A cycloidal rope wheel transmission

Abstract

The present application relates to a kind of cycloidal rope gear, at least including rope wheel, cycloidal gear, eccentric shaft and power output assembly, rope wheel includes rope wheel frame and is constituted by the rope in the rope wheel frame at least one rope wheel frame hole several first gear teeth associated with each other, in the case where rope wheel and cycloidal gear sleeve, several second gear teeth of cycloidal gear and first gear tooth are engaged with each other, cycloidal gear and eccentric shaft are rotatably connected by at least one bearing, cycloidal gear is connected with power output assembly to realize the transmission of power, wherein, in the case where rope wheel does not rotate and eccentric shaft rotates, the first action force applied to first gear tooth by second gear tooth is borne by at least one first gear tooth associated with first gear tooth by rope and not engaged with the second gear tooth of force in the form of partial force.The rope of the present application on the rope wheel frame is in contact with each other by knotting, increases the rigidity and flexibility of rope wheel in the direction perpendicular to the motion plane of transmission device, so as to further improve the impact resistance of transmission device.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and in particular to a cycloidal rope wheel transmission device, especially a cycloidal rope wheel transmission device. Background Technology

[0002] With the development of the times and the progress of science and technology, aerospace equipment, robots, drones, and weaponry are increasingly moving towards lightweight, high precision, high stability, impact resistance, and ease of control. The lightweight, high precision, high stability, impact resistance, and ease of control of essential core components such as mechanical transmission speed change devices (acceleration and deceleration devices) are a major trend for future development. Currently, commonly used mechanical transmission speed change devices in these fields include involute gear drives, cycloidal pinwheel drives, chain and belt drives, harmonic gear drives, and flexible cable drives. These devices can achieve high precision, high efficiency, and stable transmission, but they also have shortcomings. Generally speaking, the first two types are high-precision, high-rigidity transmission devices, but improvements are needed in lightweighting, flexibility, and impact resistance. Chain and belt drives have relatively poor precision control and impact resistance. Harmonic drives need to improve their wear resistance, rigidity, and impact resistance. Flexible cable drives, due to the fixed connection between the flexible cable and the driven component, restrict the full rotation, and their impact resistance also needs further improvement.

[0003] For example, patent CN115066570A discloses a cycloidal tooth transmission mechanism, including a single-stage cycloidal tooth transmission unit composed of a root-cutting cycloidal wheel (1), a live tooth (2), and a live gear (3); a multi-stage closed cycloidal tooth transmission unit composed of multiple single-stage cycloidal tooth transmission units; and a multi-stage nested closed cycloidal tooth transmission unit composed of multiple single-stage cycloidal tooth transmission units. With the single-stage cycloidal tooth transmission unit as the core, the cycloidal tooth transmission meshing pair in the cycloidal tooth transmission mechanism is composed of the live tooth (2) and the cycloidal raceway (1001) or the live tooth groove (3001); the tooth profile surface of the cycloidal raceway (1001) is a cycloidal tooth profile with unilateral root-cutting characteristics. However, this cycloidal tooth transmission mechanism is clearly a rigid structure, and still has shortcomings in terms of lightweighting, flexibility, and impact resistance.

[0004] Therefore, there is an urgent need to explore new transmission mechanisms that are lightweight, flexible, high-precision, and shock-resistant.

[0005] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a cycloidal rope pulley transmission device, comprising at least a rope pulley and a cycloidal pulley. The rope pulley includes a pulley frame and a plurality of first teeth associated with each other, formed by a rope passing through at least one hole in the pulley frame. When the rope pulley and the cycloidal pulley are fitted together, a plurality of second teeth of the cycloidal pulley mesh with the first teeth. When the rope pulley is not rotating and the cycloidal pulley has a tendency to rotate, a first force applied by the second teeth to the first teeth is borne by at least one first tooth that is associated with the first teeth via the rope but does not mesh with the second teeth applying the force, in a component-force manner.

