CN216842951U

CN216842951U - Multi-degree-of-freedom transmission mechanism

Info

Publication number: CN216842951U
Application number: CN202123093948.0U
Authority: CN
Inventors: 宫振鹏; 孙永国
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-06-28
Anticipated expiration: 2031-12-10

Abstract

A multi-freedom drive mechanism based on gear engagement, but allowing to drive three rotational degrees of freedom on a single sphere, and without theoretical limitation in the range of motion, these functions are obtained by engaging crossed spherical gears and unipolar gears, the gears can be engaged with each other due to unique 'extreme' structure, the spherical gear is a novel gear drive mechanism, which is formed by rotating the tooth profile curve of an involute plane gear around the axis of the circle center, because of having two degrees of freedom and realizing accurate fixed transmission ratio, can perform circular motion, has the transmission characteristics of 2 degrees of freedom, can be used to transmit spatial motion, and is widely applied in the fields of bionic mechanical joints, robot joints, etc., the structure takes a motor reducer as the driving force, utilizes the interaction superposition between crossed spherical gears and two unipolar gears, can transmit high torque and reliable positioning in three directions without a direction sensor, the device is suitable for robot joints and direction control mechanisms.

Description

Multi-degree-of-freedom transmission mechanism

Technical Field

The utility model relates to a multi freedom drive mechanism belongs to accurate transmission technical field.

Background

Along with modern industry's prosperity, the industrial robot field is rapid to develop, have fairly extensive application in the world wide, in industrial robot's structure, its joint drive arrangement is the important link of assurance industrial robot working property, gear drive is very important part, wide application in industrial robot joint, traditional industrial robot drive mechanism is more complicated, this has increased industrial robot's manufacturing cost undoubtedly, user's money input has been increased, can reduce manufacturing cost with the motion that few structure transmission and complex structure are the same and reduce the mechanism volume, it has very big impetus to design a section can realize that few structure transmission multi freedom motion's mechanism has to industrial robot's development.

Disclosure of Invention

An object of the utility model is to provide a multi freedom drive mechanism is applicable to industrial robot joint and directional control mechanism, has the simple advantage of drive mechanism, has solved traditional industrial robot drive mechanism and has more complicated, has realized the motion of many freedom with few structure, and this has reduced industrial robot's manufacturing cost undoubtedly, has further reduced the problem that user's money drops into.

The purpose is achieved, the utility model adopts the following technical proposal: a multi-degree-of-freedom transmission mechanism comprises a crossed ball gear, a single-stage gear, a support frame ball gear groove, a motor, a speed reducer shell, an input shaft, an output shaft, an inner gear ring, a planet gear, a sun gear, a planet carrier, a bearing and a power supply interface;

the motor is connected with a reducer input shaft, the motor is vertically placed on a support frame, the motor is connected with the reducer input shaft, a reducer output shaft is connected with a single-stage gear, the single-stage gear I is meshed with a crossed ball gear to enable the crossed ball gear to rotate around a Z shaft (203), the reducer is horizontally fixed through the support frame, an output shaft is connected with a single-machine gear II, the single-stage gear II is meshed with the crossed ball gear to enable the crossed ball gear to rotate around a Y shaft (201), the crossed ball gear support frame is connected with a ball groove, a reducer shell is a cylinder, the inner side of the shell is connected with an inner gear ring, and the output end of the output shaft is connected with a bearing and a planet carrier.

Compared with the prior art, the beneficial effects of the utility model are that:

the multi-degree-of-freedom transmission mechanism is perpendicular to the ground and is suitable for a space with a compact structure.

Can avoid too big because of the structure volume that many drive disk assembly lead to, or because of the motion direction single that drive disk assembly leads to less, the utility model discloses can realize three kinds of movements of gear drive, coupling and sliding motion.

The meshing relation between the crossed spherical gear and the single-stage gear is similar to planetary transmission, the transmission efficiency is high, the transmission of force by using friction in the traditional mechanism is changed, and the friction loss between the transmission mechanisms is reduced by the multi-degree-of-freedom transmission mechanism.

The multi-degree-of-freedom transmission mechanism avoids slippage, realizes effective positioning of high torque and accurate transmission, does not need to use a direction sensor, can adopt various configuration modes due to the flexible arrangement of the actuator and the output link, solves the problem of indefinite space size, does not need too many computing resources and electrical systems for a control system, and is simple to design and use.

Driving motor's torque performance, power and inertia are right the utility model discloses there is not too much influence, so can select from siemens company, the model is 1FK7060-5AH 71-1's servo motor, and this servo motor has the characteristic of the big moment of torsion output of low-speed, and is small, and overload capacity is very strong.

Utility model uses tertiary planetary reducer, has advantages such as the quality is little, small, drive ratio is big, bearing capacity is big and the transmission is steady and transmission efficiency is high.

