CN104896048A - Multifunctional integrated drive device - Google Patents

Multifunctional integrated drive device Download PDF

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Publication number
CN104896048A
CN104896048A CN201510241597.3A CN201510241597A CN104896048A CN 104896048 A CN104896048 A CN 104896048A CN 201510241597 A CN201510241597 A CN 201510241597A CN 104896048 A CN104896048 A CN 104896048A
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CN
China
Prior art keywords
multifunctional
drive unit
spring mechanism
cylinder section
output
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Granted
Application number
CN201510241597.3A
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Chinese (zh)
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CN104896048B (en
Inventor
谢哲
沈晓鹏
杨国栋
屠国俊
刘永强
周杰
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Shanghai Aerospace System Engineering Institute
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Shanghai Aerospace System Engineering Institute
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Priority to CN201510241597.3A priority Critical patent/CN104896048B/en
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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
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
    • 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
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/12—Transmitting mechanisms with delayed effect
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • 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
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H2035/005—Gearings or mechanisms preventing back-driving
    • 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
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H2035/006—Gearings or mechanisms for stopping or limiting movement, e.g. stopping a movement after few turns

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Gear Transmission (AREA)

Abstract

The invention provides a multifunctional integrated drive device. The multifunctional integrated drive device mainly comprises three parts of an upper barrel section, a middle barrel section and a lower barrel section. The invention aims to provide the multifunctional integrated drive device which is integrated with functions of driving, overload protection, reverse self-locking, driving backup, buffering, energy consumption, braking and the like, is mainly applied to joint drive of a mechanical arm of a space station, and can be applied to a wide variety of rotation type motion drive. An effective solution is provided for rotation type drive working conditions; and the multifunctional integrated drive device has the advantages such as a small size, light weight, high reliability and the like.

