Large extension ratio multi-stage transmission device and method of use

Abstract

The application discloses a large-stretching-ratio multi-stage transmission device and a use method, belongs to the field of unmanned servo control, and comprises a motor, a speed reduction unit, a supporting cylinder, a first guide cylinder, a second guide cylinder, a third guide cylinder, a first-stage lead screw assembly mechanism, a second-stage lead screw assembly mechanism, a third-stage lead screw assembly mechanism and a plurality of supporting flanges; the motor transmits power to the first-stage lead screw assembly mechanism through a planetary reducer and a gear reduction mechanism; multi-stage transmission is realized by using the principle of multi-stage combined transmission mechanism; each stage of the combined transmission device is composed of a ball screw, a ball spline and a gear mechanism; the ball screw is used for bearing load; the ball spline prevents rotation and transmits the torque of the next stage; and the gear mechanism realizes the functions of speed regulation and motion reversing. The ball screw, the ball spline and the gear mechanism are used to realize combined transmission, the related parts are mature, the ball screw and the ball spline are solid, the combined transmission device has large load bearing and good rigidity under the same volume, and is convenient for engineering application.

Description

Technical Field

[0001] This invention belongs to the field of unmanned servo control, specifically relating to a multi-stage transmission device with a large telescopic ratio and its usage method. Background Technology

[0002] Electric servo mechanisms, with their advantages of high precision and fast response, have been widely used in automotive servo control and UAV wing control. Due to space constraints, achieving small-volume, high-ratio transmission technology has become a key technology in servo transmission. Currently, multi-stage hollow screw structures are often used to achieve this, but limitations in the machining process and load-bearing capacity of thin-walled hollow screws result in high technical difficulty in product manufacturing, complex assembly, and low yield. Therefore, based on existing machining processes, innovating design principles and methods to achieve high-ratio multi-stage transmission technology has become a crucial technology. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a multi-stage transmission device with a large telescoping ratio and a method of use, so as to solve the problem that the multi-stage hollow screw structure in the prior art is limited by the processing technology and load-bearing capacity of thin-walled hollow screws, resulting in high technical difficulty in product processing, complex assembly and low yield.

[0004] To achieve the above objectives, the present invention employs the following technical solution:

[0005] A multi-stage transmission device with a large telescoping ratio includes: a motor, a reduction unit, a support cylinder, a first guide cylinder, a second guide cylinder, a third guide cylinder, a first-stage lead screw assembly mechanism, a second-stage lead screw assembly mechanism, a third-stage lead screw assembly mechanism, and several support flanges; the reduction unit and the support cylinder are both fixedly connected to the support flanges, and the support cylinder, the first guide cylinder, the second guide cylinder, and the third guide cylinder are respectively fixedly connected to the support flanges; the first-stage lead screw assembly mechanism is located inside the support cylinder, one end of which is connected to the reduction unit and simultaneously positioned and connected to the support flange, and the other end is sequentially connected to the second-stage lead screw assembly mechanism and the third-stage lead screw assembly mechanism, with support flanges provided between each of the first-stage, second-stage, and third-stage lead screw assembly mechanisms; the first guide cylinder is located outside the second-stage lead screw assembly mechanism, and the second guide cylinder is located outside the third-stage lead screw assembly mechanism;

[0006] The first-stage, second-stage, and third-stage lead screw assembly mechanisms all include a ball screw for bearing the load, a ball spline for preventing rotation and transmitting torque to the next stage, and a gear mechanism for speed regulation and motion reversal.

[0007] Preferably, the plurality of support flanges includes: a first support flange, a second support flange, a third support flange, and a fourth support flange; the first support flange is disposed between the reduction unit and the support cylinder, and the support cylinder is fixedly connected to the first support flange; the first-stage screw assembly mechanism is disposed inside the support cylinder, with one end positioned and connected to the first support flange and the other end positioned and connected to the second support flange; the second support flange is disposed between the first-stage screw assembly mechanism and the second-stage screw assembly mechanism, and the first guide cylinder is fixedly connected to the second support flange; one end of the second-stage screw assembly mechanism is positioned and connected to the second support flange, and the other end is positioned and connected to the third support flange; the third support flange is disposed between the second-stage screw assembly mechanism and the third-stage screw assembly mechanism, and the second guide cylinder is fixedly connected to the third support flange; one end of the third-stage screw assembly mechanism is positioned and connected to the third support flange, and the other end is positioned and connected to the fourth support flange, and the third guide cylinder is fixedly connected to the fourth support flange.