[0007] Preferably, the transmission device further includes an eccentric shaft and a power output assembly. The cycloidal wheel is rotatably connected to the eccentric shaft via at least one bearing. The cycloidal wheel is connected to the power output assembly to realize power transmission. When the rope wheel is not rotating and the cycloidal wheel has a rotational tendency, a second force applied by the first gear tooth to the second gear tooth causes the cycloidal wheel to transmit force and / or motion by engaging with the power output assembly through the cycloidal wheel output hole.

[0008] To address the shortcomings of existing technologies, this invention provides a cycloidal rope pulley transmission device, comprising at least a rope pulley, a cycloidal wheel, an eccentric shaft, and a power output assembly. The rope pulley includes a rope pulley frame and a plurality of first gear teeth interconnected by a rope passing through at least one hole in the rope pulley frame. When the rope pulley and the cycloidal wheel are fitted together, a plurality of second gear teeth of the cycloidal wheel mesh with the first gear teeth. The cycloidal wheel and the eccentric shaft are rotatably connected via at least one bearing. The cycloidal wheel is connected to the power output assembly to transmit power. When the rope pulley is not rotating and the eccentric shaft is rotating, the first force applied by the second gear teeth to the first gear teeth is borne by at least one first gear tooth that is associated with the first gear teeth via the rope but does not mesh with the second gear teeth applying the force, in a component-force manner.

[0009] Among existing technologies such as involute gear drives, cycloidal pinwheel drives, chain and belt drives, harmonic gear drives, and flexible cable drives, involute gear drives and cycloidal pinwheel drives require improvement in terms of lightweighting, flexibility, and impact resistance. Chain and belt drives have relatively poor precision control and impact resistance. Harmonic drives need to improve their wear resistance, rigidity, and impact resistance. Flexible cable drives, due to the fixed connection between the flexible cable and the driven component, restrict their full rotation, and their impact resistance also needs further improvement. To address the shortcomings of these transmission devices, a lightweight, flexible, high-precision, and impact-resistant rope pulley is made using a rope with rigid-flexible coupling. This rope pulley meshes with a cycloidal wheel to form a transmission device. This device not only achieves the same motion as a cycloidal pinwheel drive but also offers lightweighting, agility, high precision, and impact resistance.

[0010] Preferably, when the rope wheel is not rotating and the eccentric shaft is rotating, the second force applied from the first gear tooth to the second gear tooth causes the cycloidal wheel to transmit force and / or motion by engaging with the power output assembly through the cycloidal wheel output hole. The cycloidal wheel deflects due to the interaction force between the cycloidal wheel and the rope. When the rope wheel is fixed, the accuracy of the transmission device mainly depends on the accuracy of the rigid eccentric shaft 3 and the cycloidal wheel 2. The rotation of the eccentric shaft 3 drives the cycloidal wheel 2 to rotate. After the cycloidal wheel 2 engages with the rope wheel 1, it then engages with the output shaft 42 of the output wheel, ultimately transmitting the motion to the output wheel 4, ensuring high transmission accuracy.

[0011] Preferably, the power output assembly includes at least an output wheel coaxially arranged with the rope pulley about a first axis, and the output wheel rotates under the drive of the cycloidal pulley.

[0012] Preferably, several segments of the rope between at least two of the sheave frames are arranged in a manner that is radially perpendicular to and parallel to each other, such that the several segments of the rope constitute a plurality of first gear teeth. Since the gear teeth on the sheave are connected by the rope, when a single second gear tooth of the cycloidal sheave meshes with a single first gear tooth of the sheave, the force exerted by the second gear tooth on the meshing first gear tooth is partly borne by the first gear tooth and partly shared by the non-meshing first gear teeth of the same rope. Therefore, this is greater than the load-bearing capacity of a single pin tooth of a cycloidal pinwheel transmission device, which can only bear the load of a single meshing cycloidal sheave tooth.

