High-power-density instantaneous large-torque impact-resistant precision servo transmission

Abstract

The invention discloses a high-power-density instantaneous large-torque impact-resistant precise servo transmission, and relates to the technical field of servo transmission, the high-power-density instantaneous large-torque impact-resistant precise servo transmission comprises a shell, one end of the shell is fixedly connected with a mounting plate, the other end of the shell is fixedly connected with a fixed disc, and the center of the mounting plate is provided with a second bearing; a first bearing is arranged in the center of the fixing disc, a hollow shaft is arranged in the center of the first bearing, a main gear ring is fixedly connected to the position, close to the first bearing, of one end of the hollow shaft, and a mounting frame is fixedly connected to one side of the fixing disc. According to the high-power-density instantaneous large-torque impact-resistant precise servo transmission disclosed by the invention, the speed of the hollow shaft is reduced through the transmission resistance, so that the torque borne by the hollow shaft in the process of switching the rotating direction is reduced, and the hollow structure of the hollow shaft is protected from being damaged; the rotation direction of the buffer gear ring is opposite to the rotation direction of the hollow shaft changing the rotation direction, balance of rotational inertia is achieved, and vibration of equipment is eliminated.

Description

Technical Field

[0001] The invention relates to the technical field of servo transmission, and in particular to a high-power density, instantaneous large-torque, impact-resistant precision servo transmission. Background Art

[0002] IPM is a hybrid integrated circuit that integrates high-power switching elements and drive circuits, protection circuits, detection circuits, etc. in the same module. This structure is particularly suitable for the high-frequency development of inverters. The IPM substrate is composed of high-speed, low-power die, optimized gate drive circuits and fast protection circuits. Even if a load accident or improper use occurs, the IPM itself can be protected from damage. The servo drive rotor adopts the IPM structure, which can increase the reluctance torque and improve the power density.

[0003] The hydraulic transmission method currently used in furnace robots and military equipment generally takes up a large space, is heavy, and cannot achieve precise motion position and output torque control. Excessive servo transmission torque will indeed cause a decrease in accuracy. This is because when the servo transmission torque output exceeds the system design requirements, it will cause system instability, thereby affecting the positioning accuracy and the mechanical structure is under pressure. When the servo transmission torque is too large, the mechanical structure will be under greater pressure, which may cause parts to deform and affect the positioning accuracy, resulting in a decrease in the robot's motion accuracy and cannot meet current needs. Summary of the invention

[0004] The invention discloses a high-power density instantaneous large-torque impact-resistant precision servo transmission, which aims to solve the technical problem that when the torque of the servo transmission is too large, the mechanical structure will be subjected to greater pressure, which may cause parts to deform and thus affect the positioning accuracy.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A high-power-density instantaneous high-torque impact-resistant precision servo transmission, comprising a housing, one end of the housing is fixedly connected to a mounting plate, the other end of the housing is fixedly connected to a positioning plate, a second bearing is arranged at the center of the mounting plate, a first bearing is arranged at the center of the positioning plate, a hollow shaft is arranged at the center of the first bearing, a main gear ring is fixedly connected to one end of the hollow shaft near the first bearing, a mounting frame is fixedly connected to one side of the positioning plate, a base is fixedly connected to the bottom of the mounting frame, two sliding seats are fixedly connected to the upper surface of the base, a buffer gear ring is slidably connected to one side of the sliding seat, and a protective shell is fixedly connected to one side of the positioning plate; A clutch mechanism is installed on one side of the mounting frame near the buffer gear ring, and the clutch mechanism is used to switch the gear connection state; A starting mechanism is installed on one side of the mounting frame near the clutch mechanism, and the starting mechanism is used to control the clutch mechanism; A driving mechanism is installed inside the shell, and the driving mechanism is used to increase the magnetic moment and reduce the mass of the motor.

