CN215720562U - Hydraulic drive robot joint infinitely variable device - Google Patents
Hydraulic drive robot joint infinitely variable device Download PDFInfo
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- CN215720562U CN215720562U CN202121617932.2U CN202121617932U CN215720562U CN 215720562 U CN215720562 U CN 215720562U CN 202121617932 U CN202121617932 U CN 202121617932U CN 215720562 U CN215720562 U CN 215720562U
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Abstract
The utility model discloses a hydraulic drive robot joint stepless speed change device, which relates to the technical field of speed change devices. According to the utility model, the right sun belt wheel on the right bracket and the left planet belt wheel on the eccentric output shaft can both move axially under the driving of hydraulic pressure so as to adjust the axial distance between the left sun belt wheel and the right sun belt wheel and between the left planet belt wheel and the right planet belt wheel, thereby changing the effective working radius of the pair of sun belt wheels and the pair of planet wheels and realizing the adjustment of transmission ratio, namely stepless speed change; the output shaft of the stepless speed change device is axially limited and rotatably arranged on the right end cover, so that the axial floating of the output shaft is effectively avoided, and the power output by the stepless speed change device is more stable.
Description
Technical Field
The utility model relates to the technical field of speed changing devices, in particular to a stepless speed changing device for a robot joint.
Background
The robot system is a whole formed by a robot, a working object and an environment, and comprises four parts, namely a mechanical system, a driving system, a control system and a sensing system. The robot is an automatic machine which has intelligent capabilities similar to those of a human or a living being, such as perception capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility. The robot body mainly comprises three key parts, namely a speed reducer, a controller and a driving motor, which also occupy a large part of the industrial cost of the robot and jointly determine the performance, the quality and the price of a product.
The speed reducer is used as a key component of the robot system and has important influence on the overall performance of the robot system. Meanwhile, the speed reducer for the robot occupies a large proportion of the cost of the robot. Compared with a universal speed reducer, the robot speed reducer is required to have the characteristics of compact structure, large transmission power, low noise, stable transmission and the like. Due to the particularity of work, the output speed and the torque of the robot joint need to be changed frequently, when the robot joint works by carrying a reducer with a fixed speed ratio by a motor, the peak efficiency or the peak power of the motor can not be achieved by the joint work due to the fixed speed ratio, and the optimal performance of the motor is difficult to be exerted by the matching mode. Variable ratio reducers enable motors to operate at or near their peak efficiency or power, but have not been applied to robotic products due to their size, weight, and complex structure.
SUMMERY OF THE UTILITY MODEL
The utility model provides a hydraulic drive robot joint stepless speed change device for avoiding the defects of the prior art.
The utility model adopts the following technical scheme for solving the technical problems: a hydraulic drive robot joint stepless speed change device is characterized in that a left end cover and a right end cover are respectively connected and fixed at the left end and the right end of an annular cylinder barrel, a cavity is formed between the left end cover and the annular cylinder barrel, and a left support and a right support are respectively arranged at the left side and the right side in the cavity; the stepless speed change device takes an eccentric input shaft rotatably arranged on the left end cover as an input end, and takes an output shaft rotatably arranged on the right end cover as an output end, the power of the input end is transmitted to the output end by a belt transmission speed change mechanism, the belt transmission speed change mechanism is arranged in the cavity and comprises a left sun belt wheel and a right sun belt wheel which are positioned between the left support and the right support and are respectively connected and fixed with the left support and the right support, a left planetary belt wheel and a right planetary belt wheel which are coaxially sleeved to form a synchronous rotating component, and a transmission belt which is tensioned among the left sun belt wheel, the right sun belt wheel, the left planetary belt wheel and the right planetary belt wheel and is used for transmission;
the left sun belt wheel and the right sun belt wheel are coaxially arranged with the output shaft, and the left planet belt wheel and the right planet belt wheel are positioned between the left sun belt wheel and the right sun belt wheel and are eccentrically arranged in a radial area surrounded by axle holes of the left sun belt wheel and the right sun belt wheel; the left planetary belt wheel is coaxially sleeved on the eccentric input shaft, forms a sliding pair along the axial direction of the eccentric input shaft and a rotating pair around the axial direction of the eccentric input shaft with the eccentric input shaft, is arranged at the tail end of the eccentric input shaft, forms a rotating pair around the axial direction of the eccentric input shaft with the eccentric input shaft, and axially limits the position of the rotating pair and the eccentric input shaft;
