Single driving source directional swing and tilt joint with oblique cut surface

Abstract

The present application relates to a kind of single drive source's directional deflection oblique surface deflection joint, belong to the technical field of multidimensional motion deflection mechanism, including first clutch, second clutch, transmission shaft, clutch support structure, planetary gear train, planetary gear train transmission structure, speed reducer, upper oblique surface mechanism, lower oblique surface mechanism, universal joint, drive motor and bearing, by different clutch cooperation, further make the upper and lower two parts of joint realize different direction, speed rotation or same movement, by the movement of different components, the deflection action of system in space is realized, the multidimensional movement space of mechanism is realized, the number of drive source is reduced, and then the total weight of system is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of multidimensional motion tilting mechanism, and particularly relates to a single driving source directional tilting oblique surface tilting joint. BACKGROUND

[0002] The oblique surface tilting joint is a novel joint form, the contact surface of the two ends of the cylinder is not perpendicular to the cylinder axis and has a certain angle, thereby forming an oblique surface. When the two ends of the cylinder rotate along the oblique surface, the cylinder axis is caused to tilt in space due to the non-perpendicularity of the oblique surface and the cylinder axis, thereby realizing the conversion of rotary motion into tilting motion. Through the control of the rotation direction and speed of the upper and lower parts of the joint, multidimensional tilting can be realized.

[0003] Patent

CN202021771076.1

[0004] Patent

CN202021273681.6

CN202211180548.X

[0005] The present application proposes a single-motor driven oblique surface tilting joint to solve the problem that the existing multidimensional tilting joint has too many driving sources, resulting in excessive weight and space, which cannot meet the multidimensional deformation requirements of aircrafts. Compared with double-motor driving, the weight and volume are significantly reduced, and directional tilting is realized at a specific target angle through structural design and speed ratio design.

[0006] The above-mentioned purpose of the present application is mainly realized through the following technical scheme:

[0007] A single driving source directional tilting oblique surface tilting joint, comprising a first clutch, a second clutch, a transmission shaft, a clutch support structure, a planetary gear train, a planetary gear train transmission structure, a speed reducer, an upper oblique surface mechanism, a lower oblique surface mechanism, a universal joint, a driving motor and a bearing, the first clutch and the second clutch are fixed on the clutch support mechanism, the planetary gear train is fixedly connected with the planetary gear train transmission structure, the planetary gear train transmission structure is connected with the lower oblique surface mechanism, the upper oblique surface mechanism and the lower oblique surface mechanism are connected through the bearing, the upper and lower transmission shafts are connected through the universal joint, the driving motor drives the speed reducer, and the speed reducer drives the upper oblique surface mechanism and the lower oblique surface mechanism through the transmission shaft.

[0008] When the first clutch is closed and the second clutch is opened, the upper bevel surface mechanism rotates in the same direction as the transmission shaft, and the transmission shaft drives the planetary gear train, and further drives the planetary gear train transmission structure, and finally drives the lower bevel surface mechanism to rotate in the opposite direction of the transmission shaft.

[0009] The planetary gear train includes an inner ring gear, a planetary gear set and a sun gear, when the first clutch is closed and the second clutch is opened, the transmission shaft drives the sun gear, drives the planetary gear set to rotate, further drives the inner ring gear to rotate, the inner ring gear is fixedly connected with the planetary gear train transmission structure, and finally drives the lower bevel surface mechanism to rotate in the opposite direction of the transmission shaft.

[0010] Further comprising an external protective shell, the external protective shell is arranged outside the planetary gear train and the planetary gear train transmission structure, and is used for protecting the planetary gear train and the planetary gear train transmission structure.

[0011] When the first clutch is closed and the second clutch is opened, the rotation speed ratio of the upper bevel surface mechanism to the driving motor is 1:W, and the rotation speed ratio of the lower bevel surface mechanism to the driving motor is K:W, when the second clutch is closed and the first clutch is opened, the rotation speed ratio of the upper bevel surface mechanism and the lower bevel surface mechanism to the driving motor is 1:W; wherein W is the speed reducer reduction ratio, and K is the planetary gear train speed ratio.