[0013] Preferably, the ropes on the rope sheave frame are arranged in a hinged manner, and the several first sheave teeth form a force transmission between each other based on the hinged connection, which is beneficial to the bending fatigue strength and impact resistance of the rope.

[0014] Preferably, the first gear tooth is fitted with at least one sleeve in a manner that prevents relative movement with respect to the rope body. When the sleeve is provided, the rope body and the at least one sleeve are combined to form the first gear tooth.

[0015] Preferably, a shock-absorbing component is provided between the first gear tooth and the sleeve to increase the bending fatigue strength and impact resistance of the rope.

[0016] Vibration damping components are made of damping materials. Preferred damping components include elastic damping particles, damping blocks that match the shape of the rope, damping strips, damping cylinders, etc. Damping materials, for example, are elastic damping rubber.

[0017] The first gear has a sleeve and elastic shock-absorbing components attached to the rope. The rope teeth of the rigid-flexible coupling have a certain degree of elasticity and toughness, which reduces the rigid impact and vibration when the rigid cycloidal wheel meshes with the rigid-flexible rope wheel teeth, and improves the compliance of the entire transmission device and its impact resistance in the direction parallel to the plane of motion of the device.

[0018] Preferably, the rope passes through the pulley frame hole in a cross-hole hinge manner and forms a first tooth between the two pulley frames.

[0019] The present invention also provides a cycloidal rope pulley transmission device, comprising at least a rope pulley, a cycloidal pulley, an eccentric shaft, and an output pulley. When the rope pulley and the cycloidal pulley are sleeved together, a plurality of second teeth of the cycloidal pulley mesh with first teeth. The cycloidal pulley and the eccentric shaft are rotatably connected via at least one bearing. The cycloidal pulley is connected to the output pulley to realize power transmission. When the rope pulley is not rotating and the eccentric shaft is rotating, the first force applied by the second teeth to the first teeth is borne by at least one first tooth that is associated with the first teeth via the rope and does not mesh with the second teeth applying the force, in a component force manner.

[0020] Preferably, the present invention also provides a cycloidal rope pulley drive device, comprising at least a rope and at least two pulley frames, wherein the rope passes through at least one pulley frame hole on the pulley frame to form a plurality of first gear teeth associated with each other, the rope on the pulley frame is arranged in a mutually hinged manner, and the plurality of first gear teeth form a force transmission between each other based on the mutually hinged connection.

[0021] Preferably, several segments of the rope between at least two of the sheave frames are arranged in a manner that is radially perpendicular to and parallel to each other, such that the several segments of the rope constitute a plurality of the first gear teeth.

[0022] In the rope wheel of the present invention, since the first gear tooth on the rope wheel is connected by the rope, when a single second gear tooth of the cycloidal wheel meshes with a single first gear tooth of the rope wheel, part of the force exerted by the second gear tooth on the meshing rope wheel tooth is borne by the first gear tooth, and the other part is shared by the non-meshing first gear teeth of the same rope. Therefore, the first gear tooth of the rope wheel of the present invention has a greater load-bearing capacity than a single needle tooth of the cycloidal pinwheel transmission device, which can only bear the load of a single meshing cycloidal wheel tooth. Attached Figure Description

[0023] Figure 1 This is a simplified structural diagram of a rope pulley according to a preferred embodiment of the present invention;

[0024] Figure 2 This is a simplified structural diagram of a rope pulley filled with a composite sleeve, according to a preferred embodiment of the present invention.

[0025] Figure 3 This is a schematic diagram of the transmission principle of the transmission device provided by the present invention;

[0026] Figure 4 This is a simplified structural diagram of the transmission device according to a preferred embodiment of the present invention from another angle;

[0027] Figure 5 This is a simplified structural diagram of the output wheel of a transmission device according to a preferred embodiment of the present invention.

