High-speed heavy-load multi-transmission-chain compact high-precision speed reducer transmission device

Abstract

The invention relates to a high-speed heavy-load multi-transmission-chain compact high-precision speed reducer transmission device which comprises an upper transmission unit and a lower transmission unit, and the upper transmission unit and the lower transmission unit are detachably connected. The upper transmission unit comprises an upper box body, and a power input part, an input position detection part and an output angle detection part which are integrated on the upper box body; the lower transmission unit adopts an RV speed reduction unit, an input piece of the RV speed reduction unit is a sun gear, the sun gear is in coaxial driving connection with a power input main shaft of the power input part, an output piece of the RV speed reduction unit is a planet carrier, an output wheel is coaxially and fixedly installed at the lower end of the planet carrier, and power output of the whole transmission device is achieved. The invention has the advantages of small volume, high transmission precision and impact resistance.

Description

Technical Field

[0001] The invention belongs to the technical field of equipment transmission, and in particular relates to a high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device. Background Art

[0002] As high-precision rotating platforms develop towards high precision, small size and high impact, the requirements for high-precision reducers of their key core components are becoming higher and higher. Traditional high-precision reducers mostly use compound planetary reducers and worm gear reducers, but compound planetary reducers are large in size and worm gear reducers have low transmission accuracy, which cannot meet the design requirements. It is urgent to develop a high-precision, small-volume, high-impact high-precision reducer transmission device. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device.

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

[0005] A high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device comprises an upper transmission unit and a lower transmission unit, wherein the upper transmission unit is detachably connected to the lower transmission unit; the upper transmission unit comprises an upper housing and a power input part, an input position detection part, and an output angle detection part integrated on the upper housing; the lower transmission unit adopts an RV reduction unit, wherein the input member of the RV reduction unit is a sun gear, which is coaxially driven and connected to the power input main shaft of the power input part; the output member of the RV reduction unit is a planet carrier, and an output wheel is coaxially fixedly mounted on the lower end of the planet carrier to realize power output of the entire transmission device.

[0006] Moreover, the power input part includes the power input main shaft, a hand-cranked generator, gear Z1, gear Z2, gear Z3, gear Z4, gear Z7, gear Z8, and a servo motor; the gear Z1 and gear Z2 are bevel gears, and the other gears are spur gears; the hand-cranked generator is drivingly connected to the gear Z1, the gear Z1 is meshed with the gear Z2, the gear Z3 is coaxially connected to the gear Z2, the gear Z3 is meshed with the gear Z4, and the gear Z4 is coaxially fixedly installed on the power input main shaft; the gear Z8 is meshed with the gear Z7, the gear Z8 is coaxially fixedly installed on the power input main shaft, and the gear Z7 is drivingly connected to the servo motor.

[0007] Moreover, the input position detection part includes a gear Z5, a gear Z6 and a position sensor; the gear Z6 is coaxially fixed on the power input shaft, the gear Z6 is meshed with the gear Z5, and the gear Z5 is coaxially connected to the position sensor.

[0008] Moreover, the output angle detection part includes gear Z9, gear Z10, a detection shaft and an angle controller; the angle controller is coaxially connected to gear Z9; the gear Z10 is meshed with gear Z9, the gear Z10 is installed at the upper end of the detection shaft, the lower part of the detection shaft extends into the lower box body, and the gear Z13 is coaxially fixedly installed at the lower end of the detection shaft, the gear Z13 is meshed with gear Z14, and the gear Z14 is coaxially fixedly installed at the upper end of the planetary carrier of the RV reduction unit.

[0009] Moreover, the hand-cranked generator, servo motor, position sensor, and angle controller are all installed at the upper end outside the upper box body. The position sensor and angle controller are arranged on the left and right, and the servo motor and hand-cranked generator are arranged on the left and right; the gear Z1, gear Z2, gear Z3, gear Z4, gear Z7, gear Z8 and the power input spindle are installed inside the upper box body.

[0010] Moreover, the RV reduction unit includes the sun gear Z11, the planetary gear Z12, the crank shaft, the planetary carrier, the cycloid wheel Z15, the pinion housing and the output gear Z16; the sun gear Z11 is meshed with multiple planetary gears Z12, and the multiple planetary gears are respectively installed on the upper ends of multiple crank shafts, and the two ends of the crank shafts are rotatably installed on the planetary carrier; the two cycloid wheels are respectively rotated with the relative eccentric parts of the multiple crank shafts, and the two cycloid wheels are meshed with the pinion pins on the inner ring of the pinion housing; the pinion housing is fixed on the lower box body.

[0011] The advantages and positive effects of the present invention are:

[0012] 1. The present invention evenly arranges input components such as a servo motor, a hand-cranked generator, a position sensor and an angle controller on the upper box, which greatly improves the utilization rate of the upper box and realizes a compact structural layout, thereby realizing a small-volume design of the transmission device.