[0006] In a preferred embodiment, the clutch mechanism includes a first rotating rod rotatably connected to one side of the mounting frame, one end of the first rotating rod is slidably connected to the first sliding cylinder, one end of the first sliding cylinder is a first driving gear, the other end of the first rotating rod is fixedly connected to the first connecting gear, one side of the mounting frame is rotatably connected to the second rotating rod, one end of the second rotating rod is rotatably connected to the second sliding cylinder, one end of the second sliding cylinder is a second driving gear, the other end of the second rotating rod is fixedly connected to the second connecting gear, and one end of the first rotating rod and the second rotating rod are respectively fixedly connected to fixed plates at positions close to the first connecting gear and the second connecting gear.

[0007] One end of the first sliding cylinder and the second sliding cylinder are respectively fixedly connected with a sliding disk, and a plurality of friction strips are respectively arranged on one side of the rotating bar and the sliding disk. A reset spring is respectively designed at a position between the fixed disk and the sliding disk at one end of the first rotating rod and the second rotating rod. A transmission shaft is rotatably connected to one side of the mounting frame near the buffer gear ring, one end of the transmission shaft is fixedly connected with a driven gear, and the other end of the transmission shaft is fixedly connected with an intermediate gear.

[0008] The main gear ring is meshed with the driven gear, the outer wall and inner wall of the buffer gear ring are respectively provided with external teeth and internal teeth, the external teeth are meshed with the second driving gear, the internal teeth are meshed with the first driving gear, and the intermediate gear is respectively meshed with the first connecting gear and the second connecting gear.

[0009] The starting mechanism includes a motor fixedly connected to one side of the mounting frame near one side edge position, one end of the motor output shaft is fixedly connected to a rotating bar, the top of the rotating bar is rotatably connected to a connecting plate, one side of the mounting frame is rotatably connected to a fixing rod, and one end of the fixing rod is fixedly connected to a toggle frame.

[0010] One end of the fixing rod is fixedly connected to a connecting strip near the toggle frame, the top of the mounting frame is fixedly connected to a second slide rail, the lower surface of the second slide rail is slidably connected to a second sliding frame, the bottom of the mounting frame is fixedly connected to a first slide rail, the upper surface of the first slide rail is slidably connected to a first sliding frame, and one side surface of the first sliding frame and the second sliding frame are respectively provided with sliding grooves.

[0011] The other end of the connecting plate is rotatably connected to the connecting bar, the top of the toggle frame contacts the second sliding frame, the bottom of the toggle frame contacts the first sliding frame, and the first sliding cylinder and the second sliding cylinder slide in the sliding groove respectively.

[0012] In a preferred solution, the driving mechanism includes a stator fixedly connected to the inner wall of the shell, a rotor is sleeved on one end of the hollow shaft, retaining rings are fixedly connected to both ends of the rotor, and a sensor disk is fixedly connected to one side of the mounting plate.

[0013] A baffle is fixedly connected to one side of the mounting plate near the sensing plate, a fixing bar is fixedly connected to the top of the mounting plate, and a plurality of electrodes are respectively arranged on the top of the fixing bar.

[0014] The rotor and the stator are not in contact with each other, the retaining ring and the hollow shaft are fixedly connected, the hollow shaft passes through the middle of the second bearing, one end of the hollow shaft passes through the retaining plate, and the stator and the electrode are electrically connected.

[0015] It can be seen from the above that the high power density instantaneous large torque impact-resistant precision servo transmission provided by the present invention has the following technical effects.

[0016] First: when the hollow shaft rotates at high speed and needs to change its direction, the main gear ring rotates to drive the buffer gear ring to rotate in the same direction, and the hollow shaft is decelerated through the transmission resistance, which reduces the torque borne by the hollow shaft during the switching of the rotation direction and protects the hollow structure of the hollow shaft from being damaged. After the rotation direction of the hollow shaft is changed, the rotation direction of the buffer gear ring is opposite to the rotation direction of the hollow shaft that changes direction, achieving a balance of rotational inertia, making the casing more stable and eliminating the vibration of the equipment.

