WO2022021081A1 - 三球销式联轴器和转向机构 - Google Patents

三球销式联轴器和转向机构 Download PDF

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Publication number
WO2022021081A1
WO2022021081A1 PCT/CN2020/105259 CN2020105259W WO2022021081A1 WO 2022021081 A1 WO2022021081 A1 WO 2022021081A1 CN 2020105259 W CN2020105259 W CN 2020105259W WO 2022021081 A1 WO2022021081 A1 WO 2022021081A1
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WO
WIPO (PCT)
Prior art keywords
raceway
assembly
ball
shaft
tripod
Prior art date
Application number
PCT/CN2020/105259
Other languages
English (en)
French (fr)
Inventor
吉彦栋
严柳青
Original Assignee
舍弗勒技术股份两合公司
吉彦栋
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 舍弗勒技术股份两合公司, 吉彦栋 filed Critical 舍弗勒技术股份两合公司
Priority to EP20947675.3A priority Critical patent/EP4191085A4/de
Priority to CN202080100569.9A priority patent/CN115552139A/zh
Priority to US18/018,095 priority patent/US20230279906A1/en
Priority to PCT/CN2020/105259 priority patent/WO2022021081A1/zh
Publication of WO2022021081A1 publication Critical patent/WO2022021081A1/zh

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Classifications

    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/20—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
    • F16D3/202—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints
    • F16D3/205—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints the pins extending radially outwardly from the coupling part
    • F16D3/2055—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints the pins extending radially outwardly from the coupling part having three pins, i.e. true tripod joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421—Electric motor acting on or near steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0442—Conversion of rotational into longitudinal movement
    • B62D5/0454—Worm gears
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/38—Ball cages
    • F16C33/40—Ball cages for multiple rows of balls
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00—Bearings for parts moving only linearly
    • F16C29/04—Ball or roller bearings
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/20—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members
    • F16D3/202—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints
    • F16D2003/2023—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts one coupling part entering a sleeve of the other coupling part and connected thereto by sliding or rolling members one coupling part having radially projecting pins, e.g. tripod joints with linear rolling bearings between raceway and trunnion mounted shoes
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2300/00—Special features for couplings or clutches
    • F16D2300/22—Vibration damping

Definitions

  • the present invention relates to the field of couplings, and in particular to tripod couplings for vehicle steering mechanisms.
  • the vehicle steering mechanism especially the electric power steering mechanism, it usually uses the transmission of the worm gear to amplify the torque of the motor and drive the rack to complete the steering.
  • Such steering mechanisms include, for example, column type and double pinion type steering mechanisms.
  • a common worm system in the above steering mechanism uses a coupling to connect the output shaft of the motor and the worm shaft, and the above components are connected to each other in the form of male and female shafts to realize the transmission of motor torque.
  • the torque of the motor will be further transmitted to the worm gears that are close to each other and meshed with each other and amplified to drive other components in the entire steering system.
  • the support part of the above worm system includes a self-aligning bearing on one side of the worm and a deep groove ball bearing on the other side.
  • a spring is arranged along the vertical direction of the meshing axis of the worm gear and worm at the worm where the deep groove ball bearing is arranged.
  • the torque transmitted to the worm gear through the coupling is about 100Nm (considering the efficiency loss of the worm gear in the torque transmission process), and then for the driving force of the rack About 10kN, this torque is used to push the wheels to complete the steering action.
  • the contact surface of the worm gear and the worm is made of engineering plastics, and this plastic contact surface will be worn out after durability; at this time, the axis of the worm will be offset by a certain angle under the action of the spring force (the offset).
  • the maximum range of displacement is usually +/- 1.5°) to ensure that the meshing quality of the worm gear is roughly the same before and after durability.
  • the above-mentioned self-aligning bearing located on one side of the worm can easily achieve a larger self-aligning angle, but the self-aligning ability of the coupling located between the motor and the worm is usually limited. Once the offset angle of the worm axis exceeds the compensation capability of the coupling design, the system is prone to a series of problems such as vibration noise, torque transmission lag, and gap formation due to tooth wear.
  • the purpose of the present invention is to overcome or at least alleviate the above-mentioned deficiencies of the prior art, and to provide a three-ball pin coupling and a steering mechanism.
  • a tripod type coupling comprising a first coupling member and a second coupling member that are connected in a relative rotational manner, wherein,
  • the first link includes a three-pin shaft assembly, a raceway assembly and a cage assembly,
  • the three-pin shaft assembly includes a shaft and three ball rings spaced around the shaft in the circumferential direction of the shaft, there are three raceway assemblies, and each of the ball rings is associated with one of the raceway assemblies connected, the cage assembly defines the position of the raceway assembly in the circumferential direction,
  • the raceway assembly can provide elastic force between the ball ring and the cage assembly, and when the ball ring is displaced relative to the cage assembly in the circumferential direction, the raceway assembly is Both sides in the circumferential direction are kept in abutment with the cage assembly.
  • the raceway assembly includes a raceway frame, an inner raceway, an outer raceway and an elastic member,
  • Each of the raceways is mounted with two inner races and two outer races, the two inner races are spaced apart to form a ball ring mount between the two inner races, each One of the outer raceways is installed on the side of the inner raceway away from the ball ring mounting portion, and an inner raceway and an outer raceway located on the same side of the ball ring mounting portion form a raceway pair,
  • the elastic member is at least partially disposed between the inner raceway and the outer raceway, and the elastic member abuts against the inner raceway and the outer raceway of each pair of raceways catch.
  • the elastic member when the ball ring is located in the middle of the two outer raceways, the elastic member is pressed by the inner raceway and the outer raceway to elastically deform.
  • the stiffness coefficient of the elastic member changes.
  • a portion of the resilient member between the inner raceway and the outer raceway is at least partially wavy.
  • the elastic member is U-shaped as a whole, and the elastic member includes a connecting portion and two wave springs connected with two ends of the connecting portion,
  • Two of the wave springs are respectively inserted between the inner raceway and the outer raceway of one of the raceway pairs.
  • a side of the inner raceway facing the ball ring mounting portion is partially concave to form a spherical concave surface, the spherical concave surface is a part of a spherical surface, and the spherical concave surface is opposite to the ball ring get in touch with.
  • a side of the outer raceway facing away from the ball ring mounting portion is partially concave to form a curved surface, and the curved surface is in contact with the cage assembly.
  • the cage assembly includes a body and a ball
  • the frame body includes an annular portion and three arms connected with the annular portion, the arms extend along the axial direction of the annular portion, and a plurality of notched ball pockets are formed on both sides of the arm in the circumferential direction,
  • the ball is accommodated in the ball pocket, and the ball can roll relative to the ball pocket in the ball pocket,
  • Each of the arms is inserted between two of the raceway assemblies, and the ball abuts the raceway assemblies.
  • a middle portion of each of the arms located between the two rows of the ball pockets in the circumferential direction is recessed radially inward to form an arm recess.
  • the second coupling member comprises a tubular sliding sleeve, and the first end of the sliding sleeve in the axial direction is connected to the first coupling member,
  • the inner cavity of the sliding sleeve includes three radially inward protruding protruding strips spaced apart in the circumferential direction at the position near the first end in the axial direction, and the protruding strips are along the axial direction extending so as to form a groove between every two adjacent said ridges,
  • the arms are aligned with the ridges in the circumferential direction, the balls abut against the ridges, and each of the raceway assemblies is received in one of the grooves.
  • each of the protruding strips is formed with a concave arc surface on both sides in the circumferential direction, and the ball abuts against the arc surface.
  • the end of the arm away from the annular portion is formed with a hook portion protruding radially outward of the annular portion
  • the hook portion hooks the protruding strip to prevent the cage assembly from coming out of the first end.
  • the outer peripheral portion of the annular portion includes a plurality of annular convex portions protruding radially outward, the annular convex portions abut against the end surface of the sliding sleeve located at the first end to The axial direction limits the cage assembly.
  • the inner cavity of the sliding sleeve does not have the protruding strip at the second end in the axial direction away from the first end
  • the second coupling member further includes a damping assembly, the damping assembly and the sliding sleeve are non-rotatably mounted on the second end, and the damping assembly at least partially protrudes into the sliding sleeve cavity,
  • the shaft abuts against the damping assembly, an axial end of the shaft close to the damping assembly forms a spherical surface, and a portion of the damping assembly that contacts the shaft is spherical.