[0013] 2. The transmission device of the present invention comprises 4 transmission chains, namely, servo motor-output gear Z16, hand-crank generator-output gear Z16, position sensor-servo motor / hand-crank generator and angle controller-output gear Z16, which can realize electric drive and manual drive, and avoid the transmission device being unusable after power failure. In addition, the input angle information can be obtained through the position sensor, and the output angle information can be obtained through the angle controller. The position sensor and the angle controller are both angle sensors, and the purpose is to detect the rotation position state of the motor end (detected by the position sensor) and the output end (detected by the angle controller) online.

[0014] 3. The transmission device of the present invention can be split into an upper transmission unit and a lower transmission unit. The upper transmission unit and the lower transmission unit can be assembled separately and then assembled into a complete machine, thereby realizing modular assembly and improving assembly efficiency.

[0015] 4. The main part of the RV reduction unit of the present invention adopts cycloid transmission, and the rotation accuracy of the cycloid transmission can reach 1 arcmin, which is much higher than the accuracy of the planetary transmission (generally greater than 5 arcmin); high precision is achieved; in addition, the number of meshing teeth of the cycloid meshing transmission accounts for 35% of the total number of teeth. For a cycloid wheel with 40 teeth, 14 teeth are involved in the meshing, and 2 gears have 28 teeth involved in the meshing; while the number of meshing teeth of a general planetary transmission is generally no more than 2, and three gears have 6 teeth involved in the meshing, so the number of meshing teeth of the cycloid transmission is much higher than the number of meshing teeth of the planetary transmission, so that the transmission device achieves better impact resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a transmission principle diagram of the high-speed heavy-load multi-transmission chain compact high-precision speed reducer transmission device of the present invention;

[0017] Figure 2 This is the appearance of the high-speed heavy-load multi-transmission chain compact high-precision reducer transmission device of the present invention (without the upper and lower boxes) DETAILED DESCRIPTION

[0018] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0019] A high-speed, heavy-duty, multi-drive chain, compact, high-precision reducer transmission, see Figure 1 and Figure 2 The invention point is: it includes an upper transmission unit and a lower transmission unit, and the upper transmission unit is detachably connected to the lower transmission unit. The upper transmission unit includes an upper housing 8 and a power input part, an input position detection part, and an output angle detection part integrated on the upper housing. The lower transmission unit adopts an RV reduction unit. The input part of the RV reduction unit is a sun gear, and the output part of the RV reduction unit is a planet carrier. An output wheel is coaxially fixedly installed at the lower end of the planet carrier to realize the power output of the entire transmission device.

[0020] The power input part includes a power input main shaft, a hand-crank generator 1, gear Z1, gear Z2, gear Z3, gear Z4, gear Z7, gear Z8, and a servo motor 3. Gear Z1 and gear Z2 are bevel gears, and other gears are spur gears; the hand-crank generator is connected to the gear Z1 by driving, the gear Z1 is meshed with the gear Z2, the gear Z3 is coaxially connected with the gear Z2, the gear Z3 is meshed with the gear Z4, and the gear Z4 is coaxially fixedly installed on the power input main shaft to realize the hand-crank power input. The gear Z8 is meshed with the gear Z7, and the gear Z8 is coaxially fixedly installed on the power input main shaft, and the gear Z7 is connected to the servo motor by driving to realize the motor drive input.

[0021] The input position detection part includes a gear Z5, a gear Z6 and a position sensor 2. The gear Z6 is coaxially fixed on the power input shaft, the gear Z6 is meshed with the gear Z5, and the gear Z5 is coaxially connected to the position sensor for detecting the rotation angle of the gear Z5, thereby realizing the detection of the rotation angle of the power input main shaft. The position sensor can be an angle sensor.

[0022] The output angle detection part includes gear Z9, gear Z10, detection shaft, and angle controller 4. The angle controller is coaxially connected with gear Z9. Gear Z10 is meshed with gear Z9, and gear Z10 is installed at the upper end of the detection shaft. The lower part of the detection shaft extends into the lower box body, and gear Z13 is coaxially fixedly installed at the lower end of the detection shaft. Gear Z13 is meshed with gear Z14, and gear Z14 is coaxially fixedly installed at the upper end of the planetary frame of the RV reduction unit to realize the detection of the output rotation angle. The above-mentioned angle controller can use an angle sensor.

[0023] The hand-cranked generator, servo motor, position sensor and angle controller are all installed at the upper end of the upper housing body. The position sensor and angle controller are arranged on the left and right sides, and the servo motor and hand-cranked generator are arranged on the left and right sides. The gears Z1, Z2, Z3, Z4, Z7, Z8 and the power input main shaft are installed in the upper housing body. The RV reduction unit includes the sun gear Z11, the planetary gear Z12, the crankshaft 5, the planetary carrier 7, the cycloid gear Z15, the pinion housing 6 and the output gear Z16. The sun gear Z11 is coaxially fixedly connected with the lower part of the power input main shaft to input power to the RV reduction unit. The sun gear Z11 is meshed with multiple planetary gears Z12, and the multiple planetary gears are respectively mounted on the upper ends of multiple crankshafts, and the two ends of the crankshafts are rotatably mounted on the planetary carrier. The two cycloid gears are respectively rotated with the relative eccentric parts of the multiple crankshafts, and the two cycloid gears are meshed with the pinion pins on the inner ring of the pinion housing. The pinion housing is fixed on the lower housing body. The output wheel is coaxially fixedly mounted on the lower end of the planet carrier to achieve power output.