Description

A kind of multifunctional all drive unit
Technical field
The present invention relates to the design field of drive unit, particularly a kind of multifunctional all drive unit.
Background technique
Drive unit is mainly used in the moving element driving particular organization, and different class of establishments needs different drive units, and common drive unit comprises motor and retarder.But volume drive unit in prior art, function singleness, cannot the driving duty requirements of content with funtion complexity; Using scope is limited, can not drive, overload protection, reverse self-locking, drive backup, buffering, power consumption and the function such as braking; In addition, driving device structure of the prior art is complicated, volume is large, Heavy Weight, and poor reliability.
Summary of the invention
The invention provides a kind of multifunctional all and drive dress, comprise doffing section, middle cylinder section and top cylinder section, two groups of drive transmission devices are provided with in described doffing section, described drive transmission device comprises motor, safety clutch and one-way driving mechanism, and described motor connection, safety clutch, one-way driving mechanism order are connected; Described doffing section also includes the spring mechanism for cushioning, and the output terminal of described two groups of drive transmission devices is in transmission connection with described spring mechanism after adder is confluxed, and cylinder section in the output terminal connection of described spring mechanism, described middle cylinder section connects described top cylinder section.
Preferably, described safety clutch is arranged on the transmission path between described motor and described one-way driving mechanism, for the output torque of described motor being limited in particular range.
Preferably, the drive transmission device in described doffing section, the output terminal of described two groups of drive transmission devices is in parallel through adder, and described adder output connects described spring mechanism.
Preferably, the output terminal of described spring mechanism is connected with energy-consumption braking mechanism, described energy-consumption braking mechanism comprises electromagnetic brake, being connected with described spring mechanism output terminal of described electromagnetic brake, for locking described spring mechanism, brakes whole drive unit.
Preferably, described energy-consumption braking mechanism also comprises at least one electromagnetic damper, and described electromagnetic damper is connected with described electromagnetic brake, for rotational kinetic energy is converted into heat dissipation.
Preferably, described doffing section comprises a lower shell body, described spring mechanism, safety clutch, adder are arranged in described lower shell body by bearing, and described electromagnetic brake, electromagnetic damper, motor and one-way driving mechanism are fixed on the inner side of described lower shell body through screw.
Preferably, described middle cylinder section comprise middle shell and be arranged in described middle shell speed reducer, the output of described spring mechanism is connected with described speed reducer, and the output terminal of described spring mechanism to slow down output afterwards via described speed reducer.
Preferably, described reducing gear adopts planetary reducer.
Preferably, described top cylinder section comprises upper shell and is arranged on and is folded to mechanism in upper shell.
Preferably, described this is folded to structure and includes output gear, axle, auger tooth and small bevel gear, and described auger tooth is arranged on the shaft, and the two ends of described axle are arranged in described upper shell by bearing; Described small bevel gear is used for connecting the output terminal of reducing gear, and described small bevel gear engages with described auger tooth; Described auger tooth connects described axle, and described output gear is on the shaft sheathed, realizes driver output through described output gear.
The present invention, owing to adopting above technological scheme, makes it compared with prior art, has following advantage and good effect:
The object of the invention is to propose a kind of multifunctional all drive unit, be made up of top cylinder section, middle cylinder section and doffing section three parts, be mainly used in the joint drive of space station indexing machine mechanical arm, various revolution type games can be widely used in and drive; The present invention realizes driving backup functionality by arranging two groups of drive transmission devices, overload protection function is realized by arranging of safety clutch, reverse auto-lock function is realized by arranging of one-way driving mechanism, pooling feature is realized by arranging of spring mechanism, achieve braking function by the setting of electromagnetic brake, achieve power consumption function by the setting of electromagnetic damper; The present invention integrates driving, overload protection, reverse self-locking, drives the functions such as backup, buffering, power consumption and braking; revolution class for the complexity of function requirement drives operating mode to provide a kind of effective solution, and has that volume is little, lightweight, high reliability.
Accompanying drawing explanation
By reference to the accompanying drawings, by hereafter state detailed description, more clearly can understand above-mentioned and other feature and advantage of the present invention, wherein:
Fig. 1 is the sectional view of multifunctional all drive unit provided by the invention;
Fig. 2 is the sectional view of multifunctional all drive unit doffing section provided by the invention;
Fig. 3 is the Transmitted chains figure of multifunctional all drive unit provided by the invention;
Fig. 4 is the transmission sketch of multifunctional all drive unit provided by the invention;
Fig. 5 is adder sectional view in multifunctional all drive unit provided by the invention.
Embodiment
See the accompanying drawing that the embodiment of the present invention is shown, hereafter in more detail the present invention will be described.But the present invention can realize in many different forms, and should not be construed as by the restriction in the embodiment of this proposition.On the contrary, it is abundant and complete open in order to reach for proposing these embodiments, and makes those skilled in the art understand scope of the present invention completely.In these accompanying drawings, for clarity sake, may be exaggerated size and the relative size in layer and region.
With reference to Fig. 1-5, the invention provides a kind of multifunctional all and drive dress, be made up of top cylinder section 1, middle cylinder section 2 and doffing section 3 three parts, it integrates driving, overload protection, reverse self-locking, drives the functions such as backup, buffering, power consumption and braking; The present invention is mainly used in the joint drive of space station indexing machine mechanical arm, can be widely used in various revolution type games and drive, have little, the lightweight and high reliability of volume.
Concrete, doffing section 3 comprises a lower shell body 31, is at least provided with one group of drive transmission device in lower shell body 31, often organizes power mechanism and includes motor, safety clutch and one-way driving mechanism, motor connects safety clutch, and safety clutch is connected with one-way driving mechanism; Safety clutch is set between motor and one-way driving mechanism, for being limited in particular range by motor output torque; Specifically can carry out Data Collection to safety clutch, make motor only have the moment in setting range to be transferred to one-way driving mechanism, the effect of overload protection is played in the setting of safety clutch.
In the present embodiment, two groups of drive transmission devices are provided with in doffing section 3; Wherein one group of drive transmission device comprises the motor A36, safety clutch A37 and the one-way driving mechanism A38 that connect successively, and another group drive transmission device comprises the motor B39, safety clutch B310 and the one-way driving mechanism B311 that connect successively; Two groups of drive transmission devices are arranged in parallel, and concrete one-way driving mechanism A38 and one-way driving mechanism B311 is connected in an adder 312 jointly, and adder 312 is confluxed export for two groups of drive transmission device routes being realized two-way.Be provided with two groups of drive transmission devices in the present invention, play the effect driving backup, when preventing that wherein a road motor goes wrong, another road still can normally work.
With reference to the concrete structure that Fig. 5 is adder 312, adder 312 comprises planet carrier 3121, sun gear 3124, some planet wheels 3122 around sun gear 3124, gear ring 3123, upper flange 3125, lower flange 3126 and bearing 3127; Planet carrier 3121 connects gear ring 3123 and sun gear 3124 through planet wheel 3122, and upper flange 3125 and lower flange 3126 are connected the upper and lower end face of gear ring 3123 respectively, and upper flange 3125 is through bearing 3127 connected row carrier 3121; One tunnel motion is inputted by sun gear 3124 and gear ring 3123, and the motion of another road is inputted by gear ring 3123, and two-way motion exports through planet carrier 3121, and the input end that two groups of drive transmission devices can move with above-mentioned two-way is respectively connected, thus realizes two-way and conflux.
In the present embodiment, be also provided with spring mechanism 32 in lower shell body 31, spring mechanism 32 connects the output terminal of adder 312, plays the effect of buffering; Concrete; spring mechanism 32 adopts organizes volute spring more; first the moment that adder 312 exports be loaded on spring mechanism 32; transferred out by spring mechanism 32 again; thus play the effect of buffering; especially when drive unit suddenly stops racing, effect is particularly evident, thus plays the effect of protection drive unit.In addition, the present invention is combined with one-way driving mechanism by spring mechanism 32, plays the function of reverse self-locking.
In the present embodiment, electromagnetic brake 33 is also provided with in lower shell body 31, the input end of electromagnetic brake 33 is connected with the output terminal of spring mechanism 32, the present invention is connected with spring mechanism 32 by electromagnetic brake 33, suppress the buffer function of spring mechanism 32 in corresponding occasion, play the effect of fast braking drive unit.In the present embodiment, electromagnetic brake 33 at least connects an electromagnetic damper; Preferably be provided with two electromagnetic dampers, be respectively electromagnetic damper A34, electromagnetic damper B35; It is thermal dissipation that electromagnetic damper A34, electromagnetic damper B35 are used for the redundancy kinetic transformation in Transmitted chains.