[0008] Preferably, the reduction unit includes: a planetary reducer, a motor gear, an intermediate large gear, an intermediate small gear, a main load-bearing large gear, and a main load-bearing small gear; the motor is connected to the motor gear through the planetary reducer, the motor gear meshes with the intermediate large gear, the intermediate large gear and the intermediate small gear are coaxial, the intermediate small gear meshes with the main load-bearing large gear, and the main load-bearing large gear and the main load-bearing small gear are coaxial; and the motor gear, the intermediate large gear, the intermediate small gear, and the main load-bearing large gear are all located on one side of the support flange, while the main load-bearing small gear is located on the other side of the support flange.

[0009] Preferably, a power failure brake is also provided between the motor and the planetary reducer.

[0010] Preferably, the primary ball screw assembly mechanism includes: a primary ball spline I, a primary ball screw I, a primary ball screw II, a primary ball spline II, a primary ball spline I end gear, a primary ball screw I end gear, a primary ball spline II end gear, a primary ball screw II end gear, a primary ball spline nut I gear, a primary ball screw nut I, a primary ball spline nut II gear, and a primary ball screw nut II; one end of the primary ball spline I and the primary ball spline II are positioned and connected to the support flange via ball spline support bearings, one end of the primary ball screw I and the primary ball screw II are respectively positioned and connected to the support flange via ball screw support bearings I and II, and the end gears of the primary ball screw I and the primary ball screw II are both secured by ball screw end locking screws. The nuts are locked to the first-stage ball screw I and the first-stage ball screw II respectively. The end gears of the first-stage ball spline I and the first-stage ball spline II are locked to the first-stage ball spline I and the first-stage ball spline II respectively through ball spline end locking nuts. The end gear of the first-stage ball spline I meshes with the end gear of the first-stage ball screw I, and the end gear of the first-stage ball spline II meshes with the end gear of the first-stage ball screw II. The other ends of the first-stage ball screw I and the first-stage ball screw II are connected to the support flanges respectively through the first-stage ball screw nut I and the first-stage ball screw nut II. The other ends of the first-stage ball spline I and the first-stage ball spline II are respectively provided with the first-stage ball spline nut I gear and the first-stage ball spline nut II gear, and the first-stage ball spline nut I gear and the first-stage ball spline nut II gear mesh with the second-stage ball screw assembly mechanism.

[0011] Preferably, the secondary ball screw assembly mechanism includes: a secondary ball screw I, a secondary ball spline I, a secondary ball spline II, a secondary ball screw II, a secondary ball screw I end gear, a secondary ball spline I end gear, a secondary ball screw shaft end gear II, a secondary ball spline end gear II, a secondary ball screw nut I, a secondary ball spline nut gear I, a secondary ball screw nut II, and a secondary ball spline nut gear II; the secondary ball screw I end gear and the secondary ball screw shaft end gear II are both locked to one end of the secondary ball screw I and the secondary ball screw II passing through the support flange by ball screw end locking nuts, and both the secondary ball screw I end gear and the secondary ball screw shaft end gear II mesh with the primary ball screw assembly mechanism. The two-stage ball spline I end gear and the two-stage ball spline II end gear are locked to the two-stage ball spline I and the two-stage ball spline II respectively through ball spline end locking nuts. The two-stage ball screw shaft end gear II meshes with the two-stage ball spline end gear II. The two-stage ball screw I end gear meshes with the two-stage ball spline I end gear. The other ends of the two-stage ball screw I and the two-stage ball spline II are connected to the support flange through the two-stage ball screw nut I and the two-stage ball screw nut II respectively. The other ends of the two-stage ball spline I and the two-stage ball spline II are respectively provided with two-stage ball spline nut gear I and two-stage ball spline nut gear II, and the two-stage ball spline nut gear I and the two-stage ball spline nut gear II mesh with the three-stage screw assembly mechanism.

[0012] Preferably, the three-stage ball screw assembly mechanism includes: a three-stage ball screw I, a three-stage ball screw II, a three-stage ball screw rod I, a three-stage ball screw rod II, a three-stage ball screw nut I, and a three-stage ball screw nut II; one end of the three-stage ball screw I and the three-stage ball screw II are respectively mounted on the support flange connected and driven by the two-stage ball screw assembly mechanism through the three-stage ball screw rod I and the three-stage ball screw rod II, and the three-stage ball screw rod I and the three-stage ball screw rod II are respectively engaged with the two-stage ball screw assembly mechanism, and the other end of the three-stage ball screw I and the three-stage ball screw II are respectively connected to the support flange through the three-stage ball screw nut I and the three-stage ball screw nut II.

