A planetary gear train with a closed-loop adaptive control module for the bearing stiffness of planetary gears

Abstract

The present invention discloses a planetary gear train of a planetary gear support stiffness closed-loop adaptive control module. The key points of the technical solution are as follows: It includes an input shaft, a sun gear, a ring gear, a sun gear support bearing, planetary gears, planetary gear support shafts, a planet carrier assembly, a brush ring, an output shaft, and a slewing bearing; the planetary gears are respectively fixed outside the planetary gear support shafts, and a stiffness adjustment module for controlling stiffness is provided on the planet carrier assembly; the sun gear is fixed outside the input shaft, and the sun gear rotates in the planet carrier assembly through the sun gear support bearing, and the ring gear is located outside the sun gear; the slewing bearing is installed outside the output shaft, and the brush ring is installed outside the output shaft; the present invention designs a combined link drive type planetary gear stiffness adjustment structure, realizing the controllable adjustment of the planetary gear support stiffness.

Description

Technical Field

[0001] The present invention relates to the field of planetary gear trains, and particularly to a planetary gear train with a closed-loop adaptive control module for the supporting stiffness of planetary gears. Background Art

[0002] Planetary gear transmission systems are widely used in industrial equipment. In practical applications, due to the existence of manufacturing errors and assembly errors, there will be vibration excitation sources during the meshing of gears, which reduces the service life of the gears and increases the equipment noise. In addition, since the transmission system generally operates within a relatively wide speed range, the excitation frequency of the system will also exist within a certain range, which may cause resonance in the system.

[0003] In order to reduce the vibration caused by manufacturing and assembly errors and speed changes, various methods have been adopted currently. These methods include using a floating structure for the sun gear and reducing the supporting stiffness of the planetary gear support shaft. However, according to research, the supporting stiffness of the planetary gear is also an important factor affecting the motion stability of the system. By adjusting the supporting stiffness of the planetary gear, the unstable motion of the system can be adjusted to stable motion within a certain range.

[0004] In addition, the existing structural design methods for reducing the supporting stiffness of planetary gears all belong to open-loop structures and do not have the ability to adjust according to the vibration feedback value of the equipment. Summary of the Invention

[0005] Aiming at the problems mentioned in the background art, the purpose of the present invention is to provide a planetary gear train with a closed-loop adaptive control module for the supporting stiffness of planetary gears to solve the problems mentioned in the background art.

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

[0007] A planetary gear train with a closed-loop adaptive control module for the supporting stiffness of planetary gears includes an input shaft, a sun gear, a ring gear, a sun gear support bearing, planetary gears, planetary gear support shafts, a planetary carrier assembly, a brush ring, an output shaft, and a slewing bearing;

[0008] The planetary gears are respectively fixed outside the planetary gear support shafts, and a stiffness adjustment module for controlling the stiffness is provided on the planetary carrier assembly;

[0009] The sun gear is fixed outside the input shaft, the sun gear rotates in the planetary carrier assembly through the sun gear support bearing, and the ring gear is located outside the sun gear;

[0010] The slewing bearing is installed outside the output shaft, and the brush ring is installed outside the output shaft.

[0011] Preferably, the stiffness adjustment module includes a plurality of link drive mechanisms, including a non-full-tooth drive cover plate, a gear, a non-drive bridge, a swing rod, an intermediate pin shaft, a drive bridge, and a dual-output motor. Two sets of gears are installed at both ends of the dual-output motor. The non-full-tooth drive cover plate meshes with the gear. The non-drive bridge is rotatably connected to a connecting plate. The non-drive bridge is rotatably connected to the swing rod. The intermediate pin shaft is located on the swing rod. The drive bridge is rotatably connected to the connecting plate. The connecting plate is rotatably connected to the outside of the outer pin shaft. An inner pin shaft is provided on the connecting plate.

[0012] Preferably, the outer pin shaft is assembled in the mounting hole A, the inner pin shaft is installed in the mounting hole H of the inner support ring, the intermediate pin shaft is installed in the mounting hole B, the mounting shafts C and D of the drive bridge are respectively installed in the mounting holes F of the connecting plate and the mounting holes of the swing rod, the mounting shaft E of the drive bridge is installed in the drive hole, and the components in the link drive mechanism are assembled into a support combination node. The stiffness adjustment module of each planetary gear is uniformly composed of a plurality of support combination nodes.