[0012] The speed reducer reduction ratio W is 10-100.

[0013] The planetary gear train speed ratio K is 0.4-0.5.

[0014] The upper bevel surface mechanism and the lower bevel surface mechanism are in the shape of a cylinder after being cut along the bevel surface, and the bevel surface is in the shape of an ellipse.

[0015] The universal joint is arranged at the center of the bevel surface, and the center of the bearing coincides with the center of the bevel surface.

[0016] The upper bevel surface mechanism and the lower bevel surface mechanism move as follows: rotating around the center of the bevel surface on the bevel surface relative to the opposite bevel surface mechanism.

[0017] Compared with the prior art, the present application has at least the following beneficial effects:

[0018] (1) The present application realizes the multi-dimensional motion space of the mechanism through the transmission system, reduces the number of driving sources compared with the traditional method, and further reduces the total weight of the system.

[0019] (2) The present application realizes the rotation of the upper and lower parts of the joint in different directions and speeds or the same movement through the cooperation of different clutches, and realizes the yawing action of the system in space through the movement of different components.

[0020] (3) The present application realizes the error meeting the demand at a specific target yawing angle through the comprehensive design of the angle of the bevel surface mechanism and the speed ratio of the planetary gear train.

[0021] (4) The joint of the present application is a bevel surface contact, and the torque generated by the external load can be borne by the bevel surface structure, thereby reducing the torque borne by the universal joint, making the overall load capacity of the mechanism stronger.

[0022] (5) The overall structure of the present application is designed in a cylindrical shape, which is convenient for application in a mechanical arm or an aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of the directional yawing bevel surface yawing joint of the present application;

[0024] Figure 2 is a schematic diagram of the transmission system of the present application;

[0025] Figure 3 is a sectional view of the transmission system of the present application;

[0026] Figure 4 is a schematic diagram of the upper bevel surface transmission system of the present application;

[0027] Figure 5 is a schematic diagram of the lower bevel surface transmission system of the present application;

[0028] Figure 6 is a schematic diagram of the working principle of the present application;

[0029] Figure 7 is a schematic diagram of the upright state and the maximum yawing angle of the present application. DETAILED DESCRIPTION

[0030] The present application will be described in further detail below in combination with the drawings and specific embodiments:

[0031] As Figure 1 shown is a schematic diagram of the directional yawing bevel surface yawing joint, which includes a transmission system, a reducer 8, an upper bevel surface mechanism 10, a lower bevel surface mechanism 11, a universal joint 9, a driving motor 12 and a bearing 13.

[0032] Figure 2 and Figure 3The transmission system of the application is shown in the schematic diagram, which comprises a first clutch 1, a second clutch 2, a transmission shaft 3, a clutch support structure 4, a planetary gear train 5, a planetary gear train transmission structure 6, and an external protective shell 7.

[0033] The planetary gear train 5 comprises an inner ring gear 501, a planetary gear set 502, and a sun gear 503.

[0034] In the transmission system, the first clutch 1 and the second clutch 2 are fixed on the clutch support structure 4, and the torque on the transmission shaft 3 is transmitted to the planetary gear train transmission structure 6 through the opening and closing of the clutch. The planetary gear train transmission structure 6 is connected to the lower bevel mechanism 11. Different clutches transmit different torques to the planetary gear train transmission mechanism. When the first clutch 1 is closed, the sun gear 503 drives the planetary gear set 502 to rotate, further driving the inner ring gear 501 to rotate. The inner ring gear 501 is fixedly connected to the planetary gear train transmission structure 6, and finally drives the bevel mechanism to rotate in the opposite direction of the transmission shaft 3. When the second clutch 2 is closed, the transmission shaft 3 is directly connected to the planetary gear train transmission structure 6 through the second clutch 2, and finally drives the bevel mechanism to rotate in the same direction as the transmission shaft. On the other hand, the planetary gear train 5 has a speed reduction function, so that the speed and direction of the bevel mechanism are inconsistent when the speed and direction of the driving motor 12 are unchanged. At the same time, the clutches 1 and 2 cannot be closed at the same time when the driving motor 12 rotates.

