
Second driving member realizes transmission.
According to a kind of preferred embodiment, second driving member axis and the slewing equipment axis each other
In the case where parallel, or in the case where the axis of the axis of first driving member and the slewing equipment is parallel,
First driving member can be arranged in such a way that its axis is overlapped with the axis of second driving member, so that described
One driving member can intermediate transmission based on the slewing equipment and second driving member realize coaxial line transmission.
According to a kind of preferred embodiment, in the case where described matrix is rotated around its own axis, described several the
The rolling that at least one of one roll body can be formed in the form of non-pure rolling with the raceway based on first roll body rubs
Pair is wiped to rotate around its own axis and move along the raceway.
According to a kind of preferred embodiment, which also discloses a kind of drive method, and the drive method can be by
Slewing equipment above-mentioned is realized or drive apparatus above-mentioned is realized.
The invention provides a kind of slewing equipment for transmission, the drive apparatus including the slewing equipment and based on this time
The drive method of rotary device at least has according to lower advantage:
(1) in the case where can reduce the first roll body and raceway abrasion and reduce frictional heat generation amount between the two,
Frictional force between the two can also drive matrix to rotate；
(2) in the case where rolling opposite to each other between two adjacent the first roll bodies, the contact of raceway and the first roll body
Form can be using point contact or line contact so that the two opposite can be slided each other, this can limit the rotation of the first roll body
Rotary speed, so that external energy is transmitted more by between raceway and the first roll body, and less by between the first roll body
Transmitting, help to improve transmission efficiency.
(3) raceway is only needed to be processed on the wall body of matrix and be cleared the way without the inside to matrix, and raceway adds
Work is substantially reduced at this, it is only necessary to which simple processing technology just can form；
(4) since the inside of matrix is without clearing the way, the bearing capacity of matrix is improved；
(5) the arrangement quantity that can reduce the first roll body, reduce its purchase into this, replaceability it is strong and easy-maintaining；
(6) due between raceway and matrix positional relationship there is invariance in matrix rotation process, this can reduce the
The complexity of the setting position of driving body on two driving members；
The distance of the mobile circle of (7) first roll bodies substantially reduces, its moving resistance can be substantially reduced, to roll to first
The outer load that body applies is more in the case where reducing the first roll body with raceway frictional heat generation for driving matrix to rotate, Neng Gouyou
Improve transmission efficiency in effect ground.
Detailed description of the invention
Fig. 1 is a kind of preferred operation schematic diagram for drive apparatus that the invention provides；
Fig. 2 is a kind of partial schematic diagram for preferred slewing equipment that the invention provides；
Fig. 3 is a kind of operation schematic diagram for preferred slewing equipment that the invention provides；
Fig. 4 is the preferred structure schematic diagram for the second driving member of one kind that the invention provides；With
Fig. 5 is the preferred structure schematic diagram for the first driving turntable of one kind that the invention provides.
Reference signs list
1: the 3b-2: the second driving turntable of slewing equipment II
2: the second the 3b-3: the second roll bodies of driving member
3: the first driving member 2a: third shaft
1a: first rotating shaft 2b: shell
1b: the first driving turntable 2b-1: first shell
1c: matrix 2b-2: second shell
1b-1: rolling the 2c: the first bolt of hole
1c-1: raceway 2d: driving body
1c-2: the first roll body 2e: accommodating cavity
1c-3: the first matrix 2f: pedestal
1c-4: the second the 3a: the second shaft of matrix
3b-1: the second the 3b: the second driving turntable of driving turntable I
Specific embodiment
1-5 is described in detail with reference to the accompanying drawing.
Embodiment 1
The embodiment provides a kind of slewing equipment 1, can be used as the main portion of the intermediate transmission in Multi-stage speed-changing drive
Part.
As shown in Fig. 2, the slewing equipment 1 includes matrix 1c.End to end raceway 1c-1 is disposed on matrix 1c.Rolling
Road 1c-1 is for accommodating several first roll body 1c-2.Preferably, the first roll body 1c-2 is the part that can be rolled being rotarily formed,
It can revolve in the way of own axes rotation around the axis of matrix 1c on raceway 1c-1.For example, the first roll body 1c-2
It can be sphere, spheroid, cylindrical body or cone.Two adjacent the first roll body 1c-2 are partially contacted each other.First rolling
Body 1c-2 is also what part contacted with raceway 1c-1.In the case where two adjacent the first roll body 1c-2 are partially contacted each other,
Several roll body 1c-2 are full of raceway 1c-1 in the way of partially contacting each other with raceway 1c-1, so that in several first roll bodies
In the case that at least one of 1c-2 is rotated around its own axis and moved along raceway 1c-1, matrix 1c can be based on the first rolling
The dynamic friction pair that body 1c-2 is formed in a manner of non-pure rolling with raceway 1c-1 is rotated around its own axis.Matrix 1c around its from
In the case that body axis rotate, at least one of several first roll body 1c-2 can be based on the first roll body 1c-2 with non-pure rolling
The rolling friction pair formed with raceway 1c-1 is rotated around its own axis and is rolled along raceway 1c-1.Therefore, in several first rollings
In the case that at least one of body 1c-2 is rotated around its own axis and is moved along raceway 1c-1, the first roll body 1c-2 and raceway
Dynamic friction pair is formed between 1c-1.The mechanism that dynamic friction pair is formed: firstly, since the first roll body 1c-2 and raceway 1c-2 are parts
