A transmission

Abstract

The application discloses a transmission device, which comprises a gear box body and a driving assembly, a composite buffer assembly and an adaptive phase modulation assembly integrated in the box body. The driving assembly comprises a driving disc, a driven disc and a magnetic levitation module. The magnetic levitation module generates repulsive force between the driving disc and the driven disc, so that the two discs maintain a non-contact working air gap. The composite buffer assembly comprises a composite gear structure, which automatically adjusts the phase of output vibration according to the transmitted torque value. The 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 composite gear structure. The magnetic levitation module realizes "magnetic levitation non-contact driving of the front section", avoids friction vibration from the source, and makes two vibration excitations with equal amplitude and opposite phase through two transmission paths, so that the two vibration excitations are cancelled out when being synthesized at the output end, and the vibration is annihilated from the physical root.

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 gear repair, using high damping material to wrap the box or setting 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 gear system is caused by the periodic change of meshing stiffness, and the vibration characteristics change with the change of 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:

[0007] A gear box;

[0008] A drive assembly is arranged on the input interface side of the gear box, which includes 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.

[0009] 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, which automatically adjusts the phase of output vibration according to the value of transmitted torque;

[0010] The adaptive phase modulation assembly is arranged at the power output side of the composite buffering assembly, and comprises two parallel arranged first transmission path and second transmission path, 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.

[0011] Further, the magnetic suspension module comprises a first permanent magnet ring and a second permanent magnet ring respectively arranged on the opposite sides of the driving disc and the driving driven disc, and the polarities of the opposite sides of the first permanent magnet ring and the second permanent magnet ring are the same.

[0012] Further, a plurality of driving pins are uniformly distributed on the driving disc along the circumferential direction thereof, and a plurality of guide sliding grooves corresponding to the driving pins are arranged on the driving driven disc, the guide sliding grooves extend along the circumferential direction of the driving driven disc, the first electromagnet is arranged in the driving pin, the second electromagnet is arranged on the inner wall of the guide sliding groove, and the polarities of the opposite sides of the first electromagnet and the second electromagnet are opposite.

[0013] Further, the guide sliding groove comprises a guide-in section for guiding the driving pin to enter, a load bearing section for bearing the thrust, and a guide-out section for guiding the driving pin to exit, and the second electromagnet is arranged in the load bearing section.

[0014] 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, and the convex side of the butterfly spring group faces the input flange.

[0015] 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 output shaft is connected with the auxiliary driven disc, and the gap between the driving disc and the auxiliary driven disc is filled with magneto-rheological fluid, and the excitation coil is arranged on the inner wall of the gear box body and is arranged opposite to the gap.

[0016] Further, the composite gear structure comprises:

[0017] 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 circumferentially distributed axial fitting grooves, the axial fitting grooves on the auxiliary driven disc are arranged opposite to the opening of the axial fitting grooves of the floating gear sleeve, and a mounting cavity is formed between the two opposite axial fitting grooves.

[0018] 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 axial fitting grooves.

[0019] Further, the auxiliary output shaft is connected with an angular contact bearing, a gap is formed between the outer ring of the angular contact bearing and 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 rotatably connected to the inner wall of the gear box through a transmission shaft.

[0020] Further, the end portions of the transmission shaft and the auxiliary output shaft are connected with a synthetic gear, the synthetic gears mesh 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°.

[0021] 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.

[0022] Compared with the prior art, the application realizes "magnetic suspension front non-contact driving" through a magnetic suspension module, avoids friction vibration from the source, and makes the two paths of vibration excitation with equal amplitude and opposite phase cancel each other out when 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

[0023] 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 are only some embodiments of the application.

