CN218845018U - Double-transmission-chain speed reducer module - Google Patents
Double-transmission-chain speed reducer module Download PDFInfo
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- CN218845018U CN218845018U CN202223152798.0U CN202223152798U CN218845018U CN 218845018 U CN218845018 U CN 218845018U CN 202223152798 U CN202223152798 U CN 202223152798U CN 218845018 U CN218845018 U CN 218845018U
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Abstract
The utility model provides a double-transmission-chain speed reducer module, which relates to the technical field of speed reducers and comprises a first transmission chain group, a second transmission chain group, a first output flange and a second output flange, wherein the first transmission chain group comprises a shell, a connecting flange, an input shaft, a large gear disc and an RV speed reducer, the RV speed reducer comprises a gear sleeve seat, an output shaft, an output end cover, two cycloidal gears and at least two eccentric shafts, and the end part of the eccentric shaft is provided with a planet gear; the first output flange is fixedly arranged at one end of the output shaft, and the connecting flange is arranged at one end of the shell; the second transmission chain set comprises a first hollow rotating shaft, a second-stage transmission gear, a second-stage input gear, a planetary speed reducing mechanism, a second motor, a first synchronous wheel, a synchronous belt, a rotating arm, a second hollow rotating shaft and a second synchronous wheel. The utility model discloses both can alleviate the whole inertia that self joint bore, can alleviate the inertia that back joint bore again, reduce the power waste of whole many joint structures at the operation in-process.
Description
Technical Field
The utility model relates to a speed reducer technical field especially relates to a double drive chain speed reducer module.
Background
The conventional RV reducer only has a single transmission chain, namely, the conventional RV reducer can only convert and transmit the torque and the rotating speed of a single driving unit. In some special multi-joint structures, one joint needs to simultaneously convert and transmit the torque and the rotating speed of two driving units so as to reduce the structure of the rear joint and the weight of the rear joint, and therefore a double-transmission-chain speed reducer module needs to be designed to meet the use requirement.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a double-drive chain speed reducer module both can alleviate the whole inertia that self joint bore, can alleviate the inertia that back joint bore again, reduces the power waste of whole many joint structures at the operation in-process.
The above technical purpose of the present invention can be achieved by the following technical solutions:
a double-transmission-chain speed reducer module comprises a first transmission chain group, a second transmission chain group, a first output flange and a second output flange, wherein the first transmission chain group drives the first output flange to output torque and rotating speed, and the second transmission chain group drives the second output flange to output torque and rotating speed;
the first transmission chain group comprises a shell, a connecting flange, an input shaft, a large gear plate and an RV reducer, the RV reducer comprises a gear sleeve seat, an output shaft, an output end cover, two cycloidal gears and at least two eccentric shafts arranged in a circumferential array, and a planet gear is arranged at the end part of each eccentric shaft; the gear sleeve seat is meshed with the roller pins of the cycloidal gear, the cam of the eccentric shaft is arranged in a bearing hole of the cycloidal gear, the output shaft and the output end cover are fixedly connected into a combined body, and the first output flange is fixedly arranged at one end of the output shaft;
the connecting flange is arranged at one end of the shell, which is far away from the first output flange, and the input shaft is connected with a first motor fixed on the connecting flange; the large gear disc is arranged on the output end cover and the shell and meshed with the planet gear, and the end part of the input shaft, far away from the first motor, is meshed with the large gear disc;
the second transmission chain group comprises a first hollow rotating shaft, a secondary transmission gear, a secondary input gear, a planetary speed reducing mechanism, a second motor, a first synchronous wheel, a synchronous belt, a rotating arm, a second hollow rotating shaft and a second synchronous wheel;
the first hollow rotating shaft is positioned in the central holes of the first output flange, the RV reducer, the large gear plate and the shell, two ends of the first hollow rotating shaft are respectively arranged on the first output flange and the shell, and the secondary transmission gear is arranged at one end, close to the shell, of the first hollow rotating shaft; the planetary reduction mechanism is arranged on the connecting flange, one end of the planetary reduction mechanism is connected with a second motor, and the other end of the planetary reduction mechanism is connected with a second-stage input gear meshed with the second-stage transmission gear;
the rotating arm is arranged on one side, far away from the input shaft, of the first output flange, the second hollow rotating shaft is arranged on the rotating arm, the axis of the second hollow rotating shaft is parallel to that of the first hollow rotating shaft, and the second output flange is arranged at one end of the second hollow rotating shaft; the first synchronizing wheel is installed on the first hollow rotating shaft, the second synchronizing wheel is installed on the second hollow rotating shaft, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronous belt.