Contact, in it is moved along raceway 1c-1, the two at least being capable of sliding contact；Secondly as the first adjacent roll body 1c-2
Between be that part contacts each other, wherein one rotation while its can be driven adjacent the first roll body 1c-2 rotate, thus
First roll body 1c-2 itself is also rotation while along raceway 1c-1 sliding, thus the first roll body 1c-2 and raceway 1c-1 it
Between there is opposite sliding to have relative rolling again, sequentially form the dynamic friction pair of the two.According to known to the definition of pure rolling: the
One roll body 1c-2 is to form dynamic friction pair between the forms of motion of non-pure rolling and raceway 1c-1.Pure rolling: belong to mechanical dynamic
Technical term in mechanics refers to rigid body and the contact point of plane in contacting at that moment as opposing stationary, not any phase
Rolling to sliding, i.e. relative velocity are zero.Compare with for the existing transmission device based on simple sliding friction, by
The dynamic friction pair that one roll body 1c-2 is formed between raceway 1c in a manner of non-pure rolling, the invention at least have the advantage that
1, in the case where can reduce the first roll body 1c-2 and raceway 1c abrasion and reduce frictional heat generation amount between the two, the two
Between frictional force can also drive matrix 1c rotate；2, it is rolled opposite to each other between two adjacent the first roll body 1c-2
In the case of, the contact form of raceway 1c-1 and the first roll body 1c-2 can using point contact or line contact so that the two each other
It opposite can slide, this can limit the rotation speed of the first roll body 1c-2, so that external energy is more by raceway 1c-1
And first transmit between roll body 1c-2, and less by the transmitting between the first roll body 1c-2, help to improve transmission efficiency；
3, convenient for the lubrication between the first roll body 1c-2 and raceway 1c-1, when wherein a certain first roll body is as main force transferring part
When, velocity of rotation can be greater than the first roll body of its adjoining, so that the extra lubricating oil adhered to thereon can be got rid of based on centrifugal force
To the first adjacent roll body；Lubricating oil can transfer certainly to flow to the contact portion of itself and raceway 1c-1 with the force transferring part of the adjoining
Position, when the first roll body of the adjoining is as main force transferring part, lubricating oil has been formed on its surface oil film, so that
In its power transmission, the first roll body sufficient lubrication of raceway 1c-1 and the adjoining, are circulated benignly with this, improve package unit
Lubricant effect；4, due to the reduction of fretting wear and the raising of lubricant effect, the service life of raceway 1c-1 is improved, so that should
The durability of slewing equipment 1 improves；5, for the first roll body 1c-2 as main force transferring part, manufacturing process is simple, is fabricated to back
Swivel, so that its replaceability is strong, thus it can be made of opposite raceway 1c-1 softer material, further with this
To reduce the abrasion to raceway 1c-1, the durability of Lai Tigao slewing equipment 1；6, in transmission, the first roll body 1c-2 and its neighbour
The tangential force that the first roll body of another two connect is formed, can drive another two the first roll body rotation, the first roll body 1c-2 is adjacent
The first roll body of another two belong to flexible contact, thus, in transmission, the another two first that is adjacent of the first roll body 1c-2 is rolled
Body will not generate percussion, hit sound with this to reduce rigid contact bring in traditional transmission, achieve the effect that reduce noise.
As shown in figure 3, in transmission process, the frictional force formed between the first roll body 1c-2 and raceway 1c-1, the friction
Power can be decomposed into the tangential force perpendiculared to one another with its diameter that matrix 1c can be driven to rotate, driving the first roll body 1c-2 rotation
Another tangential force Bi Cichuizhied with its diameter and push the motive force that moves along raceway 1c-1 of the first roll body 1c-2.That is:
When first roll body 1c-2 is moved in raceway 1c-1, the first roll body 1c-2 is with rotational velocity ω1c-2Around the rotation of its own axis
There is movement speed V simultaneously.Movement speed V can be decomposed into the diametrical direction of matrix 1 it is orthogonal i.e. with raceway 1c-
The tangent cutting speed degree V of 1 trajectory line1c-2.And at the same time, matrix 1c is around its axis with ω1Rotation.
Preferably, slewing equipment 1 is used as intermediate transmission component, further includes the first driving turntable 1b.First driving turntable
If 1b circumferentially has dry milling hole 1b-1 along it.If at least one of dry milling hole 1b-1 can be with the week on the first driving member 3
It is contacted in a manner of rolling friction to the second roll body 3b-3 of arrangement.For example, the second roll body 3b-3 is according to it around its own axis
The mode of line rotation is contacted with rolling hole 1b-1 partial line.When in the geometric center of the second roll body 3b-3 and the geometry of rolling hole 1b-1
When a wherein diameter of the line of the heart and the first driving turntable 1b are overlapped, the contact of the second roll body 3b-3 and rolling hole 1b-1 formation
Line is one and is overlapped with the contour line of rolling hole 1b-1.Preferably, when slewing equipment 1 is as driving link, hole 1b-1 and second is rolled
The frictional force formed between roll body 3b-3 can be decomposed into the tangential force of driving the first driving member 3 rotation, drive the second roll body 3b-
Another tangential force of 3 rotations.That is: it can be rotated around its own axis and along rolling at least one of several first roll body 1c-2
In the case that road 1c-1 is rolled, if the rolling friction that slewing equipment 1 can be formed based on dry milling hole 1b-1 and the second roll body 3b-3
Pair the first driving member 3 of driving is rotated around the axis of the first driving member 3, realizes that slewing equipment 1 transmits power to the first driving member 3.