  • the damping assembly includes an adapter, a cup and a buffer,
  • the adapter and the sliding sleeve are connected in a non-rotatable manner
  • the cup shell is connected with the adapter, and the buffer is arranged between the cup shell and the adapter,
  • the part of the shaft in contact with the vibration damping assembly is located in the cup shell, and the part of the cup shell in contact with the shaft forms a concave spherical spherical concave portion.
  • a spline hole is formed on the inner peripheral portion of the adapter.
  • the adapter is embedded in the inner cavity of the sliding sleeve
  • the middle part of the end face of the adapter piece facing the shaft forms a boss protruding toward the shaft, and the cup shell is sleeved on the boss so as to be axially movable relative to the boss.
  • the buffer member when the buffer member is not compressed, there is a gap between the cup shell and the end face of the adapter member facing the shaft.
  • a steering mechanism comprising a motor, a coupling and a worm gear assembly, the coupling being a tripod coupling according to the present invention
  • the first coupling member of the tripod coupling is connected with the worm in the worm gear and worm assembly in a non-rotatable manner, and the second coupling member of the tripod coupling is connected to the worm in the worm gear assembly.
  • the output shaft of the motor is not connected relative to rotation.
  • the tripod type coupling according to the present invention can reduce the vibration of the transmission process and can effectively transmit the torque under the condition of axial offset between the transmission parts.
  • the steering mechanism according to the present invention is not easy to generate reversing clearance and vibration impact during the working process.
  • FIG. 1 is a schematic diagram of a tripod coupling according to one embodiment of the present invention.
  • FIG. 2 is an axial cross-sectional view of FIG. 1 .
  • FIG. 3 is a schematic structural diagram of the shaft 11 in FIG. 2 .
  • FIG. 4 is a schematic structural diagram of the three-pin joint 12 and the ball ring 13 in FIG. 2 .
  • FIG. 5 is a schematic structural diagram of the raceway assembly 20 in FIG. 1 .
  • FIG. 6 is a schematic view of the raceway frame 21 of the raceway assembly 20 in FIG. 5 .
  • FIG. 7 is a schematic diagram of the inner raceway 22 of the raceway assembly 20 of FIG. 5 .
  • FIG. 8 is a schematic diagram of the outer raceway 23 of the raceway assembly 20 in FIG. 5 .
  • FIG. 9 is a schematic diagram of the elastic member 24 of the raceway assembly 20 shown in FIG. 5 .
  • FIG. 10 is a schematic structural diagram of the cage assembly 30 in FIG. 1 .
  • FIG. 11 is a schematic structural diagram of the frame body 31 in FIG. 11 .
  • FIG. 12 is a schematic structural diagram of the sliding sleeve 40 in FIG. 1 .
  • FIG. 13 is a schematic structural diagram of the vibration damping assembly 50 in FIG. 1 .
  • FIG. 14 is a schematic structural diagram of the adapter 51 in FIG. 13 .
  • FIG. 15 is a schematic cutaway view of the cup shell 52 and the buffer member 53 in FIG. 2 .
  • 20 raceway assembly 20s ball ring mounting part; 21 raceway frame; 211 side frame; 211a pocket; 212 connecting rod; 22 inner raceway; 22s ball concave surface; 23 outer raceway; Wave spring; 242 connection part;
  • damping assembly 51 adapter; 511 main body; 512 boss; 51h spline hole; 52 cup shell; 52s ball concave part; 53 buffer part; 53s ball concave part;
  • A represents the axial direction of the tripod coupling, which is consistent with the axial direction of the sliding sleeve 40;
  • R represents the radial direction of the tripod coupling,
  • the radial direction R corresponds to the radial direction of the sliding sleeve 40 .
  • the tripod coupling (hereinafter also referred to as coupling) and the steering mechanism including the coupling according to the present invention will be described.
  • the steering mechanism according to the present invention includes a motor, a tripod coupling and a worm gear assembly, wherein the tripod coupling connects the output shaft of the motor and the worm in the worm gear assembly, so that the torque of the output shaft can be transmitted to worm.
  • the tripod coupling according to the present invention includes a first coupling part M and a second coupling part N that are connected in a torsionally fixed (non-rotatable) connection, wherein the first coupling part M is For connection to the worm, the second link N is for connection to the output shaft of the motor.
  • the first coupling member M includes a three-pin shaft assembly 10 , a raceway assembly 20 and a cage assembly 30 .
  • the three-pin shaft assembly 10 includes a shaft 11 , a three-pin joint 12 and a ball ring 13 .
  • the shaft 11 is used for the rotationally fixed connection to the worm.
  • the first end (the left end in FIG. 3 ) of the shaft 11 is provided with a hole 11h penetrating the shaft 11 in the radial direction R, and the hole 11h is used for cooperating with the pin.
  • one end of the worm is provided with an inner hole extending in the axial direction, and intersecting the inner hole is provided with a pin hole extending in the radial direction, the first end of the shaft 11 can be inserted into the inner hole, and the pin is passed through the pin Holes and holes 11h, thereby connecting the shaft 11 and the worm together in a rotationally fixed manner.
  • the second end of the shaft 11 (the right end in FIG. 3 ) has a spherical spherical surface 11s, and the spherical surface 11s is used to cooperate with the vibration damping assembly 50 to be described in detail below to realize the function of universal adjustment.
  • the three-pin joint 12 includes a ring 12r in the middle and three necks 12n extending in the radial direction of the ring 12r connected to the outer periphery of the ring 12r.
  • the three necks 12n are evenly spaced apart in the circumferential direction of the ring 12r.
  • a ball ring 13 is sleeved on the outer periphery of each neck portion 12n, and the outer peripheral surface of the ball ring 13 is a part of the spherical surface. It should be understood that rolling bodies may be provided between the neck 12n and the ball ring 13 .
  • the three-pin joint 12 is sleeved on the outer circumference of the shaft 11 and is connected with the shaft 11 in a twist-resistant manner by means of, for example, an interference fit.
  • each ball ring 13 is connected with one raceway assembly 20 , and the three raceway assemblies 20 are limited by the cage assembly 30 in the axial direction A and the circumferential direction of the shaft 11 .
  • the raceway assembly 20 is described with reference to FIGS. 5-9 .
  • the raceway assembly 20 includes a raceway frame 21 , an inner raceway 22 , an outer raceway 23 and an elastic member 24 .
  • the raceway frame 21 includes two substantially rectangular side frames 211 and a link 212 connecting the two side frames 211 .
  • the middle portion of the side frame 211 has a through hole penetrating in the extending direction of the link 212 .
  • Pockets 211 a are formed protrudingly on the opposite inner sides of the two side frames 211 .
  • four pocket edges 211a are formed on one side frame 211, the pocket edges 211a are approximately C-shaped, and the main body of the pocket edge 211a located in the middle of the C shape extends along the long side of the side frame 211, and the four pocket edges 211a are approximately The four corners of the side frame 211 are occupied.
  • the C-shaped openings of the two opposing pockets 211a on the two long sides of the side frame 211 are opposed to each other, thereby defining a pocket 211b between the two pockets 211a.
  • Each side frame 211 has two pockets 211b located on two sides of the connecting rod 212 respectively, and the pockets 211b are used for installing the inner raceway 22 and the outer raceway 23 .
  • the pockets 211b of the two side frames 211 located on the same side of the connecting rod 212 are opposed to each other for installing one raceway pair.
  • an inner raceway 22 and an outer raceway 23 form a raceway pair
  • a raceway assembly 20 includes two raceway pairs
  • the inner raceway 22 is disposed on the outer raceway 23 closer to the connecting rod 212
  • both ends of the inner raceway 22 and the outer raceway 23 extend into the two pockets 211b respectively and are connected to the raceway frame 21 .
  • the space between the two inner raceways 22 forms a ball ring mounting portion 20s, and the ball ring 13 can be embedded in the ball ring mounting portion 20s.
  • the opposing faces of the two inner raceways 22 are partially concave to form a concave surface 22s, preferably, the concave surface 22s is part of a spherical surface.
  • the ball ring 13 is sandwiched by the two concave surfaces 22s. Since the spherical surface of the ball ring 13 is matched with the spherical surface of the concave surface 22s, the ball ring 13 can swing relative to the concave surface 22s in a small range in all directions, but the ball ring 13 will not disengage from the raceway assembly 20.
  • the elastic member 24 is substantially U-shaped, and includes a connecting portion 242 and two wave springs 241 connected with both ends of the connecting portion 242 .