Through adopting above-mentioned technical scheme, first transmission chain group drive first output flange output torque and rotational speed, second transmission chain group drive second output flange output torque and rotational speed, the reduction gears and the drive unit of two joints are all concentrated on a joint in this kind of double-drive chain design, greatly reduced the weight of next joint, greatly reduced the inertia of two joints, and the reduction of inertia is favorable to reducing the power consumption of whole transmission in-process body, is favorable to improving the rated load of whole mechanism.
The torque and rotating speed transmission process of the first transmission chain set is as follows: output moment of torsion and rotational speed by first motor, transmit for the bull gear dish via the input shaft, transmit for the planet wheel by the bull gear dish again, the planet wheel transmits moment of torsion and rotational speed for the eccentric shaft that corresponds again, many eccentric shafts transmit for the cycloid wheel again, the cycloid wheel meshes with the gear sleeve seat kingpin, and because the gear sleeve seat is fixed, thereby drive many eccentric shafts whole along gear sleeve seat circumferential direction, thereby drive output shaft and output end cover wholely rotatory, drive first output flange wholely rotatory by the output shaft again, realize converting the moment of torsion and the rotational speed of the first motor input of input into the moment of torsion and the rotational speed of the first output flange output of output, accomplish the moment of torsion and the rotational speed transmission on the first joint.
The torque and rotating speed transmission process of the second transmission chain group is as follows: the torque and the rotating speed are output by a second motor at the tail end of the planetary speed reducing mechanism, are transmitted to a secondary transmission gear through a secondary input gear, and are transmitted to a first hollow rotating shaft through the secondary transmission gear, the torque and the rotating speed are transmitted to a second synchronizing wheel of a next joint through a first synchronizing wheel and a synchronous belt, and are transmitted to a second hollow rotating shaft through the second synchronizing wheel, and finally are transmitted to a second output flange through the second hollow rotating shaft, so that the torque and the rotating speed input by a second motor at an input end are converted into the torque and the rotating speed output by the second output flange at an output end, and the torque and the rotating speed transmission of a second joint is completed.
The utility model discloses compact structure combines two joints as an organic whole, reduces next articular size and weight, reduces whole inertia, reduces the power loss among the transmission process, improves whole rated load, solves the problem of whole space restriction joint size in the special application scene.
Furthermore, a first double-row magnetic ring is installed in an inner hole of the first output flange, and a first magnetic sensor matched with the first double-row magnetic ring is installed on the outer wall of the gear sleeve seat.
By adopting the technical scheme, the first double-row magnetic ring and the first magnetic sensor form the magnetic encoder which is used as the position sensor of the first output flange at the output end, and the magnetic encoder and the first motor form closed-loop control, so that the control precision and the transmission precision of the first transmission chain group are greatly improved.
Furthermore, a second double-row magnetic ring is arranged on one side, close to the rotating arm, of the second output flange, and a second magnetic sensor matched with the second double-row magnetic ring is arranged on one side, close to the second output flange, of the rotating arm.
By adopting the technical scheme, the second double-row magnetic ring and the second magnetic sensor form a magnetic encoder which is used as a position sensor of the second output flange at the output end, and the magnetic encoder and the second motor form closed-loop control, so that the control precision and the transmission precision of the second transmission chain group are greatly improved.