[0017] Second, the change in direction of the servo transmission will cause the hollow shaft to be subjected to a huge torque. Due to the hollow structure of the hollow shaft, the structural strength hole will be damaged, and the main gear ring will be driven to rotate through the hollow shaft, so that the main gear ring drives the buffer gear ring to rotate. When the hollow shaft starts to rotate, due to the fast response of the servo transmission, the instantaneous torque is very large, and the main gear ring rotates, while driving the buffer gear ring to rotate in the opposite direction, thereby balancing the torque of the hollow shaft, stabilizing the position of the outer shell, and reducing the phenomenon of reduced servo transmission accuracy caused by the movement of the outer shell.

[0018] Third: Since the rotational inertia of general high-power servo transmission is very large, the mass of the motor is greatly reduced by designing the hollow shaft into a hollow structure, so that the inertia of the hollow shaft during rotation is smaller, and the structural stability of the shell is enhanced. Since the rotor adopts the IPM structure, the reluctance torque is increased, and the rotor and stator cooperate to produce a stronger magnetic moment, providing the torque of the hollow shaft, so that the power of the equipment is increased. The sensor disk is a multi-pole rotary variable sensor. The function of the sensor disk is to use multi-pole rotary variable sensing to achieve precise control of the servo transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of a high-power density, instantaneous large-torque, impact-resistant precision servo transmission proposed by the present invention.

[0020] Figure 2 The cross-sectional structure diagram of a high-power density, instantaneous large-torque, impact-resistant precision servo transmission proposed by the present invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of a high-power density, instantaneous large-torque, impact-resistant precision servo transmission proposed by the present invention.

[0022] Figure 4 This is a partial structural schematic diagram of a high-power density, instantaneous large-torque, impact-resistant precision servo transmission proposed by the present invention.

[0023] Figure 5 This is a schematic structural diagram of a high-power density, instantaneous high-torque, impact-resistant precision servo transmission main gear ring proposed by the present invention.

[0024] Figure 6 This is a schematic structural diagram of a high-power density, instantaneous high-torque, impact-resistant precision servo transmission sliding disk proposed by the present invention.

[0025] Figure 7 This is a schematic structural diagram of a high-power-density, instantaneous, large-torque, impact-resistant precision servo transmission hollow shaft proposed by the present invention.

[0026] Figure 8 This is a schematic structural diagram of a high-power density, instantaneous large-torque, impact-resistant precision servo transmission buffer gear ring proposed by the present invention.

[0027] In the figure: 1, housing; 2, hollow shaft; 3, baffle plate; 4, mounting plate; 5, fixing bar; 6, electrode; 7, protective shell; 8, first bearing; 9, positioning plate; 10, rotor; 11, baffle ring; 12, second bearing; 13, sensor plate; 14, stator; 15, main gear ring; 16, buffer gear ring; 17, first driving gear; 18, first sliding frame; 19, first slide rail; 20, mounting frame; 21, second slide rail; 22, second sliding frame; 23. Sliding groove; 24. Second driving gear; 25. Driving frame; 26. Connecting strip; 27. Motor; 28. Rotating strip; 29. ​​Connecting plate; 30. First rotating rod; 31. Base; 32. First connecting gear; 33. Transmission shaft; 34. Intermediate gear; 35. Second connecting gear; 36. Second sliding cylinder; 37. Driven gear; 38. Fixed disk; 39. Friction strip; 40. Sliding disk; 41. Reset spring; 42. Sliding seat. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] The high-power density, instantaneous large-torque, impact-resistant precision servo transmission disclosed in the present invention is mainly used in scenarios where when the torque of the servo transmission is too large, the mechanical structure will be subjected to greater pressure, which may cause deformation of parts and thus affect the positioning accuracy.

