Multi-input and large-output integrated reduction gear

Abstract

The present application provides a multi-input and large-output integrated reduction device, including a first reducer, the first reducer including a basic frame, the basic frame is provided with a rotatable output shaft, the output shaft is sleeved with a central gear, the central gear and the output shaft are sleeved, a plurality of side gears are circumferentially provided on the outer side of the central gear, each side gear is meshed with the central gear, and an input shaft is also provided, the input shaft is used to connect to an input motor, the side gears are sleeved with the input shaft, so as to solve the problem that the motor needs to be shut down when replacing the motor under working conditions with requirements for both speed and torque.

Description

Technical Field

[0001] The invention relates to the field of reducer transmission, and in particular to a multi-input and large-output integrated reduction device. Background Art

[0002] A reducer is a common mechanism that reduces speed and increases torque. It is very suitable for situations that require large loads and low speeds. Reducers usually sacrifice speed in exchange for torque. General box-type reducers usually have one or two stages of reduction, and the reduction ratio is within 50 times, and cannot obtain greater torque. For reducers with large speed ratios, such as planetary reducers, harmonic reducers, and worm gear reducers, they can usually achieve 100 times of reduction, and the torque can also be greatly improved. However, for situations that require both high speed and high torque, the above-mentioned reducers cannot meet the requirements at the same time. Generally, only a combination of a large drive motor and a reducer with a small acceleration and deceleration ratio can be used. For this mode, the size of a single large motor must be huge and the cost will increase dramatically. In addition, once the motor fails, the working system must be shut down and wait for the motor to be replaced. Summary of the invention

[0003] The present invention provides a multi-input and large-output integrated reduction device, which solves the problem that the machine needs to be shut down for replacing a motor under working conditions with requirements for both speed and torque.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a multi-input and large-output integrated reduction device, including a first reducer, the first reducer includes a basic frame, the basic frame is provided with a rotatable output shaft, the output shaft is sleeved with a central gear, the central gear and the output shaft are sleeved, and a plurality of side gears are circumferentially arranged on the outer side of the central gear, each side gear is meshed with the central gear, and an input shaft is also provided, the input shaft is used to be connected to the input motor, the side gears are sleeved with the input shaft, and adjustment seats are provided at both ends of the input shaft on the basic frame, and the position of the adjustment seat can be adjusted.

[0005] In a preferred embodiment, the input motor is detachable, and a transition device is provided between the input shaft and the input motor. The transition device includes a first rotating disk, a second rotating disk and a third rotating disk. The first rotating disk is connected to the input shaft, the third rotating disk is connected to the shaft end of the input motor, the second rotating disk is provided between the first rotating disk and the third rotating disk, the second rotating disk is connected to the third rotating disk, and the second rotating disk is used to rub the end face of the first rotating disk.

[0006] In the preferred scheme, the third rotating disk is provided with multiple sliding rods along the circumference, the first rotating disk is provided with multiple positioning holes along the circumference, and the second rotating disk is provided with multiple through holes along the circumference. Each sliding rod is slidably connected with the through hole of each second rotating disk, and the end of each sliding rod is inserted into or out of the positioning hole. The second rotating disk is provided with a first friction disk on the side close to the first rotating disk, and the first rotating disk is provided with a second friction disk on the side close to the second rotating disk. The second friction disk rotates against the first friction disk.

[0007] In a preferred solution, the first friction disk and the second friction disk are provided with a plurality of magnetic blocks along the circumferential direction, the magnetic blocks include a first magnetic block and a second magnetic block, the end faces of the first magnetic block and the second magnetic block have opposite polarities, and the first magnetic block and the second magnetic block are arranged alternately.

[0008] In the preferred solution, a turntable mechanism is further provided, each transition device is arranged outside the turntable mechanism, the turntable mechanism includes a rotatable turntable, the turntable is provided with a toggle mechanism, the toggle mechanism is provided with a sliding frame that can slide up and down, and the sliding frame clamps the outer edge of the third rotating disk.

