CN112211979B - A planetary roller roller trochoid surface compound transmission device - Google Patents
A planetary roller roller trochoid surface compound transmission device Download PDFInfo
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- CN112211979B CN112211979B CN202011033527.6A CN202011033527A CN112211979B CN 112211979 B CN112211979 B CN 112211979B CN 202011033527 A CN202011033527 A CN 202011033527A CN 112211979 B CN112211979 B CN 112211979B
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- 230000033001 locomotion Effects 0.000 abstract description 46
- 238000003379 elimination reaction Methods 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 13
- 230000009471 action Effects 0.000 description 11
- 239000002131 composite material Substances 0.000 description 8
- 230000008030 elimination Effects 0.000 description 6
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/122—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and oscillating motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2003—Screw mechanisms with arrangements for taking up backlash
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
- F16H25/2252—Planetary rollers between nut and screw
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- General Engineering & Computer Science (AREA)
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Abstract
本发明公开了一种行星滚柱滚轮次摆线曲面复合传动装置，包括壳体和安装在所述壳体内的复合传动装置，所述复合传动装置包括信号感应与输出部分、行星滚柱丝杠部分和次摆线齿条转轮部分，所述信号感应与输出部分与所述行星滚柱丝杠部分的一端可拆卸连接，所述次摆线齿条转轮部分与所述行星滚柱丝杠部分的另一端可拆卸连接，且所述行星滚柱丝杠部分设有消隙组件，所述消隙组件包括消隙螺钉、消隙端盖、消隙板、弹簧、T型轴套和一体杆轴套，消隙螺钉与推杆/次摆线齿一体杆相连接通过压紧实现消隙作用；本发明通过行星滚柱与次摆线齿滚轮传动可以实现零隙非整周运动、高精度传动与位置控制，整体体积小，控制精度高，操作方便。
The invention discloses a planetary roller roller trochoid curved surface compound transmission device, comprising a casing and a compound transmission device installed in the casing, the compound transmission device comprising a signal induction and output part, a planetary roller screw part and the trochoid rack runner part, the signal sensing and output part is detachably connected to one end of the planetary roller screw part, the trochoid rack runner part and the planetary roller screw part The other end of the screw part is detachably connected, and the planetary roller screw part is provided with an anti-backlash component, and the anti-backlash component includes an anti-backlash screw, an anti-backlash end cover, an anti-backlash plate, a spring, a T-shaped bushing and One-piece rod bushing, the backlash-elimination screw is connected with the push rod/trochoid gear integrated rod and realizes the backlash-elimination effect by pressing; the present invention can realize zero-clearance non-circular motion through the transmission of the planetary roller and the trochoid gear roller. High-precision transmission and position control, small overall volume, high control precision, and easy operation.
Description
Technical Field
The invention relates to the technical field of flight control of aircrafts, in particular to a planet roller and idler wheel trochoid curved surface composite transmission device.
Background
Some high-speed aircrafts need to accurately control a control surface in the flying process, so a control surface control device with high transmission precision is needed to realize the accurate control of the control surface, most of the existing control surface control systems adopt a link mechanism or a traditional mechanical structure, and the control surface control system is not compact in structure, heavy in weight and low in transmission precision.
A planetary roller screw in the existing transmission device is a device capable of realizing accurate transmission, but the planetary roller screw has a backlash problem in the transmission process, and trochoid teeth can realize zero-backlash transmission because of no backlash required by common gears; therefore, the planetary roller screw and the trochoid gear are combined, a novel planetary roller wheel trochoid curved surface composite transmission device with high transmission precision can be obtained, the device can be used for controlling the control surface of the aircraft to achieve higher precision, and the planetary roller screw and the trochoid gear are not combined and applied to the precise control of the control surface of the aircraft in the prior art.
Disclosure of Invention
Aiming at the existing problems, the invention aims to provide a planetary roller trochoid curved surface composite transmission device, which combines a planetary roller screw and a trochoid rack to obtain a novel planetary roller trochoid curved surface composite transmission device with high transmission precision, and the device can achieve higher precision when being used for controlling the control surface of an aircraft.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a compound transmission of planet roller gyro wheel trochoid curved surface which characterized in that: the compound transmission device comprises a shell and a compound transmission device arranged in the shell, wherein the compound transmission device comprises a signal induction and output part, a planetary roller screw part and a trochoid rack and runner part, the signal induction and output part is detachably connected with one end of the planetary roller screw part, the trochoid rack and runner part is detachably connected with the other end of the planetary roller screw part, and the planetary roller screw part is provided with a gap eliminating assembly.
Further, the casing includes the end cover, tip casing and main casing body, the end cover with the connection can be dismantled to the left surface of tip casing, the main casing body with the connection can be dismantled to the right-hand member of tip casing.
