A high-rigidity, large-load precision reduction closed-loop transmission device

Abstract

The present invention relates to a high-rigidity large-load precision reduction closed-loop transmission device, which includes a reducer mounting frame, a reducer housing, an electric power input unit, a manual power input unit, an input position detection unit, a planetary cycloid transmission unit, an output unit, and an output angle detection unit. The electric power input unit uses two servo motors, and transmits power to the transmission power input shaft of the planetary cycloid transmission unit through two-stage bevel gear meshing. The manual power input unit transmits power to the total power input shaft through a manual input shaft and a first-stage bevel gear meshing. The input position detection unit transmits power to the position sensor through a pair of meshing bevel gears. The output unit includes an output gear and an internal gear ring that mesh with each other, and the output gear is fixedly connected to the output disk of the planetary cycloid transmission unit. The output angle detection unit transmits the power of the output disk to the angle sensor through a pair of meshing spur gears and a pair of meshing bevel gears. This device realizes the monitoring of the angle and position states.

Description

Technical Field

[0001] The present invention belongs to the field of precision mechanical transmission, and particularly relates to a high-rigidity large-load precision reduction closed-loop transmission device. Background Art

[0002] As an important component in equipment, a speed reducer increases the output torque while reducing the speed, greatly improving the performance of mechanical equipment. During use, the torque-bearing capacity, stiffness, and manual function at its output end play a crucial role in the performance of the entire machine. At the same time, the angle and position status monitoring function is also becoming increasingly important for the precise striking ability of contemporary equipment. Developing a high-rigidity large-load speed reducer transmission device for equipment with angle and position status monitoring functions is a key technical issue in the current field of high-rigidity large-load precision drive control technology. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a high-rigidity large-load precision reduction closed-loop transmission device that can realize the detection of more and position devices.

[0004] The above object of the present invention is achieved by the following technical solutions:

[0005] A high-rigidity large-load precision reduction closed-loop transmission device, characterized in that it includes a speed reducer mounting frame, a speed reducer housing, an electric power input unit, a manual power input unit, an input position detection unit, a planetary cycloid transmission unit, an output unit, and an output angle detection unit;

[0006] The electric power input unit includes a first servo motor and a second servo motor arranged coaxially and oppositely. The output ends of the two servo motors are respectively fixedly installed with a first bevel gear and a second bevel gear. The first bevel gear and the second bevel gear are jointly meshed with a third bevel gear. The third bevel gear is fixed on the total power input shaft, and the total power input shaft is supported by two bearings at both ends in the speed reducer housing;

[0007] The manual power input unit includes a manual input shaft, which is rotatably supported on the speed reducer housing; the outer end of the manual input shaft extends out of the speed reducer housing for connecting a handle; the inner end of the manual input shaft is fixedly installed with a fourth bevel gear, and the fourth bevel gear meshes with a fifth bevel gear fixed on the total power input shaft;

[0008] The input position detection unit includes an input end detection shaft, which is rotatably supported on the speed reducer housing. A position sensor is installed at the outer end of the input end detection shaft, and a sixth bevel gear is fixedly installed at the inner end of the input end detection shaft. The sixth bevel gear meshes with a seventh bevel gear fixed on the total power input shaft;

[0009] The housing of the planetary cycloid drive unit is a pin gear housing, with a drive power input shaft provided at one end and a power output disk provided at the other end; the drive power input shaft is drivingly connected to the total power input shaft through the meshing of an eighth bevel gear and a ninth bevel gear, and the power of the total power input shaft is input into the planetary cycloid drive unit.

[0010] The output unit includes an output gear and an internal gear ring. The output gear is fixedly installed at the outer end of the power output disk of the planetary cycloid drive unit, and the internal gear ring is fixedly installed on the reducer installation frame. The internal gear ring meshes with the output gear, causing the entire transmission device to revolve around the set central axis on the reducer installation frame.