Furthermore, a first deep groove ball bearing is arranged between one end, close to the planet wheel, of the large gear disc and the output end cover, and a second deep groove ball bearing is arranged between one end, close to the input shaft, of the large gear disc and the shell.
Through adopting above-mentioned technical scheme, gear wheel dish both ends are installed on output end cover and shell through first deep groove ball bearing and second deep groove ball bearing respectively, guarantee the stability of gear wheel dish installation, guarantee that gear wheel dish can follow both ends and mesh with input shaft and planet wheel respectively, realize the transmission of moment of torsion and rotational speed in the first drive chain group.
Furthermore, a third deep groove ball bearing is arranged between one end, close to the first output flange, of the first hollow rotating shaft and the first output flange, a fourth deep groove ball bearing is arranged between one end, close to the outer shell, of the first hollow rotating shaft and the outer shell, and one side, close to the first synchronizing wheel, of the third deep groove ball bearing is fixed on the first output flange through a first hole and a clamp spring.
Through adopting above-mentioned technical scheme, first cavity rotation axis both ends are installed on first output flange and shell through third deep groove ball bearing and fourth deep groove ball bearing respectively, guarantee the stability of first cavity rotation axis installation, and the second drive chain group of being convenient for exports the moment of torsion and the rotational speed that the second motor was input from second output flange through first cavity rotation axis. The third deep groove ball bearing is fixedly mounted on the first output flange in a limiting mode through the clamp spring for the first hole, and axial movement between the first output flange and the first hollow rotating shaft is avoided when the first output flange outputs torque and rotating speed, so that the first hollow rotating shaft is prevented from influencing the transmission of the torque and the rotating speed of the second transmission chain set.
Further, be equipped with first sealed skeleton between first cavity rotation axis and the first output flange, first sealed skeleton is located between third deep groove ball bearing and the first synchronizing wheel, just jump ring for the first hole is located between first sealed skeleton and third deep groove ball bearing.
Through adopting above-mentioned technical scheme, set up first sealed skeleton between first cavity rotation axis and first output flange, realize sealed and dustproof, improve the utility model discloses holistic sealing performance guarantees that it can operate under abominable operating mode, improves the utility model discloses an application scope.
Furthermore, the first motor drives the input shaft to rotate, the input shaft is meshed with the large gear disc and drives the eccentric shafts to rotate through the meshing of the large gear disc and the planet wheels, the cycloid wheel swings to be meshed with the rolling needles of the gear sleeve base and the gear sleeve base is fixed, the eccentric shafts rotate in the circumferential direction of the gear sleeve base to drive the output shaft and the output end cover to rotate, and the output shaft drives the first output flange to integrally rotate to output torque and rotating speed.
Through adopting above-mentioned technical scheme, first motor, input shaft, bull gear dish, planet wheel, eccentric shaft, cycloid wheel, tooth cover seat, output end cover and output shaft, first output end cover carry out the transmission of moment of torsion and rotational speed in proper order to convert the moment of torsion and the rotational speed of first motor input into the moment of torsion and the rotational speed of first output flange output, accomplish the moment of torsion and the rotational speed transmission on the first joint.
Further, the second motor drives the planetary reduction mechanism to work, the planetary reduction mechanism drives the second-stage input gear to be meshed with the second-stage transmission gear, the second-stage transmission gear rotates to drive the first hollow rotating shaft to rotate synchronously, the first hollow rotating shaft drives the first synchronizing wheel to rotate synchronously, the first synchronizing wheel drives the second synchronizing wheel to rotate synchronously through the synchronizing belt, and the second synchronizing wheel drives the second output flange to rotate through the second hollow rotating shaft to output torque and rotating speed.