[0013] Preferably, the first-stage lead screw assembly mechanism, the second-stage lead screw assembly mechanism, and the third-stage lead screw assembly mechanism all adopt two sets of transmission mechanisms with symmetrical design along the axis.

[0014] This application also discloses a method of using a multi-stage transmission device with a large telescoping ratio, including:

[0015] S1: The motor starts and transmits power to the reduction unit and the first-stage lead screw assembly mechanism in the support cylinder through the reduction unit;

[0016] S2: The first-stage screw assembly mechanism drives the first guide cylinder and the second-stage screw assembly mechanism, which are fixed on the support flange, to move linearly. At the same time, the first-stage screw assembly mechanism transmits power to the second-stage screw assembly mechanism.

[0017] S3: The secondary lead screw assembly mechanism drives the second guide cylinder and the tertiary lead screw assembly mechanism, which are fixed on the support flange, to perform linear motion. At the same time, the secondary lead screw assembly mechanism transmits power to the tertiary lead screw assembly mechanism.

[0018] S4: The three-stage lead screw assembly mechanism drives the third guide cylinder, which is fixed on the support flange, to move linearly.

[0019] Preferably, the plurality of supporting flanges includes: a first supporting flange, a second supporting flange, a third supporting flange, and a fourth supporting flange;

[0020] In S2, the primary screw assembly mechanism drives the first guide cylinder and the secondary screw assembly mechanism, which are fixed on the second support flange, to perform linear motion.

[0021] In S3, the secondary lead screw assembly mechanism drives the second guide cylinder and the tertiary lead screw assembly mechanism, which are fixed on the third support flange, to perform linear motion.

[0022] In S4, the three-stage lead screw assembly mechanism drives the third guide cylinder, which is fixed on the fourth support flange, to move linearly.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] This invention discloses a multi-stage transmission device with a large telescoping ratio, comprising: a motor, a reduction unit, a support cylinder, a first guide cylinder, a second guide cylinder, a third guide cylinder, a first-stage lead screw assembly mechanism, a second-stage lead screw assembly mechanism, a third-stage lead screw assembly mechanism, and several support flanges. The motor transmits power to the first-stage lead screw assembly mechanism through a planetary reducer and a gear reduction mechanism, and then uses the transmission principle of a multi-stage combined transmission mechanism to achieve multi-stage transmission. Each stage of this combined transmission device consists of a ball screw, a ball spline, and a gear mechanism. The ball screw bears the load, the ball spline prevents rotation and transmits torque to the next stage, and the gear mechanism realizes speed regulation and motion reversal functions. This invention uses ball screws, ball splines, and gear mechanisms to achieve combined transmission. The processing technology of the components involved is mature. The ball screw and ball spline are solid components. Under the same volume, this combined transmission device has a large load-bearing capacity, good rigidity, and is easy to implement in engineering applications.

[0025] Furthermore, a power-off brake is installed between the motor and the planetary reducer. During operation, the motor transmits power to the reduction mechanism via the power-off brake, and the reduction mechanism transmits power to the multi-stage lead screw assembly, thus converting the motor's rotational motion into the linear reciprocating motion of the multi-stage lead screw pair. In the event of a power outage, the power-off brake self-locks, achieving self-locking of the multi-stage transmission mechanism.

[0026] Furthermore, the first-stage, second-stage, and third-stage lead screw assembly mechanisms all employ two sets of transmission mechanisms designed symmetrically along the axis to ensure uniform force distribution on the lead screw during transmission and to avoid bending loads. Attached Figure Description

[0027] Figure 1 This is a front view of the structure of the present invention;

[0028] Figure 2 This is a cross-sectional view of the extended state of the multi-stage transmission device structure of the present invention;

[0029] Figure 3 This is a front view showing the internal structure hidden behind the outer shell;

[0030] Figure 4 for Figure 3 View the view along direction E;

[0031] Figure 5 for Figure 3 View AA section view;

[0032] Figure 6 for Figure 3 View BB section view;

[0033] Figure 7 for Figure 3 View: CC plane section view;

[0034] Figure 8 for Figure 3 View DD section view;

[0035] Figure 9 View of the ball spline component;

[0036] Figure 10 This is a view of the ball screw component.