Furthermore, the signal sensing and output part comprises a resolver assembly, an end connecting bracket is installed in the end shell, the resolver assembly is installed on the end connecting bracket, and the resolver assembly and the end connecting bracket are installed in a compression mode through an end screw;
the end part connecting support is in a hollow stepped shaft shape, a first deep groove ball bearing is mounted on the end part connecting support, and the first deep groove ball bearing is mounted in a matching manner with the inner side wall of the end part shell;
the top of the end part shell is also provided with two hollow cylinders which are respectively used as an electric input interface and a resolver interface.
Further, it includes and revolves changer rotor and revolves changer stator to revolve the changer subassembly, it is located to revolve changer rotor periphery, it establishes to revolve changer rotor cover and installs end connection support periphery, it offers the recess that is used for installing and revolves changer set screw on the changer stator to revolve.
Further, the planetary roller screw part comprises a roller nut and a plurality of planetary rollers mounted inside the roller nut along the circumferential direction of the roller nut, and the right side surface of the end connecting bracket is detachably connected with the left side surface of the roller nut; a first angular contact ball bearing and a second angular contact ball bearing are mounted on the periphery of the right end of the roller nut, the first angular contact ball bearing and the second angular contact ball bearing are mounted in a matched mode with the inner side face of the main shell, and the first angular contact ball bearing and the second angular contact ball bearing are mounted in opposite directions; and a round nut used for positioning the inner ring of the second angular contact ball bearing is further arranged at the right end of the roller nut.
Furthermore, two end parts of the planet rollers are respectively provided with a retainer, the retainers are of a circular ring structure, and the retainers are provided with positioning holes with the same number as the planet rollers; a gasket and an elastic ring are arranged on one side surface of the retainer, which is far away from the planetary roller;
and a left lead screw and a right lead screw are arranged in an inner ring surrounded by the plurality of planet rollers, and the left lead screw and the right lead screw are both of hollow structures.
Furthermore, the trochoid rack rotating wheel part comprises a push rod/trochoid tooth integrated rod and a rotating wheel, the push rod/trochoid tooth integrated rod is positioned in the hollow structures of the left screw rod and the right screw rod, trochoid teeth are arranged at the right end of the push rod/trochoid tooth integrated rod, and the rotating wheel is in meshed connection with the trochoid teeth;
install second deep groove ball bearing and third deep groove ball bearing on the push rod/inferior cycloid tooth monoblock pole periphery, second deep groove ball bearing with third deep groove ball bearing all with the inside wall of the main casing body matches the installation, just second deep groove ball bearing is located the left side of inferior cycloid tooth, third deep groove ball bearing is located the right-hand member of push rod/inferior cycloid tooth monoblock pole.
Furthermore, the anti-backlash assembly comprises an anti-backlash screw, an anti-backlash end cover, an anti-backlash plate, a spring, a T-shaped shaft sleeve and an integrated shaft sleeve, the integrated shaft sleeve is sleeved on the push rod/trochoid tooth integrated rod, and the outer side wall of the integrated shaft sleeve is in contact connection with the left lead screw; the left end of the integrated rod shaft sleeve is provided with an anti-backlash end cover, an anti-backlash plate and a T-shaped shaft sleeve are arranged inside the integrated rod shaft sleeve, the anti-backlash plate is in contact with the right side face of the anti-backlash end cover, the left side of the T-shaped shaft sleeve is in contact with the anti-backlash plate, the right side of the T-shaped shaft sleeve is in contact with the push rod/trochoid tooth integrated rod, an anti-backlash screw penetrates through the anti-backlash end cover, the anti-backlash plate and the T-shaped shaft sleeve and is connected with the left end of the push rod/trochoid tooth integrated rod, and the end part of the anti-backlash screw is in contact with the left side face of the anti-backlash end cover; and a spring is arranged between the anti-backlash plate and the T-shaped shaft sleeve.
Furthermore, the rotating wheel is of a non-whole-circle fan-shaped structure, an output shaft is arranged in a center hole of the rotating wheel, a fourth deep groove ball bearing is mounted on the output shaft, and the fourth deep groove ball bearing and the inner side wall of the main shell are mounted in a matched mode.
The invention has the beneficial effects that: compared with the prior art, the invention has the improvement that,
1. the planet roller trochoid curved surface composite transmission device can realize the accurate control of a motor through a resolver component so as to control the motion of a planet roller screw part, and the backlash elimination component is arranged in the planet roller screw part so as to eliminate the backlash between teeth in the planet roller screw and further control the accurate movement of a push rod/trochoid tooth integrated rod so as to realize the accurate transmission of a planet roller trochoid curved surface composite transmission device mechanism;
2. the planet roller trochoid curved surface composite transmission device has a simple and compact structure, can realize zero-clearance non-whole-cycle motion, high-precision transmission and position control through the transmission of the planet roller and the trochoid tooth roller, and has the advantages of small overall volume, high control precision and convenience in operation.