[0009] In a preferred embodiment, a first spring plunger and a second spring plunger are provided on the sliding frame, rollable balls are provided at the ends of the first spring plunger and the second spring plunger, the first spring plunger is provided on the first end surface of the third rotating disk, and the second spring plunger is provided on the second end surface of the third rotating disk.

[0010] In a preferred solution, a magnetic ring or a spring is sleeved on the slide bar, and a plurality of magnetic rings and springs are provided. The plurality of magnetic rings and springs are alternately arranged on each slide bar along the circumferential direction.

[0011] In a preferred solution, the turntable mechanism includes a base, which is rotatably connected to the turntable, and is also provided with a reduction motor, and the shaft end of the turntable is connected to the reduction motor.

[0012] In the preferred embodiment, the toggle mechanism also includes a base, on which a guide rail slider mechanism and a screw mechanism are provided, the sliding frame is connected to the guide rail slider mechanism and the screw mechanism, and a toggle motor is also provided, and the shaft end of the toggle motor is connected to the screw mechanism to drive the sliding frame to slide linearly.

[0013] In a preferred solution, a second reducer is further provided. The structure of the second reducer is the same as that of the first reducer. The output shaft of the second reducer is provided with an output gear, and the side gear of the second reducer is connected to the output shaft of the first reducer.

[0014] The beneficial effects of the present invention are as follows: it adopts the form of multiple input shafts, which can be connected to multiple small motors to jointly achieve a large torque without a large speed reduction; it adopts an adjustable bearing mounting seat, i.e., an adjustment seat, to facilitate the adjustment of the spacing between the meshing gears, thereby reducing the difficulty of installation and debugging of the multi-gear system and avoiding gear grinding at the installation site; it has good scalability and can be installed with multiple stages of reduction to increase the output torque; the input motor can be disassembled and assembled online, the total output torque will only be slightly reduced, and the reliability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is a schematic diagram of the present invention.

[0017] Figure 2 It is an oblique view of the present invention.

[0018] Figure 3 It is the arrangement diagram of the adjustment seat of the present invention.

[0019] Figure 4 It is a schematic diagram of the speed reduction mechanism of the present invention.

[0020] Figure 5 It is a multi-level expansion application diagram of the present invention.

[0021] Figure 6 It is a working schematic diagram of the toggle mechanism of the present invention.

[0022] Figure 7 This is the transition state one of the present invention.

[0023] Figure 8 This is the second transition state of the present invention.

[0024] Fig. 9 It is a diagram of the arrangement of magnetic blocks of the present invention.

[0025] In the figure: first reducer 1; central gear 101; side gear 102; output shaft 103; adjustment seat 104; output gear 105; long hole 106; input shaft 107; base frame 108; transition device 2; input motor 201; first coupling 202; second coupling 203; first rotating disk 204; second rotating disk 205; third rotating disk 206; stop block 207; magnetic ring 208; spring 209; slide bar 210; stop nail 211; slide groove 212; top screw 213; Transition seat 214; first friction disc 215; second friction disc 216; first magnetic block 217; second magnetic block 218; positioning hole 219; toggle mechanism 3; base 301; guide rail slider mechanism 302; screw mechanism 303; sliding frame 304; first spring plunger 305; second spring plunger 306; toggle motor 307; turntable mechanism 4; base 401; turntable 402; process hole 403; reduction motor 404; second reducer 5; transition frame 6; third coupling 7; motor bracket 8. DETAILED DESCRIPTION

[0026] like Figure 1-9 In the invention, a multi-input and large-output integrated reduction device includes a first reducer 1. The first reducer 1 includes a basic frame 108. The basic frame 108 is provided with a rotatable output shaft 103. The output shaft 103 is sleeved with a central gear 101. The central gear 101 and the output shaft 103 are sleeved. A plurality of side gears 102 are circumferentially arranged on the outer side of the central gear 101. Each side gear 102 is meshed with the central gear 101. An input shaft 107 is also provided. The input shaft 107 is used to be connected to an input motor 201. The side gears 102 are sleeved with the input shaft 107. Adjustment seats 104 are provided at both ends of the input shaft 107 on the basic frame 108, and the position of the adjustment seat 104 is adjustable.