  • Two wave springs 241 are respectively inserted between the inner raceway 22 and the outer raceway 23 of one raceway pair, the connecting portion 242 passes through the hole in the middle of the side frame 211, and preferably, the connecting portion 242 is completely accommodated in the side frame 211 in the middle hole.
  • Both sides of the wave spring 241 abut against the inner raceway 22 and the outer raceway 23 respectively.
  • the middle of the track 23 the wave spring 241 is slightly deformed by the slight extrusion of the inner raceway 22 and the outer raceway 23.
  • the elastic force generated by the wave spring 241 squeezes the inner raceway 22 and the outer raceway 23.
  • the contour edge of the pocket 211b that is, in the extending direction of the long side of the side frame 211, the inner race 22 and the outer race 23 abut against the pocket edge 211a, respectively, to fill the pocket 211b.
  • the ball ring 13 will press one of the inner raceways 22 in a certain direction (the state will be further described below), so that the wave spring 241 is (further) deformed by compression.
  • the wave spring 241 has a wave shape, which is a nonlinear spring, that is, when the wave spring 241 is compressed and deformed, its stiffness coefficient (also called elastic coefficient) will change. Therefore, as the deformation degree of the wave spring 241 is different, the force exerted by the wave spring 241 on the inner raceway 22 and the outer raceway 23 is also non-linear, which is beneficial for maintaining a certain transmission stiffness.
  • the middle of the side of the outer raceway 23 facing away from the ball ring mounting portion 20s is concave to form a curved surface 23a, which is in contact with the ball 32 of the cage assembly 30 which will be described further below.
  • the cage assembly 30 includes a cage body 31 and a ball 32 .
  • the frame body 31 includes an annular portion 311 and three arms 312 connected with the annular portion 311 .
  • the arm 312 cooperates with the raceway assembly 20 on the one hand, and also cooperates with the protruding strip 41 of the sliding sleeve 40 of the second coupling element N on the other hand (which will be described further below).
  • each arm 312 is formed with two rows of notches on both sides in the circumferential direction of the annular portion 311 , and each row of notches includes several (3 in the figure) in the shape of a large semicircle (the semicircle corresponding to the superior arc).
  • Ball pocket 31b is formed with two rows of notches on both sides in the circumferential direction of the annular portion 311 , and each row of notches includes several (3 in the figure) in the shape of a large semicircle (the semicircle corresponding to the superior arc).
  • each ball pocket 31b accommodates a ball 32
  • the ball 32 is preferably a steel ball.
  • the ball 32 is accommodated in the ball pocket 31b in a floating manner, that is, the ball 32 can roll in the ball pocket 31b, but the ball 32 does not roll out of the ball pocket 31b.
  • each arm 312 located between the two rows of ball pockets 31b in the circumferential direction is recessed radially inward to form an arm recess 312a.
  • An end portion of the arm 312 away from the annular portion 311 is formed with a hook portion 31h that protrudes radially outward.
  • the outer peripheral portion of the annular portion 311 further has three annular convex portions 311a protruding radially outward, and the annular convex portions 311a are located between the two adjacent arms 312 in the circumferential direction.
  • the arm recess 312a is used to match with the protruding strip 41 of the sliding sleeve 40 of the second coupling member N, which will be described further below, to define the position between the first coupling member M and the second coupling member N in the circumferential direction; the hook portion 31h is used for hooking the protruding strip 41 to define the position between the first coupling part M and the second coupling part N in the axial direction A; the ring convex part 311a is used for abutting against the No.
  • the end face of one end 401 (described further below) defines the position in the axial direction A between the first link M and the second link N.
  • a raceway assembly 20 is accommodated between two adjacent arms 312 , and the ball 32 abuts against the curved surface 23 a of the outer raceway 23 of the raceway assembly 20 .
  • the raceway assembly 20 (specifically, the raceway frame 21 of the raceway assembly 20 ) abuts against the frame body 31 of the cage assembly 30 , so that the raceway assembly 20 does not move from the left side in FIG. 1 . side out.
  • This integral first coupling M can transmit torque in the circumferential direction, that is, the cage assembly 30 can transmit torque to the shaft 11 through the raceway assembly 20, the ball ring 13, the three-pin joint 12, and the first coupling
  • the various components of the M absorb vibrations as they transmit torque to each other (more on this below).
  • the second coupling element N includes a torsionally connected sliding sleeve 40 and a damping assembly 50 .
  • the sliding sleeve 40 has a substantially circular tube shape.
  • the first end 401 (the left end in FIG. 12 ) of the sliding sleeve 40 in the axial direction A is connected with the first coupling member M
  • the second end 402 (the right end in FIG. 12 ) of the sliding sleeve 40 in the axial direction A is connected with the reducing member M.
  • the vibration assembly 50 is connected.
  • the inner cavity of the sliding sleeve 40 is formed at the first end 401 with three protruding strips 41 evenly distributed in the circumferential direction and protruding radially inward.
  • a groove 42 is formed between the strips 41 .
  • Each convex strip 41 is formed with a concave arc surface 41a on both sides in the circumferential direction. arm 312 to match.
  • the length of the protruding strip 41 in the axial direction A is substantially equal to the length of the arm 312 .
  • the protruding portion of the protruding strip 41 is disposed opposite to the arm recess 312a, the ball 32 abuts against the arc surface 41a; the arm 312 has a certain elasticity in the radial direction R, when the first coupling member M from the When the first end 401 of the sliding sleeve 40 is inserted into the sliding sleeve 40, the hook portion 31h is squeezed by the protruding strip 41 and elastically deforms radially inward. When abutting against the end face of the sliding sleeve 40 located at the first end 401, the first coupling member M is installed in place.
  • the hook portion 31h just exceeds the area covered by the protruding strip 41 in the axial direction A, and the hook portion 31h extends radially.
  • the outer side pops out, the arm 312 returns to its original shape, and the hook portion 31h hooks the axial end surface of the protruding strip 41 away from the first end 401, so that the two ends of the ring convex portion 311a and the hook portion 31h in the axial direction A respectively define the cage assembly 30 and the relative position of the sliding sleeve 40.
  • the raceway assembly 20 is accommodated in the groove 42, the raceway assembly 20 is positioned in the circumferential direction by the ball 32, and the ball 32 is positioned in the circumferential direction by the arc surface 41a, thereby realizing the first coupling M in the circumferential direction. and the mutual positioning of the second link N.
  • the inner cavity of the sliding sleeve 40 does not have the protruding strips 41 near the second end 402 to form a smooth cylindrical surface.
  • the processing of the inner cavity of the sliding sleeve 40 of the above structure for example, three protruding strips that penetrate through the inner cavity of the sliding sleeve 40 in the axial direction A can be processed in the inner cavity of the sliding sleeve 40 by means of swaging. , and then at the position near the second end 402 , part of the protruding strips are removed by machining to form the protruding strips 41 shown in FIG. 12 .
  • the vibration damping assembly 50 includes an adapter 51 , a cup 52 and a buffer 53 .
  • the adapter part 51 is connected to the sliding sleeve 40 in a rotationally fixed manner.
  • the adapter 51 includes a main body 511 and a boss 512 .
  • the main body 511 is disc-shaped, and a cylindrical boss 512 is formed protruding from the middle of the end surface of the main body 511 facing the first end 401 , and the boss 512 is used for installing the cup shell 52 .
  • a spline hole 51h is also formed in the middle of the adapter 51.
  • the spline hole 51h is used to connect with the output shaft of the motor of the steering mechanism.
  • the output shaft is provided with a male spline matching the spline hole 51h.
  • the adapter 51 is made of engineering plastics, which has a suitable deformability.
  • the adapter 51 is embedded in the inner cavity of the sliding sleeve 40, and the torsional connection between the adapter 51 and the sliding sleeve 40 is realized through the interference fit between the main body 511 and the sliding sleeve 40; when the spline hole 51h is matched with the male spline, the spline The key hole 51h is slightly opened by the male spline, so that the adapter 51 and the male spline can be matched without clearance.
  • the cup shell 52 has a cup shape, and the cup shell 52 is formed by stamping, for example.
  • the cup shell 52 is sleeved on the boss 512 of the adapter 51, and the cup shell 52 can move in a small range relative to the boss 512 in the axial direction A (the reader will more easily understand this small range when the gap G is introduced below. move).
