WO2019223210A1

WO2019223210A1 - Transmission device

Info

Publication number: WO2019223210A1
Application number: PCT/CN2018/109225
Authority: WO
Inventors: 王兴法; 夏正磊
Original assignee: 深圳市六一八工业自动化设备有限公司
Priority date: 2018-05-21
Filing date: 2018-09-30
Publication date: 2019-11-28
Also published as: CN108443427A

Abstract

Disclosed is a transmission device, comprising a driving component (10) and a driven component (20) used for being connected to a load, wherein, the driving component (10) comprises at least two drive assemblies (11), the torque output by at least one of the drive assemblies (11) being a damping torque for the driven component (20) when the transmission device changes direction or always being the damping torque; and the drive assembly (11) comprises a rotation power apparatus (12) and a driving meshing member (13) which is connected to the rotation power apparatus (12) and which is driven by the rotation power apparatus (12); and the driven component (20) comprises a driven meshing member (21), and the driving meshing member (13) meshes with the driven meshing member (21). The above-mentioned transmission device avoids the influence of a gap during the whole process, thereby switching the rotation direction of a driven wheel without a gap, and the structure is simple and reliable, the application cost is low, the service life is long, and the volume and weight are low.

Description

Transmission device

Technical field

The invention relates to a transmission device with high transmission accuracy.

Background technique

In the prior art, the structure of a precision reducer is complicated. For example, the RV reducer and the harmonic reducer have extremely high processing and assembly accuracy requirements, and have problems such as high cost, low life, large volume and weight.

technical problem

The purpose of the present invention is to overcome the shortcomings of the prior art mentioned above, and provide a transmission device with high transmission accuracy, simple and reliable structure, low application cost, long service life and small volume and weight.

Technical solutions

The technical solution of the present invention is: a transmission device comprising a driving component and a driven component for connecting a load, the driving component includes at least two sets of driving components, wherein the torque output by at least one of the driving components is in the The transmission device acts as or always acts as a damping torque of the driven component when changing directions; the driving assembly includes a rotary power device and an active meshing member connected to the rotary power device and driven by the rotary power device, The driven member includes a driven engaging member, and the driving engaging member is engaged with the driven engaging member.

Beneficial effect

In the transmission device provided by the present invention, the driving wheels (driving components) of the driving device can simultaneously output the torque in the same direction, and one or more driving wheels can be used as the damping torque of the passive wheels. When the driving wheel outputs a torque reversal, the torque output gradually decreases to zero and transitions to a follow-up state, and then a reverse torque is output. During passive wheel reversing, the reverse of the output of the active wheel can be used as a damper to accelerate the response speed of the reversing, which avoids the impact of the gap during the entire process, thereby achieving the switch of the direction of the passive wheel's backlash-free rotation. Low life, long life and small volume and weight.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present invention more clearly, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can obtain other drawings according to these drawings without paying creative labor.

FIG. 1 is a perspective assembly schematic diagram of a transmission device according to an embodiment of the present invention; FIG.

2 is a schematic perspective view of a transmission device according to an embodiment of the present invention when a casing (first flange) is removed;

FIG. 3 is a schematic plan view of a transmission device with a casing (first flange) removed according to an embodiment of the present invention;

FIG. 4 is a schematic plan view of an active meshing member and a slave meshing member in a transmission device according to an embodiment of the present invention;

FIG. 5 is a schematic plan view of an active engaging member and a slave engaging member in a transmission device according to an embodiment of the present invention;

FIG. 6 is a schematic plan view of an active meshing member and a slave meshing member in a transmission device according to an embodiment of the present invention;

FIG. 7 is a schematic plan view of an active meshing member and a slave meshing member in a transmission device according to an embodiment of the present invention.

Best Mode of the Invention

Specifically, the driving meshing member and the driven meshing member are a gear transmission structure, a turbine worm transmission structure, or a rack and pinion transmission structure.

Specifically, the driving assembly is provided with at least three groups, the driven meshing member is an internal ring gear, and the driving meshing member is a gear and is located in the internal ring gear.

Specifically, the driving assembly is provided with at least three groups, the driven meshing member is an external gear, and the driving meshing member is a gear and is located outside the external gear.

Specifically, the rotating power device is an electromagnetic force rotor.

Specifically, the active component further includes a first flange, the electromagnetic force rotor is fixedly connected to the first flange, and the active engagement member is connected to a rotating shaft of the electromagnetic force rotor.

Specifically, the driven component further includes a second flange, and the driven engaging member is connected to the second flange.

Specifically, when the output torque of the electromagnetic force rotor is reversed, the output torque gradually decreases and transitions to a follow-up state, and then a reverse torque is output.

Specifically, the driving assembly is provided with four groups, and the four gears are distributed at 90-degree intervals in the circumferential direction and mesh with the internal teeth of the ring gear.