Drawings
FIG. 1 is an isometric view of the outer shape of the planetary roller wheel trochoid curve compound transmission device of the present invention;
FIG. 2 is an isometric view of the end cap of the present invention;
FIG. 3 is an isometric view of the end housing of the present invention;
FIG. 4 is an isometric view of the main housing of the present invention;
FIG. 5 is an isometric view of the internal structure of the planetary roller wheel trochoid curve compound transmission device of the present invention;
FIG. 6 is a cross-sectional view of the end attachment bracket mounting of the present invention;
FIG. 7 is a schematic view of the connection between the end connection bracket and the end housing of the present invention;
FIG. 8 is an isometric view of the internal structure of a roller nut of the planetary roller wheel trochoid curved surface compound transmission of the present invention;
FIG. 9 is an installed cross-sectional view of the anti-backlash assembly of the present invention;
FIG. 10 is an enlarged view of portion A of FIG. 9 in accordance with the present invention;
FIG. 11 is a cross-sectional view of the retainer mounting of the present invention;
FIG. 12 is an isometric view of a cage of the present invention;
FIG. 13 is an isometric view of a push rod/trochoid tooth integrated pole of the present invention;
FIG. 14 is a cross-sectional view of a planetary roller wheel trochoid curve compound transmission of the present invention in a working condition;
FIG. 15 is a second cross-sectional view of the working condition of the planetary roller wheel trochoid curved surface compound transmission of the present invention;
FIG. 16 is a three sectional view of the working condition of the planetary roller and roller trochoid curve compound transmission device of the present invention.
Wherein: 1-end cap, 2-end housing, 201-electrical input interface, 202-resolver interface, 3-main housing, 4-end screw, 5-resolver assembly, 501-resolver rotor, 502-resolver stator, 503-groove, 6-first deep groove ball bearing, 7-end connection bracket, 8-roller nut, 9-first angular contact ball bearing, 10-second angular contact ball bearing, 11-round nut, 12-second deep groove ball bearing, 13-runner, 14-third deep groove ball bearing, 15-bearing cap, 16-output shaft, 17-fourth deep groove ball bearing, 18-anti-backlash assembly, 1801-anti-backlash screw, 1802-anti-backlash end cap, 1803-anti-backlash plate, 1804-spring, 1805-T-shaped shaft sleeve, 1806-integrated shaft sleeve, 19-elastic ring, 20-gasket, 21-left screw rod, 22-planet roller, 23-right screw rod, 24-retainer, 2401-positioning hole, 25-push rod/trochoid tooth integrated rod, 2501-trochoid tooth and 26-resolver positioning screw.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
Referring to the accompanying drawings 1-13, the planetary roller wheel trochoid curve surface compound transmission device comprises a shell and a compound transmission device arranged in the shell, wherein the compound transmission device comprises a signal induction and output part, a planetary roller screw part and a trochoid rack and wheel part, the signal induction and output part is detachably connected with one end of the planetary roller screw part, the trochoid rack and wheel part is detachably connected with the other end of the planetary roller screw part, and the planetary roller screw part is provided with a clearance elimination assembly 18.
Specifically, the casing includes end cover 1, tip casing 2 and main casing body 3, be equipped with the screw hole on four angles of end cover 1, be equipped with on the left surface of tip casing 2 with the corresponding screw hole of screw hole on the end cover 1, end cover 1 with the connection can be dismantled through the bolt to the left surface of tip casing 2, main casing body 3 with the right-hand member of tip casing 2 uses threaded structure to dismantle the connection, easy to assemble and dismantlement.
Further, the signal sensing and output part comprises a resolver assembly 5, an end connecting bracket 7 is installed in the end shell 2, and the resolver assembly 5 is installed on the end connecting bracket 7;
specifically, install first deep groove ball bearing 6 on the tip linking bridge 7, the inner circle of first deep groove ball bearing 6 is installed on the ladder of tip linking bridge 7, first deep groove ball bearing 6's outer lane with the inside wall of tip casing 2 matches the installation, be equipped with on the inside wall of tip casing 2 with first deep groove ball bearing 6 installation assorted shaft part.
Further, the resolver assembly 5 comprises a resolver rotor 501 and a resolver stator 502, the resolver stator 502 is located at the periphery of the resolver rotor 501, the resolver rotor 501 is rotationally connected with the resolver stator 502, the resolver rotor 501 can rotate inside the resolver stator 502, and the relative position is not changed in the rotating process; the resolver rotor 501 is sleeved on the periphery of the end connecting bracket 7 and used as an induction signal to output; the resolver rotor 501 and the end of the end connecting bracket 7 are tightly pressed and mounted through an end screw 4 to ensure smooth transmission of power, the end connecting bracket 7 is in a hollow stepped shaft shape, an internal thread is processed at the left end hollow section of the end connecting bracket 7, and the internal thread is used for tightly pressing and mounting with the end thread 4.