  • a buffer member 53 is provided in the inner cavity of the cup shell 52 , or in other words, between the cup shell 52 and the adapter member 51 .
  • the buffer member 53 is made of rubber, for example, and the rubber buffer member 53 is formed in the inner cavity of the cup shell 52 by, for example, a vulcanization process.
  • the boss 512 When the cup shell 52 is sleeved on the boss 512, in the initial state, the boss 512 abuts against the buffer member 53, but the cup shell 52 does not abut against the main body 511, that is, the cup shell 52 and the main body 511 are on the shaft Toward A has a gap G (see Figure 2). Since the buffer member 53 can be elastically deformed in the axial direction A, the shaft 11 can be displaced in the axial direction A relative to the adapter member 51 within a small range.
  • the central portion of the end surface of the cup shell 52 facing the shaft 11 in the axial direction A is recessed to form a spherical spherical concave portion 52s, and correspondingly, the elastic member close to the cup shell 52 also forms a spherical concave portion 53s at the corresponding position.
  • the spherical recess 52s is used to abut against the spherical surface 11s of the shaft 11 .
  • the radius of the sphere corresponding to the spherical surface 11s is slightly smaller than the radius of the sphere corresponding to the spherical recess 52s.
  • the spherical surface 11s abuts against the ball concave portion 52s, so that when the shaft 11 is deflected relative to the axial direction A, the ball concave portion 52s can still achieve effective centering and positioning of the shaft 11 .
  • the shaft 11 as one connecting end of the coupling abuts against the cup shell 52 on one side and is opposite to the second coupling
  • the member N is limited, on the other side is limited by the raceway assembly 20 connected to the shaft 11 (the raceway assembly 20 is limited by the frame body 31 in the axial direction A), and is limited relative to the second coupling member N .
  • the shaft 11 is offset relative to the axis of the sliding sleeve 40 (this offset may be accompanied by an axial displacement of the shaft 11 relative to the sliding sleeve 40 and/or a circumferential deflection of the shaft 11 relative to the sliding sleeve 40)
  • this offset may be accompanied by an axial displacement of the shaft 11 relative to the sliding sleeve 40 and/or a circumferential deflection of the shaft 11 relative to the sliding sleeve 40
  • the raceway assembly 20 is offset relative to the cage assembly 30, the six rows of balls 32 on the cage assembly 30 roll relative to the curved surfaces 23a of the six outer raceways of the three raceway assemblies 20, which is not easy to produce The friction force of steep rise and fall.
  • the inner raceway 22 , the outer raceway 23 and the elastic member 24 are mounted on the raceway frame 21 to form the raceway assembly 20 .
  • the three raceway assemblies 20 are mounted on the three-pin shaft assembly 10 to form a three-pin shaft universal swing module.
  • the cup shell 52 with the buffer member 53 is connected with the adapter member 51 to form the vibration damping assembly 50 .
  • the cage assembly 30 is formed by fitting the balls 32 into the ball pockets 31b of the frame body 31 .
  • the first coupling part M of the tripod coupling uses the tripod shaft assembly 10 , and the ball ring 13 of the tripod shaft assembly 10 forms a spherical fit with the inner raceway 22 of the raceway assembly 20 , and the raceway assembly 20 cooperates with the sliding sleeve 40 of the second coupling member N, thereby realizing the universal swing of the first coupling member M relative to the second coupling member N.
  • the first coupling part M and the second coupling part N are offset by a large angle (eg +/-1.5°)
  • the torque can still be transmitted between the first coupling part M and the second coupling part N.
  • the offset angle of the worm can be dynamically supplemented.