[0037] Wherein: 1-lower support ear; 2-gearbox; 3-first support flange; 4-support cylinder; 5-first guide cylinder; 6-second guide cylinder; 7-third guide cylinder; 8-upper support ear; 9-motor; 10-planetary reducer; 11-second support flange; 12-third support flange; 13-fourth support flange; 14-first stage ball spline I; 15-first stage ball screw I; 16-first stage ball screw II; 17-first stage ball spline II; 18-second stage ball screw II; 19-Secondary ball spline I; 20-Secondary ball spline II; 21-Secondary ball screw II; 22-Third-stage ball screw I; 23-Third-stage ball screw II; 24-Motor gear; 25-Intermediate large gear; 26-Intermediate small gear; 27-Main load-bearing large gear; 28-Main load-bearing small gear; 29-End gear of primary ball spline I; 30-End gear of primary ball screw I; 31-End gear of primary ball spline II; 32 - First-stage ball screw II end gear; 33 - First-stage ball spline nut I gear; 34 - Second-stage ball screw I end gear; 35 - Second-stage ball spline I end gear; 36 - First-stage ball screw nut I; 37 - First-stage ball spline nut II gear; 38 - Second-stage ball screw shaft end gear II; 39 - Second-stage ball spline end gear II; 40 - First-stage ball screw nut II; 41 - Second-stage ball screw nut I; 42 - Second-stage ball screw... 43-Ball spline nut gear I; 44-Third-stage ball screw I; 45-Second-stage ball screw nut II; 46-Second-stage ball spline nut gear II; 47-Third-stage ball screw nut I; 48-Third-stage ball screw nut II; 49-Ball spline end lock nut; 50-Ball spline support bearing; 51-Ball screw end lock nut; 52-Ball screw support bearing I; 53-Ball screw support bearing II. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] The present invention will now be described in further detail with reference to the accompanying drawings:

[0041] The technical problem to be solved by this invention is:

[0042] 1) Multi-stage transmission is achieved by utilizing the transmission principle of a multi-stage combined transmission mechanism. Each stage of this combined transmission device consists of a ball screw, a ball spline, and a gear mechanism. The ball screw bears the load, the ball spline prevents rotation and transmits torque to the next stage, and the gear mechanism enables speed regulation and motion reversal.

[0043] 2) Each stage of transmission adopts a design method of two sets of transmission mechanisms symmetrically designed along the axis to ensure that the lead screw is subjected to uniform force during the transmission process and avoid bending load.

[0044] 3) The output speed of each stage is determined by the number of teeth of the ball spline nut gear of the previous stage and the end gear of the lead screw shaft of the next stage. If the output speed of each stage is required to be the same, the number of teeth of the ball spline nut gear of the previous stage and the number of teeth of the end gear of the lead screw shaft of the next stage are the same.

[0045] This invention discloses a multi-stage transmission device with a large telescoping ratio, comprising: a motor 9, a reduction unit, a support cylinder 4, a first guide cylinder 5, a second guide cylinder 6, a third guide cylinder 7, a first-stage lead screw assembly mechanism, a second-stage lead screw assembly mechanism, a third-stage lead screw assembly mechanism, and several support flanges; the reduction unit and the support cylinder 4 are both fixedly connected to the support flanges, and the support cylinder 4, the first guide cylinder 5, the second guide cylinder 6, and the third guide cylinder 7 are respectively fixedly connected to the support flanges; the first-stage lead screw assembly mechanism is disposed inside the support cylinder 4, one end of which is connected to the reduction unit and simultaneously positioned and connected to the support flange, and the other end is sequentially connected to the second-stage lead screw assembly mechanism and the third-stage lead screw assembly mechanism, and support flanges are provided between the first-stage lead screw assembly mechanism, the second-stage lead screw assembly mechanism, and the third-stage lead screw assembly mechanism; the first guide cylinder 5 is located outside the second-stage lead screw assembly mechanism, and the second guide cylinder 6 is located outside the third-stage lead screw assembly mechanism;

[0046] The first-stage, second-stage, and third-stage lead screw assembly mechanisms all include a ball screw for bearing the load, a ball spline for preventing rotation and transmitting torque to the next stage, and a gear mechanism for speed regulation and motion reversal.