By adopting the technical scheme, the second motor, the planetary reduction mechanism, the secondary input gear, the secondary transmission gear, the first hollow rotating shaft, the first synchronous wheel, the synchronous belt, the second synchronous wheel, the second hollow rotating shaft and the second output flange sequentially transmit torque and rotating speed, so that the torque and the rotating speed input by the second motor are converted into the torque and the rotating speed output by the second output flange, and the torque and the rotating speed transmission on the second joint is completed.
To sum up, the utility model discloses following beneficial effect has:
1. the utility model discloses in combine two joints as an organic whole, will drive the first drive chain group of first output flange and drive the second drive chain group of second output flange and concentrate on a joint, the integrated design of two driving chains, compact structure and easy to assemble have greatly reduced the weight and the size of next joint to reduce the inertia and the motor power of two joints, reduce the power loss in the whole transmission process, improve energy utilization, improve the rated load of whole mechanism, solve the restriction problem of whole space to joint size in the special application scene;
2. in the utility model, the first output flange end is provided with the position sensor consisting of the first double-row magnetic ring and the first magnetic sensor, the second output flange end is provided with the position sensor consisting of the second double-row magnetic ring and the second magnetic sensor, and the position sensor can form closed-loop control with the corresponding first motor and the second motor, thereby improving the control precision and the transmission precision;
3. the utility model discloses the holistic sealing performance is guaranteed to totally closed structure, makes the utility model discloses can operate under abominable operating mode, improve the utility model discloses an application scope, and first cavity rotation axis and second cavity rotation axis are hollow structure, the threading of being convenient for.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a dual-transmission chain reducer module;
FIG. 2 is a schematic diagram of a first driving chain set of a dual driving chain reducer module;
fig. 3 is a schematic view of a portion of the structure of the second transmission chain set in the dual-transmission chain reducer module.
In the figure, 01, a first transmission chain group; 02. a second drive train set; 1. a housing; 2. a connecting flange; 3. an RV reducer; 31. a gear sleeve seat; 311. a first magnetic sensor; 32. an output shaft; 33. an output end cover; 34. a cycloid wheel; 35. an eccentric shaft; 36. a planet wheel; 4. an input shaft; 41. a first motor; 42. a large gear plate; 421. a first deep groove ball bearing; 422. a second deep groove ball bearing; 5. a first output flange; 51. a first double row magnetic ring; 6. a first hollow rotating shaft; 61. a secondary transmission gear; 62. a first synchronizing wheel; 63. a synchronous belt; 64. a third deep groove ball bearing; 65. a fourth deep groove ball bearing; 66. the clamp spring for the first hole; 67. a first seal frame; 7. a planetary reduction mechanism; 71. a second motor; 72. a secondary input gear; 8. a rotating arm; 81. a second magnetic sensor; 9. a second hollow rotating shaft; 91. a second synchronizing wheel; 10. a second output flange; 101. the second double-row magnetic ring.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
A double-transmission-chain speed reducer module is shown in fig. 1 and comprises a first transmission chain group 01, a second transmission chain group 02, a first output flange 5 and a second output flange 10, wherein the first transmission chain group 01 drives the first output flange 5 to output torque and rotating speed, and the second transmission chain group 02 drives the second output flange 10 to output torque and rotating speed. The first transmission chain group 01 comprises a shell 1, a connecting flange 2, an input shaft 4, a large gear disc 42, an RV reducer 3 and the like. The second transmission chain group 02 includes a first hollow rotating shaft 6, a secondary transmission gear 61, a secondary input gear 72, a planetary reduction mechanism 7, a second motor 71, a first synchronizing wheel 62, a timing belt 63, a rotating arm 8, a second hollow rotating shaft 9, a second synchronizing wheel 91, and the like.
