Directional deflection diagonal plane deflection joint with single driving source

Abstract

The invention relates to a directional deflection diagonal plane deflection joint with a single driving source, which belongs to the technical field of deflection mechanisms capable of moving in multiple dimensions and comprises a first clutch, a second clutch, a transmission shaft, a clutch supporting structure, a planetary gear train, a planetary gear train transmission structure, a speed reducer, an upper diagonal plane mechanism, a lower diagonal plane mechanism, a universal joint, a driving motor and a bearing. Through the cooperation of different clutches, the upper part and the lower part of the joint can rotate in different directions and at different speeds or move in the same way, through the movement of different parts, the deflection action of the system in space is realized, the multi-dimensional movement space of the mechanism is realized, the number of driving sources is reduced, and the total weight of the system is further reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of a yaw mechanism capable of multi-dimensional movement, and in particular relates to a directional yaw bevel yaw joint with a single driving source. Background Art

[0002] The bevel deflection joint is a novel joint form. The contact surface of the cylinder at both ends of the joint is not perpendicular to the axis of the cylinder, but has a certain angle, thus forming a bevel. When the cylinders at both ends of the joint rotate along the bevel, the bevel is not perpendicular to the axis of the cylinder, causing the axis of the cylinder to deflect in space, realizing the conversion of rotational motion into deflection motion. By controlling the rotation direction and speed of the upper and lower parts of the joint, multi-dimensional deflection can be achieved.

[0003] Patent [CN202021771076.1] A three-dimensional mechanical joint and robotic arm connected by beveled cylinders, which realizes yaw through the beveled cylinders and is applied to robotic arms. Directional yaw is achieved through the drive mode of a single joint and dual motors. However, due to the use of dual motors, the weight of the joint mechanism is greatly increased and a large space is occupied, making it impossible to apply to the aircraft field.

[0004] Patent [CN202021273681.6] is a deflection control device for the head of an aircraft and patent [CN202211180548.X] is a head body flexible connection swing mechanism. Both patents are used for the directional deflection of the aircraft nose cone. Both adopt a dual-motor driven connecting rod mechanism, and are relatively large in size and weight. Summary of the invention

[0005] In order to solve the problem that existing multi-dimensional yaw joints have too many driving sources, resulting in excessive weight and space, and cannot meet the multi-dimensional deformation requirements of aircraft, the present invention proposes a single-motor driven bevel surface yaw joint. Compared with dual-motor drive, the weight and volume are significantly reduced, and directional yaw can be achieved at a specific target angle through structural design and speed ratio design.

[0006] The above-mentioned purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A single-drive-source directional yaw bevel section yaw joint comprises a first clutch, a second clutch, a transmission shaft, a clutch support structure, a planetary gear train, a planetary gear train transmission structure, a reducer, an upper bevel section mechanism, a lower bevel section mechanism, a universal joint, a drive motor and a bearing, wherein the first clutch and the second clutch are fixed on the clutch support structure, the planetary gear train is fixedly connected to the planetary gear train transmission structure, the planetary gear train transmission structure is connected to the lower bevel section mechanism, the upper bevel section mechanism and the lower bevel section mechanism are connected via a bearing, the upper and lower sections of the transmission shaft are connected via a universal joint, the drive motor drives the reducer, and the reducer drives the upper bevel section mechanism and the lower bevel section mechanism via the transmission shaft;

[0008] When the first clutch is closed and the second clutch is opened, the upper bevel mechanism rotates in the same direction as the transmission shaft, and at the same time the transmission shaft drives the planetary gear train, and then drives the planetary gear train transmission structure, and finally drives the lower bevel mechanism and the transmission shaft to rotate in the opposite direction. The upper bevel mechanism and the lower bevel mechanism rotate in opposite directions to achieve yaw; when the second clutch is closed and the first clutch is opened, the upper bevel mechanism rotates in the same direction as the transmission shaft, and at the same time the transmission shaft is directly connected to the planetary gear train transmission structure through the second clutch, and finally drives the lower bevel mechanism and the transmission shaft to rotate in the same direction.