[0011] The output angle detection unit includes a first detection gear, a second detection gear, a third detection gear, and a fourth detection gear for detection. The first detection gear and the second detection gear for detection are cylindrical gears, and the third detection gear and the fourth detection gear for detection are bevel gears; the first detection gear for detection has a hollow gear shaft structure, which is rotationally supported outside the drive power input shaft and is coaxially fixedly connected to the planet carrier of the planetary cycloid drive unit; the first detection gear for detection meshes with the second detection gear for detection, the second detection gear for detection and the third detection gear for detection are fixedly installed on the detection drive shaft, the detection drive shaft is supported on the reducer housing through bearings, the third detection gear for detection meshes with the fourth detection gear for detection, and an angle sensor is installed at the outer end of the fourth detection gear for detection.

[0012] Furthermore: The transmission components inside the planetary cycloid drive unit mainly include a sun gear, three planet gears, three crank shafts, a planet carrier, two cycloid wheels relatively eccentrically installed on the three crank shafts, a pin gear housing meshing with the two cycloid wheels through pin teeth, and an output disk; the three planet gears are respectively installed at the ends of the three crank shafts, and both ends of the three crank shafts are rotationally supported on the planet carrier and the power output disk, and the planet carrier is coaxially fixedly connected to the power output disk.

[0013] Furthermore: Both the position sensor and the angle sensor adopt high-precision angle encoders.

[0014] The advantages and positive effects of the present invention are:

[0015] This transmission device adopts a three-stage transmission method: bevel gear transmission (the first stage) + planetary transmission (the second stage) + cycloid drive (the third stage). By fully drawing on the transmission characteristics of bevel gear transmission, planetary transmission, and cycloid drive with few teeth differences, it realizes closed-loop high-precision motion transmission. At the same time, considering the characteristics of multi-tooth contact of cycloid drive, the cycloid drive is placed at the end of the reduction system to meet the performance requirements of large load-bearing capacity of the reducer. This transmission device introduces angle and position sensors to realize the monitoring function of its angle and position states. By adding a manual power input unit, it can normally operate the reducer when the driving motor of the reducer is damaged or powered off, greatly improving its safety performance. Description of the Drawings

[0016] Figure 1 It is the transmission principle diagram of the planetary cycloid drive unit, output unit, and output angle detection unit of the present invention;

[0017] Figure 2 It is the transmission principle diagram of the electric power input unit, manual power input unit, and input position detection unit of the present invention;

[0018] Figure 3 It is the external view schematic diagram of the present invention (the reducer installation frame and internal gear ring are omitted). Detailed Embodiment

[0019] The structure of the present invention will be further described below in conjunction with the drawings and through embodiments. It should be noted that this embodiment is narrative rather than restrictive.

[0020] A high-rigidity large-load precision reduction closed-loop transmission device, please refer to Figures 1-3 , and its inventive points are: reducer installation frame 9, reducer housing 2, electric power input unit, manual (service) power input unit, input position detection unit, planetary cycloid drive unit, output unit, output angle detection unit.

[0021] The electric power input unit includes a first servo motor 23 and a second servo motor 33 arranged coaxially and oppositely. The output end of the first servo motor is fixedly installed with a first bevel gear 35, and the output end of the second servo motor is fixedly installed with a second bevel gear 32. The first bevel gear and the second bevel gear are jointly meshed with a third bevel gear 34. The third bevel gear is fixed on the total power input shaft 8. The total power input shaft is supported by two bearings at both ends in the reducer housing to realize the input of electric power. This solution uses two servo motors to achieve high-power input.

[0022] The manual (service) power input unit includes a manual input shaft 26 rotatably supported on the reducer housing. The outer end of the manual input shaft extends out of the reducer housing and is used to connect the handle 25. A fourth bevel gear 24 is fixedly installed at the inner end of the manual input shaft. The fourth bevel gear meshes with a fifth bevel gear 31 fixed on the total power input shaft to achieve the input of manual power.

[0023] The input position detection unit includes an input end detection shaft 29 rotatably supported on the reducer housing. A position sensor 30 is installed at the outer end of the input end detection shaft. The position sensor uses a high-precision angle encoder with an accuracy of up to 0.02°. A sixth bevel gear 28 is fixedly installed at the inner end of the input end detection shaft. The sixth bevel gear meshes with a seventh bevel gear 27 fixed on the total power input shaft. The number of teeth of the sixth bevel gear and the seventh bevel gear is equal. The input position detection unit is used to detect the input rotation angle of the motor to achieve the detection of the input position.