the transmission belt is an annular body, the section of the transmission belt is of a V-shaped structure with a closed end facing to the center of a circle, the axis of the transmission belt is parallel to the axes of the eccentric input shaft and the output shaft, the left sun belt wheel and the left planet belt wheel are in compression contact with the left side surface of the closed end of the V-shaped structure, and the right sun belt wheel and the right planet belt wheel are in compression contact with the right side surface of the closed end of the V-shaped structure; the right end face of the right planetary belt wheel is provided with transmission bearings, the left end face of the output disc is provided with cylindrical cavities corresponding to the number and the positions of the transmission bearings, the right end face of the output disc is fixedly connected with the output shaft, and the transmission bearings correspondingly extend into the cylindrical cavities respectively;
the left support is fixedly connected with the left end cover, the right support is connected with a piston push rod arranged in a hydraulic cavity of the annular cylinder barrel, and the piston push rod can drive the right support to drive the right sun belt pulley to move axially so as to realize the adjustment of the axial distance between the left sun belt pulley and the right sun belt pulley; the left planetary belt wheel can be driven by a planetary wheel hydraulic structure and can move horizontally along the axis, so that the axial distance between the left planetary belt wheel and the right planetary belt wheel can be adjusted.
Furthermore, the planet wheel hydraulic structure comprises a left planet end cover and a right planet end cover which are respectively connected and fixed to the left end and the right end of the left planet belt wheel, a separation piston which is sleeved and fixed on the eccentric input shaft and is positioned between the left planet end cover and the right planet end cover, and a left oil inlet and outlet channel and a right oil inlet and outlet channel which are arranged in the eccentric input shaft; the left planet end cover and the right planet end cover are sleeved on the eccentric input shaft and form an axial sliding pair and a rotating pair around the axial direction with the eccentric input shaft, a closed planet hydraulic cavity is formed among the left planet belt wheel, the eccentric input shaft, the left planet end cover and the right planet end cover, the separation piston divides the planet hydraulic cavity into a left half cavity and a right half cavity which are not communicated with each other, and the left oil inlet and outlet channel and the right oil inlet and outlet channel are respectively communicated with the left half cavity and the right half cavity;
when the left oil inlet and outlet channel feeds oil into the left half cavity and the right oil inlet and outlet channel discharges oil out of the right half cavity, the left planet end cover, the right planet end cover and the left planet belt pulley integrally slide leftwards along the axial direction; the left oil inlet and outlet channel is used for discharging oil out of the left half cavity and the right oil inlet and outlet channel is used for discharging oil into the right half cavity, and the left planet end cover, the right planet end cover and the left planet belt wheel slide rightwards along the axial direction in a whole mode.
The left oil distribution channel and the right oil distribution channel are respectively communicated with a left oil distribution hole and a right oil distribution hole which are formed in the side wall of the motor support, and are respectively communicated with the left oil inlet and outlet channel and the right oil inlet and outlet channel in the rotating process of the eccentric input shaft.
Furthermore, the side wall of the annular cylinder barrel is provided with a left oil inlet and a right oil inlet which are communicated with a hydraulic cavity in the annular cylinder barrel; the hydraulic cylinder is characterized in that the left oil inlet and outlet is used for feeding oil into the hydraulic cavity and the right oil inlet and outlet is used for discharging oil out of the hydraulic cavity, the piston push rod drives the right support to drive the right sun belt pulley to slide to the right side, the left oil inlet and outlet is used for discharging oil out of the hydraulic cavity and the right oil inlet and outlet is used for driving the right support to drive the right sun belt pulley to slide to the left side when feeding oil into the hydraulic cavity.
Furthermore, the end surfaces of the opposite sides of the left planet belt wheel and the right planet belt wheel and the opposite sides of the left sun belt wheel and the right sun belt wheel are in a wedge surface shape and are respectively in pressing contact with two side surfaces of a closed end and two side surfaces of an open end of the V-shaped structure of the transmission belt, and the tail end of the closed end of the transmission belt is in a horizontal end surface structure.