As shown in Figure 1, slewing equipment 1 is as driving link with ω1When rotation, the first driving member 3 is as driven member with ω3Rotation, realization subtract
Speed.When the first driving member 3 is as driving link, the first driving member 3 being capable of base around the rotation of its own axis
If in dry milling hole 1b-1 and the second roll body 3b-3 rolling friction pair formed so that slewing equipment 1 around slewing equipment 1 axis
Rotation realizes that the first driving member 3 transmits power to slewing equipment 1.As shown in Figure 1, the first driving member 3 is as driving link with ω3
Rotation, slewing equipment 1 is as driven member with ω1Rotation is realized and is accelerated.
Preferably, as shown in Figure 1, the first driving turntable 1b is arranged according to the mode coaxial with slewing equipment 1.In this feelings
Under condition, the first driving turntable 1b can continuously be contacted with the first driving member 3, to realize continuous transmission.
Preferably, slewing equipment 1 includes at least two raceway 1c-1.Preferably, the geometric center of raceway 1c-1 or its
Center of gravity is located at the axis of matrix 1c.For example, raceway 1c-1 is ring raceway, raceway as shown in Figure 2.At least two raceway 1c-1
It is arranged in the axially different position of slewing equipment 1.At least two raceway 1c-1 accommodate the first rolling independently from each other
Body 1c-2.Raceway 1c-1 can be as shown in Figure 2 three, can be with two or even three or more.It is compared to individual one
The defect of spiral shape raceway connected first: 1, raceway 1c-1 is arranged inside matrix 1c, will increase first manufacture at this and
Reduce the bearing capacity of matrix 1c；2, the power resources of the first roll body 1c-2 in raceway 1c need more consumption in the first roll body
In the movement of 1c-2 it is non-drive on, transmission efficiency is low.Based on this, it is arranged in this manner, which is compared to existing
Technology at least has the advantage that 1, raceway 1c-1 only needs to be processed on the wall body of matrix 1c without to matrix 1c
Inside clear the way, raceway 1c-1's is processed into this and substantially reduces, it is only necessary to which simple processing technology just can form；2, due to matrix
The bearing capacity of matrix 1c is improved without clearing the way in the inside of 1c；3, the arrangement quantity that can reduce the first roll body 1c-2, reduces it
Purchase into this, replaceability it is strong and easy-maintaining；4, due between raceway 1c-1 and matrix 1c positional relationship matrix 1c rotate
There is invariance in the process, this can reduce the complexity of the setting position of the driving body 2d on the second driving member 2；5, the first rolling
The distance of the mobile circle of body 1c-2 substantially reduces, and can substantially reduce its moving resistance, so that the first roll body 1c-2 is applied
Outer load is more in the case where reducing the first roll body 1c-2 and raceway 1c frictional heat generation for driving matrix 1c to rotate, Neng Gouyou
Improve transmission efficiency in effect ground.
Preferably, as shown in Fig. 2, slewing equipment 1 includes the first matrix 1c-3 and the second matrix 1c-4.First matrix 1c-3
And second be provided with the first driving turntable 1b between matrix 1c-4.First matrix 1c-3 and the second matrix 1c-4 is turned with the first transmission
The neutral surface mirror settings of disk 1b.First matrix 1c-3 is provided with raceway 1c-1.Raceway 1c-1 can be existing one can
So that penetrating the end to end circulation raceway inside matrix 1c.Raceway 1c-1 can also be three as shown in Figure 2 that
This independent end to end raceway.Therefore, in the case where slewing equipment 1 is around its own rotation, on the first matrix 1c-3
The axial force that first roll body 1c-2 is subject to can be a certain with the axial force being subject to of the first roll body 1c-2 on the second matrix 1c-4
Moment is of equal size to each other and contrary, thus can be based on the balance of axial force between the first roll body 1c-2 and matrix 1c
And it can be realized dynamic balancing.The direction of axial force between first roll body 1c-2 and the first matrix 1c-3 is with the first matrix 1c-3's
It is axial consistent.It is arranged in this manner, which can at least have the advantage that 1, due to matrix 1c and the first roll body
1c-2 can effectively prevent the play up and down of matrix 1c in axial dynamic balancing, can effectively improve the stabilization shape of transmission；2, can
Effectively improve the service life with the bearing arrangement of the first rotating shaft 1a cooperation on slewing equipment 1；3, it can be effectively reduced the first roll body
The rigid shock power of 1c-2 and raceway 1c-1, so as to reduce the abrasion of the first roll body 1c-2 and raceway 1c-1 respectively；4, when
It, can since the play up and down of matrix 1c is effectively prevented from or eliminates when being bonded between driving body 2d and the first roll body 1c-2
The rigid shock power between the first roll body 1c-2 and driving body 2d is reduced, so as to improve for driving the first roll body 1c-2's
Driving body 2d therewith between engagement compactness, effectively improve transmission stability and transmission efficiency.
Embodiment 2
The present embodiment can be the further improvement and/or supplement to embodiment 1, and duplicate content repeats no more.Not
It causes in conflict or contradictory situation, the entirety and/or partial content of the preferred embodiment of other embodiments can be used as
The supplement of the present embodiment.