In this enforcement, all realize the transmission of power between above-mentioned each constituent element by modes such as gears, be not restricted herein; Wherein, spring mechanism 32, safety clutch A37, safety clutch B310 are connected lower shell body 31 with adder 312 by bearing; Electromagnetic brake 33, electromagnetic damper A34, electromagnetic damper B35, motor A36, motor B39, one-way driving mechanism A38, one-way driving mechanism B311 and electric coupler 313 are connected to lower shell body 31 by modes such as screws.Certainly, above-mentioned each Placement is not limited successively, can adjust as the case may be.
As Figure 1 and Figure 4, middle cylinder section 2 includes a middle shell 21, is provided with speed reducer in middle shell 21, and speed reducer adopts planetary reducer in the present embodiment; Planetary reducer at least includes primary planet mechanism, and every grade of planetary mechanism has included a planet carrier, a sun gear and several rows star-wheel; In the present embodiment, preferably be provided with two-stage planetary mechanism, primary planet mechanism includes primary planet carrier 24, primary planet wheel 25, one-level sun gear 26, and secondary planet mechanism includes secondary planet frame 27, secondary planet wheel 28, secondary solar gear 29 and internal gear 210; The madial wall of middle shell 21 is provided with bull gear 23, primary planet carrier 24 connects middle shell 21 through bearing 22, primary planet carrier 24 is connected with one-level sun gear 26 and bull gear 23 through primary planet wheel 25, one-level sun gear 26 connects secondary planet frame 27, secondary planet frame 27 is connected with secondary solar gear 29 and bull gear 23 through secondary planet wheel 28, secondary solar gear 29 connects an internal gear 210, internal gear 210 connects spring mechanism 32 output terminal in doffing section 3 through gear, and middle shell 21 connects the lower shell body 31 in doffing section 3; Motion is imported into after the deceleration of two-stage Gear Planet Transmission through internal gear 210, transfers to top cylinder section 1 via primary planet carrier 24.
In the present embodiment, top cylinder section 1 comprises upper shell 16 and is arranged on and is folded to mechanism in upper shell 16; Be folded to mechanism and include output gear 11, axle 12, auger tooth 13 and small bevel gear 14, auger tooth 13 is arranged on axle 12, and the two ends of axle 12 are arranged in upper shell 16 by bearing; Primary planet carrier 24 during small bevel gear 14 connects in cylinder section 2, and small bevel gear 14 engages with auger tooth 13 and realizes transmission; Output gear 11 is set on axle 12, and output gear 11 is as the output mechanism of whole multifunctional all drive unit.Motion is inputted by small bevel gear 14, is folded to, transfers to output gear 11 export by axle 12 through auger tooth 13.
A kind of multifunctional all provided by the invention drives dress to be made up of top cylinder section 1, middle cylinder section 2, doffing section 3, top cylinder section 1 is cylinder section 2 in upper shell 13 is connected with small bevel gear 14, middle cylinder section 2 is connected doffing section 3 through middle shell 21 with internal gear 210, and whole drive unit carries out installation location by the flanged surface of middle cylinder section 2.Its working principle is as follows:
One tunnel motion inputs via motor A36, through safety clutch A37 restraining moment, directed through one-way driving mechanism A38 transmission; The motion of another road inputs via motor B39, filters moment through safety clutch B310, directed through one-way driving mechanism B311 transmission; Two-way moves through adder 312 and confluxes and be delivered to spring mechanism 32 and cushion, major part kinetic energy transfers to middle cylinder section via spring mechanism 32 output terminal, through in middle cylinder section 2 planetary reducer slow down after, then via in top cylinder section 1 be folded to mechanism's break-in after, finally exported by output gear 11.Partial redundance energy exports via spring mechanism 32, passes to electromagnetic damper A34 and electromagnetic damper B35 dissipate through electromagnetic brake 33.
In sum, the invention provides a kind of multifunctional all and drive dress, form primarily of top cylinder section, middle cylinder section and doffing section three parts; The object of the invention is to propose a kind of multifunctional all drive unit, it integrates driving, overload protection, reverse self-locking, drives the functions such as backup, buffering, power consumption and braking, be mainly used in the joint driving mechanism of space station indexing machine mechanical arm, various revolution type games can be widely used in and drive; The present invention is that the revolution class of function complexity drives operating mode to provide a kind of effective solution, and has that volume is little, lightweight, high reliability.
Those skilled in the art should be understood that the present invention can realize with other concrete forms many and not depart from the spirit or scope of the present invention.Although describe embodiments of the invention, the present invention should be understood and should not be restricted to these embodiments, within the spirit and scope of the invention that those skilled in the art can define as appended claims, make change and amendment.