The resolver stator 502 is provided with a groove 503 for installing a resolver positioning screw 26, the positioning screw 26 is used for fixing the resolver stator 502, a boss for fixing the resolver positioning screw 26 is arranged in the end portion shell 2, the resolver positioning screw 26 is screwed into the boss in the end portion shell 2, the head of the resolver positioning screw 26 is embedded into the groove 503, so that the resolver stator 502 is fixed, and the resolver assembly 5 and the end portion connecting bracket 7 are integrally installed in the end portion shell 2 by combining with the first deep groove ball bearing 6.
The top of tip casing 2 still is equipped with two hollow cylinders, is equipped with the power cord that is used for providing the power to resolver subassembly 5 in the electricity input interface 201 as electricity input interface 201 and resolver interface 202 respectively, be equipped with the communication wiring that is used for connecting resolver subassembly 5 signal output in the resolver interface 202, when resolver rotor 501 is rotatory, resolver stator 502 can be with the rotation of resolver rotor 501 through the response transform into signal output, and accurate control of motor can be realized to whole resolver subassembly 5.
Further, the planetary roller screw portion includes a roller nut 8 and a plurality of planetary rollers 22 installed inside the roller nut 8 along a circumferential direction of the roller nut 8, and the number of the planetary rollers 22 is seven in the present invention. The right end of the end connecting support 7 is provided with a threaded hole, the left end of the roller nut 8 is provided with a threaded hole matched with the threaded hole at the right end of the end connecting support 7, and the end connecting support 7 is connected with the roller nut 8 through a bolt; four oil injection holes for injecting lubricating oil are formed in the circumference of the right side of the threaded hole of the roller nut 8.
A first angular contact ball bearing 9 and a second angular contact ball bearing 10 are mounted on the periphery of the right end of the roller nut 8, and the first angular contact ball bearing 9 and the second angular contact ball bearing 10 are mounted on the inner side surface of the main shell 3 in a matched mode and used for axially and radially supporting the roller nut 8; the outer part of the roller nut 8 is provided with steps for mounting the first angular contact ball bearing 9 and the second angular contact ball bearing 10, the inner rings of the first angular contact ball bearing 9 and the second angular contact ball bearing 10 are both mounted in a matched manner with the outer steps of the roller nut 8, the outer rings of the first angular contact ball bearing 9 and the second angular contact ball bearing 10 are both mounted in a matched manner with the inner side wall of the main shell 3, so that the roller nut 8 is integrally positioned in the main shell 3, and the first angular contact ball bearing 9 and the second angular contact ball bearing 10 are mounted in opposite directions, so that the distance between pressure action points of the first angular contact ball bearing 9 and the second angular contact ball bearing 10 is large, the rigidity is large, the overturning moment can be borne, and the mounting effect is good; the right end of the roller nut 8 is provided with an external thread, a round nut 11 is mounted on the external thread, and the round nut 11 is used for limiting the inner ring of the second angular contact ball bearing 10 and preventing the inner ring of the second angular contact ball bearing 10 from moving in position in the rotating process.
Further, in the present invention, the motor is installed between the roller nut 8 and the main housing 3, the outer surface of the roller nut 8 is installed with a ring of magnets corresponding to a motor rotor, and the motor stator is connected with the main housing 3, such that the overall structure is more compact. When the motor rotates, the roller nut 8 drives the end connecting bracket 7 to rotate so as to drive the resolver rotor 501 to rotate, and at the moment, the resolver stator 502 can sense and rotate and output signals so as to accurately control the movement, so that the accurate control of the mechanism becomes possible.
Further, the planetary rollers 22 are circumferentially installed inside the roller nut 8, and are engaged with the roller nut by means of screw threads. The two ends of the planetary roller 22 are respectively provided with a retainer 24, the retainer 24 is in an annular structure, the retainer 24 is provided with seven positioning holes 2401, the seven positioning holes 2401 are respectively matched with the seven planetary rollers 22 to ensure that the relative positions of the seven planetary rollers 22 are fixed, and the retainer 24 rotates along with the rotation of the planetary rollers 22. And a gasket 20 and an elastic ring 19 are arranged on one side surface of the retainer 24, which is far away from the planetary roller 22, and the gasket 20 and the elastic ring 19 play a role of buffering to prevent the planetary roller screw part from colliding with two ends in motion and are used for buffering and protecting the planetary roller screw.
A left lead screw 21 and a right lead screw 23 are installed in an inner ring formed by the seven planetary rollers 22, threads are arranged outside the left lead screw 21 and the right lead screw 23 and are used for being meshed with the planetary rollers 22, and the left lead screw 21 and the right lead screw 23 are both of hollow structures.