[0024] Figure 1 is the overall schematic diagram of the transmission device of the application;

[0025] Figure 2 is Figure 1 is an enlarged view of A in

[0026] Figure 3 isFigure 1 Side view of the driving driven disc

[0027] Figure 4 Side view of the driving driven disc

[0028] Figure 5 Top view of the transmission device

[0029] Figure 6 Side view of the floating sleeve

[0030] Figure 7 Side view of the output gear

[0031] The reference signs in the drawings comprise:

[0032] 1, gear box; 2, driving assembly; 21, driving disc; 22, driving driven disc; 23, magnetic levitation module; 231, first permanent magnet ring; 232, second permanent magnet ring; 24, driving output shaft; 25, driving pin shaft; 26, guide chute; 27, first electromagnet; 28, second electromagnet; 3, composite buffer assembly; 31, composite gear structure; 311, floating 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 modulation assembly; 41, input gear; 42, angular contact bearing; 43, transmission shaft; 44, synthetic gear; 45, output gear; 46, final output shaft; 5, vibration sensor; 6, torque sensor. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0034] As Figure 1As shown, the transmission of the present application comprises a gear box 1 and a driving assembly 2, a composite buffer assembly 3 and an adaptive phase modulation assembly 4 integrated in the box in sequence, the driving assembly 2 is arranged at the input interface side of the gear box 1 and comprises driving discs 21, driving driven discs 22 arranged in parallel with each other and a magnetic levitation module 23 connected between the driving discs 21 and the driving driven discs 22, the driving discs 21 are connected with external motors, the driving driven discs 22 are connected to the gear box 1 through driving output shafts 24, the magnetic levitation module 23 generates repulsive force between the driving discs 21 and the driven discs to maintain a non-contact working air gap; the composite buffer assembly 3 comprises a composite gear structure 31 connected with the driving output shafts 24, which automatically adjusts the phase of output vibration according to the transmitted torque value; the adaptive phase modulation assembly 4 is arranged at the power output side of the composite buffer assembly 3 and comprises two parallel arranged first transmission paths and second transmission paths, the first transmission paths provide reference vibration phase, the input end of the second transmission paths is connected with the output end of the composite gear structure 31, and the output ends of the first transmission paths and the second transmission paths are merged.

[0035] The present embodiment integrates the driving, buffering and phase modulation three functional assemblies in a unified gear box 1, which is compact in structure and avoids the problems of long axial size, heavy weight, large efficiency loss and the like caused by traditional multi-system series connection; wherein, the input shaft of the driving disc 21 is directly connected with the output shaft of the external motor through flanges or shaft couplings and the like, the driving output shafts 24 of the driven discs are supported on the end cover at the input end or the inner wall of the box through high-precision bearings; the composite buffer assembly 3 is located at the central part of the gear box 1, the adaptive phase modulation assembly 4 is located at the rear part of the box, and a control cabinet is installed at the outside or top of the gear box 1, which is internally provided with a control unit and is connected with various sensors and actuators in the box through high-strength aviation plugs.

[0036] In some embodiments, as Figure 1 , Figure 2 and Figure 4As shown, the magnetic suspension module 23 comprises first and second permanent magnet rings 231 and 232 respectively mounted on opposite faces of the driving disc 21 and the driven disc 22, the first and second permanent magnet rings 231 and 232 having the same polarity on opposite faces; the driving disc 21 is provided with a plurality of driving pins 25 distributed along the circumference thereof, the driven disc 22 is provided with guide sliding grooves 26 corresponding to the driving pins 25, the guide sliding grooves 26 extend along the circumference of the driven disc 22, the driving pins 25 are provided with first electromagnets 27, the guide sliding grooves 26 are provided with second electromagnets 28 on the inner walls thereof, the first and second electromagnets 27 and 28 have opposite polarities on opposite faces, the first and second electromagnets 27 and 28 are electrically connected with a control system; the guide sliding grooves 26 comprise an entry section for guiding the driving pins 25 to enter, a load section for bearing thrust, and an exit section for guiding the driving pins 25 to exit, the second electromagnets 28 are arranged on the load section; the load section has an Archimedes spiral or an approximate curve, the entry section and the exit section have an involute or a high-order polynomial curve, the entry section and the exit section have an expanding shape, the load section is in small-gap cooperation with the driving pins 25, and the entry section and the exit section are in large-gap cooperation with the driving pins 25.

[0037] In the embodiment, the first and second permanent magnet rings 231 and 232 are respectively embedded in opposite faces of the driving disc 21 and the driven disc 22, and have the same polarity on opposite faces, so that a strong repulsive magnetic force is generated, which can overcome the gravity and axial magnetic force of the driven disc assembly, so that a preset non-contact working air gap is maintained between the driving disc 21 and the driven disc 22, after the stage is completed, the two discs are in a suspended state without physical contact, and the method eliminates the contact wear, friction wear and solid friction vibration caused by the gear meshing and spline connection in the traditional mechanical connection.

