Transmission device

Abstract

The invention discloses a transmission device which comprises a gear box body and a driving assembly, a composite buffer assembly and a self-adaptive phase modulation assembly which are integrated in the gear box body, the driving assembly comprises a driving disc, a driving driven disc and a magnetic suspension module, and the magnetic suspension module generates mutual exclusion force between the driving disc and the driven disc; a non-contact working air gap is maintained between the two parts; the composite buffering assembly comprises a composite gear structure, and the phase of output vibration is automatically adjusted according to the transmitted torque value. The self-adaptive phase modulation assembly comprises a first transmission path and a second transmission path, the first transmission path provides a reference vibration phase, and the input end of the second transmission path is connected with the output end of the compound gear structure; non-contact driving of the front section of magnetic suspension is achieved through the magnetic suspension module, friction vibration is avoided from the source, two paths of vibration excitation equal in amplitude and opposite in phase counteract each other when the two paths of vibration excitation are synthesized at the output end through two paths of transmission paths, and vibration annihilation is achieved from the physical source.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of transmission equipment, in particular to a transmission device. BACKGROUND

[0002] Gear transmission system as the core basic components in the industrial field, its performance directly determines the precision, efficiency and reliability of high-end equipment. However, the traditional gear box is always plagued by vibration and noise due to its inherent characteristics, which has become a key bottleneck restricting performance improvement in the field of precision machine tools, aerospace, new energy vehicles and other high technologies.

[0003] At present, the vibration suppression technology of gear transmission mainly includes passive suppression and active suppression; among them, the passive suppression technology mainly through the gear repair, using high damping material to wrap the box or setting the vibration isolation base, although it has certain effect, but its design is optimized for specific working conditions, it is difficult to adapt to wide speed range and variable load conditions, and the effect is limited in suppressing high frequency meshing vibration; the active suppression technology uses piezoelectric elements or additional actuators to apply counteracting force to offset the vibration, but this technology depends on the rapidity and accuracy of the control algorithm, the system is complex, the cost is high, and the long-term reliability of the introduced electronic components in harsh industrial environment is questionable.

[0004] Further analysis shows that the vibration of the gear system is caused by the periodic change of the meshing stiffness, and the vibration characteristics change with the change of the transmitted torque, showing a complex nonlinear relationship. The existing single means can only suppress a certain frequency band or a specific type of disturbance, and there is a lack of a full-field solution covering from low-frequency torque fluctuation to high-frequency meshing vibration; for example, the current magnetorheological fluid transmission device can realize stepless regulation of transmission stiffness, but its carrying precision and torsional stiffness are insufficient, which is difficult to meet the demand of ultra-high precision transmission; while the scheme based on double motor phase cancellation can realize vibration cancellation in principle, but the system is large and difficult to integrate into existing equipment. SUMMARY

[0005] The technical problem solved by the present application is to provide a transmission device.

[0006] The present application provides a transmission device, comprising: a gear box; a drive assembly provided at the input interface side of the gear box, comprising a drive disc, a drive driven disc arranged in parallel with each other, and a magnetic levitation module connected between the drive disc and the drive driven disc, the drive disc is connected with an external motor, the drive driven disc is connected to the gear box through a drive output shaft, and the magnetic levitation module generates a repulsive force between the drive disc and the driven disc to maintain a non-contact working air gap therebetween; The composite buffering assembly is arranged at the power output side of the driving assembly, and comprises a composite gear structure connected with the driving output shaft. The composite gear structure automatically adjusts the phase of output vibration according to the torque value transmitted. The adaptive phase modulation assembly is arranged at the power output side of the composite buffering assembly, and comprises two parallel first transmission paths and second transmission paths. The first transmission path provides a reference vibration phase. The input end of the second transmission path is connected with the output end of the composite gear structure, and the output ends of the first transmission path and the second transmission path are merged.

[0007] Further, the magnetic suspension module comprises first and second permanent magnet rings respectively mounted on opposite sides of the driving disc and the driving driven disc. The first and second permanent magnet rings have the same polarity on opposite sides.

[0008] Further, a plurality of driving pins are uniformly distributed on the driving disc along the circumferential direction. The driving driven disc is provided with guide sliding grooves corresponding to the driving pins. The guide sliding grooves extend along the circumferential direction of the driving driven disc. The driving pins are provided with first electromagnets. The inner walls of the guide sliding grooves are provided with second electromagnets. The first and second electromagnets have opposite polarities on opposite sides.