  • the raceway assembly 20 has a non-linear wave spring 241, two sides of the wave spring 241 flexibly fix the inner raceway 22 and the outer raceway 23, and the three raceway assemblies 20 are arranged around the three-pin shaft assembly 10, so that the first A transmission without play in the circumferential direction can be realized between the first coupling part M and the second coupling part N.
  • the elastic part 24 can supplement the tolerance, which not only ensures the transmission rigidity, but also reduces the tolerance requirements of the production of related parts, improves the robustness of production, and meets the torque transmission requirements of no gap between the transmission parts, thereby avoiding the reversing gap. and vibration shock.
  • the cage assembly 30 has floating balls 32, and the balls 32, the sliding sleeve 40 and the outer raceway 23 all form a linear raceway pair, which eliminates the problem of steep rise and drop of friction during transmission. Moreover, the processing and installation of the ball 32 and the frame body 31 are convenient.
  • the ball 32 can be installed with the frame body 31 first, and then be installed into the inner cavity of the sliding sleeve 40 together with the frame body 31 , which is easy to achieve in terms of technology.
  • the second coupling member N of the tripod coupling according to the present invention includes a vibration damping assembly 50, so that the transmission components are not prone to axial vibration, and the control of the axial clearance of the self-aligning bearing of the steering mechanism is reduced. Require.
  • the steering mechanism according to the present invention is not easy to generate reversing clearance and vibration impact during the process of reversing back and forth and continuously starting and stopping, and is not easy to generate system tremors due to frictional force fluctuations.
  • the adapter 51 may not be an insert embedded in the sliding sleeve 40 , but may be connected to the sliding sleeve 40 by means of screw connection, screw connection or welding, for example.
  • the three-pin joint 12 may be integrally formed with the shaft 11 .
  • the raceway frame 21 may have other frame shapes, which are not limited in the present invention.
  • the two wave springs 241 of the same raceway assembly 20 may not be connected by the connecting portion 242 to form two independent elastic pieces.

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Abstract

一种三球销式联轴器，包括不能相对转动地连接的第一联接件(M)和第二联接件(N)，第一联接件(M)包括三销轴组件(10)、滚道组件(20)和保持架组件(30)，三销轴组件(10)包括轴(11)和围绕轴(11)在轴(11)的周向上间隔开设置的三个球环(13)，滚道组件(20)有三个，每一个球环(13)与一个滚道组件(20)相连，保持架组件(30)限定滚道组件(20)在周向上的位置，滚道组件(20)能在球环(13)和保持架组件(30)之间提供弹性力，当球环(13)相对于保持架组件(30)在周向上发生位移时，滚道组件(20)在周向上的两侧保持与保持架组件(30)抵接。还提供一种转向机构。

Description

三球销式联轴器和转向机构 技术领域
本发明涉及联轴器领域，且特别地涉及用于车辆转向机构的三球销式联轴器。
背景技术
对于车辆转向机构，尤其是电动助力转向机构，其通常使用蜗轮蜗杆的传动来放大电机的扭矩并驱动齿条完成转向，此类转向机构例如包括管柱式和双小齿轮式的转向机构。
上述转向机构中的一种常见的蜗杆系统使用联轴器连接电机的输出轴和蜗杆轴，上述部件以公母轴的形式相互连接，实现了电机扭矩的传递。电机的扭矩将被进一步传递给相互靠紧并啮合的蜗轮蜗杆并得到放大，以驱动整个转向系统中的其他部件。
上述蜗杆系统的支撑部分包括位于蜗杆的一侧的调心轴承和位于另一侧的深沟球轴承。为了保证蜗轮蜗杆系统持续稳定的啮合，在设置深沟球轴承的蜗杆处，沿蜗轮蜗杆啮合轴线的垂直方向布置有一弹簧。
对于例如传动比为21的蜗轮蜗杆，假设电机扭矩为5Nm，通过联轴器传递到蜗轮处的扭矩约为100Nm(考虑蜗轮蜗杆在扭矩传递过程中的效率损失)，进而对于齿条的推动力约为10kN，该扭矩用于推动车轮完成转向动作。通常，为了安静地传递力矩，蜗轮与蜗杆的接触面的制造材料为工程塑料，耐久后这一塑料接触面会产生磨损；此时蜗杆轴线在弹簧力的作用下产生一定角度的偏移(该偏移的最大幅度通常为+/-1.5°)调整来保证蜗轮蜗杆耐久前后大致相同的啮合品质。
然而，随着电机输出扭矩的提高(例如从5Nm提高至8Nm)以适应于驱动更高载荷的车辆，耐久之后的蜗轮塑料表面会产生更大的表面磨损，故需要蜗杆具有更大的轴线偏移(补偿)角度。
上述位于蜗杆的一侧的调心轴承较容易实现对更大的调心角度，但位于电机和蜗杆之间的联轴器的调心能力通常有限。一旦蜗杆轴线的偏移角度超过联轴器设计的补偿能力，系统容易发生诸如振动噪声、扭矩传递滞后、配合齿形磨损形成间隙等一系列问题。
因此，亟需在保证扭转刚度的同时，扩大联轴器的调心角度补偿范围。
发明内容
本发明的目的在于克服或至少减轻上述现有技术存在的不足，提供一种三球销式联轴器和转向机构。
根据本发明的第一方面，提供一种三球销式联轴器，其包括不能相对转动地连接的第一联接件和第二联接件，其中，
所述第一联接件包括三销轴组件、滚道组件和保持架组件，
所述三销轴组件包括轴和围绕所述轴在所述轴的周向上间隔开设置的三个球环，所述滚道组件有三个，每一个所述球环与一个所述滚道组件相连，所述保持架组件限定所述滚道组件在所述周向上的位置，
所述滚道组件能在所述球环和所述保持架组件之间提供弹性力，当所述球环相对于所述保持架组件在所述周向上发生位移时，所述滚道组件在所述周向上的两侧保持与所述保持架组件抵接。
在至少一个实施方式中，所述滚道组件包括滚道架、内滚道、外滚道和弹性件，
每个所述滚道架安装有两个内滚道和两个外滚道，两个所述内滚道间隔开以在两个所述内滚道之间形成球环安装部，每个所述内滚道的远离所述球环安装部的一侧安装有一个所述外滚道，位于所述球环安装部的同侧的一个内滚道和一个外滚道形成一个滚道对，
所述弹性件至少部分地设置于所述内滚道和所述外滚道之间，且所述弹性件与每个所述滚道对的所述内滚道和所述外滚道均抵接。
在至少一个实施方式中，当所述球环位于两个所述外滚道的正中间时，所述弹性件受到所述内滚道和所述外滚道的挤压而发生弹性变形。
在至少一个实施方式中，在所述弹性件的弹性变形过程中，所述弹性件的劲度系数发生变化。
在至少一个实施方式中，所述弹性件的位于所述内滚道和所述外滚道之间的部分至少部分地呈波浪形。