[0030] Reference Figure 1 — Figure 8 A high power density instantaneous large torque impact resistant precision servo transmission, comprising a housing 1, one end of the housing 1 is fixedly connected to a mounting plate 4, the other end of the housing 1 is fixedly connected to a positioning plate 9, a second bearing 12 is arranged at the center of the mounting plate 4, a first bearing 8 is arranged at the center of the positioning plate 9, a hollow shaft 2 is arranged at the center of the first bearing 8, a main gear ring 15 is fixedly connected to one end of the hollow shaft 2 near the first bearing 8, a mounting frame 20 is fixedly connected to one side of the positioning plate 9, a base 31 is fixedly connected to the bottom of the mounting frame 20, two sliding seats 42 are fixedly connected to the upper surface of the base 31, a buffer gear ring 16 is slidably connected to one side of the sliding seat 42, and a protective shell 7 is fixedly connected to one side of the positioning plate 9; A clutch mechanism is installed on one side of the mounting frame 20 near the buffer gear ring 16, and the clutch mechanism is used to switch the gear connection state; A starting mechanism is installed on one side of the mounting frame 20 near the clutch mechanism, and the starting mechanism is used to control the clutch mechanism; A driving mechanism is installed inside the housing 1 , and the driving mechanism is used to increase the magnetic moment and reduce the mass of the motor 27 .

[0031] In this embodiment, the housing 1 is fixed at a specific position of the equipment, and a load is installed at one end of the hollow shaft 2. If the load on the hollow shaft 2 is too large, the change in the direction of the servo transmission will cause the hollow shaft 2 to bear a huge torque. Due to the hollow structure of the hollow shaft 2, the structural strength in the hole will be damaged. The hollow shaft 2 adopts a hollow design, and the front end is connected to the mechanism chain by a spline; and the chip opens a weight-reducing hole without affecting the magnetic circuit design, which can not only reduce the overall weight of the equipment, but also meet the large torque output requirements. The design of the hollow shaft 2 and the chip opening can effectively reduce the weight. The same volume of the hollow shaft 2 can reduce the weight of the motor 27 by 8%. While reducing the weight, it can reduce the moment of inertia, which is beneficial to the forward and reverse switching under working conditions.

[0032] What needs to be explained further is that the main gear ring 15 is driven to rotate by the hollow shaft 2, so that the main gear ring 15 drives the buffer gear ring 16 to rotate. Since the mass of the buffer gear ring 16 is relatively large, when the hollow shaft 2 starts to rotate, the servo transmission responds quickly and the instantaneous torque is extremely large. The main gear ring 15 rotates and at the same time drives the buffer gear ring 16 to rotate in the opposite direction, thereby balancing the torque of the hollow shaft 2, stabilizing the position of the outer shell 1, and reducing the phenomenon of reduced servo transmission accuracy caused by the movement of the outer shell 1.

[0033] Furthermore, when the hollow shaft 2 rotates at high speed and needs to change its rotation direction, the main gear ring 15 rotates to drive the buffer gear ring 16 to rotate in the same direction, and the hollow shaft 2 is decelerated through the transmission resistance, thereby achieving the effect of stably changing the rotation direction of the hollow shaft 2, reducing the torque borne by the hollow shaft 2 during the switching of the rotation direction, and protecting the hollow structure of the hollow shaft 2 from being damaged. After the rotation direction of the hollow shaft 2 is changed, the rotation direction of the buffer gear ring 16 is opposite to the rotation direction of the hollow shaft 2 that has changed its direction, thereby achieving a balance of rotational inertia, making the housing 1 more stable, and eliminating the vibration of the equipment.

[0034] Reference Figure 3 , Figure 4 , Figure 5 and Figure 6 In a preferred embodiment, the clutch mechanism includes a first rotating rod 30 rotatably connected to one side of the mounting frame 20, one end of the first rotating rod 30 is slidably connected to the first sliding cylinder, one end of the first sliding cylinder is a first driving gear 17, the other end of the first rotating rod 30 is fixedly connected to the first connecting gear 32, one side of the mounting frame 20 is rotatably connected to the second rotating rod, one end of the second rotating rod is rotatably connected to the second sliding cylinder 36, one end of the second sliding cylinder 36 is a second driving gear 24, the other end of the second rotating rod is fixedly connected to the second connecting gear 35, and one end of the first rotating rod 30 and the second rotating rod are respectively fixedly connected to a fixed plate 38 near the first connecting gear 32 and the second connecting gear 35.