Further, the eccentric input shaft and the output shaft are rotatably mounted on the left end cover and the right end cover through crossed roller bearings respectively.
Furthermore, the transmission belt is a metal V-belt formed by connecting V-shaped metal sheets through metal wires.
Furthermore, each transmission bearing is arranged on the right end face of the right planet belt wheel along the circumferential direction of the right planet belt wheel in an evenly distributed mode.
Furthermore, the driving motor is connected and fixed to the motor support through the support frame, and an output shaft of the driving motor is connected and fixed with the eccentric input shaft through the transfer connection structure so as to drive the eccentric input shaft to rotate.
Furthermore, the right end cover and the annular cylinder barrel are sealed through end cover sealing rings, and the piston push rod and the inner wall of the hydraulic cavity, the separation piston and the inner wall of the planetary hydraulic cavity are sealed through shaft sealing rings and hole sealing rings.
The utility model provides a hydraulic drive robot joint stepless speed change device, which has the following beneficial effects:
1. according to the utility model, the right sun belt wheel on the right bracket and the left planet belt wheel on the eccentric output shaft can both move axially under the driving of hydraulic pressure so as to adjust the axial distance between the left sun belt wheel and the right sun belt wheel and between the left planet belt wheel and the right planet belt wheel, thereby changing the effective working radius of the pair of sun belt wheels and the pair of planet wheels and realizing the adjustment of transmission ratio, namely stepless speed change;
2. the belt transmission speed change mechanism is utilized to realize power transmission from the input end to the output end, wherein the left planetary belt wheel and the right planetary belt wheel are arranged between the left sun belt wheel and the right sun belt wheel and are eccentrically arranged in a radial area surrounded by shaft holes of the left sun belt wheel and the right sun belt wheel, the device is simple in overall structure and compact in layout, and the mounting requirements of robot products can be better met;
3. the output shaft of the stepless speed change device is rotatably arranged on the right end cover, and the output shaft is in a limiting state in the axial direction, so that the axial floating of the output shaft is effectively avoided, the power output by the stepless speed change device is more stable, and the stepless speed change device has the advantages of good speed reduction ratio adjusting real-time performance and strong stability.
Drawings
FIG. 1 is a schematic cross-sectional axial view of the present invention;
FIG. 2 is a front sectional structural view of the present invention;
fig. 3 a-3 b are schematic structural diagrams of a left sun belt wheel, a right sun belt wheel, a left planet belt wheel and a right planet belt wheel in neutral gear and transmission working states.
In the figure:
11. the hydraulic cylinder comprises a left support, a right support, a left end cover, a right support, a left support 13, a left end cover, a right end cover 15, an annular cylinder barrel, a hydraulic cavity 151, a hydraulic cavity 152, a left oil inlet and outlet, a right oil inlet and outlet 153, a right oil inlet and outlet 16 and a piston push rod; 21. an eccentric input shaft, 22, an output shaft; 3. a belt transmission speed change mechanism 31, a left sun belt wheel 32, a right sun belt wheel 33, a left planet belt wheel 34, a right planet belt wheel 35, a transmission belt 36, a transmission bearing 37 and an output disc; 4. the hydraulic system comprises a planet wheel hydraulic cylinder 41, a left planet end cover 42, a right planet end cover 43, a separation piston 44, a left oil inlet and outlet channel 45, a right oil inlet and outlet channel 46 and a planet hydraulic cavity; 5. the motor support, 51, left oil distribution channel, 52, right oil distribution channel, 53, left oil distribution hole, 54, right oil distribution hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the structural relationship is: the left end cover 13 and the right end cover 14 are respectively connected and fixed at the left end and the right end of the annular cylinder barrel 15, a cavity is formed between the left end cover and the annular cylinder barrel 15, and the left support 11 and the right support 12 are respectively arranged at the left side and the right side in the cavity; the stepless speed change device takes an eccentric input shaft 21 rotationally mounted on a left end cover 13 as an input end, takes an output shaft 22 rotationally mounted on a right end cover 14 as an output end, the power of the input end is transmitted to the output end by a belt transmission speed change mechanism 3, the belt transmission speed change mechanism 3 is arranged in a cavity and comprises a left sun belt pulley 31 and a right sun belt pulley 32 which are positioned between a left bracket 11 and a right bracket 12 and are respectively connected and fixed with the left bracket and the right bracket, a left planetary belt pulley 33 and a right planetary belt pulley 34 which are coaxially sleeved to form a synchronous rotation component, and a transmission belt 35 which is tensioned between the left sun belt pulley 31, the right sun belt pulley 32, the left planetary belt pulley 33 and the right planetary belt pulley 34 and is used for transmission;