[0009] The planetary gear train includes an inner ring gear, a planetary gear set and a sun gear. When the first clutch is closed and the second clutch is opened, the transmission shaft drives the sun gear, which drives the planetary gear set to rotate, and further drives the inner ring gear to rotate. The inner ring gear is fixedly connected to the planetary gear train transmission structure, and finally drives the lower bevel mechanism and the transmission shaft to rotate in the opposite direction.

[0010] It also includes an external protective shell, which is arranged outside the planetary gear train and the planetary gear train transmission structure and is used to protect the planetary gear train and the planetary gear train transmission structure.

[0011] When the first clutch is closed and the second clutch is opened, the speed ratio of the upper bevel mechanism to the drive motor is 1:W, and the speed ratio of the lower bevel mechanism to the drive motor is K:W. When the second clutch is closed and the first clutch is opened, the speed ratio of the upper bevel mechanism and the lower bevel mechanism to the drive motor is 1:W; wherein W is the reduction ratio of the reducer, and K is the speed ratio of the planetary gear train.

[0012] The reduction ratio W of the reducer is between 10 and 100.

[0013] The speed ratio K of the planetary gear train is 0.4~0.5.

[0014] The upper bevel section mechanism and the lower bevel section mechanism have outer shapes that are obtained by beveling a cylinder along the bevel section, and the bevel section shape is an ellipse.

[0015] The universal joint is arranged at the center of the beveled surface, and the center of the bearing coincides with the center of the beveled surface.

[0016] The upper bevel mechanism and the lower bevel mechanism move in the following manner: relative to the opposite bevel mechanism, they rotate on the bevel around the center of the bevel.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects:

[0018] (1) The present invention realizes a multi-dimensional motion space of the mechanism through a transmission system, which reduces the number of driving sources compared to traditional methods, thereby reducing the total weight of the system.

[0019] (2) The present invention cooperates with different clutches to enable the upper and lower parts of the joint to rotate in different directions and speeds or move in the same manner. Through the movement of different parts, the system can achieve a swaying motion in space.

[0020] (3) The present invention comprehensively designs the angle of the bevel mechanism and the speed ratio of the planetary gear system, and achieves an error that meets the requirements at a specific target yaw angle.

[0021] (4) The joint of the present invention is in inclined contact, and the torque generated by the external load can be borne by the inclined surface structure, thereby reducing the torque borne by the universal joint and making the overall load capacity of the mechanism stronger.

[0022] (5) The overall structure of the present invention is a cylindrical design, which is convenient for application in a robotic arm or an aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the directional yaw bevel section yaw joint of the present invention;

[0024] Figure 2 It is a schematic diagram of the transmission system of the present invention;

[0025] Figure 3 It is a cross-sectional view of the transmission system of the present invention;

[0026] Figure 4 It is a schematic diagram of the upper bevel transmission system of the present invention;

[0027] Figure 5 It is a schematic diagram of the lower bevel transmission system of the present invention;

[0028] Figure 6 It is a schematic diagram of the working principle of the present invention;

[0029] Figure 7 It is a schematic diagram of the upright state and the maximum deflection angle of the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0031] like Figure 1 The figure shows a schematic diagram of a directional yaw bevel section yaw joint, which includes a transmission system, a reducer 8, an upper bevel section mechanism 10, a lower bevel section mechanism 11, a universal joint 9, a drive motor 12 and a bearing 13.

[0032] Figure 2 and Figure 3The figure shows a schematic diagram of the transmission system of the present invention, which includes a first clutch 1, a second clutch 2, a transmission shaft 3, a clutch support structure 4, a planetary gear train 5, a planetary gear train transmission structure 6, and an external protective shell 7.

[0033] The planetary gear train 5 includes an internal ring gear 501 , a planetary gear set 502 and a sun gear 503 .