As shown in fig. 2, in the present embodiment, the RV reducer 3 is the same as that in the prior art, and includes that the RV reducer 3 includes a gear sleeve seat 31, an output shaft 32, an output end cover 33, two cycloidal gears 34, at least two eccentric shafts 35 arranged in a circumferential array, and planet gears 36 mounted at the ends of the eccentric shafts 35 by circlips and splines for the shafts. Two cycloid gears 34 are respectively mounted on the eccentric shaft 35 by two pairs of cage needle bearings, and the outer teeth of the cycloid gears 34 are engaged with the needle rollers of the inner teeth of the sleeve gear 31. The two ends of the eccentric shaft 35 are respectively installed in the bearing holes of the output end cover 33 and the output shaft 32 by tapered roller bearings, and the tapered roller bearings are respectively fixed in the bearing holes of the output shaft 32 and the output end cover 33 by using snap springs for holes. The output shaft 32 and the output end cover 33 are fixedly connected to form a combined body through screws and pins, and the output shaft 32 and the output end cover 33 are respectively installed in the inner hole of the gear sleeve seat 31 through angular contact ball bearings and can rotate relative to the gear sleeve seat 31. Wherein, still be equipped with sealed skeleton between output shaft 32 and the tooth cover seat 31, utilize sealed skeleton to guarantee the leakproofness between output shaft 32 and the tooth cover seat 31.
As shown in fig. 2, the gear sleeve seat 31 is fixed to the housing 1 by screws, the first output flange 5 is fixed to an end of the output shaft 32 away from the output end cover 33 by screws, and the connecting flange 2 is fixed to an end of the housing 1 away from the first output flange 5 by screws. The first electric motor 41 is fixed to the connection flange 2, and the input shaft 4 is fixed to the electric motor by a flat key and screws. Two ends of the large gear disc 42 are respectively installed on the output end cover 33 and the housing 1 through a first deep groove ball bearing 421 and a second deep groove ball bearing 422, one end of the input shaft 4 far away from the first motor 41 is meshed with the large gear disc 42, and the large gear disc 42 is meshed with the planet gear 36.
As shown in fig. 2, the transmission process of the torque and the rotation speed of the first transmission chain group 01 is as follows: the first motor 41 is used for inputting torque and rotating speed, the first motor 41 drives the input shaft 4 to rotate, the input shaft 4 is meshed with the large gear disc 42, the eccentric shaft 35 is driven to rotate through the meshing of the large gear disc 42 and the planet wheel 36, the cycloidal gear 34 swings to be meshed with the roller pins of the gear sleeve seat 31, the gear sleeve seat 31 is fixed, the eccentric shafts 35 rotate circumferentially along the gear sleeve seat 31 and drive the output shaft 32 and the output end cover 33 to rotate, and finally the output shaft 32 drives the first output flange 5 to rotate integrally, so that the output torque and the rotating speed are achieved.
As shown in fig. 2, a first double-row magnetic ring 51 is installed in the inner hole of the first output flange 5, and a first magnetic sensor 311 matched with the first double-row magnetic ring 51 is installed on the outer wall of the gear sleeve seat 31. The first double-row magnetic ring 51 and the first magnetic sensor 311 form a magnetic encoder which is used as a position sensor of the first output flange 5 at the output end and is in communication feedback connection with the first motor 41 to form closed-loop control, so that the control precision and the transmission precision of the first transmission chain group 01 are greatly improved.
As shown in fig. 2, the first hollow rotating shaft 6 is located in the central holes of the first output flange 5, the RV reducer 3, the large gear plate 42, and the housing 1, and both ends thereof are mounted on the first output flange 5 and the housing 1 through a third deep groove ball bearing 64 and a fourth deep groove ball bearing 65, respectively. Wherein, the third deep groove ball bearing 64 is kept away from the one side of output shaft 32 and is installed in the centre bore of first output flange 5 through jump ring 66 for the first hole, is equipped with the first sealed skeleton 67 that is located the first hole and keeps away from third deep groove ball bearing 64 one side with jump ring 66 between first hollow rotation axis 6 and the first output flange 5, realizes sealed dustproof.