[0028] List of reference numerals

[0029] 1: Rope pulley; 11: Rope; 12: Rope pulley frame; 13: Rope pulley frame hole; 14: First gear tooth; 141: Sleeve; 142: Vibration damping component; 143: Sleeve fixing screw; 2: Cycloidal wheel; 21: Second gear tooth; 22: Cycloidal wheel input hole; 23: Cycloidal wheel output hole; 3: Eccentric shaft; 4: Output wheel; 41: Output wheel input shaft; 42: Output wheel output shaft; 5: Bearing. Detailed Implementation

[0030] The following is a detailed explanation with reference to the accompanying drawings.

[0031] Among the existing technologies of involute gear transmission devices, cycloidal pinwheel transmission devices, chain and belt transmission devices, harmonic gear transmission devices, and flexible cable transmission devices, involute gear transmission devices and cycloidal pinwheel transmission devices still need improvement in terms of lightweighting, flexibility, and impact resistance. Chain and belt transmission devices have relatively poor precision control and impact resistance. The wear resistance, rigidity, and impact resistance of harmonic transmission devices need to be improved. The impact resistance of flexible cable transmission devices also needs to be further improved because the flexible cable is fixed to the driven member, which restricts its full rotation.

[0032] To address the shortcomings of existing technologies, this invention provides a cycloidal sheave and a transmission device incorporating the sheave. The transmission device of this invention can also be referred to as a cycloidal sheave transmission device. This invention also provides a lightweight cycloidal sheave. Furthermore, this invention provides a meshing mechanism and a meshing method.

[0033] Example 1

[0034] In view of the shortcomings of the prior art, the present invention provides a cycloidal rope wheel transmission device, which includes at least a rope wheel 1, a cycloidal wheel 2, an eccentric shaft 3 and a power output component.

[0035] like Figure 1 As shown, the rope pulley 1 includes a rope pulley frame 12 and a rope 11. The rope 11 is made of a high-strength and high-toughness material with high bending stiffness and is not easy to break suddenly. It can be a metal rope, a non-metal rope, or a composite material rope of metal and non-metal, such as a steel wire rope.

[0036] The number of ropes 11 is unlimited; it can be one, two, or more. The rope sheave frame 12 has several rope sheave frame holes 13 that penetrate the frame body. The frame body is a circular frame body. The specific shape of the rope sheave frame holes 13 is not limited, but circular holes are preferred.

[0037] The rope 11 passes through at least one pulley frame hole 13 on at least two pulley frames 12 to form a plurality of first gear teeth 14 associated with each other. Figure 1 The illustration shows two parallel pulley frames 12, which is an example of the present invention. In actual products, there can be more than two parallel pulley frames 12, which can be fitted together to achieve the illustrated effect of the present invention.

[0038] Preferably, several segments of the rope 11 between at least two sheave frames 12 are arranged in a manner that is radially perpendicular to and parallel to each other, so that the several segments of the rope 11 form several first gear teeth 14. For example, the rope 11 is tightened after passing through the sheave frame hole 13 of the sheave frame 12 to form the first gear teeth 14.

[0039] Preferably, the ropes 11 on the sheave frame 12 are arranged in a hinged manner. The several first sheave teeth 14 form a force transmission between each other based on the hinged connection, which is beneficial to the bending fatigue strength and impact resistance of the rope.

[0040] Preferably, in order to improve the bending fatigue strength and impact resistance of the rope, such as Figure 1 As shown, a cross-hole twisting rope threading strategy is adopted, in which two or more ropes 11 are twisted together and then spanned across the adjacent rope sheave frame holes 13 to form a rope sheave 1, so that the first gear teeth on the rope sheave are connected to each other. The ropes on the rope sheave frame are twisted together and in contact, which increases the rigidity and flexibility of the rope sheave in the direction perpendicular to the plane of motion, thereby further improving the impact resistance of the transmission device.