[0034] In the transmission system, the first clutch 1 and the second clutch 2 are fixed on the clutch support mechanism 4, and the torque on the transmission shaft 3 is transmitted to the planetary gear train transmission structure 6 through the opening and closing of the clutch, and the planetary gear train transmission structure 6 is connected to the lower bevel mechanism 11. Different clutches transmit different torques to the planetary gear train transmission mechanism. When the first clutch 1 is closed, the planetary gear set 502 is driven to rotate through the sun gear 503, and the inner ring gear 501 is further driven to rotate. The inner ring gear 501 is fixedly connected to the planetary gear train transmission structure 6, and finally the bevel mechanism and the transmission shaft 3 are driven to rotate in the opposite direction; when the second clutch 2 is closed, the transmission shaft 3 is directly connected to the planetary gear train transmission structure 6 through the second clutch 2, and finally the bevel mechanism and the transmission shaft are driven to rotate in the same direction. On the other hand, the planetary gear train 5 has a deceleration function, so when the speed and direction of the drive motor 12 remain unchanged, the direction and magnitude of the rotation speed of the bevel mechanism are inconsistent. At the same time, when the drive motor 12 rotates, the clutches 1 and 2 cannot be closed at the same time.

[0035] The transmission of the upper slope is as follows Figure 4 As shown, the upper inclined surface is connected to the reducer 8 through the transmission shaft 3, and the reducer 8 is directly driven by the driving motor 12.

[0036] The transmission of the lower slope is as follows Figure 5 As shown, the lower bevel is connected to the transmission shaft 3 and the reducer 8 through the clutch, and the output rotation of the reducer is transmitted to the planetary gear transmission system 6 through the clutch regulation, driving the lower bevel mechanism to rotate. When the clutch 2 is closed and the clutch 1 is opened, the transmission shaft directly drives the transmission housing to move, and the planetary gear transmission structure 6 is connected to the lower bevel mechanism 11. When the reduction ratio is W, the speed relationship between the housing and the motor output speed is 1:W, and the rotation direction is the same; when the clutch 1 is closed and the clutch 2 is opened, the transmission system drives the planetary gear set to move through the sun gear, and then transmits it to the inner ring gear, which is fixedly connected to the transmission housing, and then passes through the above transmission path, so that the housing and the motor output speed move in the opposite direction, and the speed size is related to the planetary gear acceleration ratio. When the planetary gear ratio is K, the housing and the motor output speed ratio is K:W.

[0037] Figure 6The figure shows a schematic diagram of the working principle of the present invention. The present invention can realize two motion modes, rotation and yaw. Both motion modes are driven by a single motor. The motor output is transmitted through the cooperation of multiple clutches, and multi-dimensional motion is realized through the transmission system. The transmission mechanism can realize the same or opposite rotation of the bevel mechanism and the transmission shaft. During the rotation process, the motor rotates, and the transmission system drives the upper and lower parts to perform synchronous constant speed rotation motion, so that the upper and lower parts are relatively stationary and the system rotates as a whole; during the yaw motion, the motor rotates, and the transmission system drives the upper and lower parts to perform differential reverse rotation, so that the upper and lower parts rotate relatively along the bevel, and the overall yaw is realized in the ground coordinates, thereby realizing the multi-dimensional motion of the deflection joint.

[0038] During the rotation process, it can be adjusted according to the movement speed and direction. When clutch 2 is closed and clutch 1 is opened, the upper and lower inclined plane mechanisms can be regarded as connected to the reducer. The upper and lower parts have the same speed, and the magnitude and direction are the same as the output speed of the reducer. The direction of the rotation speed is determined by the rotation direction of the motor.

[0039] During the yaw process, only when clutch 1 is closed and clutch 2 is opened, the upper inclined plane and the reducer are directly driven to rotate forward, and the lower part is decelerated through the planetary gear system, and the speed is opposite to the output speed of the reducer. The upper bevel mechanism 10 and the lower bevel mechanism 11 rotate in the opposite direction at a differential speed to achieve directional yaw of the joint system. The rotation speed ratio of the upper and lower parts is 1:-K. At the same time, when the motor 12 rotates forward, the joint starts to yaw from the vertical state, and the yaw angle gradually increases. When the motor rotates in the reverse direction, the yaw angle gradually decreases and gradually returns to the vertical state. The minimum and maximum angles of the yaw are as follows: Figure 7 shown.