[0038] Specifically, when the external motor drives the driving disc 21 to rotate, the driving pin shaft 25 fixedly connected thereto rotates synchronously, at this time, the driving pin shaft 25 enters the guide sliding groove 26, enters the bearing section through the guide-in section, in this section, the control unit supplies specific time sequence current to the first electromagnet 27 and the second electromagnet 28, so that the two mutually face generates magnetic field with opposite polarity, thereby forming a strong electromagnetic magnetic force, so that the driving pin shaft 25 closely abuts the bearing section working surface, thereby generating a huge tangential thrust, pushing the driving driven disc 22 to rotate around its axis by an accurate angle, completing the thrust action, after the driving pin shaft 25 enters the exit section, the control unit cuts off the current of the electromagnet, the electromagnetic force disappears, the driving pin shaft 25 exits the section smoothly under the rotation centrifugal force and the pushing of the subsequent pin shaft, completing a working cycle; with the continuous rotation of the driving disc 21, the plurality of driving pin shafts 25 uniformly distributed thereon undergo the above-mentioned "guide-in-pushing-exit" process in turn and cyclically, each driving pin shaft 25 provides a pulse type electromagnetic thrust in the bearing section, and the continuous action of the plurality of driving pin shafts 25 integrates the pulse thrust into smooth and continuous torque, so that the driving driven disc 22 and the driving output shaft 24 fixedly connected thereto realize continuous rotary motion; accurate control of the current, time sequence and duration of each pair of electromagnets can realize accurate and stepless control of the output rotation speed and torque.

[0039] In some embodiments, as shown in FIG. 1, the composite buffer assembly 3 further comprises an elastic buffer unit 32, which comprises an input flange 321, an output flange 322, and a plurality of butterfly spring groups arranged between the input flange 321 and the output flange 322. The input flange 321 is connected to the driving output shaft 24 of the driving driven disc 22. Each butterfly spring group is uniformly distributed in the circumferential direction and is composed of at least two pairs of butterfly springs 323. The convex side of the butterfly spring group faces the input flange 321. Figure 1

[0040] In this embodiment, the butterfly springs 323 are stacked in the form of a pair of combined (i.e., a plurality of disc springs are stacked in the same direction). This forms a nonlinear stiffness characteristic. In the low load interval (F < F1), the stiffness K1 is low, which can effectively filter out small vibrations. In the medium load interval (F1 < F < F2), the stiffness K2 gradually increases to about 2-3 times K1, which stably receives the main working torque. In the high load or impact load interval (F > F2), the stiffness K3 sharply increases, which is close to rigid support, providing overload protection for the system. This design enables the transmission device to automatically adapt to a wide range of operating conditions from no load to overload. The butterfly spring group can be packaged in an independent unit and connected to the front and rear components through the input flange 321 and the output flange 322. The two ends of the butterfly spring 323 are connected to the input flange 321 and the output flange 322 respectively through bolts.

[0041] ​In some embodiments, as shown in Figure 1 , Figure 3 The composite buffering assembly 3 further comprises a magneto-rheological auxiliary unit 33, which comprises a coaxially arranged main driving disc 331, an auxiliary driven disc 332 and an excitation coil 333. The main driving disc 331 is connected with the output flange 322 through a composite input shaft 335, the auxiliary output shaft 334 is connected to the auxiliary driven disc 332, and the gap between the main driving disc 331 and the auxiliary driven disc 332 is filled with magneto-rheological fluid. The excitation coil 333 is arranged around the inner wall of the gear box 1 and is arranged opposite to the gap. The composite gear structure 31 comprises a floating gear sleeve 311 and a plurality of elastic support bodies 313. The floating gear sleeve 311 is arranged on the outer periphery of the auxiliary driven disc 332, and a gear ring is arranged on the outer periphery of the floating gear sleeve 311. The outer periphery of the auxiliary driven disc 332 and the inner periphery of the floating gear sleeve 311 are provided with a plurality of circumferentially distributed axial fitting grooves 312. The axial fitting grooves 312 on the auxiliary driven disc 332 are arranged opposite to the openings of the axial fitting grooves 312 of the floating gear sleeve 311, and a mounting cavity is formed between the two opposite axial fitting grooves 312. Each elastic support body 313 is arranged in each mounting cavity, and the two ends of each elastic support body 313 are in interference fit with the two axial fitting grooves 312.