[0024] The working principle of this high-speed heavy-load multi-transmission chain compact high-precision reducer transmission device is:

[0025] Before operation, fix the transmission device with the support. Power on the servo motor, drive the motor to rotate through the external motor control unit, and the motor rotates through the meshing of gear Z7 and gear Z8, driving the power input spindle to rotate. The power input spindle rotates through the meshing of gear Z6 and gear Z5, driving the position sensor to rotate, thereby realizing accurate real-time measurement of the position angle. The power input spindle rotates through the meshing of gear Z11 and gear Z12, driving the crankshaft to rotate, and the drive shaft drives the two cycloid wheels Z15 to rotate and make planar motion, and finally drives the planet carrier to rotate through the meshing motion with the pin gear housing, and the rotation and torque are output by gear Z16. At the same time, the planet carrier rotates through the meshing of gear Z14 and gear Z13, driving gear Z10 to rotate, and through the meshing of gear Z10 and gear Z9, driving the angle controller to rotate, realizing accurate real-time measurement of the planet carrier angle. When the servo motor fails, disconnect the motor power supply, start the hand-crank generator, and drive gear Z3 to rotate through the meshing rotation of gear Z1 and gear Z2, and drive the power input spindle to rotate through the meshing rotation of gear Z3 and gear Z4, thereby driving the output gear Z16 to output power.

[0026] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device, characterized in that: It includes an upper transmission unit and a lower transmission unit, and the upper transmission unit is detachably connected to the lower transmission unit; the upper transmission unit includes an upper housing and a power input part, an input position detection part, and an output angle detection part integrated on the upper housing; the lower transmission unit adopts an RV reduction unit, and the input member of the RV reduction unit is a sun gear, which is coaxially driven and connected to the power input main shaft of the power input part; the output member of the RV reduction unit is a planet carrier, and an output wheel is coaxially fixedly installed at the lower end of the planet carrier to realize power output of the entire transmission device.

2. The high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device according to claim 1 is characterized in that: The power input part includes the power input main shaft, a hand-cranked generator, gear Z1, gear Z2, gear Z3, gear Z4, gear Z7, gear Z8, and a servo motor; the gear Z1 and gear Z2 are bevel gears, and the other gears are spur gears; the hand-cranked generator is drivingly connected to the gear Z1, the gear Z1 is meshed with the gear Z2, the gear Z3 is coaxially connected to the gear Z2, the gear Z3 is meshed with the gear Z4, and the gear Z4 is coaxially fixedly installed on the power input main shaft; the gear Z8 is meshed with the gear Z7, the gear Z8 is coaxially fixedly installed on the power input main shaft, and the gear Z7 is drivingly connected to the servo motor.

3. The high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device according to claim 1 is characterized in that: The input position detection part includes a gear Z5, a gear Z6 and a position sensor; the gear Z6 is coaxially fixed on the power input shaft, the gear Z6 is meshed with the gear Z5, and the gear Z5 is coaxially connected to the position sensor.

4. The high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device according to claim 1, characterized in that: The output angle detection part includes gear Z9, gear Z10, a detection shaft and an angle controller; the angle controller is coaxially connected to gear Z9; the gear Z10 is meshed with gear Z9, the gear Z10 is installed on the upper end of the detection shaft, the lower part of the detection shaft extends into the lower box body, and the gear Z13 is coaxially fixedly installed on the lower end of the detection shaft, the gear Z13 is meshed with gear Z14, and the gear Z14 is coaxially fixedly installed on the upper end of the planetary carrier of the RV reduction unit.

5. The high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device according to claim 1 is characterized in that: The hand-cranked generator, servo motor, position sensor, and angle controller are all installed at the upper end outside the upper box body; the gear Z1, gear Z2, gear Z3, gear Z4, gear Z7, gear Z8, and the power input spindle are installed inside the upper box body.

6. The high-speed, heavy-load, multi-transmission chain, compact, high-precision reducer transmission device according to claim 1, characterized in that: The RV reduction unit includes the sun gear Z11, the planetary gear Z12, the crankshaft, the planetary carrier, the cycloid wheel Z15, the pinion housing and the output gear Z16; the sun gear Z11 is meshed with multiple planetary gears Z12, and the multiple planetary gears are respectively mounted on the upper ends of multiple crankshafts, and both ends of the crankshafts are rotatably mounted on the planetary carrier; the two cycloid wheels are respectively rotationally matched with the relative eccentric parts of the multiple crankshafts, and the two cycloid wheels are meshed with the pinion pins on the inner ring of the pinion housing; the pinion housing is fixed on the lower box body.

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