[0041] Preferably, the cycloidal wheel 2 is provided with a plurality of second gear teeth 21. When the rope wheel 1 and the cycloidal wheel 2 are fitted together, the plurality of second gear teeth 21 mesh with the first gear teeth 14, such as... Figure 4 As shown. Preferably, the edge profile of the second gear tooth is an arc-shaped profile. That is, the edge profile of the cycloidal wheel 2 is a curved profile with crests and troughs, such as a wavy profile.

[0042] When several second gear teeth 21 mesh with first gear teeth 14, the second gear teeth 21 mesh between two first gear teeth 14. The first gear teeth 14 mesh between two second gear teeth 21.

[0043] Because the teeth on the rope wheel are connected by the rope, when a single second tooth of the cycloidal wheel meshes with a single first tooth of the rope wheel, part of the force exerted by the second tooth on the meshing first tooth is borne by the first tooth, and the other part is shared by the non-meshing first teeth on the same rope. Therefore, it is greater than the single needle tooth of the cycloidal pinwheel transmission device, which can only bear the load of a single meshing cycloidal wheel tooth.

[0044] This invention utilizes a rope with rigid-flexible coupling to create a lightweight, flexible, high-precision, and impact-resistant rope pulley. The rope pulley meshes with a cycloidal wheel to form a cycloidal rope pulley transmission device. This device not only achieves the same motion as a cycloidal pinwheel transmission device but also features lightweight design, agility, high precision, and impact resistance.

[0045] Preferably, a cycloidal wheel input hole 22 is provided at the center of the cycloidal wheel 2. At least one cycloidal wheel output hole 23 is evenly arranged radially on the cycloidal wheel 2. Preferably, multiple cycloidal wheel output holes 23 are evenly arranged in the circumferential direction to achieve equal output of multiple forces.

[0046] Preferably, the cycloidal wheel 2 and the eccentric shaft 3 are rotatably connected via at least one bearing. The cycloidal wheel inlet 22 of the cycloidal wheel 2 is connected to the eccentric shaft 3 via a bearing 5. Specifically, as shown... Figure 4 As shown, the eccentric shaft 3 is connected to the inner ring of the bearing 5 with an interference fit, and the outer ring of the bearing is connected to the cycloidal wheel input hole 22 with an interference fit.

[0047] Preferably, the cycloidal pulley 2 is connected to the power output assembly to transmit power. Preferably, the power output assembly includes at least an output pulley 4 coaxially arranged with the rope pulley 1 about a first axis.

[0048] like Figure 5 As shown, the output wheel 4 has an output wheel input shaft 41 and an output wheel output shaft 42. The cycloidal wheel output hole 23 meshes with the output wheel input shaft 41 of the output wheel 4. The output wheel 4 rotates under the drive of the cycloidal wheel 2.

[0049] Preferably, such as Figure 3As shown, the pulley 1 and the output pulley 4 are coaxial and their axis is O1. The axis of the eccentric shaft 3 is O2 and its offset from the axis O1 is O1O2.

[0050] When the pulley 1 is not rotating and the eccentric shaft 3 is rotating, the first force applied by the second gear tooth 21 to the first gear tooth 14 is borne as a component force by at least one first gear tooth 14 that is connected to the first gear tooth 14 via the rope 11 but does not mesh with the second gear tooth 21 that applies the force. Based on the rope connection between the individual first gear teeth, each first gear tooth synchronously bears the first force on a single first gear tooth by bearing a component force. This arrangement reduces the force borne by a single first gear tooth, reduces meshing wear, and extends the service life of the first gear teeth.

[0051] Preferably, when the rope pulley 1 is not rotating and the eccentric shaft 3 is rotating, the second force applied by the first gear tooth 14 to the second gear tooth 21 causes the cycloidal wheel 2 to transmit force and / or motion by engaging with the power output component through the cycloidal wheel output hole 23. The cycloidal wheel deflects due to the interaction force between the cycloidal wheel and the rope. When the rope pulley is fixed, the accuracy of the cycloidal rope pulley transmission device mainly depends on the accuracy of the rigid eccentric shaft 3 and the cycloidal wheel 2. The rotation of the eccentric shaft 3 drives the cycloidal wheel 2 to rotate. After the cycloidal wheel 2 engages with the rope pulley 1, it then engages with the output shaft 42 of the output wheel, ultimately transmitting the motion to the output wheel 4, ensuring high transmission accuracy.