[0040] The above description is only the best specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

[0041] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A single-drive-source directional yaw bevel-section yaw joint, characterized in that: The invention comprises a first clutch (1), a second clutch (2), a transmission shaft (3), a clutch support structure (4), a planetary gear train (5), a planetary gear train transmission structure (6), a reducer (8), an upper bevel mechanism (10), a lower bevel mechanism (11), a universal joint (9), a drive motor (12) and a bearing (13); the first clutch (1) and the second clutch (2) are fixed on the clutch support structure (4); the planetary gear train (5) is fixedly connected to the planetary gear train transmission structure (6); the planetary gear train transmission structure (6) is connected to the lower bevel mechanism (11); the upper bevel mechanism (10) and the lower bevel mechanism (11) are connected via a bearing (13); the upper and lower sections of the transmission shaft (3) are connected via a universal joint (9); the drive motor (12) drives the reducer (8); the reducer (8) drives the upper bevel mechanism (10) and the lower bevel mechanism (11) via the transmission shaft (3); When the first clutch (1) is closed and the second clutch (2) is opened, the upper bevel mechanism (10) rotates in the same direction as the transmission shaft (3), and at the same time the transmission shaft (3) drives the planetary gear train (5), thereby driving the planetary gear train transmission structure (6), and finally driving the lower bevel mechanism (11) to rotate in the opposite direction to the transmission shaft (3). The upper bevel mechanism (10) and the lower bevel mechanism (11) rotate in opposite directions to achieve yaw. When the second clutch (2) is closed and the first clutch (1) is opened, the upper bevel mechanism (10) rotates in the same direction as the transmission shaft (3), and at the same time the transmission shaft (3) is directly connected to the planetary gear train transmission structure (6) through the second clutch (2), and finally driving the lower bevel mechanism (11) to rotate in the same direction as the transmission shaft (3).

2. The single-drive-source directional yaw bevel yaw joint according to claim 1, characterized in that: The planetary gear train (5) comprises an inner ring gear (501), a planetary gear set (502) and a sun gear (503). When the first clutch (1) is closed and the second clutch (2) is opened, the transmission shaft (3) drives the sun gear (503), which drives the planetary gear set (502) to rotate, and further drives the inner ring gear (501) to rotate. The inner ring gear (501) is fixedly connected to the planetary gear train transmission structure (6), and finally drives the lower bevel mechanism (11) and the transmission shaft (3) to rotate in the opposite direction.

3. The single-drive-source directional yaw bevel yaw joint according to claim 1, characterized in that: It also comprises an external protective shell (7), which is arranged outside the planetary gear train (5) and the planetary gear train transmission structure (6) and is used to protect the planetary gear train (5) and the planetary gear train transmission structure (6).

4. The single-drive-source directional yaw bevel yaw joint according to claim 1, characterized in that: When the first clutch (1) is closed and the second clutch (2) is opened, the speed ratio of the upper chamfered surface mechanism (10) to the drive motor (12) is 1:W, and the speed ratio of the lower chamfered surface mechanism (11) to the drive motor (12) is K:W. When the second clutch (2) is closed and the first clutch (1) is opened, the speed ratio of the upper chamfered surface mechanism (10) and the lower chamfered surface mechanism (11) to the drive motor (12) is 1:W; wherein W is the reduction ratio of the reducer (8), and K is the speed ratio of the planetary gear train (5).

5. The single-drive-source directional yaw bevel-cut yaw joint according to claim 4, characterized in that: The reduction ratio W of the reducer (8) is 10 to 100.

6. The single-drive-source directional yaw bevel-cut yaw joint according to claim 4, characterized in that: The speed ratio K of the planetary gear train (5) is 0.4 to 0.

5.

7. The single-drive-source directional yaw bevel-cut yaw joint according to claim 1, characterized in that: The upper bevel mechanism (10) and the lower bevel mechanism (11) have outer shapes that are obtained by beveling a cylinder along the bevel, and the bevel shape is an ellipse.

8. The single-drive-source directional yaw bevel-cut yaw joint according to claim 7, characterized in that: The universal joint (9) is arranged at the center of the beveled surface, and the center of the bearing (13) coincides with the center of the beveled surface.

9. The single-drive-source directional yaw bevel-cut yaw joint according to claim 7, characterized in that: The upper bevel mechanism (10) and the lower bevel mechanism (11) move in the following manner: relative to the opposite bevel mechanism, they rotate on the bevel around the center of the bevel.

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