[0027] The adjustment seat 104 is a bearing seat and is provided with a long hole 106. The length direction of the long hole 106 is toward the center of the central gear 101, which is convenient for adjusting the distance between the side gear 102 and the central gear 101 to avoid the gears being too tight and causing the teeth to be stuck or too loose and causing the contact area of ​​the teeth to be small. Each gear can use a helical gear to increase the overlap during meshing, improve the stability of the transmission, and reduce vibration.

[0028] In addition, a plurality of motor brackets 8 are provided on the base frame 108 for mounting the input motors 201 . The mounting holes of the input motors 201 are also elongated holes, and their directions are consistent with those of the adjustment seat 104 .

[0029] The basic frame 108 is a double-plate plus a supporting rod structure, and the gears are mainly arranged in the interlayer between the double-plates. The side gears 102 are arranged around the central gear 101. There can be a large number of side gears 102, which can be connected to multiple motors at the same time to increase the total output torque.

[0030] In the preferred embodiment, the input motor 201 is detachable, and a transition device 2 is provided between the input shaft 107 and the input motor 201. The transition device 2 includes a first rotating disk 204, a second rotating disk 205 and a third rotating disk 206. The first rotating disk 204 is connected to the input shaft 107, the third rotating disk 206 is connected to the shaft end of the input motor 201, the second rotating disk 205 is provided between the first rotating disk 204 and the third rotating disk 206, the second rotating disk 205 is connected to the third rotating disk 206, and the second rotating disk 205 is used to rub the end face of the first rotating disk 204.

[0031] Since there are many input motors 201, it is difficult to synchronously control the rotation speed and torque between the input motors 201. If one gear meshing transmission gets stuck or the motor fails, it will affect the other transmissions. In order to reduce the control difficulty and the fault tolerance of the system, a friction transmission method is adopted so that a single input no longer restricts the total output.

[0032] The end face spacing between the second rotating disk 205 and the first rotating disk 204 is adjustable. When the input motor 201 is disassembled and assembled, the third rotating disk 206 moves relative to the first rotating disk 204, driving the end face of the second rotating disk 205 to disengage or contact the end face of the first rotating disk 204. The second rotating disk 205 can be used as a consumable. Compared with other rigid connections, this friction transmission allows the rotation speed of the third rotating disk 206 to be different from that of the first rotating disk 204, thereby improving fault tolerance. Moreover, when the motor fails and needs to be replaced, the traditional hard connection method requires a differential synchronizer to synchronize the rotation speeds at both ends before the motor can be replaced online. Otherwise, the entire system needs to be stopped for replacement. However, when a friction transmission is used, when the two friction disks are in contact, the friction force naturally synchronizes the differential, and no additional differential synchronizer is required.

[0033] In the preferred embodiment, the third rotating disk 206 is provided with multiple sliding rods 210 along the circumference, the first rotating disk 204 is provided with multiple positioning holes 219 along the circumference, and the second rotating disk 205 is provided with multiple through holes along the circumference. Each sliding rod 210 is slidably connected with the through hole of each second rotating disk 205, and the end of each sliding rod 210 is inserted into or out of the positioning hole 219. The second rotating disk 205 is provided with a first friction disk 215 on the side close to the first rotating disk 204, and the first rotating disk 204 is provided with a second friction disk 216 on the side close to the second rotating disk 205. The second friction disk 216 rotates against the first friction disk 215.