the left sun belt wheel 31 and the right sun belt wheel 32 are coaxially arranged with the output shaft 22, and the left planet belt wheel 33 and the right planet belt wheel 34 are positioned between the left sun belt wheel 31 and the right sun belt wheel 32 and are eccentrically arranged in a radial area surrounded by shaft holes of the left sun belt wheel 31 and the right sun belt wheel 32; the left planetary belt wheel 33 is coaxially sleeved on the eccentric input shaft 21, forms a sliding pair along the axial direction of the eccentric input shaft 21 and a rotating pair around the axial direction of the eccentric input shaft 21 with the eccentric input shaft 21, and the right planetary belt wheel 34 is arranged at the tail end of the eccentric input shaft 21, forms a rotating pair around the axial direction of the eccentric input shaft 21 with the eccentric input shaft 21 and axially limits the position of the right planetary belt wheel and the eccentric input shaft 21;
the transmission belt 35 is an annular body, the section of the transmission belt is a V-shaped structure with a closed end facing to the center of a circle, the axis of the transmission belt is parallel to the axes of the eccentric input shaft 21 and the output shaft 22, the left sun belt wheel 31 and the left planet belt wheel 33 are in compression contact with the left side surface of the closed end of the V-shaped structure, and the right sun belt wheel 32 and the right planet belt wheel 34 are in compression contact with the right side surface of the closed end of the V-shaped structure; the right end face of the right planetary pulley 34 is provided with each transmission bearing 36, the left end face of the output disc 37 is provided with each cylindrical cavity corresponding to the number and the position of the transmission bearings 36, the right end face is fixedly connected with the output shaft 22, and each transmission bearing 36 correspondingly extends into each cylindrical cavity;
the diameter of the cylindrical cavity on the output disc 37 is d1The diameter of the drive bearing 36 is d2If the eccentricity between the right planetary pulley 34 and the output disc 37 is L, d should be satisfied1-d22L; in the working process of the stepless speed change device, a connecting line of the circle center of the cylindrical cavity on the output disc 37 and the circle center of the transmission bearing 36 is parallel to a connecting line of the circle center of the right planet belt wheel 34 and the circle center of the output disc 37, so that the belt transmission speed change mechanism 3 can be equivalent to a parallelogram mechanism and convert the revolution and the rotation of the right planet belt wheel 34 into rotation output concentric with the right sun belt wheel 32;
the left support 11 is fixedly connected with the left end cover 13, the right support is connected with a piston push rod 16 arranged in a hydraulic cavity of the annular cylinder barrel 15, and the piston push rod 16 can drive the right support 12 to drive the right sun belt pulley 32 to move along the axial direction, so that the axial distance between the left sun belt pulley 31 and the right sun belt pulley 32 can be adjusted; the left planetary pulley 33 can be driven by the planetary hydraulic structure 4 to translate along the axis, so that the axial distance between the left planetary pulley 33 and the right planetary pulley 34 can be adjusted.
Preferably, the planetary hydraulic structure 4 includes a left planetary end cap 41 and a right planetary end cap 42 respectively connected and fixed to the left end and the right end of the left planetary pulley 33, a partition piston 43 sleeved and fixed on the eccentric input shaft 21 and located between the left planetary end cap 41 and the right planetary end cap 42, and a left oil inlet and outlet channel 44 and a right oil inlet and outlet channel 45 arranged in the eccentric input shaft 21; the left planet end cover 41 and the right planet end cover 42 are sleeved on the eccentric input shaft 21 and form an axial sliding pair and a revolute pair around the axial direction with the eccentric input shaft 21, a closed planet hydraulic cavity 46 is formed among the left planet belt wheel 33, the eccentric input shaft 21, the left planet end cover 41 and the right planet end cover 42, the planet hydraulic cavity 46 is divided into a left half cavity and a right half cavity which are not communicated by a partition piston 43, and a left oil inlet and outlet channel 44 and a right oil inlet and outlet channel 45 are respectively communicated with the left half cavity and the right half cavity;
when the left oil inlet and outlet passage 44 feeds oil into the left half cavity and the right oil inlet and outlet passage 45 discharges oil out of the right half cavity, the left planet end cover 41, the right planet end cover 42 and the left planet pulley 33 integrally slide leftwards along the axial direction; when the left oil inlet and outlet passage 44 discharges oil to the outside of the left half cavity and the right oil inlet and outlet passage 45 discharges oil to the inside of the right half cavity, the left planetary end cover 41, the right planetary end cover 42 and the left planetary pulley 33 slide to the right along the axial direction as a whole.