[0035] The transmission of the upper bevel is shown in Figure 4 The upper bevel is connected to the speed reducer 8 through the transmission shaft 3, and is directly driven by the driving motor 12 through the speed reducer 8.

[0036] The transmission of the lower bevel is shown in Figure 5 The lower bevel is connected to the transmission shaft 3 and the speed reducer 8 through the clutch, and the output rotation of the speed reducer is transmitted to the planetary gear train transmission system 6 through the clutch control to drive the lower bevel mechanism to rotate. When the clutch 2 is closed and the clutch 1 is opened, the transmission shaft directly drives the transmission housing to move. The planetary gear train transmission structure 6 is connected to the lower bevel mechanism 11, and when the speed reduction ratio is W, the speed relationship between the housing and the motor output is 1:W, and the rotation directions are the same. When the clutch 1 is closed and the clutch 2 is opened, the transmission system drives the planetary gear set to move through the sun gear, and then transmits to the inner ring gear, which is fixedly connected to the transmission housing. Subsequently, through the above transmission path, the housing and the motor output move in opposite directions, and the speed ratio is related to the speed ratio of the planetary gear train. When the speed ratio of the planetary gear train is K, the speed ratio of the housing and the motor output is K:W.

[0037] Figure 6The working principle of the application is shown in the figure, the application can realize two kinds of movement modes of rotation and deflection, both of which are driven by a single motor, the motor output is transmitted through the cooperation of multiple clutches, and multi-dimensional movement is realized through the transmission system. Because the transmission mechanism can realize the same direction or reverse rotation of the oblique surface mechanism and the transmission shaft. During rotation, the motor rotates, and the upper and lower parts are driven to rotate synchronously at the same speed through the transmission system, so that the upper and lower parts are relatively stationary, and the whole system rotates; during deflection, the motor rotates, and the upper and lower parts are driven to rotate at different speeds in opposite directions through the transmission system, so that the upper and lower parts rotate relatively along the oblique surface, realizing overall deflection in the ground coordinate, and further realizing multi-dimensional movement of the deflection joint.

[0038] During rotation, the speed and direction of movement can be adjusted, when clutch 2 is closed and clutch 1 is opened, the upper and lower oblique surface mechanisms and the reducer are connected to the upper and lower parts with the same speed, and the speed and direction of the reducer output are the same, and the rotation speed direction is determined by the motor rotation direction.

[0039] During deflection, only when clutch 1 is closed and clutch 2 is opened, the upper oblique surface is directly driven by the reducer to rotate forward, and the lower part is decelerated by the planetary gear train, and the rotation speed is opposite to the direction of the reducer output rotation speed, the upper and lower oblique surface mechanisms 10 and 11 rotate at different speeds in opposite directions, realizing directional deflection of the joint system, and the rotation speed ratio of the upper and lower parts is 1:-K; at the same time, when the motor 12 rotates forward, the joint starts to deflect from the vertical state, and the deflection angle gradually increases, when the motor reverses, the deflection angle gradually decreases, and gradually returns to the vertical state. The minimum and maximum angles of deflection are shown in the figure. Figure 7

[0040] The above is only the best specific embodiment of the application, but the protection scope of the application is not limited thereto, any changes or replacements within the technical range disclosed by the application can be easily thought by those skilled in the art, which should be covered within the protection scope of the application.