[0013] Preferably, a motor mounting hole for installing the dual-output motor is provided in the planet carrier assembly.

[0014] Preferably, the non-full-tooth drive cover plate includes a non-full-tooth cylindrical straight tooth, a limit ring, and a drive hole. The cylindrical straight tooth is used for power transmission with the gear. The drive hole is used for mating installation with the mounting shaft E of the drive bridge. The limit ring is used for installation in the circular groove to enable the non-full-tooth drive cover plate to rotate around the center axis of the planetary gear and prevent deviation during rotation.

[0015] Preferably, the dual-output motor is electrically connected to a controller, and the control input end of the controller is electrically connected to an acceleration sensor.

[0016] In summary, the present invention mainly has the following beneficial effects:

[0017] A combined link drive type planetary gear stiffness adjustment structure is designed for the planetary gear train of the planetary gear support stiffness closed-loop adaptive control module, realizing the controllable adjustment of the planetary gear support stiffness; each stiffness adjustment module adopts a double-sided four-gear drive method to adjust the stiffness, which can effectively ensure the stability and reliability of the regulation; the device has two stiffness control methods. The first is the stiffness presetting method, that is, according to the actual working condition requirements, the optimal support stiffness required by the planetary gear is calculated, and the torque of the double-output motor is driven to reach the set torque value, so that the planetary gear obtains the required stiffness; the second is to collect the vibration data of the acceleration sensor installed on the gearbox to close-loop control the real-time stiffness value required by the planetary gear, realizing that the device can adaptively control and operate stably within a certain working condition range without manual intervention; the present invention also designs a brand-new non-full-tooth drive cover plate, which is used to transmit the power of the double-output motor to the combined link drive mechanism, and at the same time has a limit function, realizing the combined functions of power transmission, position limit and stiffness adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the assembly drawing of the present invention;

[0019] Figure 2 is the exploded view of the structure of the present invention;

[0020] Figure 3 is the assembly drawing of the planet carrier in the present invention;

[0021] Figure 4 is the top view of the planet carrier in the present invention;

[0022] Figure 5 is Figure 4 the enlarged view of part A of the view in;

[0023] Figure 6 is the exploded view of the planet carrier in the present invention;

[0024] Figure 7 is Figure 6 the enlarged view of part B of the view in;

[0025] Figure 8 is the installation schematic diagram in the planet carrier;

[0026] Figure 9 is the structural schematic diagram of the non-full-tooth drive cover plate;

[0027] Figure 10 is the structural schematic diagram at the installation shaft D;

[0028] Figure 11 is the structural schematic diagram at the installation hole F;

[0029] Figure 12 is the structural schematic diagram at the planetary gear support shaft.

[0030] Reference numerals: 1, input shaft; 2, sun gear; 3, ring gear; 4, sun gear support bearing; 5, planet gear; 6, planet gear support shaft; 7, planet carrier assembly; 8, brush ring; 9, output shaft; 10, slewing bearing; 11, non-full tooth drive cover plate; 12, gear; 13, planet carrier body; 14, outer sales shaft; 15, inner pin shaft; 16, connecting plate; 17, non-drive bridge; 18, swing rod; 19, intermediate pin shaft; 20, drive bridge; 21, dual-output motor; 22, inner support ring. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Reference Figures 1 to 9 , a planetary gear train of a planetary gear support stiffness closed-loop adaptive control module, including an input shaft 1, a sun gear 2, a ring gear 3, a sun gear support bearing 4, a planet gear 5, a planet gear support shaft 6, a planet carrier assembly 7, a brush ring 8, an output shaft 9 and a slewing bearing 10; the planet gears 5 are respectively fixed outside the planet gear support shafts 6, and a stiffness adjustment module for controlling stiffness is provided on the planet carrier assembly 7; the sun gear 2 is fixed outside the input shaft 1, and the sun gear 2 rotates in the planet carrier assembly 7 through the sun gear support bearing 4, and the ring gear 3 is located outside the sun gear 2; the slewing bearing 9 is installed outside the output shaft 8, and the brush ring 8 is installed outside the output shaft 9.