[0035] One end of the first sliding cylinder and the second sliding cylinder 36 are respectively fixedly connected to the sliding disk 40, and a plurality of friction strips 39 are respectively arranged on one side of the rotating bar 28 and the sliding disk 40. One end of the first rotating rod 30 and the second rotating rod are located between the fixed disk 38 and the sliding disk 40 and are respectively designed with a return spring 41. One side of the mounting frame 20 is rotatably connected to the transmission shaft 33 near the buffer gear ring 16, and one end of the transmission shaft 33 is fixedly connected to the driven gear 37, and the other end of the transmission shaft 33 is fixedly connected to the intermediate gear 34.

[0036] The main gear ring 15 meshes with the driven gear 37. The outer wall and inner wall of the buffer gear ring 16 are respectively provided with external teeth and internal teeth. The external teeth mesh with the second driving gear 24, and the internal teeth mesh with the first driving gear 17. The intermediate gear 34 meshes with the first connecting gear 32 and the second connecting gear 35 respectively.

[0037] The starting mechanism includes a motor 27 fixedly connected to one side of the mounting frame 20 near one side edge position, one end of the output shaft of the motor 27 is fixedly connected to a rotating bar 28, the top of the rotating bar 28 is rotatably connected to a connecting plate 29, one side of the mounting frame 20 is rotatably connected to a fixing rod, one end of the fixing rod is fixedly connected to a toggle frame 25.

[0038] A connecting strip 26 is fixedly connected to one end of the fixing rod near the toggle frame 25, a second slide rail 21 is fixedly connected to the top of the mounting frame 20, a second sliding frame 22 is slidably connected to the lower surface of the second slide rail 21, a first slide rail 19 is fixedly connected to the bottom of the mounting frame 20, a first sliding frame 18 is slidably connected to the upper surface of the first slide rail 19, and sliding grooves 23 are respectively provided on one side surface of the first sliding frame 18 and the second sliding frame 22.

[0039] The other end of the connecting plate 29 is rotatably connected to the connecting bar 26 , the top of the toggle frame 25 contacts the second sliding frame 22 , the bottom of the toggle frame 25 contacts the first sliding frame 18 , and the first sliding cylinder and the second sliding cylinder 36 slide inside the sliding groove 23 respectively.

[0040] In the present embodiment, in the process of the main gear ring 15 driving the buffer gear ring 16 to rotate, the rotating bar 28 is driven to rotate by starting the motor 27, and the connecting bar 26 and the toggle frame 25 are driven to rotate by the connecting plate 29. When it is necessary to realize the reverse rotation of the main gear ring 15 and the buffer gear ring 16, the toggle frame 25 is rotated counterclockwise, and the top of the toggle frame 25 drives the second sliding frame 22 to slide to the left, and drives the sliding plate 40 on one side of the second driving gear 24 to slide to the left through the sliding groove 23, so that the fixed plate 38 and the sliding plate 40 are in contact, and due to the friction of the friction strip 39, the sliding plate 40 follows the fixed plate 38 to rotate, thereby realizing the effect of the intermediate gear 34 driving the second driving gear 24.

[0041] Furthermore, the main gear ring 15 drives the driven gear 37, the driven gear 37 drives the intermediate gear 34, and the intermediate gear 34 drives the first connecting gear 32 and the second connecting gear 35 at the same time. Since the fixed disk 38 and the sliding disk 40 on one side of the second driving gear 24 are in contact, the second connecting gear 35 drives the second driving gear 24 to rotate, thereby achieving the effect that the second driving gear 24 drives the buffer gear ring 16 to rotate, and achieving the effect that the main gear ring 15 and the buffer gear ring 16 rotate in opposite directions. It is necessary to achieve the same direction rotation of the main gear ring 15 and the buffer gear ring 16. Similarly, it is sufficient to achieve the contact between the fixed disk 38 and the sliding disk 40 on one side of the first driving gear 17.

[0042] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 In a preferred embodiment, the driving mechanism includes a stator 14 fixedly connected to the inner wall of the outer shell 1, a rotor 10 is sleeved on one end of the hollow shaft 2, retaining rings 11 are fixedly connected to both ends of the rotor 10, and a sensor disk 13 is fixedly connected to one side of the mounting plate 4.