Preferably, the motor support is fixedly connected with the left support 11 and the left end cover 13, the eccentric input shaft 21 penetrates through the motor support 5, a left oil distribution channel and a right oil distribution channel which are in an annular structure are arranged in the motor support 5 and correspond to the front end openings of the left oil inlet and outlet channel 44 and the right oil inlet and outlet channel 45 respectively, the left oil distribution channel and the right oil distribution channel are communicated with a left oil distribution hole 53 and a right oil distribution hole 54 which are formed in the side wall of the motor support 5 respectively, and the left oil inlet and outlet channel 44 and the right oil inlet and outlet channel 45 are communicated respectively in the rotation process of the eccentric input shaft 21.
Preferably, the side wall of the annular cylinder 15 is provided with a left oil inlet/outlet 152 and a right oil inlet/outlet 153 which are communicated with the hydraulic chamber 151 therein; when the left oil inlet/outlet 152 feeds oil into the hydraulic cavity 151 and the right oil inlet/outlet 153 feeds oil out of the hydraulic cavity 151, the piston push rod 16 drives the right bracket 12 to drive the right sun pulley 32 to slide to the right side, and when the left oil inlet/outlet 152 feeds oil out of the hydraulic cavity 151 and the right oil inlet/outlet 153 feeds oil into the hydraulic cavity 151, the piston push rod 16 drives the right bracket 12 to drive the right sun pulley 32 to slide to the left side.
Preferably, the end surfaces of the opposite sides of the left planetary pulley 33 and the right planetary pulley 34 and the opposite sides of the left sun pulley 31 and the right sun pulley 32 are both in a wedge surface shape, and are respectively in pressing contact with two side surfaces of a closed end and two side surfaces of an open end of a V-shaped structure of the transmission belt 35, and the tail end of the closed end of the transmission belt 35 is in a horizontal end surface structure.
Preferably, the eccentric input shaft 21 and the output shaft 22 are rotatably mounted to the left and right end caps 13 and 14, respectively, by cross roller bearings 23.
Preferably, the belt 35 is a metal V-belt formed by connecting V-shaped metal pieces by metal wires.
Preferably, the transmission bearings 36 are uniformly arranged on the right end surface of the right planetary pulley 34 along the circumferential direction of the right planetary pulley 34.
Preferably, the driving motor is connected and fixed to the motor bracket 5 through a support frame, and an output shaft of the driving motor is connected and fixed to the eccentric input shaft 21 through a transfer connection structure so as to drive the eccentric input shaft 21 to rotate.
Preferably, the right end cover 14 and the annular cylinder 15 are sealed by end cover sealing rings, and the piston push rod 16 and the inner wall of the hydraulic cavity 151 and the inner wall of the separation piston 43 and the planet hydraulic cavity 46 are sealed by shaft sealing rings and hole sealing rings.
The continuously variable transmission having the above-described structure operates as follows:
the driving motor works, the output shaft of the driving motor drives the eccentric input shaft 21 to rotate through the transfer connection structure, the eccentric input shaft 21 drives the left planetary belt wheel 33 and the right planetary belt wheel 34 which are arranged on the eccentric input shaft to revolve in a radial region surrounded by the axle holes of the left sun belt wheel 31 and the right sun belt wheel 32, and the left planetary belt wheel 33 and the right planetary belt wheel 34 are simultaneously subjected to the friction force of the transmission belt 35 and rotate under the friction force of the transmission belt 35 in the process of revolving; in the process of autorotation of the right planetary pulley 34, the transmission bearings 36 which are arranged on the right planetary pulley and extend into the cylindrical cavities on the output disc 37 drive the output disc 37 to rotate, and the power is transmitted to the output shaft 22 which is fixedly connected with the output disc 37 for output.