Preferably, the axis of slewing equipment 1 and the axis of the first driving turntable 1b can be according to not being overlapped but in the same direction each other
Mode be arranged.Due to the eccentric setting of the first driving turntable 1b, in the case where slewing equipment 1 is rotated around its own axis,
First driving turntable 1b is rotated around the eccentric axis of slewing equipment 1, thus the rolling hole 1b-1 and first on the first driving turntable 1b
The second roll body 3b-3 on driving member 3 is the formation dynamic friction pair in the form of discontinuous contact, so that the first driving member 3 is returning
Intermittent rotary in the case where 1 continuous rotation of rotary device.In this case, the rolling hole 1b-1 of the first driving turntable 1b can not have to
In one circle of circumferential surface setting of the first driving turntable 1b, and only it is arranged in its portion peripheral surface to agree with the on the first driving member 3
Two roll body 3b-3.For example, half-turn or a quarter circle can be set.In this manner it is achieved that the present invention also have it is following excellent
Gesture: 1, can be realized gap transmission；2, in the transmission process of gap, slewing equipment 1 will receive periodically load variation, be easy
The fatigue life of the first raceway 1c-1 is influenced, but is referred to the driving force of slewing equipment 1 in the present invention from first
Roll body 1c-2 with frictional force when non-PURE ROLLING between the first raceway 1c-1；In first transmission of the driving of slewing equipment 1
When part 3 rotates, slewing equipment 1 is loaded, and the frictional force between the first roll body 1c-2 and the first raceway 1c-1 improves, the first roll body
1c-2 can its rotational velocity based on the raising of the friction force adaptive and the force of rolling friction that both improves so that the cunning of the two
The opposite variation of kinetic force of friction is little；When the first driving member 3 does not rotate the driving of slewing equipment 1, slewing equipment 1 is not loaded, and first
Frictional force between roll body 1c-2 and the first raceway 1c-1 reduces, and the first roll body 1c-2 can be based on the reduction of the friction force adaptive
Its rotational velocity and reduce both high force of rolling friction so that the opposite variation of the force of sliding friction of the two is less, so as to
For enough traditional equipments relative to only sliding friction to realize intermittent rotary, the present invention can also extend the first raceway 1c-1
Fatigue life extend service life of slewing equipment 1 with this.
Embodiment 3
The present embodiment can be the further improvement and/or supplement to embodiment 1, and duplicate content repeats no more.Not
It causes in conflict or contradictory situation, the entirety and/or partial content of the preferred embodiment of other embodiments can be used as
The supplement of the present embodiment.A kind of drive apparatus disclosed in the embodiment.
Preferably, which includes slewing equipment 1 and the second driving member 2, realizes primary transmission.
Or, it is preferable that the drive apparatus includes slewing equipment 1 and the first driving member 3, realizes primary transmission.
Or, it is preferable that the drive apparatus includes slewing equipment 1, the first driving member 3 and the second driving member 2, realizes that second level passes
It is dynamic.Its specific operation schematic diagram is as shown in Figure 1.External impetus drives the second driving member 2 as driving link with ω2Rotation,
With ω the driving link that slewing equipment 1 is driven as the second level using the driven member being driven as the first order again in a manner of1Rotation, first
Driving member 3 is with ω3The mode of rotation is as driven member output power, to realize secondary transmission.In turn, another embodiment party
Formula, external impetus drive the first driving member 3 as driving link with ω3Rotation, slewing equipment 1 using as the first order be driven from
The mode for the driving link that moving part is used as the second level to be driven again is with ω1Rotation, the second driving member 2 is with ω2The mode of rotation is as driven
Part output power, to realize secondary transmission.
Or, the embodiment is disclosed that external impetus can also be inputted by slewing equipment 1, and from 3 He of the first driving member
Second driving member 2 exports respectively.
Preferably, driving body 2d is provided on the second driving member 2.It stirs body 2d and at least has that there are two effects: first, the
When two driving members 2 are rotated as driving link, for driving several first roll body 1c-2 to rotate around its own axis and along raceway 1c-
1 rolls；Second, the first roll body 1c-2 is around the rotation of its own axis and along raceway when slewing equipment 1 is rotated as driving link
1c-1 roll during with stir body 2d generate contact the second driving member of power drive 2 rotate.Preferably, several driving bodies 2d weeks
To being arranged in the second driving member 2, and its position is corresponding with the position of raceway 1c-1, so that device can be with first
Roll body 1c-2 is in contact with each other and generates frictional force.Based on this, the second driving member 2 around its own axis rotation in the case where, if
At least one of dry driving body 2d can be contacted at least one of several first roll body 1c-2, the frictional force that the two generates
To drive slewing equipment 1 to rotate around its own axis.Preferably, alternatively, the case where slewing equipment 1 is rotated around its own axis
Under, at least one of several first roll body 1c-2 can be contacted at least one of several driving body 2d, be produced between the two
Raw the second driving member of frictional force drives 2 is rotated around its own axis.