Claims (10)

1. a multifunctional all drive unit, it is characterized in that, comprise doffing section, middle cylinder section and top cylinder section, two groups of drive transmission devices are provided with in described doffing section, described drive transmission device comprises motor, safety clutch and one-way driving mechanism, and described motor connection, safety clutch, one-way driving mechanism order are connected; Described doffing section also includes the spring mechanism for cushioning, and the output terminal of described two groups of drive transmission devices is in transmission connection with described spring mechanism after adder is confluxed, and cylinder section in the output terminal connection of described spring mechanism, described middle cylinder section connects described top cylinder section.
2. according to multifunctional all drive unit according to claim 1, it is characterized in that, described safety clutch is arranged on the transmission path between described motor and described one-way driving mechanism, for the output torque of described motor being limited in particular range.
3. according to multifunctional all drive unit according to claim 1, it is characterized in that, the output terminal of described two groups of drive transmission devices is in parallel through adder, and described adder output connects described spring mechanism.
4. according to multifunctional all drive unit according to claim 1, it is characterized in that, the output terminal of described spring mechanism is connected with energy-consumption braking mechanism, described energy-consumption braking mechanism comprises electromagnetic brake, being connected with described spring mechanism output terminal of described electromagnetic brake, for locking described spring mechanism, brake whole drive unit.
5. according to multifunctional all drive unit according to claim 4, it is characterized in that, described energy-consumption braking mechanism also comprises at least one electromagnetic damper, and described electromagnetic damper is connected with described electromagnetic brake, for rotational kinetic energy is converted into heat dissipation.
6. according to the multifunctional all drive unit described in claim 1 or 5, it is characterized in that, described doffing section comprises a lower shell body, described spring mechanism, safety clutch, adder are arranged in described lower shell body by bearing, and described electromagnetic brake, electromagnetic damper, motor and one-way driving mechanism are fixed by screws in the inner side of described lower shell body.
7. according to multifunctional all drive unit according to claim 1, it is characterized in that, described middle cylinder section comprise middle shell and be arranged in described middle shell speed reducer, the output of described spring mechanism is connected with described speed reducer, and the output terminal of described spring mechanism exports via after described speed reducer deceleration.
8. according to multifunctional all drive unit according to claim 7, it is characterized in that, described reducing gear adopts planetary reducer.
9. according to the multifunctional all drive unit described in claim 1 or 7, it is characterized in that, described top cylinder section comprises upper shell and is arranged on and is folded to mechanism in upper shell.
10. according to multifunctional all drive unit according to claim 9, it is characterized in that, described this is folded to structure and includes output gear, axle, auger tooth and small bevel gear, and described auger tooth is arranged on the shaft, and the two ends of described axle are arranged in described upper shell by bearing; Described small bevel gear is used for connecting the output terminal of reducing gear, and described small bevel gear engages with described auger tooth; Described auger tooth connects described axle, and described output gear is on the shaft sheathed, realizes driver output through described output gear.
CN201510241597.3A 2015-05-13 2015-05-13 A kind of multifunctional all drive device Active CN104896048B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105666520A (en) * 2016-04-01 2016-06-15 哈尔滨工业大学 Under-actuated mechanical arm wrist based on gear transmission

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030098624A1 (en) * 2001-11-29 2003-05-29 Jiro Iwasa Vehicular rotational apparatus
JP2007303278A (en) * 2006-05-08 2007-11-22 Mazda Motor Corp Engine start device
CN102806561A (en) * 2012-08-27 2012-12-05 清华大学 Split shaft type dual-motor cooperative composite grabbing robot finger device
CN202790375U (en) * 2012-08-23 2013-03-13 宁波东力机械制造有限公司 Safety protection and intelligent control device of planetary gear reducer
CN203413067U (en) * 2013-07-15 2014-01-29 广东德豪润达电气股份有限公司 Mechanical type overload protection device of pushing mechanism and handheld type electric biscuit forming press

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030098624A1 (en) * 2001-11-29 2003-05-29 Jiro Iwasa Vehicular rotational apparatus
JP2007303278A (en) * 2006-05-08 2007-11-22 Mazda Motor Corp Engine start device
CN202790375U (en) * 2012-08-23 2013-03-13 宁波东力机械制造有限公司 Safety protection and intelligent control device of planetary gear reducer
CN102806561A (en) * 2012-08-27 2012-12-05 清华大学 Split shaft type dual-motor cooperative composite grabbing robot finger device
CN203413067U (en) * 2013-07-15 2014-01-29 广东德豪润达电气股份有限公司 Mechanical type overload protection device of pushing mechanism and handheld type electric biscuit forming press

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105666520A (en) * 2016-04-01 2016-06-15 哈尔滨工业大学 Under-actuated mechanical arm wrist based on gear transmission

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