When the transmission ratio of the continuously variable transmission is adjusted, the process is as follows:
the hydraulic cylinder of the sun wheel adjusts the hydraulic oil input and output of the left oil inlet and outlet 152 and the right oil inlet and outlet 153 of the hydraulic cavity 151, when the hydraulic oil input of the left oil inlet and outlet 152 and the hydraulic oil output of the right oil inlet and outlet 153 are increased, the piston push rod 16 drives the right bracket 12 and the right sun belt pulley 32 connected thereto to move back and forth with respect to the left sun belt pulley 31, so that the axial distance between the left sun belt pulley 31 and the right sun belt pulley 32 is increased, and the effective working radius R is reduced; when the hydraulic oil output of the left oil inlet and outlet 152 and the hydraulic oil input of the right oil inlet and outlet 153 are increased, the piston push rod 16 drives the right bracket 12 and the right sun belt pulley 32 connected thereto to move in the opposite direction to the left sun belt pulley 31, so that the axial distance between the left sun belt pulley 31 and the right sun belt pulley 32 is reduced, and the effective working radius R is increased;
the planet wheel hydraulic cylinder 4 adjusts the hydraulic oil input and output of the left oil inlet and outlet channel 44 and the right oil inlet and outlet channel 45 of the planet hydraulic cavity 46, when the hydraulic oil input of the left oil inlet and outlet channel 44 and the hydraulic oil output of the right oil inlet and outlet channel 45 are increased, the left planet end cover 41, the right planet end cover 42 and the left planet pulley 33 integrally move back to back along the eccentric input shaft 21 and the right planet pulley 34, so that the axial distance between the left planet pulley 33 and the right planet pulley 34 is increased, and the effective working radius r is reduced; when the hydraulic oil output of the left oil inlet and outlet passage 44 and the hydraulic oil input of the right oil inlet and outlet passage 45 are increased, the left planetary end cover 41, the right planetary end cover 42 and the left planetary pulley 33 move along the eccentric input shaft 21 and the right planetary pulley 34 in opposite directions, so that the axial distance between the left planetary pulley 33 and the right planetary pulley 34 is reduced, and the effective working radius r is increased.
The transmission ratio i of the continuously variable transmission is related to the effective working radii R of the left and right sun pulleys 31 and 32 and the effective working radii R of the left and right planetary pulleys 33 and 34
In actual use, the axial distance between the left sun belt wheel 31 and the right sun belt wheel 32 and the axial distance between the left planet belt wheel 33 and the right planet belt wheel 34 are adjusted according to requirements, and the automatic regulation and control of the transmission ratio of the stepless speed change device can be realized.
As shown in fig. 3a, when the right sun pulley 32 moves to the left to the limit position, the left planetary pulley 33 also moves to the left to the limit position, at this time, the acting force between the left planetary pulley 33 and the right planetary pulley 34 and the transmission belt 35 is minimum, the effective working radius of the left planetary pulley 33 and the right planetary pulley 34 is far smaller than that of the left sun pulley 31 and the right sun pulley 32, and the output of the continuously variable transmission is neutral.