Preferably, drive apparatus includes at least two slewing equipments 1.At least two slewing equipments 1 are according to respective first
Part in roll body 1c-2 can be set with the mode contacted simultaneously of the driving body 2d in the different radial positions of the second driving member 2
It sets.For example, as shown in Figure 1, two slewing equipments 1 are there are two the total settings of slewing equipment 1 with the axis mirror of the second driving member 2
As being symmetrical arranged.In this case, the radial direction generated between driving body 2d and the first roll body 1c-2 on different slewing equipments 1
Power can mutually balance each other each other, so that transmission device can be driven in a manner of dynamically balanced.At a time, driving body 2d and
Contact force between one roll body 1c-2 can decompose can be along the diametric power of slewing equipment 1, and two slewing equipments 1 are with second
The axis mirror symmetry of driving member 2 is arranged, and the respective first roll body 1c-2 of two slewing equipments is enabled to respectively to connect with it
The driving body 2d of touching forms radial force, this is to radial force direction equal sizes on the contrary, dynamic balancing so as to realize transmission.It is single
Only radial force with the axial direction of 2/ first driving member 3 of the second driving member be it is vertical, the second driving member 2/ first can be driven
Part 3 generates moment of flexure, so that 2/ first driving member 3 of the second driving member is easily bent.It at least has the advantage that in this manner
1, based on the dynamic balancing of radial force, 2 bending failure of the second driving member can be effectively prevented from or can be effectively prevented from first
Driving member 3 destroys completely；2, since radial force is equal in magnitude, so that the revolving speed of two slewing equipments 1 is consistent, to protect
It has demonstrate,proved the dislocation for continuously contacting with and preventing the two from contacting between rolling hole 1b-1 and the second roll body 3b-3 and ensure that the first rolling
Continuously contacting between body 1b-1 and driving body 2d and the dislocation for preventing the two from contacting, the stationarity of transmission is improved with this.
The present invention also discloses, and at least one of driving body 2d is set in the way of it can rotate around its own axis
It is placed on the second driving member 2.In this manner it is achieved that at least one driving body 2d can be turned round around the axis of the second driving member 2
Meanwhile being turned round with the contact of the first roll body 1c-2 around its own axis based on it, thus, slewing equipment 1 can be based on driving body
The rolling friction formed between 2d and the first roll body 1c-2 and the second driving member 2 realize transmission.It is arranged in this manner, this hair
The drive apparatus of bright offer also has following advantage: 1, the contact between the second driving member 2 and driving body 2d can have drop
Low abrasion and reduction noise；2), in the case where abrasion reduces, based on the second driving member 2 and driving body 2d in transmission process
Between rolling friction contact, frictional heat generation amount substantially reduces between the second driving member 2 and driving body 2d, in transmission process, drop
The low gap for being thermally expanded and being generated as caused by frictional heat generation between second driving member 2 and driving body 2d, can be further
Improve the stationarity and precision of transmission in ground.
Preferably, as shown in Figure 1, the situation parallel in the axis of the second driving member 2 and the axis of slewing equipment 1
Under, or in the case where the axis of the axis of the first driving member 3 and slewing equipment 1 is parallel, the first driving member 3 can be by
The mode being overlapped according to its axis with the axis of the second driving member 2 is arranged.At this point, the first driving member 3 can be based on slewing equipment 1
Intermediate transmission and the second driving member 2 realize coaxial line transmission.In this manner it is achieved that the invention also have the advantage that 1, can
Improve the compactedness of drive apparatus；2, it can be realized coaxial variable motion；3, it can be improved transmission accuracy.
Embodiment 4
The present embodiment can be further improvement and/or supplement to embodiment 1 and/or 2 and/or 3, and duplicate content is not
It repeats again.In the case where not causing conflict or contradictory situation, in the entirety of the preferred embodiment of other embodiments and/or part
Hold the supplement that can be used as the present embodiment.
The embodiment discloses a kind of preferred drive apparatus, is used for two-stage gear reduction.It includes three slewing equipments
1,1 first the second driving member of driving member 3 and 12.Preferably, which further includes cabinet.
As shown in figure 4, the second driving member 2 includes third shaft 2a, first shell 2b-1, second shell 2b-2 and driving body
2d.First shell 2b-1 and second shell 2b-2 is with the molding of near hemispherical, and split (such as welding) shape together
At the shell 2b of an entirety, the accommodating cavity 2e that can accommodate the almost spherical of three slewing equipments 1 is formed.Accommodating cavity 2e
Top it is opening-like, lower part pass through discoidal pedestal 2f close.Third shaft 2a is connected with below pedestal 2f.First
The axis coincidence of shell 2b-1, second shell 2b-2, accommodating cavity 2e, pedestal 2f and third shaft 2a.First shell 2b-1 and
The inside of second shell 2b-2 is equipped with the driving body 2d being used cooperatively with slewing equipment 1.Driving body 2d is revolving body or spiral
Body.Preferably, driving body 2d is fixed on first shell by multiple first bolt 2c by first shell 2b-1 and second shell 2b-2
On the inside of body 2b-1 and second shell 2b-2.Alternatively, another preferred embodiment, first shell 2b-1 passes through with second shell 2b-2
Driving body 2d is pivotally set on the inside of first shell 2b-1 and second shell 2b-2 by bearing.It is set according to this
It sets, after driving body 2d is separately machined, then by installing component driving body 2d is installed on second shell 2b-2 and first shell 2b-
1, it is big can to overcome the problems, such as that driving body 2d is located at accommodating cavity 2e integrated molding difficulty of processing, while being conducive to driving body 2d more
It changes.
