High-reliability precise driving device

[0019] figure 1 It is a schematic structural diagram of the present invention, as shown in the figure: the high-reliability and precision driving device of this embodiment includes a housing 1, a power device 2 and a transmission mechanism, and the power output end of the power device is in cooperation with the power input end of the transmission mechanism The transmission mechanism is a reducer with a small tooth difference, including a power input shaft 3 and a power output shaft 4. The power input shaft 3 is provided with an eccentric sleeve 5. In this embodiment, the power input shaft 3 and the eccentric sleeve 5 are integrally manufactured The outer circle of the eccentric sleeve 5 is matched with a double external gear 6, a fixed internal gear 7 is fixed on the housing 1 and the power input shaft 3 is fixed and fixed, and the power output shaft 4 is driven in a circumferential direction and matched with the power input shaft 3 The power output internal gear 8 is arranged concentrically. One of the double external gears meshes with the fixed internal gear 7 with a small tooth difference, and the other external gear meshes with the power output internal gear 8 with a small tooth difference; the outer surface of the eccentric sleeve 5 and The inner surface of the double external gear 6 is a conical surface that matches with each other. The purpose of the invention can be achieved with a taper angle of 5°~45°; in this embodiment, the outer surface of the eccentric sleeve 5 is provided with an annular ball groove in the circumferential direction, and In cooperation, the inner surface of the double external gear 6 is provided with an annular ball groove along the circumferential direction, and the ball 11 is arranged in the ball groove, which can reduce the friction coefficient between the outer surface of the eccentric sleeve 5 and the inner surface of the double external gear 6, which is beneficial to improve the transmission accuracy. .

[0020] In this embodiment, the double external gear 6, the fixed internal gear 7 and the power output internal gear 8 are all circular arc bevel gears, and the double external gear 6, the fixed internal gear 7 and the power output internal gear 8 have gear teeth The helical unfolding direction of the eccentric sleeve 5 is opposite to the transmission direction in the direction from large to small conical surface of the outer surface of the eccentric sleeve 5; when the gear meshing surface is worn, the conical surface of the eccentric sleeve 5 makes the double external gear 6 a The double-linked external gear 6 moves axially to make the meshing surfaces of the gear teeth tightly meshed between the two, eliminating the transmission backlash caused by wear, thus ensuring the precision of transmission;

[0021] Of course, the function of eliminating backlash can also be achieved by adopting the following structure: the double-linked external gear 6, the fixed internal gear 7, and the power output internal gear 8 are all tangentially shifted gears, and the two tooth surfaces of the gear teeth are tangential The displacement law is the same, and the tooth surface forms a certain helix angle along the axial direction of the eccentric sleeve; the tangential deformation coefficient of the double external gear 6 gradually increases along the cone surface of the outer surface of the eccentric sleeve, and is fixed. The tangential modification coefficients of the internal gear 7 and the power output internal gear 8 gradually decrease along the cone surface of the outer surface of the eccentric sleeve from large to small; the cone surface of the eccentric sleeve 5 passes through the axial component of the double external gear 6 The double external gear 6 is moved axially, so that the gear tooth surfaces between the two are tightly meshed in the transmission direction or in the direction opposite to the transmission direction, which not only eliminates the transmission backlash caused by wear, but also applies to reverse In the case of rotation, the precision of the transmission can be guaranteed.

[0022] In this embodiment, the tooth surfaces of the double external gear 6, the fixed internal gear 7, and the power output internal gear 8 are coated with 0.1-30um nano-MoS 2 The base film; makes the friction coefficient of the meshing surface extremely small, has the effects of wear resistance, reliability, vibration reduction, and noise reduction; when the mechanism is jammed, the output torque of the power unit increases to a certain value, and the nano-solid lubricating film produces a super elastic model The quantitative effect is to form a moderate elastic deformation on the meshing tooth surface to prevent and eliminate mechanism jamming; it is beneficial to the improvement of transmission accuracy and transmission efficiency; in this embodiment, the nano MoS 2 The material of the base film is nano-MoS 2 Adding one or a mixture of gold, gold-palladium alloy, Ti and TiN; low cost, good self-lubricating effect, strong adhesion, which is beneficial to improve the service life of the meshing pair.

[0023] In this embodiment, the power output shaft 4 is provided with an angle sensor 15, and the power device 2 is a servo motor; the power output state is detected by the sensor and fed back to the control system, and the control system issues instructions to control the operation of the servo motor to achieve Automatic control to improve transmission and driving accuracy;

[0024] In this embodiment, it also includes a transmission feedback shaft 9, the power output shaft 4 and the power output internal gear 8 are fixedly matched in the circumferential direction, the power input shaft 3 is an axial hollow structure, and the transmission feedback shaft 9 is on the circumference The direction is fixedly matched with the power output shaft 4 and rotates in the axial direction through the power output internal gear 8, the power input shaft 3 and the housing 1. The angle sensor 15 is fixed on the housing and penetrates the transmission feedback shaft 9 One end of the body 1 is matched; the feedback shaft structure is adopted to simplify the installation structure, and the entire transmission mechanism has a compact structure and strong integrity.

[0025] In this embodiment, the double external gear 6, the fixed internal gear 7, and the power output internal gear 8 are bevel gears with the same direction from large to small. The direction of the bevel gear is from large to small on the outer surface of the eccentric sleeve 5. The direction of the cone surface is opposite from large to small; when the double external gear 6 moves axially due to adaptive elimination of backlash, the interference of gear teeth is avoided.

[0026] In this embodiment, the outer surface of the power input shaft 3 and the power output internal gear 8 and between the rolling bearing (the rolling bearing 16 and the rolling bearing 10 in the figure) are respectively rotatably matched with the housing 1. The power output shaft 4 passes through the rolling bearing. 12 and the housing 1 are rotationally matched; the transmission feedback shaft 9 is rotationally matched with the housing 1 through the rolling bearing 14;

[0027] In this embodiment, the servo motor is arranged on the side surface of the housing 1 and is driven to cooperate with the power input shaft 3 through the bevel gear meshing pair 13.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be implemented Modifications or equivalent replacements without departing from the purpose and scope of the technical solution of the present invention should be covered by the scope of the claims of the present invention.