Further, the trochoid rack wheel part comprises a push rod/trochoid tooth integrated rod 25 and a wheel 13, the push rod/trochoid tooth integrated rod 25 is positioned in the hollow structure of the left lead screw 21 and the right lead screw 23, the outer periphery of the push rod/trochoid tooth integrated rod 25 is provided with a second deep groove ball bearing 12 and a third deep groove ball bearing 14, the second deep groove ball bearing 12 and the third deep groove ball bearing 14 are matched with the inner side wall of the main shell 3, the inner rings of the second deep groove ball bearing 12 and the third deep groove ball bearing 14 are both mounted in cooperation with the push rod/trochoid tooth integrated rod 25, the outer rings of the second deep groove ball bearing 12 and the third deep groove ball bearing 14 are matched with the inner side wall of the main shell 3, the push rod/trochoid tooth integrated rod 25 is radially supported, and the push rod/trochoid tooth integrated rod 25 is stably installed in the main shell 3.
The right end of the push rod/trochoid tooth integrated rod 25 is provided with trochoid teeth 2501, and the rotating wheel 13 is meshed with the trochoid teeth 2501; the second deep groove ball bearing 12 is located on the left side of the trochoid tooth 2501, and the third deep groove ball bearing 14 is located at the right end portion of the push rod/trochoid tooth integrated rod 25 and supports the push rod/trochoid tooth integrated rod 25.
Furthermore, the left side of the left screw 21, the right screw 23 and the push rod/trochoid tooth integrated rod 25 is provided with a backlash elimination assembly 18 for pre-tightening to achieve the purpose of backlash elimination. Specifically, the anti-backlash assembly 18 includes an anti-backlash screw 1801, an anti-backlash end cover 1802, an anti-backlash plate 1803, a spring 1804, a T-shaped shaft sleeve 1805 and an integrated shaft sleeve 1806, the integrated shaft sleeve 1806 is a hollow sleeve structure, the integrated shaft sleeve 1806 is sleeved on the left end of the push rod/trochoid tooth integrated rod 25, and the right side surface of the integrated shaft sleeve 1806 is in contact connection with the left lead screw 21; an anti-backlash end cover 1802 is arranged at the left end of the integrated rod shaft sleeve 1806, and the anti-backlash end cover 1802 is contacted with the integrated rod shaft sleeve 1806 to press the left lead screw 21; an anti-backlash plate 1803 and a T-shaped shaft sleeve 1805 are arranged inside the integrated shaft sleeve 1806, the anti-backlash plate 1803 is in contact with the right side surface of the anti-backlash end cover 1802, the left side of the T-shaped shaft sleeve 1805 is in contact with the anti-backlash plate 1803, the right side of the T-shaped shaft sleeve 1805 is in contact with the push rod/trochoid tooth integrated rod 25, the anti-backlash end cover 1802, the anti-backlash plate 1803 and the T-shaped shaft sleeve 1805 are coaxial, through holes for the anti-backlash screws 1801 to pass through are formed in the centers of the anti-backlash end cover 1802, the anti-backlash plate 1803 and the T-shaped shaft sleeve 1805, the anti-backlash screw 1801 penetrates through the anti-backlash end cover 1802, the anti-backlash plate 1803 and the T-shaped shaft sleeve 1805 and then is connected with the left end of the push rod/trochoid tooth integrated rod 25, a threaded hole matched with the anti-backlash screw 1801 is formed in the left end of the push rod/trochoid tooth integrated rod 25 for installing the anti-backlash screw 1801, the end of the anti-backlash screw 1801 contacts with the left side face of the anti-backlash end cover 1802 to limit the anti-backlash screw 1801, and a spring 1804 is arranged between the anti-backlash plate 1803 and the T-shaped shaft sleeve 1805.
Further, the rotating wheel 13 is of a non-whole-circle fan-shaped structure, a planetary roller matched with the trochoid teeth 2501 is arranged at the bottom of the rotating wheel 13, the rotating wheel 13 is meshed with the trochoid teeth 2501 on the push rod/trochoid tooth integrated rod 25 through the planetary roller on the rotating wheel 13, a curved surface reciprocating effect is performed in the process that the push rod/trochoid tooth integrated rod 25 moves left and right, an output shaft 16 is arranged in a center hole of the rotating wheel 13, a fourth deep groove ball bearing 17 is installed on the output shaft 16, an inner ring of the fourth deep groove ball bearing 17 is installed in a matched mode with the output shaft 16, an outer ring of the fourth deep groove ball bearing 17 is installed in a matched mode with the inner side wall of the main shell 3, and the output shaft 16 is radially supported. The main casing 3 is reserved with a mounting hole for mounting the fourth deep groove ball bearing 17, a bearing cover 15 is mounted in the mounting hole, the bearing cover 15 can carry out axial positioning on the fourth deep groove ball bearing 17 on one hand, and on the other hand, the bearing cover has dustproof and sealing effects. The rotating wheel 13 is in non-circular rotation reciprocating motion through an output shaft 16 in the process of the reciprocating action of the curved surface, and the motion is transmitted to the motion mechanism.