[0043] A baffle plate 3 is fixedly connected to one side of the mounting plate 4 near the sensor plate 13 , and a fixing bar 5 is fixedly connected to the top of the mounting plate 4 . A plurality of electrodes 6 are respectively arranged on the top of the fixing bar 5 .

[0044] The rotor 10 is not in contact with the stator 14 , the retaining ring 11 is fixedly connected to the hollow shaft 2 , the hollow shaft 2 passes through the middle of the second bearing 12 , one end of the hollow shaft 2 passes through the retaining plate 3 , and the stator 14 is electrically connected to the electrode 6 .

[0045] In this embodiment, a three-phase circuit is connected through multiple electrodes 6. Since the rotational inertia of a general high-power servo transmission is extremely large, the mass of the motor 27 is greatly reduced by designing the hollow shaft 2 into a hollow structure, so that the inertia of the hollow shaft 2 is relatively small during rotation, thereby enhancing the structural stability of the housing 1. Since the rotor 10 adopts an IPM structure, the magnetic resistance torque is increased, so that the rotor 10 and the stator 14 cooperate to generate a stronger magnetic moment, providing torque for the hollow shaft 2, thereby increasing the power of the equipment. The sensor disk 13 is a multi-pole rotary variable sensor. The function of the sensor disk 13 is to use multi-pole rotary variable sensing to achieve precise control of the servo transmission.

[0046] What needs to be explained is that the rotor 10 adopts an "I"-shaped built-in IPM structure, and the salient pole ratio ρ=Lq / Ld>1. The magnetic resistance torque generated by the asymmetric salient pole effect of the rotor 10's cross- and direct-axis magnetic circuits helps to improve the power density and overload capacity of the motor 27, and is easy to expand the speed by weak magnetic field, thereby improving the constant power operating range of the motor, and obtaining higher dynamic response and better torque performance. The I-shaped rotor 10 structural design makes the magnetic circuit more direct and short, which helps to reduce iron loss and thus improve the efficiency of the motor 27.

[0047] Furthermore, there are fewer air magnetic barriers and less leakage magnetic flux at the ends of the permanent magnets, so under the same conditions, the utilization rate of the permanent magnets is higher. The structure of the straight-line rotor 10 is usually integrated. This design can effectively improve the torsional stiffness of the motor and reduce the deformation and vibration of the rotor 10, thereby maintaining the high-precision operation of the motor 27.