[0052] Preferably, the number of teeth on the cycloidal wheel is Z. b The number of teeth on the rope pulley is Z. s When the rope pulley 1 is fixed, the transmission ratio between the eccentric shaft 3 and the cycloidal pulley 2 is expressed as i. 32 In other words, i 32 =-Z b / (Z s -Z b ).

[0053] When the number of teeth on the pulley Z s With the number of teeth Z of the cycloidal wheel b When the difference is 1, it is called a 1-tooth difference, i 32 =-Z b At this point, the eccentric shaft 3 rotates one revolution, and the cycloidal wheel 2 rotates one tooth; that is, the cycloidal wheel 2 rotates one revolution, and the eccentric shaft 3 rotates Z. b The eccentric shaft 3 rotates in the opposite direction to the cycloidal wheel 2.

[0054] When the cycloidal wheel 2 is fixed, the transmission ratio between the eccentric shaft 3 and the rope wheel 1 is expressed as i. 31 In other words, i 31 =Z s / (Z s -Z a When the number of teeth on the pulley is Z)s With the number of teeth Z of the cycloidal wheel b When the difference is 1, i 31 =Z s At this point, the eccentric shaft 3 rotates one revolution, and the rope pulley 1 rotates one tooth; that is, the rope pulley 1 rotates one revolution, and the eccentric shaft 3 rotates Z. s The eccentric shaft 3 rotates in the same direction as the pulley 1.

[0055] The transmission principle of this invention is as follows.

[0056] With the rope pulley 1 stationary, the eccentric shaft 3 rotates around the axis O1. Due to the eccentricity O1O2, the eccentric shaft 3 drives the cycloidal pulley 2 to rotate around the axis O2. The second gear tooth 21 meshes with the first gear tooth 14, causing the second gear tooth 21 to exert a first force on the first gear tooth 14. Since the rope pulley 1 is stationary, the first gear tooth 14 applies a second force to the second gear tooth 21. Based on the meshing relationship between the cycloidal pulley output hole 23 and the output wheel input shaft 41, the second force of the cycloidal pulley 2 transmits force and motion to the output wheel 4, causing it to rotate around the axis O1.

[0057] When the rope pulley is fixed, the accuracy of the cycloidal rope pulley transmission device mainly depends on the accuracy of the rigid eccentric shaft 3 and the cycloidal pulley 2. The rotation of the eccentric shaft 3 drives the cycloidal pulley 2 to rotate. After the cycloidal pulley 2 meshes with the rope pulley 1, the cycloidal pulley 2 meshes with the output wheel input / output shaft 41, and finally transmits the motion to the output wheel 4, ensuring high precision of the transmission.

[0058] Example 2

[0059] This embodiment is a further improvement on Embodiment 1, and repeated content will not be described again. This embodiment provides a rope reel, such as... Figure 1 and Figure 2 As shown.

[0060] The rope pulley 1 includes a rope pulley frame 12 and a rope 11. The rope 11 is made of a high-strength and high-toughness material with high bending stiffness and is not easy to break suddenly. It can be a metal rope, a non-metal rope, or a composite material rope of metal and non-metal, such as a steel wire rope.

[0061] The number of ropes 11 is unlimited; it can be one, two, or more. The rope sheave frame 12 has several rope sheave frame holes 13 that penetrate the frame body. The frame body is a circular frame body. The specific shape of the rope sheave frame holes 13 is not limited, but circular holes are preferred.

[0062] The rope 11 passes through at least one pulley frame hole 13 on at least two pulley frames 12 to form a plurality of first gear teeth 14 associated with each other. Figure 1 The illustration shows two parallel pulley frames 12, which is an example of the present invention. In actual products, there can be more than two parallel pulley frames 12, which can be fitted together to achieve the illustrated effect of the present invention.