The working state of the planet roller trochoid curve compound transmission device in the practical use process is shown in the attached figures 14-16.
Specifically, when the planetary roller 22 is at the leftmost end of the roller nut 8, the push rod/trochoid tooth integrated rod 25 is at the left limit position, at this time, the mechanism can only move rightwards, the resolver assembly 5 serves as an output for sensing a rotation signal, the roller nut 8 serves as an input for power, the motion is transmitted to the end connecting bracket 7 through a bolt at the left end thereof, the compression of the end screw 4 enables the resolver rotor 501 to rotate together with the end connecting bracket 7, and the resolver assembly 5 can sense the rotation motion and convert the rotation motion into a signal to be output. Under the rotation action of the roller nut 8, the planetary roller 22 revolves around the left screw 21 and the right screw 23, the left screw 21 has a right relative motion under the action of the backlash eliminating assembly 18, the right screw 23 has a left relative motion, under the action of the relative motion of the left screw 21 and the right screw 23, a backlash can be eliminated between the parts of the planetary roller screw, so that more accurate motion transmission is realized, the planetary roller 22 revolves and simultaneously axially moves, the axial movement of the planetary roller 22 can enable the push rod/trochoid tooth integrated rod 25 to axially move through a step on the push rod/trochoid tooth integrated rod 25, the axial movement of the push rod/trochoid tooth integrated rod 25 is transmitted to the rotating wheel 13 through the trochoid tooth 2501 on the push rod/trochoid tooth integrated rod, and the rotating wheel 13 does a non-circular motion around the center due to the limitation of the stroke of the mechanism, the motion of the rotor 13 is output via an output shaft 16, which can be used to control aircraft control surfaces or other mechanisms requiring precision other than full-circle motion.
When the planet roller 22 is located in the middle of the roller nut 8, the left screw 21 and the right screw 23 on the push rod/trochoid tooth integrated rod 25 are located in the middle of the roller nut 8, at this time, the roller nut 8 can be controlled to rotate in two directions through the resolver assembly 5 according to needs, the resolver assembly 5 is used for sensing the output of a rotation signal, the roller nut 8 is used for inputting power, the motion is transmitted to the end connecting bracket 7 through a bolt at the left end of the roller nut 8, the rotator 501 rotates together with the end connecting bracket 7 through the compression of the end screw 4, and the resolver assembly 5 can sense the rotation motion and convert the rotation motion into a signal to be output. Under the action of the roller nut 8, the planetary roller 22 can respectively revolve around the left screw 21 and the right screw 23 in two directions, the left screw 21 has right relative motion under the action of the backlash elimination assembly 18, the right screw 23 has left relative motion, under the action of the relative motion of the left screw 21 and the right screw 23, no backlash exists between the left screw 21 and the right screw 23 and the planetary roller 22, as the left screw 21 and the right screw 23 are respectively pressed from different directions, the mechanism can realize bidirectional backlash elimination, thereby realizing more accurate motion transmission, the planetary roller 22 can axially move in two directions according to the difference of the rotating directions of the roller nut 8 while revolving, the axial movement of the planetary roller 22 can axially move in two directions through a step on the push rod/trochoid tooth integrated rod 25 or the integrated rod shaft sleeve 1806, the axial movement of the integrated pushrod/trochoid tooth rod 25 is transmitted to the runner 13 through the trochoid tooth 2501 thereon, the runner 13 can do bidirectional non-full-circle motion around the center thereof due to the limitation of the stroke of the mechanism, the motion of the runner 13 is output through the output shaft 16, and the output motion can be used for controlling the control surface of an aircraft or other mechanisms with high precision requirement on non-full-circle motion.