[0024] The planetary cycloid drive unit, that is, the RV reducer, has a housing of a pin gear housing. A drive power input shaft is provided at one end, and a power output disk is provided at the other end. The drive power input shaft is drivingly connected to the total power input shaft through a pair of meshing bevel gears (respectively, an eighth bevel gear 6 installed on the total power input shaft and a ninth bevel gear 5 installed on the drive power input shaft) to input the power of the total power input shaft into the planetary cycloid drive unit.

[0025] The transmission parts inside the planetary cycloid drive unit mainly include a sun gear 4, three planetary gears 18, three crank shafts 16, a planetary carrier 17, two cycloid wheels 14 relatively eccentrically installed on the three crank shafts, a pin gear housing 15 meshing with the two cycloid wheels through pin gear pins, and an output disk 13. The three planetary gears are respectively installed at the ends of the three crank shafts. The two ends of the three crank shafts are rotatably supported on the planetary carrier and the power output disk. The planetary carrier is coaxially and fixedly connected to the power output disk to achieve the output of rotation and torque.

[0026] The output unit includes an output gear 11 and an internal gear ring 12. The output gear is a cylindrical gear. The output gear is fixedly installed at the outer end of the power output disk of the planetary cycloid drive unit. The internal gear ring is fixedly installed on the reducer mounting frame. The internal gear ring meshes with the output gear, so that the whole transmission device revolves around the set central axis 10 on the reducer mounting frame, thereby realizing the adjustment of the rotation angle of the actuator fixedly installed on the transmission device.

[0027] The output angle detection unit includes a first detection gear 7, a second detection gear 19, a third detection gear 3, and a fourth detection gear 1. The first and second detection gears are cylindrical gears, and the third and fourth detection gears are bevel gears. The first detection gear has a hollow gear shaft structure, is rotationally supported outside the transmission power input shaft, and is coaxially and fixedly connected to the planet carrier. The first detection gear meshes with the second detection gear. The second detection gear and the third detection gear are fixedly installed on a detection transmission shaft 20. The detection transmission shaft is supported on the reducer housing through bearings. The third detection gear meshes with the fourth detection gear. An angle sensor 21 is installed at the outer end of the fourth detection gear through a shaft 22. The angle sensor uses a high-precision angle encoder with an accuracy of up to 0.02°. Since the planet carrier and the output disk of this reducer are coaxially and rigidly connected, the rotation angle of the output end can be monitored by monitoring the rotation angle of the planet carrier.

[0028] This transmission device adopts a three-stage transmission method: bevel gear transmission (first stage) + planetary transmission (second stage) + cycloid drive (third stage). This transmission device fully draws on the transmission characteristics of bevel gear transmission, planetary transmission, and cycloid drive with few teeth differences to achieve closed-loop high-precision motion transmission. At the same time, considering the characteristics of multi-tooth contact of cycloid drive, the cycloid drive is placed at the end of the reduction system to meet the performance requirements of high load-bearing of the reducer. This solution cleverly uses the bevel gear transmission method, arranges four transmission chains in a reducer, and realizes the requirements of different transmission ratios for the measurement position transmitter, angle limiter, electric drive, and service in this reducer.

[0029] The speed ratios of the four transmission chains are:

[0030]

[0031]

[0032]

[0033]

[0034] Among them:

[0035] The working principle of this high-rigidity and large-load precision reduction closed-loop transmission device is as follows:

[0036] The first servo motor M1 and the second servo motor M2 transfer motion and power to the total power input shaft through the meshing of the first bevel gear Z12, the second bevel gear Z12 and the third bevel gear Z10, drive the planetary cycloid transmission unit (RV reducer housing) through the meshing of the eighth bevel gear Z17 and the ninth bevel gear Z18, and finally drive the load through the meshing of the output gear mounted on the power output disk and the internal gear ring.