在至少一个实施方式中，所述弹性件整体呈U形，所述弹性件包括连接部和与所述连接部的两个端部相连的两个波形弹簧，
两个所述波形弹簧分别插入一个所述滚道对的所述内滚道和所述外滚道之间。
在至少一个实施方式中，所述内滚道的朝向所述球环安装部的一侧部分地凹进而形成球凹面，所述球凹面为球面的一部分，所述球凹面与所述球环相接触。
在至少一个实施方式中，所述外滚道的背向所述球环安装部的一侧部分地凹进而形成曲面，所述曲面与所述保持架组件相接触。
在至少一个实施方式中，所述保持架组件包括架体和球，
所述架体包括环形部和与所述环形部相连的三个臂，所述臂沿所述环形部的轴向延伸，所述臂的周向上的两侧形成有若干缺口状的球兜，
所述球容纳于所述球兜内，且所述球能在所述球兜内相对于所述球兜滚动，
每一个所述臂插入两个所述滚道组件之间，且所述球与所述滚道组件抵接。
在至少一个实施方式中，每个所述臂的在所述周向上位于两排所述球兜之间的中部向径向内侧凹进地形成臂凹部。
在至少一个实施方式中，所述第二联接件包括管形的滑套，所述滑套在所述轴向上的第一端与所述第一联接件相连，
所述滑套的内腔在所述轴向上靠近所述第一端处包括三个在所述周向上间隔开的向径向内侧凸出的凸条，所述凸条沿所述轴向延伸，从而在每两个相邻的所述凸条之间形成一个凹槽，
所述臂在所述周向上与所述凸条对齐，所述球抵靠到所述凸条，每个所述滚道组件收容于一个所述凹槽内。
在至少一个实施方式中，每个所述凸条在所述周向上的两侧各形成有一个凹进的弧面，所述球抵靠到所述弧面。
在至少一个实施方式中，所述臂的远离所述环形部的端部形成有向所述环形部的径向外侧凸出的勾部，
所述勾部勾住所述凸条以避免所述保持架组件从所述第一端脱出。
在至少一个实施方式中，所述环形部的外周部包括若干向径向外侧凸出的环凸部，所述环凸部抵靠到所述滑套的位于所述第一端的端面以在所述轴向上对所述保持架组件限位。
在至少一个实施方式中，所述滑套的内腔在所述轴向上远离所述第一端的第二端处不具有所述凸条，
所述第二联接件还包括减振组件，所述减振组件与所述滑套不能相对转动地安装于所述第二端，所述减振组件至少部分地伸入所述滑套的内腔，
所述轴抵靠到所述减振组件，所述轴的靠近所述减振组件的轴向端部形成球面，所述减振组件的与所述轴接触的部分呈球面状。
在至少一个实施方式中，所述减振组件包括转接件、杯壳和缓冲件，
所述转接件与所述滑套不能相对转动地连接，
所述杯壳与所述转接件相连，所述缓冲件设置于所述杯壳和所述转接件之间，
所述轴与所述减振组件相接触的部分位于所述杯壳，所述杯壳的与所述轴接触的部分形成凹进的球面状的球凹部。
在至少一个实施方式中，所述转接件内周部形成花键孔。
在至少一个实施方式中，所述转接件嵌设于所述滑套的内腔，
所述转接件的朝向所述轴的端面的中部向所述轴凸出地形成凸台，所述杯壳能相对于所述凸台轴向移动地套设于所述凸台。
在至少一个实施方式中，当所述缓冲件未被压缩时，所述杯壳与所述转接件的朝向所述轴的端面之间具有间隙。
根据本发明的第二方面，提供一种转向机构，其包括电机、联轴器和蜗轮蜗杆组件，所述联轴器为根据本发明的三球销式联轴器，
所述三球销式联轴器的所述第一联接件与所述蜗轮蜗杆组件中的蜗杆不能相对转动地连接，所述三球销式联轴器的所述第二联接件与所述电机的输出轴不能相对转动地连接。
根据本发明的三球销式联轴器能降低传动过程的振动并能在传动部件之间具有轴向偏移的情况下有效传递扭矩。
根据本发明的转向机构在工作过程中不容易产生换向间隙和振动冲击。
附图说明
图1是根据本发明的一个实施方式的三球销式联轴器的示意图。
图2是图1的沿轴向的剖视图。
图3是图2中的轴11的结构示意图。
图4是图2中的三销节12和球环13的结构示意图。
图5是图1中的滚道组件20的结构示意图。
图6是图5中的滚道组件20的滚道架21的示意图。
图7是图5中的滚道组件20的内滚道22的示意图。
图8是图5中的滚道组件20的外滚道23的示意图。
图9是图5所示的滚道组件20的弹性件24的示意图。
图10是图1中的保持架组件30的结构示意图。
图11是图11中的架体31的结构示意图。
图12是图1中的滑套40的结构示意图。
图13是图1中的减振组件50的结构示意图。
图14是图13中的转接件51的结构示意图。
图15是图2中的杯壳52和缓冲件53的剖开的示意图。
附图标记说明：
M第一联接件；N第二联接件；
10三销轴组件；11轴；11s球面；11h销孔；12三销节；12n颈部；13球环；
20滚道组件；20s球环安装部；21滚道架；211侧框架；211a兜边；212连杆；22内滚道；22s球凹面；23外滚道；23a曲面；24弹性件；241波形弹簧；242连接部；
30保持架组件；31架体；311环形部；311a环凸部；312臂；312a臂凹部；31b球兜；31h勾部；32球；
40滑套；401第一端；402第二端；41凸条；41a弧面；42凹槽；
50减振组件；51转接件；511主体；512凸台；51h花键孔；52杯壳；52s球凹部；53缓冲件；53s球凹部；
A轴向；R径向；G间隙。
具体实施方式
下面参照附图描述本发明的示例性实施方式。应当理解，这些具体的说明仅用于示教本领域技术人员如何实施本发明，而不用于穷举本发明的所有可行的方式，也不用于限制本发明的范围。
除非特别说明，参照图1和图2，A表示三球销式联轴器的轴向，该轴向A与滑套40的轴向一致；R表示三球销式联轴器的径向，该径向R与滑套40的径向一致。
参照图1至图15介绍根据本发明的三球销式联轴器(以下也简称联轴器)以及包括该联轴器的转向机构。
根据本发明的转向机构包括电机、三球销式联轴器和蜗轮蜗杆组件，其中三球销式联轴器连接电机的输出轴和蜗轮蜗杆组件中的蜗杆，使得输出轴的扭矩能传递给蜗杆。
参照图1和图2，根据本发明的三球销式联轴器包括抗扭地连接(不能相对转动地连接)的第一联接件M和第二联接件N，其中，第一联接件M用于连接到蜗杆，第二联接件N用于连接到电机的输出轴。
首先，参照图1至图11介绍根据本发明的一个实施方式的第一联接件M。
第一联接件M包括三销轴组件10、滚道组件20和保持架组件30。
三销轴组件10包括轴11、三销节12和球环13。
轴11用于与蜗杆抗扭地连接。参照图3，在本实施方式中，轴11的第一端(图3中的左端)设有沿径向R贯穿轴11的孔11h，孔11h用于与销配合。例如，蜗杆的一端设有沿轴向延伸的内孔、且与该内孔相交地设有沿径向延伸的销孔，轴11的第一端可以插入该内孔，并使用销穿过销孔和孔11h，从而将轴11与蜗杆抗扭地连接在一起。
轴11的第二端(图3中的右端)具有呈球形的球面11s，球面11s用于与下文将详细介绍的减振组件50相配合以实现万向调节的功能。
参照图2和图4，三销节12包括位于中部的环12r和连接于环12r的外周部的三个沿环12r的径向延伸的颈部12n。优选地，三个颈部12n在环12r的周向上间隔均匀地分布。每个颈部12n的外周套设有一个球环13，球环13的外周面是球面的一部分。应当理解，颈部12n和球环13之间可以设有滚动体。三 销节12套设于轴11的外周并通过例如过盈配合的方式与轴11抗扭地连接。
参照图1，每一个球环13与一个滚道组件20相连，三个滚道组件20通过保持架组件30在轴11的轴向A和周向上得到限位。
参照图5至图9介绍滚道组件20。
在本实施方式中，滚道组件20包括滚道架21、内滚道22、外滚道23和弹性件24。
参照图6，滚道架21包括两个大致呈矩形的侧框架211和连接两个侧框架211的连杆212。侧框架211的中部具有在连杆212的延伸方向上贯通的通孔。两个侧框架211的相对的内侧面上凸出地形成兜边211a。具体地，一个侧框架211上形成四个兜边211a，兜边211a呈大致C形，位于C形的中部的兜边211a的主体沿侧框架211的长边延伸，这四个兜边211a大致占据侧框架211的四个角。在侧框架211的两个长边上的相对的两个兜边211a的C形的开口相对，从而在这两个兜边211a之间限定出一个兜槽211b。每个侧框架211上具有两个分别位于连杆212两侧的兜槽211b，兜槽211b用于安装内滚道22和外滚道23。两个侧框架211的位于连杆212的同侧的兜槽211b相对以用于安装一个滚道对。
同时参照图5，一个内滚道22和一个外滚道23形成一个滚道对，一个滚道组件20包括两个滚道对，内滚道22更靠近连杆212地设置在外滚道23的内侧，内滚道22和外滚道23的两端均分别伸入两个兜槽211b内而与滚道架21相连。两个内滚道22之间的空间形成球环安装部20s，球环13能嵌设于球环安装部20s。
同时参照图7，两个内滚道22的相对的面部分地凹进而形成凹面22s，优选地，凹面22s是球面的一部分。当球环13嵌入球环安装部20s时，球环13被两个凹面22s夹住。由于球环13的球面状表面和凹面22s的球面状表面相配合，球环13能相对于凹面22s在小范围内各向地摆动、但球环13不会脱离滚道组件20。由于球环13相对于三销节12(或者说轴11)在轴向A上和周向上的位置都是确定的，因此通过上述的球环13与滚道组件20的两个凹面22s的配合方式，可以确定滚道组件20相对于轴11在轴向A上和周向上的位置。
参照图5和图9，弹性件24呈大致U形，其包括连接部242和与连接部242的两个端部相连的两个波形弹簧241。两个波形弹簧241分别插入一个滚道对的内滚道22和外滚道23之间，连接部242穿过侧框架211的中部的孔，且优选地，连接部242完全被收容在侧框架211的中部的孔内。
波形弹簧241的两侧分别抵靠到内滚道22和外滚道23，优选地，在初始状态下(联轴器尚未与电 机轴和蜗杆安装时，此时球环13位于两个外滚道23的正中间)，波形弹簧241受到内滚道22和外滚道23的轻微挤压而轻微变形，此时波形弹簧241产生的弹性力将内滚道22和外滚道23挤压到兜槽211b的轮廓边缘，即，在侧框架211的长边的延伸方向上，内滚道22和外滚道23分别抵靠在兜边211a上、以将兜槽211b填满。