[0048] Working principle: When in use, the housing 1 is fixed at a specific position of the equipment, a load is installed at one end of the hollow shaft 2, and a three-phase circuit is connected through multiple electrodes 6. Since the rotational inertia of a general high-power servo transmission is extremely large, the mass of the motor 27 is greatly reduced by designing the hollow shaft 2 into a hollow structure, so that the inertia of the hollow shaft 2 during rotation is small, and the structural stability of the housing 1 is enhanced. Since the rotor 10 adopts an IPM structure, the magnetic resistance torque is increased, so that the rotor 10 and the stator 14 cooperate to generate a stronger magnetic moment, providing the torque of the hollow shaft 2, so that the power of the equipment is increased. The sensor disk 13 is a multi-pole rotary variable sensor. The function of the sensor disk 13 is to use a multi-pole The rotary sensor realizes the precise control of the servo transmission. When the load on the hollow shaft 2 is too large, the change of the servo transmission direction will cause the hollow shaft 2 to bear a great torque. Due to the hollow structure of the hollow shaft 2, the structural strength hole will be damaged. The main gear ring 15 is driven to rotate through the hollow shaft 2, so that the main gear ring 15 drives the buffer gear ring 16 to rotate. Since the mass of the buffer gear ring 16 is large, when the hollow shaft 2 starts to rotate, the servo transmission responds quickly and the instantaneous torque is very large. The main gear ring 15 rotates and drives the buffer gear ring 16 to rotate in the opposite direction at the same time, thereby balancing the torque of the hollow shaft 2, stabilizing the position of the housing 1, and reducing the servo transmission accuracy reduction caused by the movement of the housing 1. The phenomenon of low rotation is that when the hollow shaft 2 rotates at high speed and needs to change the rotation direction, the main gear ring 15 rotates to drive the buffer gear ring 16 to rotate in the same direction, and the hollow shaft 2 is decelerated by the transmission resistance, so that the effect of stable conversion of the rotation direction of the hollow shaft 2 is achieved, and the torque borne by the hollow shaft 2 during the switching of the rotation direction is reduced, and the hollow structure of the hollow shaft 2 is protected from being damaged. After the rotation direction of the hollow shaft 2 is changed, the rotation direction of the buffer gear ring 16 is opposite to the rotation direction of the hollow shaft 2 that changes the direction, so that the balance of the rotational inertia is achieved, making the housing 1 more stable and eliminating the vibration of the equipment. In the process of the main gear ring 15 driving the buffer gear ring 16 to rotate, the motor is started. The connecting plate 29 drives the connecting bar 26 and the toggle frame 25 to rotate. When the main gear ring 15 and the buffer gear ring 16 need to rotate in the opposite direction, the toggle frame 25 is rotated counterclockwise. The top of the toggle frame 25 drives the second sliding frame 22 to slide to the left, and drives the sliding plate 40 on one side of the second driving gear 24 to slide to the left through the sliding groove 23, so that the fixed plate 38 and the sliding plate 40 are in contact. Due to the friction of the friction strip 39, the sliding plate 40 rotates with the fixed plate 38, so that the middle gear 34 drives the second driving gear 24. The main gear ring 15 drives the driven gear 37, and the driven gear 37 drives the middle gear 34.The intermediate gear 34 drives the first connecting gear 32 and the second connecting gear 35 at the same time. Since the fixed plate 38 and the sliding plate 40 on one side of the second driving gear 24 are in contact, the second connecting gear 35 drives the second driving gear 24 to rotate, thereby achieving the effect that the second driving gear 24 drives the buffer gear ring 16 to rotate, and the effect that the main gear ring 15 and the buffer gear ring 16 rotate in the opposite direction is achieved. It is necessary to achieve the same direction rotation of the main gear ring 15 and the buffer gear ring 16. Similarly, it is sufficient to achieve the contact between the fixed plate 38 and the sliding plate 40 on one side of the first driving gear 17.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A high power density instantaneous high torque impact resistant precision servo transmission, comprising a housing (1), characterized in that: One end of the housing (1) is fixedly connected to a mounting plate (4), the other end of the housing (1) is fixedly connected to a positioning plate (9), a second bearing (12) is arranged at the center of the mounting plate (4), a first bearing (8) is arranged at the center of the positioning plate (9), a hollow shaft (2) is arranged at the center of the first bearing (8), one end of the hollow shaft (2) is fixedly connected to a main gear ring (15) at a position close to the first bearing (8), one side of the positioning plate (9) is fixedly connected to a mounting frame (20), the bottom of the mounting frame (20) is fixedly connected to a base (31), the upper surface of the base (31) is fixedly connected to two sliding seats (42), one side of the sliding seat (42) is slidably connected to a buffer gear ring (16), and one side of the positioning plate (9) is fixedly connected to a protective shell (7); A clutch mechanism is installed on one side of the mounting frame (20) near the buffer gear ring (16), and the clutch mechanism is used to switch the gear connection state; A starting mechanism is installed on one side of the mounting frame (20) near the clutch mechanism, and the starting mechanism is used to control the clutch mechanism; A driving mechanism is installed inside the housing (1), and the driving mechanism is used to increase the magnetic moment and reduce the mass of the motor.

2. The high power density instantaneous large torque impact resistant precision servo transmission according to claim 1, characterized in that: The clutch mechanism comprises a first rotating rod (30) rotatably connected to one side of the mounting frame (20), one end of the first rotating rod (30) being slidably connected to a first sliding cylinder, one end of the first sliding cylinder being a first driving gear (17), and the other end of the first rotating rod (30) being fixedly connected to a first connecting gear (32), one side of the mounting frame (20) being rotatably connected to a second rotating rod, one end of the second rotating rod being rotatably connected to a second sliding cylinder (36), one end of the second sliding cylinder (36) being a second driving gear (24), and the other end of the second rotating rod being fixedly connected to a second connecting gear (35), and one end of the first rotating rod (30) and the second rotating rod being fixedly connected to a fixing plate (38) at a position close to the first connecting gear (32) and the second connecting gear (35), respectively.