[0037] The angle sensor monitors the angle at the output end of the RV reducer housing (assembly) by detecting the meshing of the fourth gear Z4 for detection with the third gear Z3 for detection and the meshing of the first gear Z15 for detection and the second gear Z16 for detection mounted on the planet carrier.

[0038] The position sensor monitors the angular position at the input end of the motor through the meshing of the seventh bevel gear Z11 and the sixth bevel gear Z14.

[0039] When the first servo motor M1 and the second servo motor M2 are damaged or lose power, the manual input shaft can be operated to drive the total power input shaft through the meshing of the fourth bevel gear Z13 and the fifth bevel gear Z9, thereby realizing the function of manually driving the reducer.

[0040] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art can understand that various substitutions, changes and modifications are possible without departing from the spirit of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the content disclosed in the embodiments and drawings.

Claims

1. A high-rigidity and large-load precision reduction closed-loop transmission device, characterized in that: It includes a reducer mounting frame, a reducer housing, an electric power input unit, a manual power input unit, an input position detection unit, a planetary cycloid drive unit, an output unit, and an output angle detection unit; The electric power input unit includes a first servo motor and a second servo motor arranged coaxially and oppositely. The output ends of the two servo motors are respectively fixedly installed with a first bevel gear and a second bevel gear. The first bevel gear and the second bevel gear jointly mesh and connect with a third bevel gear. The third bevel gear is fixed on the total power input shaft. The total power input shaft is supported in the reducer housing by bearings at both ends; The manual power input unit includes a manual input shaft which is rotatably supported on the reducer housing; the outer end of the manual input shaft extends out of the reducer housing for connecting a handle; the inner end of the manual input shaft is fixedly installed with a fourth bevel gear which meshes with a fifth bevel gear fixed on the total power input shaft; The input position detection unit includes an input end detection shaft which is rotatably supported on the reducer housing. A position sensor is installed at the outer end of the input end detection shaft. A sixth bevel gear is fixedly installed at the inner end of the input end detection shaft. The sixth bevel gear meshes with a seventh bevel gear fixed on the total power input shaft; The housing of the planetary cycloid drive unit is a pin gear housing. One end is provided with a transmission power input shaft, and the other end is provided with a power output disk; the transmission power input shaft is drivingly connected with the total power input shaft through an engaged eighth bevel gear and a ninth bevel gear to input the power of the total power input shaft into the planetary cycloid drive unit; The output unit includes an output gear and an internal gear ring. The output gear is fixedly installed at the outer end of the power output disk of the planetary cycloid drive unit. The internal gear ring is fixedly installed on the reducer mounting frame. The internal gear ring meshes with the output gear, enabling the whole transmission device to revolve around a set central axis on the reducer mounting frame; The output angle detection unit includes a first detection gear, a second detection gear, a third detection gear, and a fourth detection gear. The first detection gear and the second detection gear are cylindrical gears, and the third detection gear and the fourth detection gear are bevel gears; the first detection gear is a hollow gear shaft structure which is rotatably supported outside the transmission power input shaft and is coaxially fixedly connected with the planet carrier of the planetary cycloid drive unit; the first detection gear meshes with the second detection gear. The second detection gear and the third detection gear are fixedly installed on a detection transmission shaft. The detection transmission shaft is supported in the reducer housing by bearings. The third detection gear meshes with the fourth detection gear. An angle sensor is installed at the outer end of the fourth detection gear.

2. The high-rigidity large-load precision reduction closed-loop transmission device according to claim 1, wherein: The transmission parts inside the planetary cycloid drive unit include a sun gear, three planet gears, three crank shafts, a planet carrier, two cycloid wheels relatively eccentrically installed on the three crank shafts, a pin gear housing meshing with the two cycloid wheels through pin teeth, and an output disk; the three planet gears are respectively installed at the ends of the three crank shafts. The two ends of the three crank shafts are rotatably supported on the planet carrier and the power output disk. The planet carrier is coaxially fixedly connected with the power output disk.

3. The high-rigidity large-load precision reduction closed-loop transmission device according to claim 1, characterized in that: Both the position sensor and the angle sensor adopt high-precision angle encoders.

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