When the planet roller 22 is at the rightmost end of the roller nut 8, the push rod/trochoid tooth integrated rod 25 is at the right limit position, the mechanism can only move leftwards at this time, the resolver assembly 5 serves as an output for sensing a rotation signal, the roller nut 8 serves as an input for power, the motion is transmitted to the end connecting bracket 7 through a bolt at the left end of the roller nut, the compression of the end screw 4 enables the resolver rotor 501 to rotate together with the end connecting bracket 7, and the resolver assembly 5 can sense the rotation motion and convert the rotation motion into a signal to be output. Under the rotation action of the roller nut 8, the planetary roller 22 revolves around the left screw 21 and the right screw 23, the left screw 21 has a right relative motion under the action of the backlash eliminating assembly 18, the right screw 23 has a left relative motion, under the action of the relative motion of the left screw 21 and the right screw 23, a backlash can be eliminated between the left screw 21 and the right screw 23 and the planetary roller 22, so that a more precise transmission motion is realized, the planetary roller 22 revolves and simultaneously axially moves leftwards, the axial movement of the planetary roller 22 can enable the push rod/trochoid tooth integrated rod 25 to axially move leftwards through the integrated rod shaft sleeve 1806 on the push rod/trochoid tooth integrated rod 25, the axial movement of the push rod/trochoid tooth integrated rod 25 is transmitted to the rotating wheel through the trochoid tooth 2501 on the push rod/trochoid tooth integrated rod 25, and the rotating wheel 13 does a non-complete-circle motion around the center thereof due to the limitation of the stroke of the mechanism, the motion of the rotor 13 is output via an output shaft 16, which can be used to control aircraft control surfaces or other mechanisms requiring precision other than full-circle motion.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a compound transmission of planet roller gyro wheel trochoid curved surface which characterized in that: the compound transmission device comprises a shell and a compound transmission device arranged in the shell, wherein the compound transmission device comprises a signal induction and output part, a planetary roller screw part and a trochoid rack and runner part, the signal induction and output part is detachably connected with one end of the planetary roller screw part, the trochoid rack and runner part is detachably connected with the other end of the planetary roller screw part, and the planetary roller screw part is provided with a gap eliminating assembly (18).
2. The compound transmission device with the planet roller and the trochoid curved surface as claimed in claim 1, is characterized in that: the casing includes end cover (1), tip casing (2) and main casing body (3), end cover (1) with the connection can be dismantled to the left surface of tip casing (2), main casing body (3) with the connection can be dismantled to the right-hand member of tip casing (2).
3. A planetary roller wheel trochoid curve compound transmission device as claimed in claim 2, characterized in that: the signal sensing and outputting part comprises a resolver assembly (5), an end connecting bracket (7) is installed in the end shell (2), the resolver assembly (5) is installed on the end connecting bracket (7), and the resolver assembly (5) and the end connecting bracket (7) are installed in a pressing mode through an end screw (4);
the end part connecting support (7) is in a hollow stepped shaft shape, a first deep groove ball bearing (6) is mounted on the end part connecting support (7), and the first deep groove ball bearing (6) is mounted on the inner side wall of the end part shell (2) in a matched mode;
the top of the end part shell (2) is also provided with two hollow cylinders which are respectively used as an electric input interface (201) and a resolver interface (202).
4. A planetary roller wheel trochoid curve compound transmission device according to claim 3, characterized in that: the spiral transformer assembly (5) comprises a spiral transformer rotor (501) and a spiral transformer stator (502), the spiral transformer stator (502) is located on the periphery of the spiral transformer rotor (501), the spiral transformer rotor (501) is sleeved and installed on the periphery of the end connecting support (7), and a groove (503) used for installing a spiral transformer positioning screw (26) is formed in the spiral transformer stator (502).
5. The compound transmission device with the planet roller and the trochoid curved surface as claimed in claim 4, is characterized in that: the planetary roller screw part comprises a roller nut (8) and a plurality of planetary rollers (22) which are arranged inside the roller nut (8) along the circumferential direction of the roller nut (8), and the right side surface of the end connecting bracket (7) is detachably connected with the left side surface of the roller nut (8); a first angular contact ball bearing (9) and a second angular contact ball bearing (10) are mounted on the periphery of the right end of the roller nut (8), the first angular contact ball bearing (9) and the second angular contact ball bearing (10) are mounted on the inner side surface of the main shell (3) in a matched mode, and the first angular contact ball bearing (9) and the second angular contact ball bearing (10) are mounted in the opposite direction; and a round nut (11) used for positioning the inner ring of the second angular contact ball bearing (10) is further arranged at the right end of the roller nut (8).
6. The compound transmission device with the planet roller and the trochoid curved surface as claimed in claim 5, is characterized in that: retainers (24) are arranged at two end parts of the planetary rollers (22), the retainers (24) are of annular structures, and positioning holes (2401) with the same number as the planetary rollers (22) are arranged on the retainers (24); a gasket (20) and an elastic ring (19) are arranged on one side surface of the retainer (24) far away from the planetary roller (22);
and a left lead screw (21) and a right lead screw (23) are arranged in an inner ring formed by enclosing the planetary rollers (22), and the left lead screw (21) and the right lead screw (23) are both in a hollow structure.