3. The high power density instantaneous high torque impact resistant precision servo transmission according to claim 2, characterized in that: One end of the first sliding cylinder and the second sliding cylinder (36) are respectively fixedly connected to a sliding disk (40); one side of the rotating bar (28) and the sliding disk (40) are respectively provided with a plurality of friction strips (39); one end of the first rotating rod (30) and the second rotating rod are respectively provided with a return spring (41) at a position between the fixed disk (38) and the sliding disk (40); one side of the mounting frame (20) is rotatably connected to a transmission shaft (33) near the buffer gear ring (16); one end of the transmission shaft (33) is fixedly connected to a driven gear (37); and the other end of the transmission shaft (33) is fixedly connected to an intermediate gear (34).

4. The high power density instantaneous large torque impact resistant precision servo transmission according to claim 3, characterized in that: The main gear ring (15) is meshed with the driven gear (37); the outer wall and the inner wall of the buffer gear ring (16) are respectively provided with external teeth and internal teeth; the external teeth are meshed with the second driving gear (24); the internal teeth are meshed with the first driving gear (17); and the intermediate gear (34) is respectively meshed with the first connecting gear (32) and the second connecting gear (35).

5. The high power density instantaneous high torque impact resistant precision servo transmission according to claim 4, characterized in that: The starting mechanism comprises a motor (27) fixedly connected to one side of the mounting frame (20) near a side edge position, one end of the output shaft of the motor (27) is fixedly connected to a rotating bar (28), the top end of the rotating bar (28) is rotatably connected to a connecting plate (29), one side of the mounting frame (20) is rotatably connected to a fixing rod, and one end of the fixing rod is fixedly connected to a toggle frame (25).

6. The high power density instantaneous large torque impact resistant precision servo transmission according to claim 5, characterized in that: One end of the fixing rod is fixedly connected to a connecting bar (26) at a position close to the toggle frame (25); the top of the mounting frame (20) is fixedly connected to a second slide rail (21); the lower surface of the second slide rail (21) is slidably connected to a second sliding frame (22); the bottom of the mounting frame (20) is fixedly connected to a first slide rail (19); the upper surface of the first slide rail (19) is slidably connected to a first sliding frame (18); and one side surface of the first sliding frame (18) and the second sliding frame (22) are respectively provided with sliding grooves (23).

7. The high power density instantaneous high torque impact resistant precision servo transmission according to claim 6, characterized in that: The other end of the connecting plate (29) is rotatably connected to the connecting bar (26), the top of the toggle frame (25) contacts the second sliding frame (22), the bottom of the toggle frame (25) contacts the first sliding frame (18), and the first sliding cylinder and the second sliding cylinder (36) slide inside the sliding groove (23) respectively.

8. The high power density instantaneous high torque impact resistant precision servo transmission according to claim 7, characterized in that: The driving mechanism comprises a stator (14) fixedly connected to the inner wall of the housing (1); a rotor (10) is sleeved on one end of the hollow shaft (2); retaining rings (11) are fixedly connected at both ends of the rotor (10); and a sensor disk (13) is fixedly connected to one side of the mounting plate (4).

9. The high power density instantaneous large torque impact resistant precision servo transmission according to claim 8, characterized in that: A baffle (3) is fixedly connected to a position of one side of the mounting plate (4) close to the sensor plate (13), a fixing bar (5) is fixedly connected to the top of the mounting plate (4), and a plurality of electrodes (6) are respectively arranged on the top of the fixing bar (5).

10. The high power density instantaneous large torque impact resistant precision servo transmission according to claim 9, characterized in that: The rotor (10) and the stator (14) are not in contact with each other, the retaining ring (11) and the hollow shaft (2) are fixedly connected, the hollow shaft (2) passes through the middle of the second bearing (12), one end of the hollow shaft (2) passes through the retaining plate (3), and the stator (14) and the electrode (6) are electrically connected.

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