Specifically, the driving assembly is provided with four groups, and the four gears are distributed at 90-degree intervals in the circumferential direction and mesh with the external teeth of the external gear.

Embodiments of the invention

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

It should be noted that when an element is referred to as "fixed to" or "disposed to" another element, it may be directly on the other element or there may be a centered element at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should also be noted that the terms such as left, right, up, and down in the embodiments of the present invention are merely relative concepts or reference to the normal use status of the product, and should not be considered as restrictive. .

As shown in FIG. 1 to FIG. 3, a transmission device provided by an embodiment of the present invention can be used as a speed reducer, and includes a driving component 10 and a driven component 20 for connecting a load. The active component 10 includes at least two sets of drive components 11, and each set of drive components 11 may be disposed in a housing. The torque output by at least one of the driving components 11 is or always serves as the damping torque of the driven component 20 when the transmission is reversed. The driving component 11 includes a rotary power device 12 and is connected to and driven by the rotary power device 12. The driven engaging element 13 includes a driven engaging element 21. The driven engaging element 13 meshes with the driven engaging element 21 and transmits power. The active engaging element 13 and the driven engaging element 21 have a certain meshing clearance. In the state, there is a certain gap between the driving engagement member 13 and the driven engagement member 21 on the side opposite to the transmission direction, but the gap does not affect the accuracy when the direction is not changed, that is, each driving component 11 is driven passively as the driving member. Under the joint action of the output torque of the passive meshing member and the driving torque of the driving assembly 11, the meshing element does not affect the accuracy of the gap between the driving wheel and the driven wheel, and the effect of the gap on the motion only occurs during the steering change. During the direction change of the driving direction, the driving component 11 can output the damping torque in a timely or full-time manner, that is, the direction of the torque output by the driving component 11 can be opposite to the torque direction of the driven meshing member 21, and the following two cases are analyzed:

In the first case, each group of drive components 11 outputs damping torque in a timely manner: during the commutation process, the passive meshing element is switched from forward to reverse movement, and the output torque of at least one group of drive components 11 is switched from forward to reverse , And the output torque of at least one set of drive components 11 temporarily remains unchanged to provide a damping torque (reverse to the load torque). The direction of the gap between the active meshing part 13 and the passive meshing part corresponding to the reverse of the output torque is changed, that is, the passive meshing part is subjected to the torque of the drive assembly 11 in both forward and reverse directions, and the passive meshing part is in both forward and reverse directions There is no gap with the corresponding active meshing member 13. If the driving component 11 is provided with three or more groups, the remaining driving components 11 can be switched from forward to reverse, that is, the remaining driving components 11 follow a certain logic. (For example, sequentially switching in the circumferential direction and switching in the circumferential direction.) The torque output direction is gradually changed, and the impact of the gap is avoided during the entire process, thereby realizing the switch of the passive wheel's gapless rotation direction. When the output torque of each drive assembly 11 is reversed, the output torque of the drive assembly 11 gradually decreases and transitions to the follow-up state, and then the reverse torque is output to eliminate the influence and interference of the gap. Each drive assembly 11 can be used as a driving power device . Understandably, the foregoing forward and reverse directions are relative concepts to each other. When the reverse direction is switched to the forward direction, during the commutation process, the passive meshing element is switched from the reverse direction to the forward movement, and the output of at least one set of the driving components 11 The torque is switched from reverse to forward, and the output torque of at least one set of drive components 11 remains temporarily unchanged, and subsequent drive components 11 may be sequentially switched from reverse to forward.

Specifically, the driven meshing member 21 is an internal ring gear, the driving component 11 is provided with at least three groups, and the driving meshing member 13 is a gear and is located in the internal ring gear. . In this embodiment, the driving assembly 11 is provided with four sets, and the four gears 13a, 13b, 13c, and 13d are distributed at 90-degree intervals in the circumferential direction and mesh with the internal teeth of the internal ring gear. Of course, it can be understood that the number of the driving components 11 can be set according to actual conditions, and all belong to the protection scope of the present invention. As shown in FIG. 4, in the free state, the four gears 13 a, 13 b, 13 c, and 13 d have gaps in the forward and reverse directions, as shown by the small circles in FIG. 4. As shown in Figs. 5 and 6, when the driven meshing member 21 rotates in the counterclockwise direction and rotates clockwise in the transmission state, the output torque of the gear 13a in Fig. 6 is converted from the counterclockwise direction to the clockwise direction, and the remaining gears 13b, 13c and 13d can be reversed one after the other.

Alternatively, as an alternative to the above-mentioned ring gear, as shown in FIG. 7, the driven meshing member 21 is an external gear, the driving assembly 11 is provided with at least three groups, and the driving meshing member 13 is a gear and is located outside the external gear. The driving assembly 11 is provided with four groups, and the four gears are distributed at 90-degree intervals in the circumferential direction and mesh with the external teeth of the external gear.