[0034] Although planar friction transmission has many advantages, it is mainly suitable for occasions that do not require high-precision positioning control. However, since the working conditions that require multi-motor coordination generally have a large output torque and the friction disks are prone to slip, there is a deviation between the actual output number of rotations and the theoretical value; for the deviation correction of general single-motor systems, the back-end detection method can generally be used, such as installing an angle encoder on the output shaft to detect the actual rotation angle and feedback to guide the motor to send more or less pulses, that is, closed-loop control is used to improve position accuracy; however, since this reduction system is equipped with multiple input motors and the torque input route is complex, even if the deviation is detected at the back end and a compensation signal is emitted, the final compensation result is not ideal. Therefore, for high-precision control, hard connection is still more reliable.

[0035] The second rotating disk 205 is used as a non-consumable part. A first friction disk 215 is arranged on the second rotating disk 205 , and a second friction disk 216 is arranged on the first rotating disk 204 for friction synchronization.

[0036] A bearing is provided at the center of the second rotating disk 205, and the second rotating disk 205 can be slidably sleeved on the central axis of the first rotating disk 204. A stop pin 211 is provided at the end of the central axis of the first rotating disk 204 to prevent it from slipping out. A transition seat 214 is also provided at one end of the third rotating disk 206. The transition seat 214 is hollow to provide an escape space for the stop pin 211.

[0037] The third rotating disk 206 approaches the first rotating disk 204, driving the second rotating disk 205 to approach the first rotating disk 204. First, the first friction disk 215 contacts the second friction disk 216. The friction force makes the speed difference between the first rotating disk 204 and the third rotating disk 206 smaller and smaller. When the speed, the slide rod 210 is inserted into the positioning hole 219.

[0038] The input motor 201 is connected to the central axis of the third rotating disk 206 through the first coupling 202, and the input shaft 107 is connected to the central axis of the first rotating disk 204 through the second coupling 203. The first coupling 202 and the second coupling 203 are both elastic couplings, which allow small axial deviations and axial non-parallelism during installation, and can reduce the vibration generated during friction synchronization.

[0039] The first coupling 202 is provided with a slide groove 212 , and a top screw 213 is inserted into the slide groove 212 . The top screw 213 can be locked. When the top screw 213 is slightly loosened, the first coupling 202 can slide relative to the central axis of the transition seat 214 .

[0040] In a preferred embodiment, the first friction disk 215 and the second friction disk 216 are provided with a plurality of magnetic blocks along the circumferential direction, and the magnetic blocks include a first magnetic block 217 and a second magnetic block 218, the end faces of the first magnetic block 217 and the second magnetic block 218 have opposite polarities, and the first magnetic block 217 and the second magnetic block 218 are arranged alternately.

[0041] Since the slide bar 210 may not be aligned with the positioning hole 219 when the third rotating disk 206 is at the same speed as the first rotating disk 204, it is necessary to set the first magnetic block 217 and the second magnetic block 218 with opposite polarities. The number of magnetic blocks on the first friction disk 215 and the second friction disk 216 is the same and both are even numbers. The number of slide bars 210 and the positioning holes 219 are half of the number of magnetic blocks, and are evenly distributed along the circumference. For example, there are twelve magnetic blocks, six N poles and six S poles, then the number of slide bars 210 and the positioning holes 219 are both six. When the third rotating disk 206 is close to the same speed as the first rotating disk 204, under the action of the magnetic blocks, the N pole magnetic block of the first friction disk 215 and the S pole of the second friction disk 216 attract and align with each other. Therefore, the position of the third rotating disk 206 and the first rotating disk 204 is controllable when they stop relative to each other, and at this position, each slide bar 210 is just aligned with the positioning hole 219.

[0042] In the preferred embodiment, a turntable mechanism 4 is also provided, and each transition device 2 is arranged on the outside of the turntable mechanism 4. The turntable mechanism 4 includes a rotatable rotating table 402, and a toggle mechanism 3 is provided on the rotating table 402. The toggle mechanism 3 is provided with a sliding frame 304 that can slide up and down, and the sliding frame 304 clamps the outer edge of the third rotating disk 206.