[0009] Further, the guide sliding groove comprises a guide-in section for guiding the driving pin to enter, a load-bearing section for bearing thrust, and an exit section for the driving pin to exit. The second electromagnet is arranged in the load-bearing section.

[0010] Further, the composite buffering assembly further comprises an elastic buffering unit. The elastic buffering unit comprises an input flange, an output flange, and a plurality of butterfly spring groups arranged between the input flange and the output flange. The input flange is connected with the driving output shaft of the driving driven disc. The butterfly spring groups are uniformly distributed along the circumferential direction. Each butterfly spring group is composed of at least two pairs of butterfly springs. The convex side of the butterfly spring group faces the input flange.

[0011] Further, the composite buffering assembly further comprises a magneto-rheological auxiliary unit. The magneto-rheological auxiliary unit comprises a driving disc, an auxiliary driven disc, and an excitation coil arranged coaxially. The driving disc is connected with the output flange through a composite input shaft. The auxiliary driven disc is connected with an auxiliary output shaft. The gap between the driving disc and the auxiliary driven disc is filled with magneto-rheological fluid. The excitation coil is arranged on the inner wall of the gear box body and is arranged opposite to the gap.

[0012] Further, the composite gear structure comprises: The floating gear sleeve is arranged on the outer periphery of the auxiliary driven disc, the outer periphery of the auxiliary driven disc and the inner periphery of the floating gear sleeve are provided with a plurality of axially embedded grooves which are uniformly distributed in the circumferential direction, the axially embedded grooves on the auxiliary driven disc are oppositely arranged with the axially embedded groove openings of the floating gear sleeve, and the mounting cavity is formed between the two axially embedded grooves which are oppositely arranged. A plurality of elastic supporting bodies are arranged in the mounting cavities, respectively, and the two ends of each elastic supporting body are in interference fit with the two axially embedded grooves.

[0013] Further, the auxiliary output shaft is connected with an angular contact bearing, the outer ring of the angular contact bearing is gap fit with the bearing seat hole to form a second transmission path, the first transmission path is an input gear meshing with the gear ring of the floating gear sleeve, and the input gear is rotationally connected to the inner wall of the gear box through a transmission shaft.

[0014] Further, the end portions of the transmission shaft and the auxiliary output shaft are connected with a synthetic gear, the synthetic gear is meshed with an output gear, the output gear is mounted on the inner wall of the gear box through a final output shaft, and the phase difference between the two synthetic gears is 180°.

[0015] Further, a torque sensor is mounted on the driving output shaft, a vibration sensor is arranged on the inner wall of the gear box close to the output interface side, the torque sensor and the vibration sensor are electrically connected with a control unit, and are electrically connected with the excitation coil, the first electromagnet and the second electromagnet.

[0016] Compared with the prior art, the application realizes "magnetic suspension front non-contact driving" through the magnetic suspension module, avoids friction vibration from the source, and makes the two-way vibration excitations with equal amplitude and opposite phase cancel each other out when being synthesized at the output end, thereby realizing the annihilation of vibration from the physical root source. In addition, through the composite buffer assembly, the output phase can be automatically and continuously fine-tuned according to the real-time transmitted torque value, so that the double-path cancellation effect is always maintained in the best state. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description only show some embodiments of the application.

[0018] Figure 1 is the overall schematic diagram of the transmission device of the application; Figure 2 is Figure 1 is the enlarged view of A in FIG. 1; Figure 3 is Figure 1 is the enlarged view of B in FIG. 1; Figure 4 This is a side view of the driven disk of the present invention; Figure 5 This is a top view of the transmission device of the present invention; Figure 6 This is a side view of the floating toothed sleeve of the present invention; Figure 7 This is a side view of the output gear of the present invention.