As shown in fig. 2, the secondary transmission gear 61 is mounted on the first hollow rotating shaft 6 by a flat key, and both ends are fixed by snap springs through shafts. The planetary reduction mechanism 7 is fixed to the connection flange 2 by screws, and the planetary reduction mechanism 7 and the input shaft 4 are located on both sides of the first hollow rotating shaft 6, respectively. The end of the planetary reduction mechanism 7 is connected with a second motor 71 for driving the planetary reduction mechanism to rotate, and the other end is provided with a secondary input gear 72 meshed with the secondary transmission gear 61 through a key and a screw.
As shown in fig. 1 and 3, the rotating arm 8 is mounted on the side of the first output flange 5 away from the output shaft 32, and the first synchronizing wheel 62 is mounted on one end of the first hollow rotating shaft 6 near the first output flange 5. The second hollow rotating shaft 9 is mounted on the rotating arm 8 through a bearing, the axis of the second hollow rotating shaft is parallel to the axis of the first hollow rotating shaft 6, a second synchronizing wheel 91 is mounted at one end of the second hollow rotating shaft 9, the first synchronizing wheel 62 is connected with the second synchronizing wheel 91 through a synchronizing belt 63, a second output flange 10 is fixedly mounted at the other end of the second hollow rotating shaft 9, and the rotating arm 8 is located between the second output flange 10 and the second synchronizing wheel 91.
As shown in fig. 1 and 3, the torque and speed transmission process of the second transmission chain set 02 is as follows: the torque and the rotating speed are input by the second motor 71, the second motor 71 drives the planetary reduction mechanism 7 to work, the planetary reduction mechanism 7 drives the secondary input gear 72 to be meshed with the secondary transmission gear 61, the secondary transmission gear 61 rotates to drive the first hollow rotating shaft 6 to synchronously rotate, the first hollow rotating shaft 6 drives the first synchronizing wheel 62 to synchronously rotate, the first synchronizing wheel 62 drives the second synchronizing wheel 91 to synchronously rotate through the synchronous belt 63, and the second synchronizing wheel 91 drives the second output flange 10 to rotate through the second hollow rotating shaft 9, so that the output torque and the rotating speed are realized.
As shown in fig. 3, a second double-row magnetic ring 101 is disposed on a side of the second output flange 10 close to the rotating arm 8, and a second magnetic sensor 81 matched with the second double-row magnetic ring 101 is disposed on a side of the rotating arm 8 close to the second output flange 10. The second double-row magnetic ring 101 and the second magnetic sensor 81 form a magnetic encoder which is used as a position sensor of the second output flange 10 at the output end and is in communication feedback connection with the second motor 71 to form closed-loop control, so that the control precision and the transmission precision of the second transmission chain group 02 are greatly improved.
The utility model discloses a theory of operation and application method:
the torque and rotation speed transmission process of the first transmission chain group 01 is specifically as follows:the torque and the rotation speed output by the first motor 41 are transmitted to the large gear plate 42 through the input shaft 4, and then transmitted to the planet wheel 36 through the large gear plate 42, the planet wheel 36 transmits the torque and the rotation speed to the corresponding eccentric shaft 35, the eccentric shafts 35 transmit to the cycloidal gear 34, the cycloidal gear 34 is meshed with the needle roller of the gear sleeve seat 31, and the gear sleeve seat 31 is fixed, so that the eccentric shafts 35 are driven to rotate along the circumferential direction of the gear sleeve seat 31 integrally, the output shaft 32 and the output end cover 33 are driven to rotate integrally, and then the output shaft 32 drives the first output flange 5 to rotate integrally, so that the torque and the rotation speed input by the first motor 41 at the input end are converted into the torque and the rotation speed output by the first output flange 5 at the output end, and the torque and the rotation speed transmission on the first joint is completed.