[0043] Since the toggle mechanism 3 is arranged between the transition devices 2 and can rotate under the action of the turntable mechanism 4, that is, the sliding frame 304 can be selectively connected to any third rotating disk 206, the number of driving mechanisms is saved.

[0044] In a preferred embodiment, a first spring plunger 305 and a second spring plunger 306 are provided on the sliding frame 304, and rollable balls are provided at the ends of the first spring plunger 305 and the second spring plunger 306. The first spring plunger 305 is provided on the first end surface of the third rotating disk 206, and the second spring plunger 306 is provided on the second end surface of the third rotating disk (206).

[0045] The first spring plunger 305 and the second spring plunger 306 mainly play a shock absorbing role. Since the third rotating disk 206 rotates at a high speed, the first spring plunger 305 and the second spring plunger 306 need to be provided with balls to avoid excessive friction resistance.

[0046] In a preferred solution, a magnetic ring 208 or a spring 209 is sleeved on the slide bar 210 , and a plurality of magnetic rings 208 and springs 209 are provided. The plurality of magnetic rings 208 and springs 209 are alternately arranged on each slide bar 210 along the circumferential direction.

[0047] The third rotating disk 206 and the second rotating disk 205 are made of steel or attached to a steel surface. The magnetic ring 208 and the spring 209 generate resistance and attraction respectively to ensure that the distance between the second rotating disk 205 and the third rotating disk 206 remains stable in a natural state. A stop block 207 slightly thicker than the magnetic ring 208 is provided to prevent the magnetic ring 208 from being smashed by collision.

[0048] When the third rotating disk 206 moves toward the first rotating disk 204 , the spring 209 first pushes the first friction disk 215 on the second rotating disk 205 to be close to the first friction disk 215 . When the speed reaches synchronization, the sliding frame 304 continues to advance, and the sliding rod 210 is finally stuck in the positioning hole 219 .

[0049] In a preferred solution, the turntable mechanism 4 includes a base 401 , which is rotatably connected to a rotating platform 402 , and is further provided with a reduction motor 404 , and the shaft end of the rotating platform 402 is connected to the reduction motor 404 .

[0050] The shaft of the reduction motor 404 is locked by a coupling or a direct sleeve screw, and the base 401 is provided with a process hole 403 for convenient insertion of a wrench.

[0051] In the preferred embodiment, the toggle mechanism 3 also includes a base 301, on which a guide rail slider mechanism 302 and a screw mechanism 303 are provided, a sliding frame 304 is connected to the guide rail slider mechanism 302 and the screw mechanism 303, and a toggle motor 307 is also provided, and the shaft end of the toggle motor 307 is connected to the screw mechanism 303 to drive the sliding frame 304 to slide linearly.

[0052] In the preferred embodiment, a second reducer 5 is further provided. The structure of the second reducer 5 is the same as that of the first reducer 1 . The output shaft 103 of the second reducer 5 is provided with an output gear 105 . The side gear 102 of the second reducer 5 is connected to the output shaft 103 of the first reducer 1 .

[0053] If necessary, the third-stage, fourth-stage, etc. speed reduction mechanisms can be installed by continuing to assemble the transition frame 6 and the third coupling 7 to greatly increase the torque.