Cabinet generally near cylindrical, by discoidal first pedestal, the second pedestal and columnar third pedestal
Composition, is bolted fixation by multiple second.First pedestal is equipped between two parties to recessed rotary table out, and rotary table inside is equipped with first
Thrust bearing is used to support the pedestal 2f of the second driving member 2.Rotary table is additionally provided with the first angular contact ball bearing between two parties, is used to support
The third shaft 2a of second driving member 2.Second pedestal is equipped with the first upper bearing (metal) for being used to support the first driving member 3 between two parties；Second
It is additionally provided with equally distributed second upper bearing (metal) of 3 circumferential directions on pedestal, is used to support the upper end first rotating shaft 1a of 3 slewing equipments 1.
After the completion of device overall package, only the second shaft 3a (output shaft) of the first driving member 3 and third shaft 2a of the second driving member 2
It is extended perpendicularly out above and below cabinet respectively, other component is installed in the inside of cabinet.By using cylindrical case
Body, and power input, outbound course are overlapped with the geometry axis direction of device, and is set what geometry axle center was overlapped with center of gravity
Meter, it is small and exquisite to be conducive to device compact overall structure, runs smoothly.
Such as Fig. 2, slewing equipment 1 is combined into approximate ball by the first matrix 1c-3 and the second matrix 1c-4 of near hemispherical
Shape.Discoidal first driving turntable 1b is equipped between first matrix 1c-3 and the second matrix 1c-4.And first matrix 1c-3 and
Second matrix 1c-4 is equipped with first rotating shaft 1a in the axial direction, and the lower end of first rotating shaft 1a and upper end are respectively in the axial direction from close
Spheroidal lower part and top extend out.First matrix 1c-3 and the second matrix 1c-4 respectively have three raceway 1c-1.Raceway 1c-
1 lining expire spheroidal the first rolling element 1c-2, the first rolling element 1c-2 can in raceway 1c-1 iterative motion.Second base
The raceway 1c-1 structure of body 1c-4 is similar with the first matrix 1c-3.As a kind of specific embodiment, the second matrix 1c-4 is logical
It crosses hexagon socket head cap screw to connect with the first driving turntable 1b, the first driving turntable 1b is connected by the 5th bolt and the first matrix 1c-3
It connects.The top of first rotating shaft 1a is mounted on above the second matrix 1c-4 by multiple third bolts, and the lower part of first rotating shaft 1a was both
Embodiment identical with top can be used, can also be integrally formed with the first matrix 1c-3.First driving turntable 1b circumference
It is evenly equipped with the rolling hole 1b-1 being used cooperatively with the second driving turntable 3b.
The invention uses 3 slewing equipments 1 to realize big transmission using similar few teeth difference engagement system with the second driving member 2
Than output.The flank of tooth of driving body 2d is formed by ball envelope, and uses internal messing mode, and the first rolling element 1c-2 uses spinning ball
Shape simultaneously makees the reciprocal rolling gear motion recycled along the raceway 1c-1 of the first matrix 1c-3 and the second matrix 1c-4, thus will
Sliding friction between transmission parts is changed into the dynamic friction pair of non-pure rolling form, to reduce running resistance.
Preferably, the second driving turntable 3b is disc, is turned by the transmission of circular second driving turntable II3b-2 and second
Disk I3b-1 composition.Second is uniformly provided with along outer circle circumferential direction between second driving turntable II3b-2 and the second driving turntable I3b-1
Roll body 3b-3.Second roll body 3b-3 is contacted with the rolling hole 1b-1 on the first driving turntable 1b of slewing equipment 1, realizes transmission.It is excellent
Choosing, the second roll body 3b-3 is also rotary spherical structure.The middle part of second driving turntable 3b is equipped with through-hole, for connecting
Fix the second shaft 3a (as output shaft) of the first driving member 3.Specifically, the transmission of the second driving turntable II3b-2 and second turns
Disk I3b-1 is connected and fixed by the realization of multiple 6th bolts.
The embodiment is disclosed that the drive apparatus further includes output shaft mounting assembly, preferably disc, is equipped between two parties
Downwardly projecting cylindrical output mounting disc, and for installing the second angular contact ball bearing of the first driving member 3.Output shaft
It is additionally provided with 3 equally distributed deep groove ball bearings of circumferential direction in mounting assembly, is used to support the lower end of first rotating shaft 1a.Deep-groove ball axis
It holds and cooperates with the second upper bearing (metal) of the second pedestal of cabinet, realize the axially position of slewing equipment 1.3 slewing equipments 1 are used simultaneously
With the mode of 2 joggleword of the second driving member, backlash and thus derivative dynamic equilibrium problems can be effectively eliminated, so that it is guaranteed that
Device even running.
The embodiment is disclosed that the drive apparatus further includes chassis assembly, preferably disc.It includes discoid
Chassis and the second thrust bearing being arranged in the middle part of chassis.Second thrust bearing is used to support output mounting disc.Chassis assembly is logical
The 7th bolt is crossed to be fixed on the pedestal 2f of the second driving member 2.
Preferably, the second shaft 3a of the first driving member 3 is variable diameters cylindrical body, is separately connected box base from top to bottom
On the first upper bearing (metal), the through-hole in the middle part of the second driving turntable, the second angular contact ball bearing in output shaft mounting assembly.Specifically
Ground, the first driving member can be connected and fixed by key and the second driving turntable.Preferably, the first driving member and third shaft can be set
It is set to hollow structure, on the one hand convenient for laying electric wire, device overall structure on the other hand can also be made more compact, reasonable.