[0063] Preferably, several segments of the rope 11 between at least two sheave frames 12 are arranged in a manner that is radially perpendicular to and parallel to each other, so that the several segments of the rope 11 form several first gear teeth 14. For example, the rope 11 is tightened after passing through the sheave frame hole 13 of the sheave frame 12 to form the first gear teeth 14.

[0064] Preferably, the ropes 11 on the sheave frame 12 are arranged in a hinged manner. The several first sheave teeth 14 form a force transmission between each other based on the hinged connection, which is beneficial to the bending fatigue strength and impact resistance of the rope.

[0065] Preferably, in order to improve the bending fatigue strength and impact resistance of the rope, such as Figure 1 As shown, a cross-hole twisting rope threading strategy is adopted, in which two or more ropes 11 are twisted together and then spanned across the adjacent rope sheave frame holes 13 to form a rope sheave 1, so that the first gear teeth on the rope sheave are connected to each other. The ropes on the rope sheave frame are twisted together and in contact, which increases the rigidity and flexibility of the rope sheave in the direction perpendicular to the plane of motion, thereby further improving the impact resistance of the transmission device.

[0066] Preferably, in order to improve the bending fatigue strength and impact resistance of the rope, such as Figure 1 As shown, a cross-hole twisting rope threading strategy is adopted, in which two or more ropes 11 are twisted together and then spanned across the adjacent rope sheave frame holes 13 to form a rope sheave 1, so that the first gear teeth on the rope sheave are connected to each other. The ropes on the rope sheave frame are twisted together and in contact, which increases the rigidity and flexibility of the rope sheave in the direction perpendicular to the plane of motion, thereby further improving the impact resistance of the transmission device.

[0067] Preferably, the cycloidal wheel 2 is provided with a plurality of second gear teeth 21. When the rope wheel 1 and the cycloidal wheel 2 are fitted together, the plurality of second gear teeth 21 mesh with the first gear teeth 14, such as... Figure 4 As shown. Preferably, the edge profile of the second gear tooth is an arc-shaped profile. That is, the edge profile of the cycloidal wheel 2 is a curved profile with crests and troughs, such as a wavy profile.

[0068] When several second gear teeth 21 mesh with first gear teeth 14, the second gear teeth 21 mesh between two first gear teeth 14. The first gear teeth 14 mesh between two second gear teeth 21.

[0069] Because the teeth on the rope wheel are connected by the rope, when a single second tooth of the cycloidal wheel meshes with a single first tooth of the rope wheel, part of the force exerted by the second tooth on the meshing first tooth is borne by the first tooth, and the other part is shared by the non-meshing first teeth on the same rope. Therefore, it is greater than the single needle tooth of the cycloidal pinwheel transmission device, which can only bear the load of a single meshing cycloidal wheel tooth.

[0070] This invention utilizes a rope with rigid-flexible coupling to create a lightweight, flexible, high-precision, and impact-resistant rope pulley. The rope pulley meshes with a cycloidal wheel to form a cycloidal rope pulley transmission device. This device not only achieves the same motion as a cycloidal pinwheel transmission device but also features lightweight design, agility, high precision, and impact resistance.

[0071] like Figure 2 As shown, the first gear tooth 14 is fitted with at least one sleeve 141 in a manner that prevents relative movement with respect to the rope body. With the sleeve 141 provided, the rope body and at least one sleeve 141 together form the first gear tooth 14.

[0072] The length of the sleeve 141 can be equal to the distance between the two pulley frames 12. Preferably, a plurality of short sleeves are arranged consecutively to form a long sleeve 141. Preferably, the plurality of short sleeves can also be arranged on the rope 11 with intervals between them.

[0073] For example, the sleeve 141 passes through the rope 11 and is fixed to the rope sheave frame 12 by the sleeve fixing screw 143, so that the sleeve 141 cannot move relative to the rope body, thus ensuring the interaction of the forces between the first gear tooth and the second gear tooth.