The torque and rotation speed transmission process of the second transmission chain group 02 is as follows:the torque and the rotating speed output by the second motor 71 at the tail end of the planetary reduction mechanism 7 are transmitted to the secondary transmission gear 61 through the secondary input gear 72, then transmitted to the first hollow rotating shaft 6 through the secondary transmission gear 61, the torque and the rotating speed are transmitted to the second synchronizing wheel 91 of the next joint by the first synchronizing wheel 62 and the synchronous belt 63 through the first hollow rotating shaft 6, then transmitted to the second hollow rotating shaft 9 through the second synchronizing wheel 91, and finally transmitted to the second output flange 10 through the second hollow rotating shaft 9, so that the torque and the rotating speed input by the second motor 71 at the input end are converted into the torque and the rotating speed output by the second output flange 10 at the output end, and the torque and the rotating speed transmission of the second joint is completed.
The utility model discloses in combine two joints as an organic whole, the first drive chain group 01 that will drive first output flange 5 and the second drive chain group 02 that drives second output flange 10 concentrate on a joint, the integrated design of double-drive chain, compact structure and easy to assemble, greatly reduced next articular weight and size, thereby reduce inertia and the motor power of two joints, reduce the power loss among the whole transmission process, improve energy utilization, improve the rated load of whole mechanism, and solve the problem of whole space restriction joint size in the special application scene.
While the foregoing specification illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to the disclosed embodiments, and that modifications and environments may be resorted to, falling within the scope of the inventive concept as described herein, either as indicated by the above teachings or as modified by the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.
Claims (8)
1. The utility model provides a two driving chain speed reducer modules which characterized in that: the transmission device comprises a first transmission chain group (01), a second transmission chain group (02), a first output flange (5) and a second output flange (10), wherein the first transmission chain group (01) drives the first output flange (5) to output torque and rotating speed, and the second transmission chain group (02) drives the second output flange (10) to output torque and rotating speed;
the first transmission chain group (01) comprises a shell (1), a connecting flange (2), an input shaft (4), a large gear disc (42) and an RV reducer (3), wherein the RV reducer (3) comprises a gear sleeve seat (31), an output shaft (32), an output end cover (33), two cycloidal gears (34) and at least two eccentric shafts (35) arranged in a circumferential array, and a planet gear (36) is arranged at the end part of each eccentric shaft (35); the gear sleeve seat (31) is meshed with a roller pin of the cycloidal gear (34), a cam of the eccentric shaft (35) is installed in a bearing hole of the cycloidal gear (34), the output shaft (32) and the output end cover (33) are fixedly connected into a combined body, and the first output flange (5) is fixedly installed at one end of the output shaft (32);
the connecting flange (2) is arranged at one end, far away from the first output flange (5), of the shell (1), and the input shaft (4) is connected with a first motor (41) fixed on the connecting flange (2); the large gear disc (42) is arranged on the output end cover (33) and the shell (1) and meshed with the planet wheel (36), and the end part, far away from the first motor (41), of the input shaft (4) is meshed with the large gear disc (42);
the second transmission chain group (02) comprises a first hollow rotating shaft (6), a secondary transmission gear (61), a secondary input gear (72), a planetary reduction mechanism (7), a second motor (71), a first synchronous wheel (62), a synchronous belt (63), a rotating arm (8), a second hollow rotating shaft (9) and a second synchronous wheel (91);
the first hollow rotating shaft (6) is positioned in the center holes of the first output flange (5), the RV reducer (3), the large gear disc (42) and the shell (1), two ends of the first hollow rotating shaft are respectively installed on the first output flange (5) and the shell (1), and the second-stage transmission gear (61) is installed at one end, close to the shell (1), of the first hollow rotating shaft (6); the planetary speed reducing mechanism (7) is arranged on the connecting flange (2), one end of the planetary speed reducing mechanism is connected with a second motor (71), and the other end of the planetary speed reducing mechanism is connected with a second-stage input gear (72) meshed with the second-stage transmission gear (61);
the rotating arm (8) is arranged on one side, away from the input shaft (4), of the first output flange (5), the second hollow rotating shaft (9) is arranged on the rotating arm (8), the axis of the second hollow rotating shaft is parallel to that of the first hollow rotating shaft (6), and the second output flange (10) is arranged at one end of the second hollow rotating shaft (9); the first synchronizing wheel (62) is installed on the first hollow rotating shaft (6), the second synchronizing wheel (91) is installed on the second hollow rotating shaft (9), and the first synchronizing wheel (62) and the second synchronizing wheel (91) are connected through a synchronizing belt (63).