[0047] like Figures 1-10As shown, the gearbox 2 is fastened to the first support flange 3 and the lower support lug 1 by screws; the support cylinder 4 is fastened to the first support flange 3 by screws; the first guide cylinder 5 is fastened to the second support flange 11 by screws; the second guide cylinder 6 is fixedly connected to the third support flange 12 by screws; the third guide cylinder 7 is fixedly connected to the fourth support flange 13 by screws; and the upper support lug 8 is fixedly connected to the third guide cylinder 7 by screws. The motor 9 transmits power to the motor gear 24 through the planetary reducer 10. The motor gear 24 transmits power to the intermediate large gear 25. The intermediate large gear 25 and the intermediate small gear 26 are coaxially fixedly connected. The intermediate small gear 26 transmits power to the main bearing large gear 27. The main bearing small gear 28 is coaxially fixedly connected to the main bearing large gear 27. The main bearing small gear 28 simultaneously transmits power to the end gear 30 of the first-stage ball screw I and the end gear 32 of the first-stage ball screw II. The end gear 30 of the first-stage ball screw I is locked to the first-stage ball screw I 15 by the ball screw end locking nut 51. The end gear 32 of the first-stage ball screw II is locked to the first-stage ball screw II 16 via the end lock nut 51. The end gear 30 of the first-stage ball screw I transmits power to the end gear 29 of the first-stage ball spline I. The end gear 32 of the first-stage ball screw II transmits power to the end gear 31 of the first-stage ball spline II. The end gear 29 of the first-stage ball spline I is locked to the first-stage ball spline I 14 via the end lock nut 49. The end gear 32 of the first-stage ball screw II is locked to the first-stage ball spline II 17 via the end lock nut 49. The first-stage ball screws I 15 and II 16 are positioned and connected to the first support flange 3 via ball screw support bearings I 52 and II 53. The first-stage ball spline I 14 and II 17 are positioned and connected to the first support flange 3 via two identical ball spline support bearings 50. Because the first-stage ball spline I 14 and first-stage ball spline II 17 rotate simultaneously in linear motion, the first-stage ball spline nut I gear 33 and the first-stage ball spline I end gear 29 rotate synchronously, and the first-stage ball spline nut II gear 37 and the first-stage ball spline II end gear 31 rotate synchronously. The second support flange reciprocates linearly under the combined action of the first-stage ball screw nut I 36 and the first-stage ball screw nut II 40. The first-stage ball spline I 14 and first-stage ball spline II 17 guide and prevent rotation during the linear reciprocating motion of the second support flange. The first-stage ball spline nut I gear 33 transmits power to the second-stage ball screw I end gear 34, driving the second-stage ball screw I 18 to rotate. The second-stage ball screw I end gear 34 transmits power to the second-stage ball spline I end gear 35, driving the second-stage ball spline I 19 to rotate.The first-stage ball spline nut II gear 37 transmits power to the second-stage ball screw shaft end gear II 38, driving the second-stage ball screw II 21 to rotate. The second-stage ball screw shaft end gear II 38 transmits power to the second-stage ball spline end gear II 39, driving the second-stage ball spline II 20 to rotate. Simultaneously with the rotation of the second-stage ball screws I 18 and II 21, the second-stage ball screw nuts I 41 and II 44, guided by the second-stage ball splines I 19 and II 20, drive the third support flange 12 in linear reciprocating motion. The second-stage ball spline nut gears I 142 and II 45 rotate while following the linear motion of the second-stage ball splines I 19 and II 20, respectively. The second-stage ball spline nut gear I 42 transmits power to the third-stage ball screw I 43, driving the third-stage ball screw I to rotate. The secondary ball spline nut gear II 45 transmits power to the tertiary ball screw II gear 46, driving the tertiary ball screw II to rotate. The tertiary ball screw nut I 47 and the tertiary ball screw nut II 48 drive the fourth support flange to reciprocate linearly.