[0074] Preferably, a shock-absorbing component 142 is provided between the first gear tooth 1 and the sleeve 141 to increase the bending fatigue strength and impact resistance of the rope 11.

[0075] The first gear has a sleeve and elastic shock-absorbing components attached to the rope. The rope teeth of the rigid-flexible coupling have a certain degree of elasticity and toughness, which reduces the rigid impact and vibration when the rigid cycloidal wheel meshes with the rigid-flexible rope wheel teeth, and improves the compliance of the entire transmission device and its impact resistance in the direction parallel to the plane of motion of the device.

[0076] Furthermore, compared to existing technologies such as involute gear transmission devices, cycloidal pinwheel transmission devices, chain and belt transmission devices, harmonic gear transmission devices, and flexible cable transmission devices, the inherent unique impact resistance of the rope pulley eliminates the need for additional impact resistance devices.

[0077] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and not intended to limit the scope of the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; terms such as "preferredly," "according to a preferred embodiment," or "optionally" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept.

Claims

1. A cycloidal rope pulley transmission device, characterized in that, It includes at least a rope pulley (1) and a cycloidal pulley (2). The pulley (1) includes a pulley frame (12) and a plurality of first gear teeth (14) associated with each other, formed by a rope (11) passing through at least one pulley frame hole (13) on the pulley frame (12), wherein a plurality of segments of the rope (11) between at least two pulley frames (12) are arranged in a manner that is radially perpendicular to the pulley frame (12) and parallel to each other, such that the plurality of segments of the rope (11) form a plurality of first gear teeth (14); the rope (11) on the pulley frame (12) is arranged in a manner that is hinged to each other, and the plurality of first gear teeth (14) form a force transmission between each other based on the hinged connection; When the rope wheel (1) and the cycloidal wheel (2) are fitted together, a plurality of second teeth (21) of the cycloidal wheel (2) mesh with the first teeth (14). In the case where the rope wheel (1) is not rotating and the cycloidal wheel (2) has a tendency to rotate, the first force applied by the second wheel tooth (21) to the first wheel tooth (14) is borne by at least one first wheel tooth (14) that is associated with the first wheel tooth (14) through the rope (11) and does not mesh with the second wheel tooth (21) that applies the force, in a component manner. The cycloidal rope pulley transmission device also includes an eccentric shaft (3) and a power output component. The cycloidal wheel (2) and the eccentric shaft (3) are rotatably connected via at least one bearing. The cycloidal wheel (2) is connected to the power output assembly to transmit power. When the rope wheel (1) is not rotating and the cycloidal wheel (2) has a tendency to rotate, the second force applied by the first gear tooth (14) to the second gear tooth (21) causes the cycloidal wheel (2) to transmit force and / or motion by engaging the cycloidal wheel output hole (23) with the power output component.

2. The cycloidal rope pulley transmission device according to claim 1, characterized in that, The power output assembly includes at least an output wheel (4) coaxially arranged with the rope wheel (1) about a first axis, and the output wheel (4) rotates under the drive of the cycloidal wheel (2).

3. The cycloidal rope pulley transmission device according to claim 1, characterized in that, The first gear tooth (14) is fitted with at least one sleeve (141) in a manner that prevents relative movement with respect to the rope (11). When the sleeve (141) is provided, the rope (11) and the at least one sleeve (141) are combined to form the first gear tooth (14).

4. The cycloidal rope pulley transmission device according to claim 3, characterized in that, A shock-absorbing component (142) is provided between the first gear tooth (14) and the sleeve (141) to increase the bending fatigue strength and impact resistance of the rope (11).

5. The cycloidal rope pulley transmission device according to claim 1, characterized in that, The rope (11) passes through the pulley frame hole (13) in a cross-hole hinge manner and forms a first tooth (14) between the two pulley frames (12).

Images