[0042] In this embodiment, the traditional passive buffering is upgraded to active intelligent buffering through the magneto-rheological auxiliary unit 33. By changing the current of the excitation coil 333, the shear strength of the magneto-rheological fluid can be changed instantaneously (in milliseconds), so that the equivalent stiffness and damping of the transmission system can be adjusted steplessly and accurately.

[0043] Specifically, during operation, power is transmitted to the driving disc 331 through the output flange 322 and the composite input shaft 335, so that the driving disc 331 rotates. Since the driving disc 331 and the auxiliary driven disc 332 are filled with the magnetorheological fluid and there is a small gap between them, the rotation of the driving disc 331 drives the auxiliary driven disc 332 to rotate synchronously through the shearing action of the magnetorheological fluid. When the magnetic field is zero, the magnetorheological fluid has the characteristics of Newtonian fluid, and the viscosity is low. There is a certain slip between the two discs, the transmission is soft, and high-frequency vibrations can be effectively absorbed. When the magnetic field is applied, the coil generates a magnetic field when the control unit passes current through the exciting coil 333. The magnetic field vertically penetrates the working gap between the driving disc 331 and the auxiliary driven disc 332, magnetizes the magnetorheological fluid in the gap instantaneously (milliseconds), and the magnetic particles in the magnetorheological fluid arrange into chain structures, which causes the shear yield strength of the fluid to increase sharply, thereby "locking" the two discs and transmitting a large torque. When the auxiliary driven disc 332 rotates, the elastic support 313 is extruded through the axial embedded groove 312 on the outer periphery of the auxiliary driven disc 332, the elastic support 313 is sheared and deformed, and then the floating gear sleeve 311 is driven to rotate, and 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 engagement force increases, and the force acts on the floating gear sleeve 311, trying to make it deflect slightly circumferentially relative to the auxiliary driven disc 332. Since the two are connected through the embedded groove and the elastic support 313, the circumferential deflection tendency is converted into extrusion and shearing of the elastic support 313, which causes the deformation of the elastic support 313, thereby forcing the floating gear sleeve 311 to produce a radial displacement proportional to the torque value. The radial displacement changes the pressure angle and meshing position of the teeth on the floating gear sleeve 311, which is equivalent to the continuous change of the phase of the output vibration.

[0044] Specifically, in order to maximize the magnetorheological effect, radial and parallel grooves or tooth grooves are machined on the working surfaces of the driving disc 331 and the auxiliary driven disc 332. The tooth grooves include radial straight tooth grooves (similar to a very thin toothed gear), herringbone or spiral tooth grooves. The gap between the driving disc 331 and the auxiliary driven disc 332 is sealed by a high-performance rotary shaft seal to prevent leakage of the magnetorheological fluid. The seal can use a magnetic fluid seal or a generic seal. Part of the driving disc 331, the seal, and part of the auxiliary driven disc 332 are integrated into a housing. One or more annular grooves are machined on the housing, and the exciting coil 333 is arranged 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 vertically penetrates the housing, the driving disc 331, the magnetorheological fluid working gap, the driven disc, and the housing, forming a complete closed magnetic circuit. In addition, the composite input shaft 335 and the auxiliary output shaft 334 are both mounted on the inner wall of the gear box body 1 through bearings.

[0045] Specifically, the floating sleeve and the axial fitting groove 312 on the auxiliary driven disc 332 not only provide installation and limiting space for the elastic support 313, but also prevent relative rotation between the floating sleeve and the auxiliary driven disc 332, ensuring that they rotate synchronously as a whole; wherein the elastic support 313 is rectangular, circular or I-shaped in cross-section, and is made of polyurethane or nitrile rubber or other engineering elastomers with nonlinear stiffness characteristics, and is pressed into the cavity by interference fit.