[0019] The reference numerals in the attached figures include: 1. Gearbox housing; 2. Drive assembly; 21. Drive disc; 22. Drive driven disc; 23. Magnetic levitation module; 231. First permanent magnet ring; 232. Second permanent magnet ring; 24. Drive output shaft; 25. Drive pin; 26. Guide groove; 27. First electromagnet; 28. Second electromagnet; 3. Composite buffer assembly; 31. Composite gear structure; 311. Floating gear sleeve; 312. Axial fitting groove; 313. Elastic support body; 32. Elastic buffer unit 321. Input flange; 322. Output flange; 323. Butterfly spring; 33. Magnetorheological auxiliary unit; 331. Driving disc; 332. Auxiliary driven disc; 333. Excitation coil; 334. Auxiliary output shaft; 335. Composite input shaft; 4. Adaptive phase adjustment component; 41. Input gear; 42. Angular contact bearing; 43. Drive shaft; 44. Composite gear; 45. Output gear; 46. Final output shaft; 5. Vibration sensor; 6. Torque sensor. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] like Figure 1As shown, the transmission device of the present invention includes a gearbox 1 and a drive assembly 2, a composite buffer assembly 3, and an adaptive phase adjustment assembly 4 sequentially integrated within the gearbox. The drive assembly 2 is located on the input interface side of the gearbox 1 and includes a drive disk 21, a driven disk 22 arranged parallel to each other, and a magnetic levitation module 23 connecting the drive disk 21 and the driven disk 22. The drive disk 21 is connected to an external motor, and the driven disk 22 is connected to the gearbox 1 via a drive output shaft 24. The magnetic levitation module 23 generates a magnetic levitation effect between the drive disk 21 and the driven disk. The two components generate a repulsive force to maintain a non-contact working air gap. The composite buffer assembly 3 includes a composite gear structure 31 connected to the drive output shaft 24. The composite gear structure 31 automatically adjusts the phase of the output vibration according to the transmitted torque value. The adaptive phase adjustment assembly 4 is located on the power output side of the composite buffer assembly 3 and includes two parallel transmission paths, a first transmission path and a second transmission path. The first transmission path provides a reference vibration phase, and the input end of the second transmission path is connected to the output end of the composite gear structure 31. The output ends of the first transmission path and the second transmission path merge.

[0022] This embodiment integrates the three major functional components of drive, buffer, and phase adjustment into a unified gearbox 1, resulting in a compact structure that avoids the problems of long axial dimensions, difficulty in counterweighting, and significant efficiency loss caused by traditional multi-system series connection. Specifically, the input shaft of the drive disk 21 is directly connected to the output shaft of an external motor via a flange or coupling, while the drive output shaft 24 of the driven disk is supported by a high-precision bearing on the end cover at the input end or the inner wall of the gearbox. The composite buffer component 3 is located in the central part of the gearbox 1, and the adaptive phase adjustment component 4 is located at the rear of the gearbox. A control cabinet is installed on the outside or top of the gearbox 1, containing a control unit that is connected to various sensors and actuators inside the gearbox via a high-strength aviation connector.

[0023] In some embodiments, such as Figure 1 , Figure 2 and Figure 4As shown, the magnetic levitation module 23 includes a first permanent magnet ring 231 and a second permanent magnet ring 232 respectively installed on the opposite faces of the drive disk 21 and the driven disk 22. The polarities of the opposite faces of the first permanent magnet ring 231 and the second permanent magnet ring 232 are the same. Multiple drive pins 25 are evenly distributed along the circumference of the drive disk 21. The driven disk 22 is provided with guide grooves 26 corresponding to each drive pin 25. The guide grooves 26 extend along the circumference of the driven disk 22. A first electromagnet 27 is provided inside each drive pin 25, and a second electromagnet 28 is provided on the inner wall of the guide groove 26. The polarities of the opposing surfaces of the first electromagnet 27 and the second electromagnet 28 are opposite. The first electromagnet 27 and the second electromagnet 28 are electrically connected to the control system. The guide groove 26 includes an inlet section for guiding the drive pin 25 in, a bearing section for bearing thrust, and an outlet section for retracting the drive pin 25, arranged sequentially. The second electromagnet 28 is located in the bearing section. The profile of the bearing section is an Archimedean spiral or its approximate curve. The profiles of the inlet section and the outlet section are involutes or higher-order polynomial curves. The inlet of the inlet section and the outlet of the outlet section are both flared. The bearing section has a small clearance fit with the drive pin 25, and the inlet section and the outlet section have a larger clearance fit with the drive pin 25.

[0024] In this embodiment, the first permanent magnet ring 231 and the second permanent magnet ring 232 are respectively embedded in the opposite surfaces of the drive disk 21 and the driven disk 22. Since their opposite surfaces have the same polarity, they can generate a strong repulsive magnetic force. This magnetic force can overcome the gravity and axial magnetic pull of the driven disk assembly, so that the drive disk 21 and the driven disk 22 can maintain a preset non-contact working air gap. After this stage is completed, the two disks are in a suspended state without physical contact. This method eliminates the contact wear, friction wear and solid friction vibration caused by gear meshing, spline connection and other traditional mechanical connections.