[0033] Reference Figures 1 to 9, a planetary gear support stiffness closed-loop adaptive control module designs a combined link drive type planetary gear stiffness adjustment structure for the planetary gear train, achieving controllable adjustment of the planetary gear support stiffness; each stiffness adjustment module uses a double-sided four-gear 12 drive method to adjust the stiffness, which can effectively ensure the stability and reliability of the regulation; the device has two stiffness control methods. The first is the stiffness presetting method, that is, according to the actual working condition requirements, calculate the optimal support stiffness required by the planetary gear 5, and drive the torque of the double-output motor 21 to reach the set torque value, so that the planetary gear 5 obtains the required stiffness; the second is to collect the vibration data of the acceleration sensor installed on the gearbox to closed-loop control the real-time stiffness value required by the planetary gear 5, realizing that the device can adaptively control and operate stably within a certain working condition range without manual intervention; the present invention also designs a brand-new non-full-tooth drive cover plate 11, which is used to transmit the power of the double-output motor 21 to the combined link drive mechanism, and at the same time has a limit function, realizing the combined functions of power transmission, position limit and stiffness adjustment.

[0034] In this embodiment, the stiffness adjustment module includes a plurality of link drive mechanisms, including a non-full-tooth drive cover plate 11, a gear 12, a non-drive bridge 17, a swing rod 18, an intermediate pin 19, a drive bridge 20 and a double-output motor 21. Two groups of gears 12 are installed at both ends of the double-output motor 21. The non-full-tooth drive cover plate 11 meshes with the gear 12. The non-drive bridge 17 is rotatably connected to a connecting plate 16. The non-drive bridge 17 is rotatably connected to the swing rod 18. The intermediate pin 19 is located on the swing rod 18. The drive bridge 20 is rotatably connected to the connecting plate 16. The connecting plate 16 is rotatably connected to the outside of the outer pin 14. An inner pin is provided on the connecting plate 16; the planetary carrier assembly 7 includes a planetary carrier body 13.

[0035] In this embodiment, the outer pin 14 is assembled in the mounting hole A, the inner pin 15 is installed in the mounting hole H of the inner support ring 22, the intermediate pin 19 is installed in the mounting hole B, the mounting shafts C and D of the drive bridge 20 are respectively installed in the mounting hole F of the connecting plate 16 and the mounting hole of the swing rod 18, and the mounting shaft E of the drive bridge 20 is installed in the drive hole. The components in the link drive mechanism are assembled into a support combination node, and each stiffness adjustment module of the planetary gear 5 is composed of a plurality of evenly distributed support combination nodes.

[0036] In this embodiment, a motor mounting hole for mounting the dual-output motor 21 is provided in the planet carrier assembly 7. In this embodiment, the non-full-tooth drive cover plate 11 includes a non-full-tooth cylindrical straight tooth, a limiting ring, and a drive hole. The cylindrical straight tooth is used for power transmission with the gear 12, the drive hole is used for fitting and mounting with the mounting shaft E of the drive bridge 20, and the limiting ring is used for mounting in the circular ring groove so that the non-full-tooth drive cover plate 11 rotates around the center axis of the planet gear and does not shift. In this embodiment, the dual-output motor is electrically connected to a controller, and the control input end of the controller is electrically connected to an acceleration sensor.

[0037] There are two control methods for the system as follows:

[0038] I. Support stiffness preset value method: That is, according to the actual requirements of the current operating conditions, calculate the optimal support stiffness value, and pre-set the driving torque of the dual-output motor 21 before the equipment starts, so that the planet gear obtains a stable support stiffness. This control method is applicable to one or several determined operating conditions. The optimal support stiffness under different operating conditions is obtained through testing. This method is easy to operate and has high reliability.