In the second case, at least one set of drive components 11 outputs damping torque at all times: taking the forward direction as a clockwise direction as an example, during the commutation process, the passive meshing element is switched from forward to reverse movement, and at least one set of drive components The output torque of 11 is switched from forward to reverse, and the output torque of at least one set of drive components 11 always remains forward (reverse to the load torque) to provide damping torque, that is, at least one set of drive components 11 always Keep the damping torque. The direction of the gap between the active meshing member 13 and the passive meshing member corresponding to the reverse of the output torque is changed, that is, the passive meshing member is subjected to the torque of the drive assembly 11 in both forward and reverse directions, and the passive meshing member is in both forward and reverse directions. There is no gap with the corresponding active meshing member 13. When there are multiple driving components, in addition to the driving components that always provide damping torque, the remaining driving components 11 can be switched from forward to reverse, that is, the remaining driving The component 11 gradually changes the torque output direction according to a certain logic (for example, sequentially switching in the circumferential direction and switching in the circumferential direction), avoiding the generation of gaps in the entire process, thereby achieving the switch of the passive wheel's non-gap rotation direction.

Specifically, the driving engagement member 13 and the driven engagement member 21 may be a gear transmission structure, a turbine worm transmission structure, a rack and pinion transmission structure, or the like. In this embodiment, a gear transmission structure is taken as an example.

Specifically, the rotating power device 12 is an electromagnetic force rotor (motor). Each electromagnetic force rotor can be connected to a control module. The control module can independently control the rotation direction, speed, torque, and the like of each electromagnetic force rotor.

Specifically, the active component 10 further includes a first flange, the electromagnetic force rotor is fixedly connected to the first flange, and the active meshing member 13 (gear) is connected to the rotating shaft of the electromagnetic force rotor.

Specifically, the driven member 20 further includes a second flange, and the driven engaging member 21 is connected to the second flange, and the driven engaging member 21 may be connected to the second flange through a rotating structure such as a rotating shaft and a bearing.

Specifically, a transmission device provided in this embodiment is used as a flexible joint and can be used as a precision reducer and the like.

According to a transmission device provided by an embodiment of the present invention, a driving wheel (driving assembly 11) can simultaneously output torque in the same direction, and one or more driving wheels can always be used as a damping torque of a passive wheel. When the driving wheel outputs a torque reversal, the torque output gradually decreases to zero and transitions to a follow-up state, and then a reverse torque is output. During passive wheel reversing, the reverse of the output of the active wheel can be used as a damper to accelerate the response speed of the reversing, which avoids the impact of the gap during the entire process, thereby achieving the switch of the direction of the passive wheel's backlash-free rotation. Low life, long life and small volume and weight.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Inside.

Claims

A transmission device includes a driving component and a driven component for connecting a load, wherein the driving component includes at least two sets of driving components, wherein the torque output by at least one of the driving components is Acting as or always acting as a damping torque of the driven component when commutating; The driving assembly includes a rotary power device and a driving meshing member connected to and driven by the rotary power device, and the driven component includes a driven meshing member, and the driving meshing member and the driven meshing member The engaging member is engaged.
The transmission device according to claim 1, wherein the driving meshing member and the driven meshing member are a gear transmission structure, a turbine worm transmission structure, or a rack and pinion transmission structure.
The transmission device according to claim 1, wherein the driving component is provided with at least three sets, the driven meshing member is an internal ring gear, the active meshing member is a gear and is located on the internal gear In the circle.
The transmission device according to claim 1, wherein the driving component is provided with at least three groups, the driven meshing member is an external gear, and the driving meshing member is a gear and is located outside the external gear .
The transmission device according to claim 1, wherein the rotary power device is an electromagnetic force rotor.
The transmission device according to claim 5, wherein the active component further comprises a first flange, the electromagnetic force rotor is fixedly connected to the first flange, and the active engagement member is connected to the first flange. The rotating shaft of the electromagnetic force rotor is described.
The transmission device according to claim 1, wherein the driven component further comprises a second flange, and the driven engaging member is connected to the second flange.
The transmission device according to claim 5, wherein, when the output torque of the electromagnetic force rotor is reversed, the output torque gradually decreases and transitions to a follow-up state, and then a reverse torque is output.
The transmission device according to claim 3, wherein the driving assembly is provided with four groups, and the four gears are distributed at 90-degree intervals in the circumferential direction and mesh with the internal teeth of the ring gear.
The transmission device according to claim 4, wherein the driving assembly is provided with four groups, and the four gears are distributed at 90-degree intervals in the circumferential direction and mesh with the external teeth of the external gear.