[0025] Specifically, when the external motor drives the drive disk 21 to rotate, the drive pin shaft 25 fixed thereto rotates synchronously. At this time, the drive pin shaft 25 enters the guiding chute 26 and enters the bearing section through the guiding section. In this section, the control unit supplies currents with a specific time sequence to the first electromagnet 27 and the second electromagnet 28, so that opposite magnetic fields are generated between their opposing surfaces, thereby forming a strong electromagnetic force, making the drive pin shaft 25 closely adhere to the working surface of the bearing section, thereby generating a huge tangential thrust, pushing the driven disk 22 to rotate around its axis by an accurate angle. After the thrust action is completed, the drive pin shaft 25 enters the exit section, and the control unit cuts off the current of this group of electromagnets, the electromagnetic force disappears, and the drive pin shaft 25 smoothly exits from this section under the action of rotational centrifugal force and the subsequent pushing of the pin shafts, completing a working cycle. As the drive disk 21 continuously rotates, multiple drive pin shafts 25 evenly distributed thereon sequentially and cyclically experience the above "entry - propulsion - exit" process. Each drive pin shaft 25 provides a pulsed electromagnetic thrust within the bearing section. The continuous action of numerous drive pin shafts 25 integrates the pulsed thrust into a stable and continuous torque, driving the driven disk 22 and the drive output shaft 24 fixedly connected thereto to achieve continuous rotational motion. By precisely regulating the energizing current, time sequence, and duration of each pair of electromagnets, accurate and stepless control of the output speed and torque can be achieved.

[0026] In some embodiments, as Figure 1 shown, the composite buffer assembly 3 further includes an elastic buffer unit 32. The elastic buffer unit 32 includes an input flange 321, an output flange 322, and a plurality of disc spring groups disposed between the input flange 321 and the output flange 32, the input flange 321 is connected to the drive output shaft 24 of the driven disk 22, each of the disc spring groups is evenly distributed circumferentially, each disc spring group is composed of at least two disc springs 323 in an opposed combination, and the convex side of the disc spring group faces the input flange 321.

[0027] In this embodiment, the disc springs 323 are stacked in an opposed combination (i.e., multiple disc springs are superposed in the same direction), forming a non - linear stiffness characteristic. In the low - load range (F < F), its stiffness K1 is relatively low, which can effectively filter out minor vibrations. In the medium - load range (F1 < F <F2), its stiffness K2 gradually increases to about 2 - 3 times of K1, smoothly承接主要工作扭矩; 在高载荷或冲击载荷区间(F>F2),其刚度K3急剧增大,接近刚性支撑,为系统提供过载保护,该设计使传动装置能自动适应从空载到过载的宽范围工况;该蝶形弹簧组可以封装在一个独立的单元内,通过输入法兰3 and输出法兰 连接与前后部分的组件连接,而蝶形弹簧323的两端则通过螺栓分别与输入法兰321和输出法兰322连接。

[0028] It should be noted that there is an unclear expression "平稳承接主要工作扭矩" in the original text which is retained as it is for translation. You may want to check and correct it in the original content for a more accurate translation.In some embodiments, such as Figure 1 , Figure 3 As shown, the composite buffer assembly 3 further includes a magnetorheological auxiliary unit 33. The magnetorheological auxiliary unit 33 includes a coaxially arranged driving disk 331, an auxiliary driven disk 332, and an excitation coil 333. The driving disk 331 is connected to the output flange 322 via a composite input shaft 335. An auxiliary output shaft 334 is connected to the auxiliary driven disk 332. The gap between the driving disk 331 and the auxiliary driven disk 332 is filled with magnetorheological fluid. The excitation coil 333 is wound around the inner wall of the gearbox 1 and is arranged opposite to the gap. The composite gear structure 31 includes a floating gear sleeve. 311 and multiple elastic supports 313; the floating toothed sleeve 311 is disposed on the outer periphery of the auxiliary driven disk 332, and a toothed ring is provided on its outer periphery. Multiple axially evenly distributed axial fitting grooves 312 are provided on the outer periphery of the auxiliary driven disk 332 and the inner periphery of the floating toothed sleeve 311. The axial fitting grooves 312 on the auxiliary driven disk 332 and the axial fitting grooves 312 on the floating toothed sleeve 311 are arranged opposite to each other, and an installation cavity is formed between the two axial fitting grooves 312 arranged opposite to each other; each elastic support 313 is disposed in each of the installation cavities, and its two ends are respectively interference-fitted with the two axial fitting grooves 312.