[0046] In some embodiments, as shown in Figure 1 、 Figures 5-7 The auxiliary output shaft 334 is connected with an angular contact bearing 42, the outer ring of the angular contact bearing 42 is clearance fit with the bearing seat hole to form a second transmission path, the first transmission path is an input gear 41 meshing with the gear ring of the floating gear sleeve 311, the input gear 41 is rotationally connected to the inner wall of the gear box 1 through a transmission shaft 43; the end of the transmission shaft 43 and the auxiliary output shaft 334 are both connected with a synthetic gear 44, the synthetic gear 44 meshes with an output gear 45, the output gear 45 is installed on the inner wall of the gear box 1 through a final output shaft 46, and the phase difference between the two synthetic gears 44 is 180°.

[0047] 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 a peak value upward, the meshing force of the other synthetic gear 44 reaches a peak value downward, the forces in opposite directions and equal in size act on the output gear 45 at the same time, and the radial force components of the two forces cancel each other out, thereby realizing the annihilation of the source of vibration; this also explains that although the 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 effects on the output gear 45 are staggered in time, i.e. the torque peak values 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, so that 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 with a wave generator of a harmonic gear reducer for providing a final high reduction ratio and reducing the speed to the required working speed and outputting a large torque.

[0048] Specifically, the auxiliary output shaft 334 is supported in the gear box body 1 by an angular contact bearing 42, wherein the inner wall of the gear box body 1 is provided with a bearing seat, and the outer ring of the angular contact bearing 42 is in a small gap fit with the hole of the bearing seat, that is, the outer ring can slide in the hole in a small radial direction. When the meshing force of the composite gear 44 changes due to the change of the torque, a force will act on the floating sleeve 311, which will try to push the entire floating sleeve 311, the auxiliary output shaft 334 and the auxiliary driven disc 332 to move radially. However, since there is a gap between the outer ring of the angular contact bearing 42 and the hole of the bearing seat, the friction caused by the pre-tightening force can be overcome, and the bearing outer ring can be moved a small distance in the hole to achieve the required displacement. After the displacement is completed, the strong axial stiffness of the angular contact bearing 42 can still firmly lock the axial position of the auxiliary output shaft 334, ensuring that the gear does not move axially.

[0049] In some embodiments, a torque sensor 6 is mounted on the drive output shaft 24, a vibration sensor 5 is arranged on the inner wall of the gear box body 1 near the output interface side, and the torque sensor 6, the vibration sensor 5 and the excitation coil 333 are electrically connected to the control unit. The torque sensor 6 monitors the torque value in real time and uses it as a core parameter, which is used to control the current of the magnetorheological fluid on the one hand, and to send the torque value to the control unit on the other hand. The control unit calculates the required ideal phase compensation according to the "torque-phase" mapping table, and this compensation target value is sent to the drive assembly 2 for coarse adjustment and the composite gear structure 31 for fine adjustment, and the three work together to ensure that the target is finally reached.

[0050] It should be noted that all the directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement condition and the like between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0051] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features indicated or the number of technical features indicated. Therefore, the features defined as "first" and "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0052] While the preferred embodiments of the application have been described, additional variations and modifications can be made to these embodiments by those skilled in the art once they have the benefit of the present disclosure without departing from the spirit and scope of the application. Accordingly, it is intended that the appended claims include all such modifications and variations as fall within the scope of the present application.

[0053] It is apparent that those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. It is therefore intended that the present application cover all such changes and modifications that are within its scope.