As shown in fig. 3b, when the axial distances between the left sun pulley 31 and the right sun pulley 32 and between the left planet pulley 33 and the right planet pulley 34 are appropriate, the both can be pressed against the conveyor belt 35 well, and the transmission of the driving force can be performed stably.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A hydraulic drive robot joint stepless speed change device is characterized in that a left end cover (13) and a right end cover (14) are respectively connected and fixed at the left end and the right end of an annular cylinder barrel (15), a cavity is formed between the left end cover and the annular cylinder barrel (15), and a left support (11) and a right support (12) are respectively arranged at the left side and the right side in the cavity; the stepless speed change device takes an eccentric input shaft (21) rotatably mounted on the left end cover (13) as an input end, an output shaft (22) rotatably mounted on the right end cover (14) as an output end, and the power of the input end is transmitted to the output end by a belt transmission speed change mechanism (3), and is characterized in that: the belt transmission speed change mechanism (3) is arranged in the cavity and comprises a left sun belt wheel (31) and a right sun belt wheel (32) which are positioned between the left support (11) and the right support (12) and respectively connected and fixed with the left support and the right support, a left planetary belt wheel (33) and a right planetary belt wheel (34) which are coaxially sleeved to form a synchronous rotating component, and a transmission belt (35) which is tensioned among the left sun belt wheel (31), the right sun belt wheel (32), the left planetary belt wheel (33) and the right planetary belt wheel (34) and is used for transmission;
the left sun belt wheel (31) and the right sun belt wheel (32) are coaxially arranged with the output shaft (22), the left planet belt wheel (33) and the right planet belt wheel (34) are positioned between the left sun belt wheel (31) and the right sun belt wheel (32), and are eccentrically arranged in a radial area surrounded by shaft holes of the left sun belt wheel (31) and the right sun belt wheel (32); the left planetary belt wheel (33) is coaxially sleeved on the eccentric input shaft (21) and forms a sliding pair along the axial direction of the eccentric input shaft (21) and a rotating pair around the axial direction of the eccentric input shaft (21) with the eccentric input shaft (21), and the right planetary belt wheel (34) is installed at the tail end of the eccentric input shaft (21) and forms a rotating pair around the axial direction of the eccentric input shaft (21) with the eccentric input shaft (21) and is axially limited with the eccentric input shaft (21);
the transmission belt (35) is an annular body, the section of the transmission belt is of a V-shaped structure with a closed end facing to the center of a circle, the axis of the transmission belt is parallel to the axes of the eccentric input shaft (21) and the output shaft (22), the left sun belt wheel (31) and the left planet belt wheel (33) are in compression contact with the left side surface of the closed end of the V-shaped structure, and the right sun belt wheel (32) and the right planet belt wheel (34) are in compression contact with the right side surface of the closed end of the V-shaped structure; each transmission bearing (36) is installed on the right end face of the right planetary pulley (34), each cylindrical cavity is formed in the left end face of the output disc (37) corresponding to the number and the positions of the transmission bearings (36), the right end face of the output disc is fixedly connected with the output shaft (22), and each transmission bearing (36) correspondingly extends into each cylindrical cavity;
the left support (11) is fixedly connected with the left end cover (13), the right support is connected with a piston push rod (16) arranged in a hydraulic cavity of the annular cylinder barrel (15), and the piston push rod (16) can drive the right support (12) to drive the right sun belt pulley (32) to move axially, so that the axial distance between the left sun belt pulley (31) and the right sun belt pulley (32) can be adjusted; the left planetary pulley (33) can be driven by a planetary hydraulic structure (4) and can translate along the axis, so that the axial distance between the left planetary pulley (33) and the right planetary pulley (34) can be adjusted.
2. The hydraulically driven robotic joint infinitely variable transmission of claim 1, wherein: the planet wheel hydraulic structure (4) comprises a left planet end cover (41) and a right planet end cover (42) which are respectively connected and fixed to the left end and the right end of the left planet belt wheel (33), a separation piston (43) which is sleeved and fixed on the eccentric input shaft (21) and is positioned between the left planet end cover (41) and the right planet end cover (42), and a left oil inlet and outlet channel (44) and a right oil inlet and outlet channel (45) which are arranged in the eccentric input shaft (21); the left planet end cover (41) and the right planet end cover (42) are sleeved on the eccentric input shaft (21) and form an axial sliding pair and an axial rotating pair with the eccentric input shaft (21), a closed planet hydraulic cavity (46) is formed among the left planet belt wheel (33), the eccentric input shaft (21), the left planet end cover (41) and the right planet end cover (42), the separation piston (43) divides the planet hydraulic cavity (46) into a left half cavity and a right half cavity which are not communicated with each other, and the left oil inlet and outlet channel (44) and the right oil inlet and outlet channel (45) are respectively communicated with the left half cavity and the right half cavity;
when the left oil inlet and outlet channel (44) feeds oil into the left half cavity and the right oil inlet and outlet channel (45) discharges oil out of the right half cavity, the left planet end cover (41), the right planet end cover (42) and the left planet belt wheel (33) integrally slide leftwards along the axial direction; the left oil inlet and outlet channel (44) faces the left half cavity and the right oil inlet and outlet channel (45) faces the right half cavity and the left planet end cover (41), the right planet end cover (42) and the left planet belt wheel (33) slide rightwards along the axial direction integrally.