[0039] II. Closed-loop adaptive control method

[0040] 1. Install an acceleration sensor on the gearbox housing;

[0041] 2. Automatically judge the running stability of each current planet gear 5 according to the phase of the vibration acceleration;

[0042] 3. When unstable motion occurs, the system calculates the stiffness value required to meet stable motion according to the acceleration amplitude;

[0043] 4. Control the dual-output motor 21 to perform torque control according to the required stiffness value;

[0044] 5. Real-time detect the numerical value collected by the vibration acceleration sensor, and judge whether the motion after stiffness adjustment is stable;

[0045] 6. If the operation is stable, stop the adjustment. If it is unstable, continue to adjust until it is stable;

[0046] 7. The second control method does not require manual intervention under any operating conditions, and the system will automatically adjust and control until stable motion. However, it is necessary to obtain the vibration characteristics of the full parameter domain of the equipment in advance and establish a corresponding mathematical model, so as to perform adaptive stiffness adjustment control within the full operating range.

[0047] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A planetary gear train with a closed-loop adaptive control module for the bearing stiffness of planetary gears, characterized in that: It includes an input shaft (1), a sun gear (2), a ring gear (3), a sun gear support bearing (4), a planet gear (5), a planet gear support shaft (6), a planet carrier assembly (7), a brush ring (8), an output shaft (9) and a slewing bearing (10); The planet gears (5) are respectively fixed outside the planet gear support shafts (6), and a stiffness adjustment module for controlling stiffness is provided on the planet carrier assembly (7); The sun gear (2) is fixed outside the input shaft (1), the sun gear (2) rotates in the planet carrier assembly (7) through the sun gear support bearing (4), and the ring gear (3) is located outside the sun gear (2); The slewing bearing (10) is installed outside the output shaft (9), and the brush ring (8) is installed outside the output shaft (9); The stiffness adjustment module includes a plurality of link drive mechanisms, including a non-full tooth drive cover plate (11), a gear (12), a non-drive bridge (17), a swing rod (18), an intermediate pin shaft (19), a drive bridge (20) and a dual-output motor (21). Two sets of gears (12) are installed at both ends of the dual-output motor (21). The non-full tooth drive cover plate (11) meshes with the gear (12). The non-drive bridge (17) is rotatably connected to a connecting plate (16). The non-drive bridge (17) is rotatably connected to the swing rod (18). The intermediate pin shaft (19) is located on the swing rod (18). The drive bridge (20) is rotatably connected to the connecting plate (16). The connecting plate (16) is rotatably connected outside the outer pin shaft (14), and an inner pin shaft is provided on the connecting plate (16).

2. The planetary gear train of a planetary gear support stiffness closed-loop adaptive control module according to claim 1, characterized in that: The outer pin shaft (14) is assembled in the mounting hole A, the inner pin shaft (15) is installed in the mounting hole H of the inner support ring (22), the intermediate pin shaft (19) is installed in the mounting hole B, the mounting shafts C and D of the drive bridge (20) are respectively installed in the mounting holes F of the connecting plate (16) and the mounting hole of the swing rod (18), and the mounting shaft E of the drive bridge (20) is installed in the drive hole. The components in the link drive mechanism are assembled into a support combination node, and the stiffness adjustment module of each planet gear (5) is composed of a plurality of evenly distributed support combination nodes.

3. The planetary gear train of a planetary gear support stiffness closed-loop adaptive control module according to claim 2, characterized in that: A motor mounting hole position for installing the dual-output motor (21) is provided in the planet carrier assembly (7).

4. The planetary gear train of a planetary gear support stiffness closed-loop adaptive control module according to claim 1, characterized in that: The non-full tooth drive cover plate (11) includes a non-full tooth cylindrical straight tooth, a limit ring and a drive hole. The cylindrical straight tooth is used for power transmission with the gear (12). The drive hole is used for mating installation with the mounting shaft E of the drive bridge (20). The limit ring is used for installation in the circular groove and enables the non-full tooth drive cover plate (11) to rotate around the planet gear central axis during rotation without deviation.

5. The planetary gear train of a planetary gear support stiffness closed-loop adaptive control module according to claim 3, characterized in that: The dual-output motor is electrically connected to a controller, and the control input end of the controller is electrically connected to an acceleration sensor.

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