[0048] The motor transmits power to the primary screw assembly mechanism via a planetary reducer 10 and a gear reduction mechanism. The primary screw assembly mechanism consists of two independent screw drive units, each consisting of a ball screw and a ball spline. The ball screw bears the axial load, and the ball spline prevents the screw nut from rotating with the screw shaft. During the movement of the ball screw, the screw nut supports the linear movement of the first support flange 3. Power is transmitted between the ball screw shaft and the ball spline shaft via gears of the same parameters, ensuring that the screw speed and the ball spline shaft speed are the same. The ball spline nut is fixedly connected to the primary flange. Because the ball spline can achieve both linear movement of the spline nut along the spline shaft and movement at the same speed as the ball spline shaft, when the motor moves, the ball spline nut can achieve both movement at the same speed as the screw shaft and linear movement along with the primary flange. The secondary screw assembly mechanism consists of two independent screws. A gear with the same parameters as the first-stage ball screw shaft is installed on the ball spline nut, and a gear with the same parameters is installed on the second-stage ball screw shaft. Through the meshing of the gears, the torque transmitted by the first-stage ball screw is transmitted to the second-stage ball screw through the ball spline nut. The second-stage ball screw drives the second-stage guide cylinder to move linearly through the ball screw nut.

[0049] Multi-stage transmission devices are primarily subjected to pressure and tension along the axis. Spherical plain bearings are mounted at both ends of the mechanism, with the bearing stress points all along the axis of the mechanism. If only one lead screw is designed for each stage, bending torque will occur because the lead screw cannot be positioned at the center of the transmission mechanism. To overcome this bending torque, two lead screws are designed for each stage, with their axes symmetrically arranged around the axis of the electric cylinder. The force on the multi-stage transmission mechanism is evenly distributed across the two lead screws, effectively avoiding bending torque.

[0050] A power-off brake is installed between the motor and the reducer. During operation, the motor transmits power to the reduction mechanism via the power-off brake, and the reduction mechanism transmits power to the multi-stage lead screw assembly, thus converting the motor's rotational motion into the linear reciprocating motion of the multi-stage lead screw pair. In the event of a power outage, the power-off brake self-locks, achieving self-locking of the multi-stage transmission mechanism.

[0051] In summary, current multi-stage transmission design technologies mostly employ multi-stage hollow screws. However, limitations in the hollow screw manufacturing and assembly processes result in high technical difficulty in product processing, complex assembly, and low yield. This invention utilizes ball screws, ball splines, and gear mechanisms to achieve combined transmission. The manufacturing processes for these components are mature, facilitating engineering applications. Because hollow screw assemblies are thin-walled structures, they suffer from low load-bearing capacity and poor rigidity. This invention employs two symmetrically distributed ball screw and ball spline combinations at each stage. Both the ball screws and ball splines are solid components, resulting in a combined transmission device with high load-bearing capacity and good rigidity within the same volume.

[0052] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A multi-stage transmission device with a large telescoping ratio, characterized in that, include: The motor (9), reduction unit, support cylinder (4), first guide cylinder (5), second guide cylinder (6), third guide cylinder (7), first-stage screw assembly mechanism, second-stage screw assembly mechanism, third-stage screw assembly mechanism and several support flanges; the reduction unit and support cylinder (4) are fixed to the support flanges, the support cylinder (4), first guide cylinder (5), second guide cylinder (6) and third guide cylinder (7) are fixed to the support flanges respectively, the first-stage screw assembly mechanism is set inside the support cylinder (4), one end is connected to the reduction unit and is also positioned and connected to the support flange, the other end is sequentially connected to the second-stage screw assembly mechanism and the third-stage screw assembly mechanism, and support flanges are provided between the first-stage screw assembly mechanism, the second-stage screw assembly mechanism and the third-stage screw assembly mechanism, the first guide cylinder (5) is located outside the second-stage screw assembly mechanism, and the second guide cylinder (6) is located outside the third-stage screw assembly mechanism; The first-stage, second-stage, and third-stage lead screw assembly mechanisms all include a ball screw for bearing the load, a ball spline for preventing rotation and transmitting the torque of the next stage, and a gear mechanism for speed regulation and motion reversal. The primary lead screw assembly mechanism includes: a primary ball spline nut I gear (33) and a primary ball spline nut II gear (37). The secondary ball screw assembly mechanism includes: secondary ball screw I (18), secondary ball spline I (19), secondary ball spline II (20), secondary ball screw II (21), secondary ball screw I end gear (34), secondary ball spline I end gear (35), secondary ball screw shaft end gear II (38), secondary ball spline end gear II (39), secondary ball spline nut gear I (42), and secondary ball spline nut gear II (45); The three-stage ball screw assembly mechanism includes: three-stage ball screw I (22), three-stage ball screw II (23), three-stage ball screw I (43), three-stage ball screw II (46), three-stage ball screw nut I (47), and three-stage ball screw nut II (48); one end of three-stage ball screw I (22) and three-stage ball screw II (23) are respectively set on the support flange connected and driven by the two-stage ball screw assembly mechanism through three-stage ball screw I (43) and three-stage ball screw II (46), and three-stage ball screw I (43) and three-stage ball screw II (46) are respectively engaged with the two-stage ball screw assembly mechanism; the other end of three-stage ball screw I (22) and three-stage ball screw II (23) are respectively connected to the support flange through three-stage ball screw nut I (47) and three-stage ball screw nut II (48); The first-stage ball spline nut I gear (33) transmits power to the end gear (34) of the second-stage ball screw I, causing the second-stage ball screw I (18) to rotate. The end gear (34) of the second-stage ball screw I transmits power to the end gear (35) of the second-stage ball spline I, causing the second-stage ball spline I (19) to rotate. The first-stage ball spline nut II gear (37) transmits power to the end gear II (38) of the second-stage ball screw shaft, causing the second-stage ball screw II (21) to rotate. The rotational motion is achieved by the end gear II (38) of the second-stage ball screw shaft transmitting power to the end gear II (39) of the second-stage ball spline, which in turn drives the second-stage ball spline II (20) to rotate; the second-stage ball spline nut gear I (42) transmits power to the third-stage ball screw I (43), which drives the third-stage ball screw I (22) to rotate; the second-stage ball spline nut gear II (45) transmits power to the third-stage ball screw II (46), which drives the third-stage ball screw II (23) to rotate.