在转向机构的工作过程中，球环13会朝某一个方向挤压其中一个内滚道22(下文将对该状态作进一步介绍)，使得波形弹簧241(进一步)受压变形。
波形弹簧241呈波浪形，其属于非线性的弹簧，即在波形弹簧241受压变形的过程中，其劲度系数(也称弹性系数)会发生变化。从而随着波形弹簧241的变形程度的不同，波形弹簧241给内滚道22和外滚道23施加的力也是非线性的，这对于保持一定的传动刚度是有利的。
参照图5和图8，外滚道23的背向球环安装部20s的一侧的中部凹进而形成曲面23a，曲面23a与下文将进一步介绍的保持架组件30的球32相接触。
接下来参照图1、图10和图11介绍保持架组件30的具体结构及其对滚道组件20的限位作用。
保持架组件30包括架体31和球32。架体31包括环形部311和三个臂312，臂312与环形部311相连，三个臂312在环形部311的周向上均匀地间隔开且沿环形部311的轴向延伸。臂312一方面与滚道组件20配合，另一方面还与位于第二联接件N的滑套40的凸条41配合(下文将进一步介绍)。
参照图11，每一个臂312在环形部311的周向上的两侧形成有两排缺口，每排缺口包括若干个(图中为3个)呈大半圆(优弧所对应的半圆)形的球兜31b。
参照图10，每个球兜31b内容纳有一个球32，球32优选为钢制的钢球。球32被浮动地收容于球兜31b内，即，球32能在球兜31b内滚动、但球32不从球兜31b内滚出。
回到图11，每个臂312的在周向上位于两排球兜31b之间的中部向径向内侧凹进地形成臂凹部312a。臂312的远离环形部311的端部形成有向径向外侧凸出的勾部31h。优选地，环形部311的外周部还具有三个向径向外侧凸出的环凸部311a，环凸部311a在周向上位于相邻的两个臂312中间。臂凹部312a用于与下文将进一步介绍的位于第二联接件N的滑套40的凸条41相匹配以在周向上限定第一联接件M和第二联接件N之间的位置；勾部31h用于勾住凸条41以在轴向A上限定第一联接件M和第二联接件N之间的位置；环凸部311a用于在轴向A上抵靠到滑套40的第一端401的端面(下文将进一步介绍)以在轴向A上限定第一联接件M和第二联接件N之间的位置。
回到图1，对于第一联接件M，相邻的两个臂312之间容纳一个滚道组件20，且球32抵靠到滚道组件20的外滚道23的曲面23a。此外，在轴向A上，滚道组件20(具体为滚道组件20的滚道架21)抵靠到保持架组件30的架体31，从而滚道组件20不会从图1中的左侧脱出。
至此，读者能理解三销轴组件10、滚道组件20和保持架组件30是如何连接而形成一个整体的。这个整体的第一联接件M可以在周向上传递扭矩，即，保持架组件30能将扭矩通过滚道组件20、球环13、三销节12而传递至轴11，并且，第一联接件M的各部件在彼此传递扭矩过程中能吸收振动(下文将进一步介绍)。
接下来，参照图1、图2、图12至图15介绍根据本发明的第二联接件N，以及第二联接件N与第一联接件M的连接关系。
第二联接件N包括抗扭地连接的滑套40和减振组件50。
参照图1(图1中的双点划线示出了滑套40)、图2和图12，滑套40呈大致圆管形。滑套40在轴向A上的第一端401(图12中的左端)与第一联接件M相连，滑套40在轴向A上的第二端402(图12中的右端)与减振组件50相连。
滑套40的内腔在第一端401处形成有三个在周向上均匀分布的向径向内侧凸出的凸条41，凸条41沿轴向A延伸，从而在每两个相邻的凸条41之间形成一个凹槽42。
每个凸条41在周向上的两侧各形成有一个凹进的弧面41a，每个弧面41a供安装于一个臂312的一排球32抵靠，换言之，每个凸条41与一个对应的臂312相匹配。凸条41在轴向A上的长度与臂312的长度大致相等。
结合图1和图11，凸条41的凸出部分与臂凹部312a相对地设置，球32抵靠于弧面41a；臂312在径向R上具有一定的弹性，当第一联接件M从滑套40的第一端401插入滑套40内时，勾部31h被凸条41挤压而向径向内侧发生弹性变形，当第一联接件M继续伸入滑套40至环凸部311a抵靠到滑套40的位于第一端401的端面时，第一联接件M安装到位，此时勾部31h在轴向A上恰好超出凸条41所覆盖的区域，勾部31h向径向外侧弹出、臂312恢复原形，勾部31h勾住凸条41的远离第一端401的轴向端面，从而环凸部311a和勾部31h分别在轴向A上的两端限定了保持架组件30与滑套40的相对位置。
此时滚道组件20被容纳于凹槽42内，滚道组件20通过球32得到周向上的定位，球32通过弧面41a得到周向上的定位，从而在周向上实现了第一联接件M和第二联接件N的相互定位。
回到图12，滑套40的内腔在靠近第二端402处不具有凸条41而形成光滑的柱面。
优选地，对于上述结构的滑套40的内腔的加工，例如可以使用旋锻的加工方式在滑套40的内腔加工出三个在轴向A上贯穿滑套40的内腔的凸条，之后在靠近第二端402处，使用机加工的方式去除部分的凸条以形成图12所示的凸条41。
参照图1和图2，滑套40的第二端402用于安装减振组件50。减振组件50包括转接件51、杯壳52和缓冲件53。转接件51与滑套40抗扭地连接。
结合图13和图14，转接件51包括主体511和凸台512。主体511呈圆盘状，主体511的朝向第一端401的端面的中间凸出地形成圆柱形的凸台512，凸台512用于安装杯壳52。转接件51的中部还开设有花键孔51h，花键孔51h用于与转向机构的电机的输出轴相连，例如，输出轴上设有与花键孔51h相匹配的公花键。
优选地，转接件51由工程塑料制成，其具有较合适的变形能力。转接件51嵌入滑套40的内腔，通过主体511与滑套40的过盈配合实现转接件51与滑套40的抗扭连接；花键孔51h在与公花键配合时，花键孔51h被公花键轻微撑开从而实现转接件51与公花键的无间隙配合。
参照图2和图15，杯壳52呈杯状，杯壳52例如通过冲压形成。杯壳52套设于转接件51的凸台512，且杯壳52能相对于凸台512在轴向A上作小范围的移动(下文介绍间隙G时读者将更容易理解该小范围的移动)。在轴向A上，杯壳52的内腔、或者说在杯壳52和转接件51之间设有缓冲件53。缓冲件53例如由橡胶制成，橡胶制的缓冲件53例如通过硫化工艺成型于杯壳52的内腔。
当杯壳52套设于凸台512时，在初始状态下，凸台512抵靠到缓冲件53、但杯壳52不抵靠到主体511，即，杯壳52与主体511之间在轴向A上具有间隙G(见图2)。由于缓冲件53能在轴向A上发生弹性变形，这使得轴11能在小范围内相对于转接件51在轴向A上发生位移。
杯壳52的在轴向A上朝向轴11的端面的中部凹进地形成球面状的球凹部52s，相应地，紧贴杯壳52的弹性件在相应位置处也形成球凹部53s。球凹部52s用于与轴11的球面11s相抵靠。优选地，球面11s所对应的球的半径略小于球凹部52s所对应的球的半径。
球面11s抵靠在球凹部52s，使得当轴11相对于轴向A发生偏斜时，球凹部52s仍能对轴11实现有效的对中定位。
由此，当第一联接件M和第二联接件N连接后，在轴向A上，作为联轴器的一个连接端部的轴11 在一侧抵靠杯壳52而相对于第二联接件N被限位、在另一侧受与轴11相连的滚道组件20的限制(滚道组件20在轴向A上受架体31的限制)而相对于第二联接件N被限位。
再次结合图1和图2，说明根据本发明的联轴器的调心和减振能力。当转向机构在换向的瞬间，如果位于蜗杆的一侧的调心轴承的轴向游隙过小，则蜗轮蜗杆的啮合从静摩擦状态切换到动摩擦状态会引起摩擦力矩的陡升陡降。避免或减轻这种摩擦力矩陡升陡降的一种方法是增大调心轴承的轴向游隙，这会导致轴承各部件之间产生轴向加速度，该轴向加速度引起的振动能被根据本发明的联轴器吸收。
例如，当调心轴承产生的轴向加速度传递给轴11时，由于轴11抵靠到减振组件50，轴11对杯壳52的冲击将被缓冲件53吸收。
此外，在高扭矩下产生磨损的蜗轮的齿之间的间隔将变大，使得与蜗轮啮合的蜗杆在各向上发生振动和偏移，这种振动能被根据本发明的联轴器吸收、这种偏移能得到根据本发明的联轴器的调整。
例如，当轴11相对于滑套40的轴线发生偏移(这种偏移可以同时伴随轴11相对于滑套40发生轴向位移和/或轴11相对于滑套40在周向上发生偏转)时，球环13将挤压内滚道22，使得内滚道22与外滚道23之间的间距发生变化，这种间距变化产生的振动能被弹性件24吸收。而当滚道组件20相对于保持架组件30发生偏移时，保持架组件30上的六排球32相对于位于三个滚道组件20的六个外滚道的曲面23a作滚动，不容易产生陡升陡降的摩擦力。
最后介绍根据本发明的三球销式联轴器的一种装配方法：
将内滚道22、外滚道23和弹性件24安装到滚道架21上形成滚道组件20。之后，将三个滚道组件20安装到三销轴组件10上，形成三销轴万向摆动模块。
将带有缓冲件53的杯壳52与转接件51相连，形成减振组件50。
将球32安装到架体31的球兜31b内形成保持架组件30。
将减振组件50过盈配合地与滑套40装配，之后使保持架组件30沿轴向A带动三销轴万向摆动模块装入滑套40内，当保持架组件30的勾部31h和环凸部311a与滑套40配合到位、且轴11抵靠到杯壳52时，完成装配。
应当理解，上述装配的各子步骤的执行顺序可以调整。
下面简单说明本发明的上述实施方式的部分有益效果。
(i)根据本发明的三球销式联轴器的第一联接件M使用了三销轴组件10，三销轴组件10的球环13与滚道组件20的内滚道22形成球面配合，又滚道组件20与第二联接件N的滑套40配合，从而实现了第一联接件M相对于第二联接件N的万向摆动。在第一联接件M与第二联接件N发生较大角度(例如+/-1.5°)的偏移的情况下，第一联接件M和第二联接件N之间仍能传递扭矩。或者说，即使在高载荷下例如塑料制的蜗轮发生较大磨损、蜗杆的轴线发生较大偏移时，蜗杆的偏移角度也能得到动态的补充。