The invention also discloses a kind of erection method of transmission decelerating device.Second driving member 2 passes through the first angular contact ball
Bearing and the first thrust bearing are mounted and positioned on the first pedestal of cabinet, and chassis assembly is bolted by the 7th and is fixed on
On the pedestal 2f of second driving member 2, output shaft mounting assembly is mounted on chassis by the second thrust bearing, slewing equipment 1 one
Be equipped with 3 altogether, lower end connect by deep groove ball bearing with output shaft mounting disc, 1 upper end of slewing equipment pass through the second upper bearing (metal) and
Second pedestal connects, and the driving body 2d on the first roll body 1c-2 and the second driving member 2 of slewing equipment 1 forms contact relation, the
The lower end of one driving member 3 is mounted in output shaft mounting disc by the second angular contact ball bearing, and the upper end of the first driving member 3 passes through
Second upper bearing (metal) is mounted on the second pedestal, the rolling of the second roll body 3b-3 and the first driving turntable 1b on the second driving turntable 3b
Hole 1b-1 forms contact relation.
Embodiment 5
The embodiment discloses a kind of drive method based on slewing equipment 1.This method can by system of the invention and/or
Other alternative components are realized.For example, realizing side of the invention by using each components in system of the invention
Method.The drive method is realized by the slewing equipment 1 in embodiment 1 or 2.Alternatively, the drive method can be by the biography in embodiment 3
Dynamic equipment is realized.
The method that this method compares with the prior art, at least has the advantage that
(1) set-up mode of the raceway 1c-1 on slewing equipment 1 enables to the distance of the mobile circle of the first roll body 1c-2
It substantially reduces, substantially reduces its moving resistance, to more reduce the first roll body to the outer load that the first roll body 1c-2 applies
It in the case where 1c-2 and raceway 1c frictional heat generation is used to that matrix 1c to be driven to rotate, transmission efficiency can be effectively improved.
(2) since matrix 1c and the first roll body 1c-2 is in axial dynamic balancing, it can be effectively prevent the play up and down of matrix 1c,
The stabilization shape of transmission can be effectively improved；It is upper due to matrix 1c and when being bonded between driving body 2d and the first roll body 1c-2
Lower play is effectively prevented from or eliminates, and can reduce the rigid shock power between the first roll body 1c-2 and driving body 2d, thus
Can be improved for drive the driving body 2d of the first roll body 1c-2 therewith between engagement compactness, effectively improve transmission
Stationarity and transmission efficiency.
(3) drive method can realize intermittent drive in two-stage transmission；
(4) being symmetrical arranged due to slewing equipment 1, radial force is equal in magnitude between driving body 2d and the first roll body 1c-2,
So that the revolving speed of two slewing equipments 1 is consistent, to ensure that continuous between rolling hole 1b-1 and the second roll body 3b-3
It contacts and prevents the dislocation of the two contact and ensure that continuously contact with and prevent between the first roll body 1b-1 and driving body 2d
The dislocation of the two contact, the stationarity of transmission is improved with this.
It should be noted that above-mentioned specific embodiment is exemplary, field technical staff can be in the disclosure of the invention
Various solutions are found out under the inspiration of content, and these solutions also belong to the open scope of the invention and fall into the hair
Within bright protection scope.Field technical staff should be understood that the description of the invention and its attached drawing is illustrative and is not
Constitute limitations on claims.The protection scope of the invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of slewing equipment (1) for transmission, comprising:
Matrix (1c) is disposed with the raceway (1c-1) for accommodating several first roll bodies (1c-2),
It is characterized in that,
First roll body (1c-2) can according to the constant mode of sequence each other and according to the raceway (1c-1) at least portion
The mode of touching is tapped in the raceway (1c-1) interior shuttling movement, so that in several first roll bodies (1c-2) at least
One around its own axis rotation in the case where, described matrix (1c) can based on first roll body (1c-2) with non-pure rolling
Form and the raceway (1c-1) dynamic friction for being formed it is secondary and rotated around its own axis.
2. slewing equipment according to claim 1, which is characterized in that the slewing equipment (1) includes and described matrix
(1c) if connection the first driving turntable (1b) for circumferentially having dry milling hole (1b-1),
If the dry milling hole (1b-1) with the second roll body (3b-3) circumferentially on the first driving member (3) according to can roll
The mode of friction is arranged, so that the slewing equipment (1) can be at least one of described several first roll bodies (1c-2)
It can be rotated around its own axis and along the raceway (1c-1) if based on the dry milling hole (1b-1) and institute in the case where rolling
The rolling friction pair for stating the second roll body (3b-3) formation drives first driving member (3) around the axis of first driving member (3)
Line rotation；Or,
First driving member (3) is if the dry milling hole (1b-1) can be based on around the rotation of its own axis
With second roll body (3b-3) formed rolling friction pair so that the slewing equipment (1) around the slewing equipment (1)
Axis rotation.
3. slewing equipment according to claim 1 or 2, which is characterized in that the slewing equipment (1) is rolled including at least two
Road (1c-1), at least two raceways (1c-1) in the way of accommodating first roll body (1c-2) independently from each other
It is arranged in the axially different position of the slewing equipment (1).