[0029] In this embodiment, the traditional passive buffer is upgraded to an active intelligent buffer by using the magnetorheological auxiliary unit 33. By changing the current of the excitation coil 333, the shear strength of the magnetorheological fluid can be changed instantaneously (at the millisecond level), thereby steplessly and precisely adjusting the equivalent stiffness and damping of the transmission system.

[0030] Specifically, during operation, power is transmitted to the driving disc 331 via the output flange 322 and the composite input shaft 335, causing it to rotate. Since the space between the driving disc 331 and the auxiliary driven disc 332 is filled with magnetorheological fluid and has a small gap, the rotation of the driving disc 331 drives the auxiliary driven disc 332 to rotate synchronously through the shearing action of the magnetorheological fluid. At zero magnetic field, the magnetorheological fluid exhibits Newtonian fluid characteristics with low viscosity, resulting in a certain slip between the two discs, making the transmission "soft" and effectively absorbing high-frequency vibrations. After a magnetic field is applied, when the control unit supplies current to the excitation coil 333, the coil generates a magnetic field. This magnetic field passes perpendicularly through the working gap between the driving disc 331 and the auxiliary driven disc 332, instantly (millisecond level) magnetizing the magnetorheological fluid within the gap. The magnetic particles within it arrange themselves into a chain-like structure, causing a sharp increase in the fluid's shear yield strength, thereby "locking" the two discs together. It transmits a huge torque; when the auxiliary driven disk 332 rotates, it squeezes the elastic support 313 through the axial fitting groove 312 on its outer periphery. The elastic support 313 undergoes shear deformation, which in turn drives the floating gear sleeve 311 to rotate. Finally, the power is output through the gear ring on the outer periphery of the floating gear sleeve 311. When the transmitted torque increases, the gear meshing force increases. This force acts on the floating gear sleeve 311, attempting to make it deflect slightly circumferentially relative to the auxiliary driven disk 332. Since the two are connected by the fitting groove and the elastic support 313, this circumferential deflection tendency is transformed into squeezing and shearing of the elastic support 313, causing it to deform. This forces the floating gear sleeve 311 to produce a radial displacement proportional to the torque value. This radial displacement changes the pressure angle and meshing position of the gear teeth on the floating gear sleeve 311, which is equivalent to a continuous change in the phase of its output vibration, either leading or lagging.

[0031] Specifically, to maximize the magnetorheological effect, radial, parallel grooves or toothed slots are machined on the working surfaces of the driving disk 331 and the auxiliary driven disk 332. These toothed slots include radial straight toothed slots (similar to a flat gear with extremely fine teeth), herringbone-shaped slots, or spiral toothed slots. The gap between the driving disk 331 and the auxiliary driven disk 332 is sealed by a high-performance rotary shaft seal to prevent leakage of the magnetorheological fluid. This seal can be a magnetorheological fluid seal or a plug seal. Part of the driving disk 331, the seal, and part of the auxiliary driven disk 332 are integrated into a housing. One or more annular grooves are machined on the housing, and the excitation coil 333 is located in the annular groove. When current passes through the coil, the magnetic field forms a loop through the housing made of soft magnetic material. The magnetic field passes perpendicularly through the housing, the driving disk 331, the working gap of the magnetorheological fluid, the driven disk, and the housing, forming a complete closed magnetic circuit. In addition, the aforementioned composite input shaft 335 and auxiliary output shaft 334 are both mounted on the inner wall of the gearbox 1 by bearings.

[0032] Specifically, the axial fitting groove 312 on the floating sleeve and the auxiliary driven disk 332 not only provides installation and limiting space for the elastic support 313, but also prevents relative rotation between the floating sleeve and the auxiliary driven disk 332, ensuring that they rotate synchronously as a whole; wherein, the elastic support 313 has a rectangular, circular or I-shaped cross section, and the material is an engineering elastomer with nonlinear stiffness characteristics such as polyurethane or nitrile rubber, which is pressed into the cavity through an interference fit.