Claims

1. A transmission, characterized in that The gear box (1) comprises: A drive assembly (2) arranged at the input interface side of the gear box (1), comprising a driving disc (21), a driving driven disc (22) and a magnetic suspension module (23) connected between the driving disc (21) and the driving driven disc (22), the driving disc (21) is connected with an external motor, the driving driven disc (22) is connected with the gear box (1) through a driving output shaft (24), and the magnetic suspension module (23) generates a repulsive force between the driving disc (21) and the driven disc to maintain a non-contact working air gap; A composite buffer assembly (3) arranged at the power output side of the drive assembly (2), comprising a composite gear structure (31) connected with the driving 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 modulation assembly (4) arranged at the power output side of the composite buffer assembly (3), comprising two parallel arranged 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 (31), and the output ends of the first transmission path and the second transmission path are merged; The composite buffer assembly (3) further comprises an elastic buffer unit (32), the elastic buffer unit (32) comprises an input flange (321), an output flange (322) and a plurality of butterfly spring groups arranged between the input flange (321) and the output flange (322), the input flange (321) is connected with the driving output shaft (24) of the driving driven disc (22), each butterfly spring group is uniformly distributed in the circumferential direction, each butterfly spring group is composed of at least two butterfly springs (323) opposite to each other, and the convex side of the butterfly spring group faces the input flange (321); The composite buffer assembly (3) further comprises a magneto-rheological auxiliary unit (33), the magneto-rheological auxiliary unit (33) comprises a driving disc (331), an auxiliary driven disc (332) and an excitation coil (333) arranged coaxially, the driving disc (331) is connected with the output flange (322) through a composite input shaft (335), the auxiliary output shaft (334) is connected with the auxiliary driven disc (332), and the gap between the driving disc (331) and the auxiliary driven disc (332) is filled with magneto-rheological fluid, and the excitation coil (333) is arranged on the inner wall of the gear box (1) and is arranged opposite to the gap; The composite gear structure (31) comprises: ​ A floating gear sleeve (311) is arranged on the outer periphery of the auxiliary driven disc (332), the outer periphery of the auxiliary driven disc (332) and the inner periphery of the floating gear sleeve (311) are provided with a plurality of axially embedded grooves (312) distributed along the circumference, the axially embedded grooves (312) on the auxiliary driven disc (332) are arranged opposite to the openings of the axially embedded grooves (312) of the floating gear sleeve (311), and a mounting cavity is formed between the two axially embedded grooves (312) arranged opposite to each other; A plurality of elastic supports (313) are arranged in the mounting cavities respectively, and the two ends of each elastic support (313) are in interference fit with the two axially embedded grooves (312) respectively.

2. The transmission of claim 1, wherein The magnetic suspension module (23) comprises a first permanent magnet ring (231) and a second permanent magnet ring (232) mounted on the opposite surfaces of the driving disc (21) and the driving driven disc (22) respectively, 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 of claim 2, wherein A plurality of driving pins (25) are arranged on the driving disc (21) along the circumference thereof, the driving driven disc (22) is provided with a guide sliding groove (26) corresponding to each driving pin (25), the guide sliding groove (26) extends along the circumference of the driving driven disc (22), the driving pin (25) is provided with a first electromagnet (27) therein, and the inner wall of the guide sliding groove (26) is provided with a second electromagnet (28) thereon, the polarities of the first electromagnet (27) and the second electromagnet (28) opposite to each other are opposite.

4. The transmission of claim 3, wherein The guide sliding groove (26) comprises a guide-in section for guiding the driving pin (25) to enter, a load section for bearing the thrust force, and a guide-out section for the driving pin (25) to exit, and the second electromagnet (28) is arranged on the load section.

5. The transmission of claim 4, wherein The auxiliary output shaft (334) is connected with an angular contact bearing (42), the outer ring of the angular contact bearing (42) is in clearance fit with the bearing seat hole to form a second transmission path, the first transmission path is an input gear (41) engaged with the gear ring of the floating gear sleeve (311), and the input gear (41) is rotatably connected to the inner wall of the gear box (1) through a transmission shaft (43).

6. The transmission of claim 5, wherein The end portions of the transmission shaft (43) and the auxiliary output shaft (334) are connected with a synthetic gear (44), the synthetic gear (44) is engaged with an output gear (45), the output gear (45) is mounted on the inner wall of the gear box (1) through a final output shaft (46), and the phase difference between the two synthetic gears (44) is 180°.

7. The transmission of claim 6 wherein, A torque sensor (6) is mounted on the driving output shaft (24), a vibration sensor (5) is arranged on the inner wall of the gear box (1) close to the output interface side, the torque sensor (6) and the vibration sensor (5) are electrically connected with a control unit, and are electrically connected with the excitation coil (333), the first electromagnet (27) and the second electromagnet (28).

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