3. The hydraulically driven robotic joint infinitely variable transmission of claim 2, wherein: the motor support is characterized by further comprising a motor support (5) fixedly connected with the left support (11) and the left end cover (13), the eccentric input shaft (21) penetrates through the motor support (5), a left oil distribution channel and a right oil distribution channel which are of annular structures are arranged at positions, corresponding to front ports of the left oil inlet and outlet channel (44) and the right oil inlet and outlet channel (45), in the motor support (5), the left oil distribution channel and the right oil distribution channel are communicated with a left oil distribution hole (53) and a right oil distribution hole (54) which penetrate through the side wall of the motor support (5), and the eccentric input shaft (21) is communicated with the left oil inlet and outlet channel (44) and the right oil inlet and outlet channel (45) in the rotating process.
4. The hydraulically driven robotic joint infinitely variable transmission of claim 2, wherein: the side wall of the annular cylinder barrel (15) is provided with a left oil inlet and outlet (152) and a right oil inlet and outlet (153) which are communicated with a hydraulic cavity (151) in the annular cylinder barrel; left side business turn over hydraulic pressure chamber (151) in the oil feed just right business turn over oil mouth (153) to when hydraulic pressure chamber (151) is outer to produce oil piston push rod (16) drive right branch frame (12) drive right side sun pulley (32) slide to the right side, left side business turn over oil mouth (152) to hydraulic pressure chamber (151) are outer to produce oil just right side business turn over oil mouth (153) to when the oil feed in hydraulic pressure chamber (151) piston push rod (16) drive right branch frame (12) drive right side sun pulley (32) slide to the left side.
5. The hydraulically driven robotic joint infinitely variable transmission of claim 2, wherein: the end surfaces of the opposite sides of the left planet belt wheel (33), the right planet belt wheel (34), the left sun belt wheel (31) and the right sun belt wheel (32) are in a wedge-shaped surface shape and are respectively in pressing contact with two side surfaces of a closed end and two side surfaces of an open end of a V-shaped structure of the transmission belt (35), and the tail end of the closed end of the transmission belt (35) is in a horizontal end surface structure.
6. The hydraulically driven robotic joint infinitely variable transmission of claim 1, wherein: the eccentric input shaft (21) and the output shaft (22) are rotatably mounted on the left end cover (13) and the right end cover (14) through crossed roller bearings (23) respectively.
7. The hydraulically driven robotic joint infinitely variable transmission of claim 1, wherein: the transmission belt (35) is a metal V-shaped belt formed by connecting V-shaped metal sheets through metal wires.
8. The hydraulically driven robotic joint infinitely variable transmission of claim 1, wherein: the transmission bearings (36) are uniformly distributed on the right end surface of the right planetary belt wheel (34) along the circumferential direction of the right planetary belt wheel (34).
9. The hydraulically driven robotic joint infinitely variable transmission of claim 3, wherein: the driving motor is connected and fixed to the motor support (5) through a support frame, and an output shaft of the driving motor is connected and fixed with the eccentric input shaft (21) through a transfer connection structure so as to drive the eccentric input shaft (21) to rotate.
10. The hydraulically driven robotic joint infinitely variable transmission of claim 2, wherein: the right end cover (14) and the annular cylinder barrel (15) are sealed through end cover sealing rings, and the piston push rod (16) and the inner wall of the hydraulic cavity (151) and the inner wall of the separation piston (43) and the planetary hydraulic cavity (46) are sealed through shaft sealing rings and hole sealing rings.
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| CN202121617932.2U CN215720562U (en) | 2021-07-16 | 2021-07-16 | Hydraulic drive robot joint infinitely variable device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113374834A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Hydraulic drive robot joint infinitely variable device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113374834A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Hydraulic drive robot joint infinitely variable device |
| CN113374834B (en) * | 2021-07-16 | 2024-02-23 | 中国科学院合肥物质科学研究院 | Hydraulic drive robot joint infinitely variable device |
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