2. The multi-stage transmission device with a large telescoping ratio according to claim 1, characterized in that, The plurality of support flanges include: a first support flange (3), a second support flange (11), a third support flange (12), and a fourth support flange (13); the first support flange (3) is disposed between the reduction unit and the support cylinder (4), and the support cylinder (4) is fixedly connected to the first support flange (3); the first-stage screw assembly mechanism is disposed inside the support cylinder (4), with one end positioned and connected to the first support flange (3), and the other end positioned and connected to the second support flange (11); the second support flange (11) is disposed between the first-stage screw assembly mechanism and the second-stage screw assembly mechanism. The first guide tube (5) is fixedly connected to the second support flange (11), one end of the secondary screw assembly mechanism is positioned and connected to the second support flange (11), and the other end is positioned and connected to the third support flange (12). The third support flange (12) is located between the secondary screw assembly mechanism and the tertiary screw assembly mechanism. The second guide tube (6) is fixedly connected to the third support flange (12), one end of the tertiary screw assembly mechanism is positioned and connected to the third support flange (12), and the other end is positioned and connected to the fourth support flange (13). The third guide tube (7) is fixedly connected to the fourth support flange (13).

3. The multi-stage transmission device with a large telescoping ratio according to claim 1, characterized in that, The reduction unit includes: a planetary reducer (10), a motor gear (24), a large intermediate gear (25), a small intermediate gear (26), a main load-bearing large gear (27), and a main load-bearing small gear (28); the motor (9) is connected to the motor gear (24) through the planetary reducer (10), the motor gear (24) meshes with the large intermediate gear (25), the large intermediate gear (25) is coaxial with the small intermediate gear (26), the small intermediate gear (26) meshes with the main load-bearing large gear (27), and the main load-bearing large gear (27) is coaxial with the main load-bearing small gear (28); and the motor gear (24), the large intermediate gear (25), the small intermediate gear (26), and the main load-bearing large gear (27) are all located on one side of the support flange, and the main load-bearing small gear (28) is located on the other side of the support flange.

4. The multi-stage transmission device with a large telescoping ratio according to claim 3, characterized in that, A power failure brake is also provided between the motor (9) and the planetary reducer (10).