[0033] In some embodiments, such as Figure 1 , Figures 5-7 As shown, an angular contact bearing 42 is connected to the auxiliary output shaft 334. The outer ring of the angular contact bearing 42 and the bearing seat hole form a second transmission path through clearance fit. The first transmission path is an input gear 41 that meshes with the gear ring of the floating gear sleeve 311. The input gear 41 is rotatably connected to the inner wall of the gearbox 1 through a transmission shaft 43. A composite gear 44 is connected to the end of both the transmission shaft 43 and the auxiliary output shaft 334. The composite gear 44 meshes with the output gear 45. The output gear 45 is installed on the inner wall of the gearbox 1 through a final output shaft 46. The phase difference between the two composite gears 44 is 180°.

[0034] In this embodiment, the phase difference of the vibration excitation of the two synthetic gears 44 is 180°. When the meshing force of the synthetic gear 44 on the first transmission path reaches its peak upward, the meshing force of the other synthetic gear 44 reaches its peak downward. These two forces, which are opposite in direction and equal in magnitude, act on the output gear 45 simultaneously, and their radial force components cancel each other out, thereby achieving the annihilation of the source of vibration. This also explains that although gears A and B (i.e., the two synthetic gears 44) are in opposite directions, due to the existence of the phase difference, their torque action on the output gear 45 is staggered in time, that is, the peak torques of gears A and B are completely staggered: when gear A pushes the output gear 45, gear B is in the minimum thrust state, and vice versa. In this way, the net torque remains relatively constant, thereby driving the output gear 45 to rotate smoothly in one direction. Of course, the other end of the final output shaft 46 can be connected to the wave generator of the harmonic gear reducer to provide the final high reduction ratio, reduce the speed to the required operating speed, and output a huge torque.

[0035] Specifically, the auxiliary output shaft 334 is supported within the gearbox 1 by an angular contact bearing 42. A bearing housing is installed on the inner wall of the gearbox 1, and the outer ring of the angular contact bearing 42 has a small clearance fit with the bearing housing bore, allowing the outer ring to slide slightly radially within the bore. When a change in torque causes a change in the meshing force of the composite gear 44, the force acts on the floating gear sleeve 311. This force attempts to push the entire floating gear sleeve 311, the auxiliary output shaft 334, and the auxiliary driven disc 332 to move radially. Because of the clearance between the outer ring of the angular contact bearing 42 and the bearing housing bore, the frictional force caused by the preload can be overcome, allowing the outer ring to move a small distance within the bore, thus achieving the desired displacement. After the displacement is completed, the strong axial stiffness of the angular contact bearing 42 still firmly locks the axial position of the auxiliary output shaft 334, ensuring that the gear does not axially move.

[0036] In some embodiments, a torque sensor 6 is installed on the drive output shaft 24, and a vibration sensor 5 is provided on the inner wall of the gearbox 1 near the output interface. The torque sensor 6, the vibration sensor 5, and the excitation coil 333 are all electrically connected to the control unit. The torque sensor 6 monitors the torque value in real time and uses it as a core parameter. On the one hand, it is used to control the magnetorheological fluid current, and on the other hand, it sends the torque value to the control unit. The control unit calculates the required ideal phase compensation amount according to the "torque-phase" mapping table. This compensation target value is simultaneously sent to the drive assembly 2 for coarse adjustment and to the compound gear structure 31 for fine adjustment. The three work together to ensure that the target is ultimately achieved.

[0037] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0038] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0039] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0040] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A transmission device, characterized in that, include: Gearbox housing (1); The drive assembly (2) is located on the input interface side of the gearbox (1) and includes a drive disk (21) and a driven disk (22) arranged parallel to each other, and a magnetic levitation module (23) connected between the drive disk (21) and the driven disk (22). The drive disk (21) is connected to an external motor, and the driven disk (22) is connected to the gearbox (1) through a drive output shaft (24). The magnetic levitation module (23) generates a repulsive force between the drive disk (21) and the driven disk, so that the two maintain a non-contact working air gap. The composite buffer assembly (3) is located on the power output side of the drive assembly (2) and includes a composite gear structure (31) connected to the drive output shaft (24). The composite gear structure (31) automatically adjusts the phase of the output vibration according to the transmitted torque value. An adaptive phase adjustment component (4) is located on the power output side of the composite buffer component (3), including two parallel first transmission paths and second transmission paths. The first transmission path provides a reference vibration phase, and the input end of the second transmission path is connected to the output end of the composite gear structure (31), and the output ends of the first transmission path and the second transmission path merge.