2. The dual drive chain reducer module of claim 1, wherein: a first double-row magnetic ring (51) is installed in an inner hole of the first output flange (5), and a first magnetic sensor (311) matched with the first double-row magnetic ring (51) is installed on the outer wall of the gear sleeve seat (31).
3. The dual drive chain reducer module of claim 1, wherein: and a second double-row magnetic ring (101) is arranged on one side, close to the rotating arm (8), of the second output flange (10), and a second magnetic sensor (81) matched with the second double-row magnetic ring (101) is arranged on one side, close to the second output flange (10), of the rotating arm (8).
4. The dual drive chain reducer module of claim 1, wherein: be equipped with first deep groove ball bearing (421) between one end that big gear plate (42) are close to planet wheel (36) and output end cover (33), be equipped with second deep groove ball bearing (422) between one end that big gear plate (42) are close to input shaft (4) and shell (1).
5. The dual drive chain reducer module of claim 1, wherein: first cavity rotation axis (6) are equipped with third deep groove ball bearing (64) between one end and first output flange (5) that are close to first output flange (5), are equipped with fourth deep groove ball bearing (65) between one end and shell (1) that are close to shell (1), just third deep groove ball bearing (64) are close to one side of first synchronizing wheel (62) and fix on first output flange (5) through jump ring for first hole (66).
6. The dual drive chain reducer module of claim 5, wherein: be equipped with first sealed skeleton (67) between first cavity rotation axis (6) and first output flange (5), first sealed skeleton (67) are located between third deep groove ball bearing (64) and first synchronous wheel (62), just jump ring (66) are used in first hole and are located between first sealed skeleton (67) and third deep groove ball bearing (64).
7. The dual drive chain reducer module of claim 1, wherein: the first motor (41) drives the input shaft (4) to rotate, the input shaft (4) is meshed with the large gear disc (42) and drives the eccentric shaft (35) to rotate through the meshing of the large gear disc (42) and the planet wheel (36), the cycloid wheel (34) swings to be meshed with the roller pin of the gear sleeve seat (31) and the gear sleeve seat (31) is fixed, the eccentric shafts (35) rotate in the circumferential direction of the gear sleeve seat (31) to drive the output shaft (32) and the output end cover (33) to rotate, and the output shaft (32) drives the first output flange (5) to rotate integrally to output torque and rotating speed.
8. The dual drive chain reducer module of claim 1, wherein: the second motor (71) drives the planetary reduction mechanism (7) to work, the planetary reduction mechanism (7) drives the secondary input gear (72) to be meshed with the secondary transmission gear (61), the secondary transmission gear (61) rotates to drive the first hollow rotating shaft (6) to synchronously rotate, the first hollow rotating shaft (6) drives the first synchronizing wheel (62) to synchronously rotate, the first synchronizing wheel (62) drives the second synchronizing wheel (91) to synchronously rotate through the synchronous belt (63), and the second synchronizing wheel (91) drives the second output flange (10) to rotate to output torque and rotating speed through the second hollow rotating shaft (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223152798.0U CN218845018U (en) | 2022-11-25 | 2022-11-25 | Double-transmission-chain speed reducer module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223152798.0U CN218845018U (en) | 2022-11-25 | 2022-11-25 | Double-transmission-chain speed reducer module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218845018U true CN218845018U (en) | 2023-04-11 |
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| CN202223152798.0U Active CN218845018U (en) | 2022-11-25 | 2022-11-25 | Double-transmission-chain speed reducer module |
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