5. The multi-stage transmission device with a large telescoping ratio according to claim 1, characterized in that, The primary ball screw assembly mechanism further includes: primary ball spline I (14), primary ball screw I (15), primary ball screw II (16), primary ball spline II (17), primary ball spline I end gear (29), primary ball screw I end gear (30), primary ball spline II end gear (31), primary ball screw II end gear (32), primary ball screw nut I (36), and primary ball screw nut II (40); primary ball spline I (14) and a primary ball screw nut II (40). One end of the first-stage ball spline II (17) is positioned and connected to the support flange via a ball spline support bearing (50). One end of the first-stage ball screw I (15) and the first-stage ball screw II (16) are positioned and connected to the support flange via ball screw support bearing I (52) and ball screw support bearing II (53), respectively. The end gears (30) of the first-stage ball screw I and the end gears (32) of the first-stage ball screw II are respectively connected to the first-stage ball screw I (15) and the first-stage ball screw II via ball screw end locking nuts (51). The first-stage ball screw II (16) is locked. The end gears (29) of the first-stage ball spline I and (31) of the first-stage ball spline II are locked to the first-stage ball spline I (14) and the first-stage ball spline II (17) respectively through the end lock nuts (49) of the ball spline. The end gear (29) of the first-stage ball spline I meshes with the end gear (30) of the first-stage ball screw I, and the end gear (31) of the first-stage ball spline II meshes with the end gear (32) of the first-stage ball screw I. (15) and the other end of the first-stage ball screw II (16) are connected to the support flange through the first-stage ball screw nut I (36) and the first-stage ball screw nut II (40) respectively. The other ends of the first-stage ball spline I (14) and the first-stage ball spline II (17) are respectively provided with the first-stage ball spline nut I gear (33) and the first-stage ball spline nut II gear (37), and the first-stage ball spline nut I gear (33) and the first-stage ball spline nut II gear (37) mesh with the second-stage screw assembly mechanism.

6. The multi-stage transmission device with a large telescoping ratio according to claim 1, characterized in that, The secondary ball screw assembly mechanism further includes: a secondary ball screw nut I (41) and a secondary ball screw nut II (44); the end gear (34) of the secondary ball screw I and the end gear (38) of the secondary ball screw shaft are locked to one end of the secondary ball screw I (18) and the secondary ball screw II (21) passing through the support flange by ball screw end locking nuts (51), and the end gear (34) of the secondary ball screw I and the end gear (38) of the secondary ball screw shaft are meshed with the primary ball screw assembly mechanism; the end gear (35) of the secondary ball spline I and the end gear (39) of the secondary ball spline I are locked to the secondary ball spline I (19) and the secondary ball spline II (21) by ball spline end locking nuts (49), respectively. 0) Locked, and the end gear II (38) of the secondary ball screw shaft meshes with the end gear II (39) of the secondary ball spline, the end gear I (34) of the secondary ball screw I meshes with the end gear I (35) of the secondary ball spline I, the other ends of the secondary ball screw I (18) and the secondary ball screw II (21) are respectively connected to the support flange through the secondary ball screw nut I (41) and the secondary ball screw nut II (44), the other ends of the secondary ball spline I (19) and the secondary ball spline II (20) are respectively provided with the secondary ball spline nut gear I (42) and the secondary ball spline nut gear II (45), and the secondary ball spline nut gear I (42) and the secondary ball spline nut gear II (45) mesh with the third-stage screw assembly mechanism.

7. A multi-stage transmission device with a large telescoping ratio according to claim 1, characterized in that, The primary, secondary, and tertiary lead screw assembly mechanisms all employ two sets of transmission mechanisms designed symmetrically along the axis.

8. The method of using a multi-stage transmission device with a large telescoping ratio according to any one of claims 1 to 7, characterized in that, include: S1: The motor (9) starts and transmits power to the first-stage screw assembly mechanism in the deceleration unit and support cylinder (4) through the deceleration unit; S2: The first-stage screw assembly mechanism drives the first guide cylinder (5) fixed on the support flange and the second-stage screw assembly mechanism to perform linear motion, while the first-stage screw assembly mechanism transmits power to the second-stage screw assembly mechanism. S3: The secondary screw assembly mechanism drives the second guide cylinder (6) fixed on the support flange and the tertiary screw assembly mechanism to perform linear motion, while the secondary screw assembly mechanism transmits power to the tertiary screw assembly mechanism. S4: The three-stage lead screw assembly mechanism drives the third guide cylinder (7) fixed on the support flange to perform linear motion.

9. The method of using a multi-stage transmission device with a large telescoping ratio according to claim 8, characterized in that, The plurality of supporting flanges include: a first supporting flange (3), a second supporting flange (11), a third supporting flange (12) and a fourth supporting flange (13); In S2, the first-stage screw assembly mechanism drives the first guide cylinder (5) fixed on the second support flange (11) and the second-stage screw assembly mechanism to perform linear motion; In S3, the secondary lead screw assembly mechanism drives the second guide cylinder (6) fixed on the third support flange (12) and the tertiary lead screw assembly mechanism to perform linear motion; In S4, the three-stage lead screw assembly mechanism drives the third guide cylinder (7) fixed on the fourth support flange (13) to perform linear motion.

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