2. The transmission device as described in claim 1, characterized in that, The magnetic levitation module (23) includes a first permanent magnet ring (231) and a second permanent magnet ring (232) respectively installed on the opposite surfaces of the drive disk (21) and the driven driven disk (22), and the polarities of the opposite surfaces of the first permanent magnet ring (231) and the second permanent magnet ring (232) are the same.

3. The transmission device as described in claim 2, characterized in that, The drive disk (21) has a plurality of drive pins (25) evenly distributed along its circumference. The driven driven disk (22) is provided with guide grooves (26) corresponding to each of the drive pins (25). The guide grooves (26) extend along the circumference of the driven driven disk (22). A first electromagnet (27) is provided inside the drive pin (25). A second electromagnet (28) is provided on the inner wall of the guide groove (26). The polarities of the opposite faces of the first electromagnet (27) and the second electromagnet (28) are opposite.

4. The transmission device as described in claim 3, characterized in that, The guide chute (26) includes an inlet section for guiding the drive pin (25) in, a bearing section for bearing thrust, and an exit section for retracting the drive pin (25), arranged sequentially. The second electromagnet (28) is located in the bearing section.

5. The transmission device as described in claim 4, characterized in that, The composite buffer assembly (3) further includes an elastic buffer unit (32), which includes an input flange (321), an output flange (322), and a plurality of butterfly spring groups disposed between the input flange (321) and the output flange (322). The input flange (321) is connected to the drive output shaft (24) of the driven driven disk (22). Each butterfly spring group is evenly distributed circumferentially, and each butterfly spring group is composed of at least two butterfly springs (323) mating together, with the protruding side of the butterfly spring group facing the input flange (321).

6. The transmission device as described in claim 5, characterized in that, The composite buffer assembly (3) further includes a magnetorheological auxiliary unit (33), which includes a coaxially arranged active disk (331), an auxiliary driven disk (332), and an excitation coil (333). The active disk (331) is connected to the output flange (322) through a composite input shaft (335). An auxiliary output shaft (334) is connected to the auxiliary driven disk (332). The gap between the active disk (331) and the auxiliary driven disk (332) is filled with magnetorheological fluid. The excitation coil (333) is wound around the inner wall of the gearbox (1) and is arranged opposite to the gap.

7. The transmission device as described in claim 6, characterized in that, The composite gear structure (31) includes: A floating gear sleeve (311) is provided on the outer periphery of the auxiliary driven disk (332). A gear ring is provided on its outer periphery. Multiple axial fitting grooves (312) are provided on the outer periphery of the auxiliary driven disk (332) and the inner periphery of the floating gear sleeve (311). The axial fitting grooves (312) on the auxiliary driven disk (332) and the axial fitting grooves (312) on the floating gear sleeve (311) are arranged opposite to each other, and an installation cavity is formed between the two axial fitting grooves (312) arranged opposite to each other. Multiple elastic supports (313) are respectively disposed in each of the aforementioned mounting cavities, and their two ends are respectively interference-fitted with two axial fitting grooves (312).

8. The transmission device as described in claim 7, characterized in that, An angular contact bearing (42) is connected to the auxiliary output shaft (334). The outer ring of the angular contact bearing (42) and the bearing seat hole form a second transmission path through clearance fit. The first transmission path is an input gear (41) that meshes with the gear ring of the floating gear sleeve (311). The input gear (41) is rotatably connected to the inner wall of the gearbox body (1) through the transmission shaft (43).

9. The transmission device as described in claim 8, characterized in that, The ends of the drive shaft (43) and the auxiliary output shaft (334) are each connected to a composite gear (44). The composite gear (44) meshes with the output gear (45). The output gear (45) is installed on the inner wall of the gearbox (1) through the final output shaft (46). The phase difference between the two composite gears (44) is 180°.

10. The transmission device as described in claim 9, characterized in that, A torque sensor (6) is installed on the drive output shaft (24), and a vibration sensor (5) is provided on the inner wall of the gearbox (1) near the output interface. Both the torque sensor (6) and the vibration sensor (5) are electrically connected to the control unit and to the excitation coil (333), the first electromagnet (27), and the second electromagnet (28).

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