[0054] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A multi-input and large-output integrated speed reducer, characterized in that: The first reducer (1) comprises a first reducer (1), the first reducer (1) comprises a base frame (108), the base frame (108) is provided with a rotatable output shaft (103), a central gear (101) is sleeved on the output shaft (103), the central gear (101) and the output shaft (103) are sleeved, a plurality of side gears (102) are circumferentially provided on the outer side of the central gear (101), each side gear (102) is meshed with the central gear (101), and an input shaft (107) is further provided, the input shaft (107) is used to be connected to an input motor (201), and the side gears (102) are sleeved with the input shaft (107); The input motor (201) is detachable, and a transition device (2) is provided between the input shaft (107) and the input motor (201). The transition device (2) comprises a first rotating disk (204), a second rotating disk (205) and a third rotating disk (206). The first rotating disk (204) is connected to the input shaft (107), the third rotating disk (206) is connected to the shaft end of the input motor (201), the second rotating disk (205) is provided between the first rotating disk (204) and the third rotating disk (206), the second rotating disk (205) is connected to the third rotating disk (206), and the second rotating disk (205) is used to rub the end surface of the first rotating disk (204); The third rotating disk (206) is provided with a plurality of sliding rods (210) along the circumference, the first rotating disk (204) is provided with a plurality of positioning holes (219) along the circumference, the second rotating disk (205) is provided with a plurality of through holes along the circumference, each sliding rod (210) is slidably sleeved with the through hole of each second rotating disk (205), the end of each sliding rod (210) is inserted into or out of the positioning hole (219), the second rotating disk (205) is provided with a first friction disk (215) on the side close to the first rotating disk (204), the first rotating disk (204) is provided with a second friction disk (216) on the side close to the second rotating disk (205), and the second friction disk (216) rotates against the first friction disk (215).

2. The multi-input and large-output integrated reduction gear device according to claim 1 is characterized in that: The first friction disk (215) and the second friction disk (216) are provided with a plurality of magnetic blocks along the circumferential direction, the magnetic blocks comprising a first magnetic block (217) and a second magnetic block (218), the end faces of the first magnetic block (217) and the second magnetic block (218) having opposite polarities, and the first magnetic blocks (217) and the second magnetic blocks (218) being arranged alternately.

3. The multi-input and large-output integrated reduction gear device according to claim 2 is characterized in that: A turntable mechanism (4) is also provided, each transition device (2) is arranged outside the turntable mechanism (4), the turntable mechanism (4) comprises a rotatable turntable (402), a toggle mechanism (3) is provided on the turntable (402), the toggle mechanism (3) is provided with a sliding frame (304) that can slide up and down, and the sliding frame (304) clamps the outer edge of the third rotating disk (206).

4. The multi-input and large-output integrated reduction gear device according to claim 3 is characterized in that: A first spring plunger (305) and a second spring plunger (306) are provided on the sliding frame (304), and rollable balls are provided at the ends of the first spring plunger (305) and the second spring plunger (306). The first spring plunger (305) is provided on the first end surface of the third rotating disk (206), and the second spring plunger (306) is provided on the second end surface of the third rotating disk (206).

5. The multi-input and large-output integrated reduction gear device according to claim 1 is characterized in that: A magnetic ring (208) or a spring (209) is sleeved on the slide bar (210), and a plurality of magnetic rings (208) and a plurality of springs (209) are provided. The plurality of magnetic rings (208) and springs (209) are alternately arranged on each slide bar (210) along the circumferential direction.

6. The multi-input and large-output integrated reduction gear device according to claim 3 is characterized in that: The turntable mechanism (4) comprises a base (401), the base (401) is rotatably connected to the turntable (402), and is further provided with a reduction motor (404), the shaft end of the turntable (402) is connected to the reduction motor (404).

7. The multi-input and large-output integrated reduction gear device according to claim 3 is characterized in that: The toggle mechanism (3) further comprises a base (301), on which a guide rail slider mechanism (302) and a lead screw mechanism (303) are provided, a sliding frame (304) is connected to the guide rail slider mechanism (302) and the lead screw mechanism (303), and a toggle motor (307) is further provided, wherein the shaft end of the toggle motor (307) is connected to the lead screw mechanism (303) to drive the sliding frame (304) to slide linearly.

8. The multi-input and large-output integrated reduction gear device according to claim 1 is characterized in that: A second reducer (5) is also provided. The structure of the second reducer (5) is the same as that of the first reducer (1). An output shaft (103) of the second reducer (5) is provided with an output gear (105). The side gear (102) of the second reducer (5) is connected to the output shaft (103) of the first reducer (1).

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