(ii)滚道组件20具有非线性的波形弹簧241，波形弹簧241的两侧柔性地固定内滚道22和外滚道23，三个滚道组件20围绕三销轴组件10设置，使得第一联接件M和第二联接件N之间能实现在周向上无间隙的传动。弹性件24能补充公差，既保证了传动刚度，又降低了相关零件生产的公差要求，提高了生产的鲁棒性，满足了传送件之间无间隙的扭矩传动要求，从而避免了换向间隙和振动冲击。
(iii)保持架组件30具有浮动的球32，球32与滑套40和外滚道23均形成直线滚道副，消除了传动过程中摩擦力陡升陡降的问题。且球32与架体31的加工和安装方便，球32能先与架体31安装、之后跟随架体31一起被安装入滑套40的内腔，工艺上容易实现。
(iv)根据本发明的三球销式联轴器的第二联接件N包括减振组件50，使得传动部件不容易发生轴向的振动，降低了转向机构的调心轴承轴向间隙的控制要求。
(v)根据本发明的转向机构在来回换向、持续启动停止的过程中，不容易产生换向间隙和振动冲击，不容易因摩擦力波动而产生系统震颤。
应当理解，上述实施方式仅是示例性的，不用于限制本发明。本领域技术人员可以在本发明的教导下对上述实施方式做出各种变型和改变，而不脱离本发明的范围。例如，
(i)转接件51也可以不是嵌入滑套40内的嵌件，而是通过例如螺钉连接、螺纹连接或熔接的方式与滑套40相连。
(ii)三销节12也可以与轴11一体成型地设置。
(iii)滚道架21可以是其它的框架形状，本发明对此不作限制。
(iv)同一个滚道组件20的两个波形弹簧241可以不由连接部242相连而形成两个独立的弹性件。

Claims (20)

  1. 一种三球销式联轴器，其包括不能相对转动地连接的第一联接件(M)和第二联接件(N)，其中，
    所述第一联接件(M)包括三销轴组件(10)、滚道组件(20)和保持架组件(30)，
    所述三销轴组件(10)包括轴(11)和围绕所述轴(11)在所述轴(11)的周向上间隔开设置的三个球环(13)，所述滚道组件(20)有三个，每一个所述球环(13)与一个所述滚道组件(20)相连，所述保持架组件(30)限定所述滚道组件(20)在所述周向上的位置，
    所述滚道组件(20)能在所述球环(13)和所述保持架组件(30)之间提供弹性力，当所述球环(13)相对于所述保持架组件(30)在所述周向上发生位移时，所述滚道组件(20)在所述周向上的两侧保持与所述保持架组件(30)抵接。
  2. 根据权利要求1所述的三球销式联轴器，其特征在于，所述滚道组件(20)包括滚道架(21)、内滚道(22)、外滚道(23)和弹性件(24)，
    每个所述滚道架(21)安装有两个内滚道(22)和两个外滚道(23)，两个所述内滚道(22)间隔开以在两个所述内滚道(22)之间形成球环安装部(20s)，每个所述内滚道(22)的远离所述球环安装部(20s)的一侧安装有一个所述外滚道(23)，位于所述球环安装部(20s)的同侧的一个内滚道(22)和一个外滚道(23)形成一个滚道对，
    所述弹性件(24)至少部分地设置于所述内滚道(22)和所述外滚道(23)之间，且所述弹性件(24)与每个所述滚道对的所述内滚道(22)和所述外滚道(23)均抵接。
  3. 根据权利要求2所述的三球销式联轴器，其特征在于，当所述球环(13)位于两个所述外滚道(23)的正中间时，所述弹性件(24)受到所述内滚道(22)和所述外滚道(23)的挤压而发生弹性变形。
  4. 根据权利要求2所述的三球销式联轴器，其特征在于，在所述弹性件(24)的弹性变形过程中，所述弹性件(24)的劲度系数发生变化。
  5. 根据权利要求4所述的三球销式联轴器，其特征在于，所述弹性件(24)的位于所述内滚道(22)和所述外滚道(23)之间的部分至少部分地呈波浪形。
  6. 根据权利要求5所述的三球销式联轴器，其特征在于，所述弹性件(24)整体呈U形，所述弹性件(24)包括连接部(242)和与所述连接部(242)的两个端部相连的两个波形弹簧(241)，
    两个所述波形弹簧(241)分别插入一个所述滚道对的所述内滚道(22)和所述外滚道(23)之间。
  7. 根据权利要求2所述的三球销式联轴器，其特征在于，所述内滚道(22)的朝向所述球环安装部(20s)的一侧部分地凹进而形成球凹面(22s)，所述球凹面(22s)为球面的一部分，所述球凹面(22s)与所述球环(13)相接触。
  8. 根据权利要求2所述的三球销式联轴器，其特征在于，所述外滚道(23)的背向所述球环安装部(20s)的一侧部分地凹进而形成曲面(23a)，所述曲面(23a)与所述保持架组件(30)相接触。
  9. 根据权利要求1所述的三球销式联轴器，其特征在于，所述保持架组件(30)包括架体(31)和球(32)，
    所述架体(31)包括环形部(311)和与所述环形部(311)相连的三个臂(312)，所述臂(312)沿所述环形部(311)的轴向(A)延伸，所述臂(312)的周向上的两侧形成有若干缺口状的球兜(31b)，
    所述球(32)容纳于所述球兜(31b)内，且所述球(32)能在所述球兜(31b)内相对于所述球兜(31b)滚动，
    每一个所述臂(312)插入两个所述滚道组件(20)之间，且所述球(32)与所述滚道组件(20)抵接。
  10. 根据权利要求9所述的三球销式联轴器，其特征在于，每个所述臂(312)的在所述周向上位于两排所述球兜(31b)之间的中部向径向内侧凹进地形成臂凹部(312a)。
  11. 根据权利要求9所述的三球销式联轴器，其特征在于，所述第二联接件(N)包括管形的滑套(40)，所述滑套(40)在所述轴向(A)上的第一端(401)与所述第一联接件(M)相连，
    所述滑套(40)的内腔在所述轴向(A)上靠近所述第一端(401)处包括三个在所述周向上间隔开的向径向内侧凸出的凸条(41)，所述凸条(41)沿所述轴向(A)延伸，从而在每两个相邻的所述凸条(41)之间形成一个凹槽(42)，
    所述臂(312)在所述周向上与所述凸条(41)对齐，所述球(32)抵靠到所述凸条(41)，每个所述滚道组件(20)收容于一个所述凹槽(42)内。
  12. 根据权利要求11所述的三球销式联轴器，其特征在于，每个所述凸条(41)在所述周向上的两侧各形成有一个凹进的弧面(41a)，所述球(32)抵靠到所述弧面(41a)。
  13. 根据权利要求11所述的三球销式联轴器，其特征在于，所述臂(312)的远离所述环形部(311)的端部形成有向所述环形部(311)的径向外侧凸出的勾部(31h)，
    所述勾部(31h)勾住所述凸条(41)以避免所述保持架组件(30)从所述第一端(401)脱出。
  14. 根据权利要求11所述的三球销式联轴器，其特征在于，所述环形部(311)的外周部包括若干向径向外侧凸出的环凸部(311a)，所述环凸部(311a)抵靠到所述滑套(40)的位于所述第一端(401)的端面以在所述轴向(A)上对所述保持架组件(30)限位。
  15. 根据权利要求11所述的三球销式联轴器，其特征在于，所述滑套(40)的内腔在所述轴向(A)上远离所述第一端(401)的第二端(402)处不具有所述凸条(41)，
    所述第二联接件(N)还包括减振组件(50)，所述减振组件(50)与所述滑套(40)不能相对转动地安装于所述第二端(402)，所述减振组件(50)至少部分地伸入所述滑套(40)的内腔，
    所述轴(11)抵靠到所述减振组件(50)，所述轴(11)的靠近所述减振组件(50)的轴向端部形成球面(11s)，所述减振组件(50)的与所述轴(11)接触的部分呈球面状。
  16. 根据权利要求15所述的三球销式联轴器，其特征在于，所述减振组件(50)包括转接件(51)、杯壳(52)和缓冲件(53)，
    所述转接件(51)与所述滑套(40)不能相对转动地连接，
    所述杯壳(52)与所述转接件(51)相连，所述缓冲件(53)设置于所述杯壳(52)和所述转接件(51)之间，
    所述轴(11)与所述减振组件(50)相接触的部分位于所述杯壳(52)，所述杯壳(52)的与所述轴(11)接触的部分形成凹进的球面状的球凹部(52s)。
  17. 根据权利要求16所述的三球销式联轴器，其特征在于，所述转接件(51)内周部形成花键孔 (51h)。
  18. 根据权利要求16所述的三球销式联轴器，其特征在于，所述转接件(51)嵌设于所述滑套(40)的内腔，
    所述转接件(51)的朝向所述轴(11)的端面的中部向所述轴(11)凸出地形成凸台(512)，所述杯壳(52)能相对于所述凸台轴向移动地套设于所述凸台(512)。
  19. 根据权利要求18所述的三球销式联轴器，其特征在于，当所述缓冲件(53)未被压缩时，所述杯壳(52)与所述转接件(51)的朝向所述轴(11)的端面之间具有间隙(G)。
  20. 一种转向机构，其包括电机、联轴器和蜗轮蜗杆组件，其特征在于，所述联轴器为根据权利要求1至19中任一项所述的三球销式联轴器，
    所述三球销式联轴器的所述第一联接件(M)与所述蜗轮蜗杆组件中的蜗杆不能相对转动地连接，所述三球销式联轴器的所述第二联接件(N)与所述电机的输出轴不能相对转动地连接。
PCT/CN2020/105259 2020-07-28 2020-07-28 三球销式联轴器和转向机构 WO2022021081A1 (zh)

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