7. The compound transmission device with the planet roller and the trochoid curved surface as claimed in claim 6, wherein: the trochoid rack runner part comprises a push rod/trochoid tooth integrated rod (25) and a runner (13), the push rod/trochoid tooth integrated rod (25) is located in a hollow structure of the left screw rod (21) and the right screw rod (23), trochoid teeth (2501) are arranged at the right end of the push rod/trochoid tooth integrated rod (25), and the runner (13) is meshed with the trochoid teeth (2501);
install second deep groove ball bearing (12) and third deep groove ball bearing (14) on push rod/inferior cycloid tooth monoblock pole (25) periphery, second deep groove ball bearing (12) with third deep groove ball bearing (14) all with the inside wall of main casing body (3) matches the installation, just second deep groove ball bearing (12) are located the left side of inferior cycloid tooth (2501), third deep groove ball bearing (14) are located the right-hand member of push rod/inferior cycloid tooth monoblock pole (25).
8. The compound transmission device with the planet roller and the trochoid curved surface as claimed in claim 7, is characterized in that: the anti-backlash assembly (18) comprises an anti-backlash screw (1801), an anti-backlash end cover (1802), an anti-backlash plate (1803), a spring (1804), a T-shaped shaft sleeve (1805) and an integrated rod shaft sleeve (1806), wherein the integrated rod shaft sleeve (1806) is sleeved on the push rod/trochoid tooth integrated rod (25), and the outer side wall of the integrated rod shaft sleeve (1806) is in contact connection with the left lead screw (21); an anti-backlash end cover (1802) is arranged at the left end of the integrated rod shaft sleeve (1806), an anti-backlash plate (1803) and a T-shaped shaft sleeve (1805) are arranged inside the integrated rod shaft sleeve (1806), the anti-backlash plate (1803) is in contact with the right side face of the anti-backlash end cover (1802), the left side of the T-shaped shaft sleeve (1805) is in contact with the anti-backlash plate (1803), the right side of the T-shaped shaft sleeve (1805) is in contact with the push rod/trochoid tooth integrated rod (25), the anti-backlash screw (1801) penetrates through the anti-backlash end cover (1802), the anti-backlash plate (1803) and the T-shaped shaft sleeve (1805) and is connected with the left end of the push rod/trochoid tooth integrated rod (25), and the end of the anti-backlash screw (1801) is in contact with the left side face of the anti-backlash end cover (1802); and a spring (1804) is arranged between the anti-backlash plate (1803) and the T-shaped shaft sleeve (1805).
9. The compound transmission device with the planet roller and the trochoid curved surface as claimed in claim 8, wherein: the runner (13) is a non-whole-circle fan-shaped structure, an output shaft (16) is arranged in a center hole of the runner (13), a fourth deep groove ball bearing (17) is mounted on the output shaft (16), and the fourth deep groove ball bearing (17) is mounted on the inner side wall of the main shell (3) in a matched mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011033527.6A CN112211979B (en) | 2020-09-27 | 2020-09-27 | A planetary roller roller trochoid surface compound transmission device |
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| CN202011033527.6A CN112211979B (en) | 2020-09-27 | 2020-09-27 | A planetary roller roller trochoid surface compound transmission device |
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| CN112211979A CN112211979A (en) | 2021-01-12 |
| CN112211979B true CN112211979B (en) | 2021-08-06 |
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| CN113803431B (en) * | 2021-09-14 | 2025-05-06 | 西北工业大学 | A planetary roller trochoid surface zero-backlash large transmission ratio composite transmission device |
| CN117823577B (en) * | 2024-03-05 | 2024-05-31 | 江苏万基传动科技有限公司 | Double-cycloid hollow speed reducer for eliminating gaps of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102628500B (en) * | 2012-04-19 | 2014-07-09 | 西北工业大学 | Planet roller screw mechanism capable of eliminating axial gaps |
| US9651451B2 (en) * | 2012-11-09 | 2017-05-16 | Honda Motor Co., Ltd. | Backlash measurement device and backlash measurement method |
| CN103062348A (en) * | 2013-01-02 | 2013-04-24 | 北京工业大学 | Anti-backlash transmission comprising trochoid gears and roll pins with conical teeth |
| DE102015205717B4 (en) * | 2015-03-30 | 2016-11-10 | Schaeffler Technologies AG & Co. KG | Actuator with a planetary roller screw drive (PWG) |
| US9976646B2 (en) * | 2015-05-28 | 2018-05-22 | Automotive Research & Testing Center | Angle regulation device |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN105459109A (en) * | 2016-01-11 | 2016-04-06 | 安徽工业大学 | Movable five-axis robot |
| CN108757869B (en) * | 2018-08-21 | 2024-07-16 | 重庆伟思泽汽车零部件有限公司 | Motion conversion mechanism |
| CN109538722A (en) * | 2019-01-25 | 2019-03-29 | 南京工艺装备制造有限公司 | A kind of multistage planet roller screw pair gapless linear motion actuators |
| CN110645274B (en) * | 2019-09-29 | 2020-11-10 | 天津津航计算技术研究所 | Gear-driven gapless high-rigidity linear actuator |
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