4. the slewing equipment according to one of preceding claims, which is characterized in that the slewing equipment (1) includes the first base
Body (1c-3) and the second matrix (1c-4), first matrix (1c-3) and second matrix (1c-4) are according in the revolution
The axial force that first roll body (1c-2) of the device (1) in the case where its own rotation on first matrix (1c-3) is subject to
Dynamically balanced mode is arranged the axial force that the first roll body (1c-2) on second matrix (1c-4) is subject to each other.
5. the slewing equipment according to one of preceding claims, which is characterized in that the axis of the slewing equipment (1) and institute
The axis for stating the first driving turntable (1b) can be according to not being overlapped but mode in the same direction is arranged, so that filling in the revolution each other
(1) is set in the case where the rotation of its own axis, first driving member (3) is if can be based on the dry milling hole (1b-1) and the
Intermittent drive is realized in the intermittent rolling friction that two roll bodies (3b-3) are formed.
6. a kind of drive apparatus, including slewing equipment described in one of preceding claims (1), which is characterized in that the transmission
Equipment includes the second driving member (2), and several first roll bodies (1c-2) can be driven by being provided on second driving member (2)
Around its own axis rotate and along the raceway (1c-1) roll several driving bodies (2d),
Wherein, several driving bodies (2d) are circumferentially in second driving member (2), so that second driving member
(2) around the rotation of its own axis, at least one of several described driving bodies (2d) can be with described several the
At least one of one roll body (1c-2) contact, to drive the slewing equipment (1) to rotate around its own axis.
7. drive apparatus according to claim 6, which is characterized in that the drive apparatus includes at least two revolutions
Device (1), at least two slewing equipment (1) can be with described second according to the part in respective first roll body (1c-2)
The mode that driving body (2d) in the different radial positions of driving member (2) contacts simultaneously is arranged, so that the driving body (2d)
The radial force generated between first roll body (1c-2) on different slewing equipments (1) can mutually balance each other each other, thus
The drive apparatus can be driven in a manner of dynamically balanced.
8. drive apparatus according to claim 6 or 7, which is characterized in that in the driving body (2d) according to detachable
Mode be set on second driving member (2) so that the slewing equipment (1) can based on the driving body (2d) with
The sliding friction formed between first roll body (1c-2) and second driving member (2) realize transmission.
9. the drive apparatus according to one of claim 6-8, which is characterized in that in the axis of second driving member (2)
With the axis of the slewing equipment (1) it is parallel in the case where, or first driving member (3) axis with described time
In the case that the axis of rotary device (1) is parallel, first driving member (3) can be according to its axis and second transmission
The mode that the axis of part (2) is overlapped is arranged, so that first driving member (3) can be based in the slewing equipment (1)
Between transmission with second driving member (2) realize coaxial line transmission.
10. the drive apparatus as described in one of slewing equipment or claim 6-9 as described in one of claim 1-5, feature
Be, in the case where described matrix (1c) is rotated around its own axis, in several first roll bodies (1c-2) at least one
A rolling friction pair that can be formed in the form of non-pure rolling with the raceway (1c-1) based on first roll body (1c-2)
It is rotated around its own axis and mobile along the raceway (1c-1).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910535454.1A CN110259900B (en) | 2019-06-20 | 2019-06-20 | Slewing device for transmission, transmission equipment comprising slewing device and transmission method |
| CN202110374912.5A CN113090725B (en) | 2019-06-20 | 2019-06-20 | Rotary transmission device and transmission method |
| CN202110375982.2A CN113090726B (en) | 2019-06-20 | 2019-06-20 | Low-loss rotating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910535454.1A CN110259900B (en) | 2019-06-20 | 2019-06-20 | Slewing device for transmission, transmission equipment comprising slewing device and transmission method |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110374912.5A Division CN113090725B (en) | 2019-06-20 | 2019-06-20 | Rotary transmission device and transmission method |
| CN202110375982.2A Division CN113090726B (en) | 2019-06-20 | 2019-06-20 | Low-loss rotating device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110259900A true CN110259900A (en) | 2019-09-20 |
| CN110259900B CN110259900B (en) | 2021-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110374912.5A Active CN113090725B (en) | 2019-06-20 | 2019-06-20 | Rotary transmission device and transmission method |
| CN201910535454.1A Active CN110259900B (en) | 2019-06-20 | 2019-06-20 | Slewing device for transmission, transmission equipment comprising slewing device and transmission method |
| CN202110375982.2A Active CN113090726B (en) | 2019-06-20 | 2019-06-20 | Low-loss rotating device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110374912.5A Active CN113090725B (en) | 2019-06-20 | 2019-06-20 | Rotary transmission device and transmission method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110375982.2A Active CN113090726B (en) | 2019-06-20 | 2019-06-20 | Low-loss rotating device |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798813A (en) * | 2021-01-25 | 2021-05-14 | 河南科技大学 | Method for testing rotating speed of revolution driven member in pair-rolling friction pair |
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| CN106499774A (en) * | 2016-12-29 | 2017-03-15 | 西华大学 | A kind of transmission decelerating device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113090726A (en) | 2021-07-09 |
| CN113090725B (en) | 2022-09-27 |
| CN113090726B (en) | 2022-10-14 |
| CN110259900B (en) | 2021-04-06 |
| CN113090725A (en) | 2021-07-09 |
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