[0041] The contents not described in detail in the specification of the application belong to the known technology of the skilled in the art.​

Claims

1. A single drive source's directional misalignment and bevelled surface misalignment joint, characterized by: The application relates to a transmission mechanism, which comprises a first clutch (1), a second clutch (2), a transmission shaft (3), a clutch support structure (4), a planetary gear train (5), a planetary gear train transmission structure (6), a speed reducer (8), an upper bevel mechanism (10), a lower bevel mechanism (11), a universal joint (9), a driving motor (12) and a bearing (13), the first clutch (1) and the second clutch (2) are fixed on the clutch support structure (4), the planetary gear train (5) is fixedly connected with the planetary gear train transmission structure (6), the planetary gear train transmission structure (6) is connected with the lower bevel mechanism (11), the upper bevel mechanism (10) and the lower bevel mechanism (11) are connected through the bearing (13), the upper and lower transmission shafts (3) are connected through the universal joint (9), the driving motor (12) drives the speed reducer (8), and the speed reducer (8) drives the upper bevel mechanism (10) and the lower bevel mechanism (11) through the transmission shaft (3). When the first clutch (1) is closed and the second clutch (2) is opened, the upper bevel mechanism (10) rotates in the same direction as the transmission shaft (3), meanwhile the transmission shaft (3) drives the planetary gear train (5), further drives the planetary gear train transmission structure (6), and finally drives the lower bevel mechanism (11) to rotate in the opposite direction of the transmission shaft (3), the upper bevel mechanism (10) and the lower bevel mechanism (11) rotate in the opposite direction to realize the deflection; when the second clutch (2) is closed and the first clutch (1) is opened, the upper bevel mechanism (10) rotates in the same direction as the transmission shaft (3), meanwhile the transmission shaft (3) is directly connected with the planetary gear train transmission structure (6) through the second clutch (2), and finally drives the lower bevel mechanism (11) to rotate in the same direction as the transmission shaft (3).

2. A single drive source directional misalignment mitered misalignment joint according to claim 1, wherein: The planetary gear train (5) comprises an inner gear ring (501), a planetary gear set (502) and a sun gear (503), when the first clutch (1) is closed and the second clutch (2) is opened, the transmission shaft (3) drives the sun gear (503), drives the planetary gear set (502) to rotate, further drives the inner gear ring (501) to rotate, the inner gear ring (501) is fixedly connected with the planetary gear train transmission structure (6), and finally drives the lower bevel mechanism (11) to rotate in the opposite direction of the transmission shaft (3).

3. A single drive source directional misalignment mitered misalignment joint according to claim 1, wherein: The application further comprises an external protective shell (7), which is arranged outside the planetary gear train (5) and the planetary gear train transmission structure (6) and is used for protecting the planetary gear train (5) and the planetary gear train transmission structure (6).

4. A single drive source directional misalignment mitered misalignment joint according to claim 1, wherein: When the first clutch (1) is closed and the second clutch (2) is opened, the rotating speed ratio of the upper bevel mechanism (10) to the driving motor (12) is 1:W, and the rotating speed ratio of the lower bevel mechanism (11) to the driving motor (12) is K:W, when the second clutch (2) is closed and the first clutch (1) is opened, the rotating speed ratio of the upper bevel mechanism (10) and the lower bevel mechanism (11) to the driving motor (12) is 1:W; wherein W is the speed reduction ratio of the speed reducer (8), and K is the speed ratio of the planetary gear train (5).

5. A single drive source directional misalignment mitered misalignment joint according to claim 4, wherein: The speed reduction ratio W of the speed reducer (8) is 10-100.

6. A single drive source directional misalignment mitered misalignment joint according to claim 4, wherein: The speed ratio K of the planetary gear train (5) is 0.4-0.

5.

7. A single drive source directional misalignment mitered misalignment joint according to claim 1, wherein: The upper bevel mechanism (10) and the lower bevel mechanism (11) are in the shape of a cylinder after beveling, and the bevel is in the shape of an ellipse.

8. A single drive source directional misalignment mitered misalignment joint according to claim 7, wherein: The universal joint (9) is arranged at the center of the bevel, and the center of the bearing (13) coincides with the center of the bevel.

9. A single drive source directional misalignment mitered misalignment joint according to claim 7, wherein: The upper bevel mechanism (10) and the lower bevel mechanism (11) move as follows: relative to the opposite bevel mechanism, rotating around the center of the bevel on the bevel.

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