Drawings

FIG. 1 is a three-dimensional view of the multi-degree-of-freedom transmission mechanism of the present invention;

FIG. 2 is a schematic view of the reducer of FIG. 1;

FIG. 3 is a front view of the crossed ball gear configuration shown in FIG. 1;

FIG. 4 is a schematic view of the single gear stage I shown in FIG. 1;

FIG. 5 is a schematic view of the support bracket shown in FIG. 1;

FIG. 6 is a cross-sectional view of the cross ball gear shown in FIG. 1;

FIG. 7 is a top plan view of the cross ball gear shown in FIG. 1;

fig. 8 is a gear mechanism diagram according to the present invention.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

The first embodiment is as follows: as shown in fig. 1 to 8, the present invention discloses a multi-degree-of-freedom transmission mechanism, which comprises a crossed ball gear, a single-pole gear I, a single-pole gear ii, a speed reducer and a support frame.

The second embodiment is as follows: as a supplement to the first specific embodiment, the planetary reducer of the first specific embodiment mainly comprises a reducer casing (6), a power interface (7), a sun gear shaft (17), an I-stage sun gear (11) fixedly arranged on the sun gear shaft (17), an II-stage sun gear (12) and an III-stage sun gear (13) respectively sleeved on the sun gear shaft (17), a first-stage planet carrier (18) provided with an I-stage planet gear (8), a second-stage planet carrier (19) provided with an II-stage planet gear (9), and a third-stage planet carrier (20) provided with an III-stage planet gear (10). A bearing (14) is arranged between the three-stage planet carrier (20) and the speed reducer shell (6); a bearing (15) is arranged between the sun wheel shaft (17) and the third-stage planet carrier (20), the left end of the sun wheel shaft (17) is connected with the output shaft of the motor (21) through a coupling (16), and a first-stage planet carrier (18) and a second-stage planet carrier (19) which are positioned in the reducer shell (6) are fixedly connected with a second-stage sun wheel (12) and a third-stage sun wheel (13) respectively; i level sun gear (11), II level sun gear (12), III level sun gear (13) mesh I level planet wheel (8), II level planet wheel (9), III level planet wheel (10) motor (21) respectively its output shaft provides high-speed low moment of torsion power direct drive sun gear axle (17), through the reduction gear after the speed reduction, the low-speed high moment of torsion of output transmits for shaft coupling (16) to drive monopole gear I (2) steady rotation.

A use method (working principle) of a multi-degree-of-freedom transmission mechanism comprises the following steps:

the single-pole gear I (2) and the single-pole gear II (70) are connected with the output end of the speed reducer, the motor works to drive the speed reducer, the speed reducer drives the single-pole gear I (2) to rotate around the Z axis (203) in a positive and negative mode, the single-pole gear (2) rotates around the Z axis (203) and simultaneously transmits torque to the cross-axis ball gear, and the cross-axis ball gear (1) rotates around the Z axis (203) along with the rotation of the single-pole gear I (2); the speed reducer drives the single-pole gear II (70) to realize positive and negative rotation around a Y shaft (201), the single-pole gear II (70) rotates around the Y shaft (201) and simultaneously transmits torque to the crossed shaft ball gear, and three motions are called by gear interaction: the interaction between the single-pole gear I (2), the single-pole gear II (70) and the crossed ball gear (1) produces gearing, coupling and sliding motion. When the single-stage gear I (2) and the single-stage gear II (70) rotate, the teeth of the single-stage gear I (2) and the single-stage gear II (70) are meshed with the crossed ball gear (1), the driving force is transferred from the single-stage gear I (2) to the crossed ball gear (1) and from the single-stage gear II (70) to the crossed ball gear (1), and multi-degree-of-freedom movement is realized.

The utility model discloses the motor that uses can select from siemens company, and the gear material can be according to different service environment preference choices.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and therefore, the present invention should be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claims.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A multi-freedom-degree transmission mechanism is characterized in that: the characteristic includes crossing ball gear (1), monopole gear I (2), monopole gear II (70), spherical crown (3), central line (4), reduction gear (29), support frame (27), support frame ball gear groove (28), gear center dogtooth (5), motor (21) the centre of sphere position relatively fixed of crossing ball gear (1) and monopole gear I (2), the tooth thickness direction of crossing ball gear (1) tooth be along the weft direction of spherical crown (3), crossing ball gear (1) tooth be in the weft of the co-altitude of spherical crown (3) on the number of teeth change, high latitude part number of teeth is less, and is more in low latitude part number of teeth, crossing ball gear (1) and monopole gear I (2) cross section number of teeth for mutually supporting, realize the exact mesh of gear.

2. The multiple degree of freedom drive mechanism of claim 1, wherein: the single-pole gears I (2) and the single-pole gears II (70) are arranged at two ends of an axis of the crossed ball gear (1) at a certain angle, a transmission mechanism formed by three gears is similar to a planet gear, driving force is transferred to the crossed ball gear (1) from the single-pole gears I (2), the crossed ball gear (1) rotates around a Z axis (203), the driving force is transferred to the crossed ball gear (1) from the single-pole gears II (70), involute gear modules and tooth numbers of the single-pole gears I (2) and the single-pole gears II (70) are completely the same, and the single-pole gears I (2) and the single-pole gears II (70) are provided with a central convex tooth (5) of an inter-tooth revolving body.

3. The multiple degree of freedom drive mechanism of claim 1, wherein: the crossed ball gear (1) is provided with two central grooves (26) of tooth-shaped revolution bodies, a ball crown (3) and a central line (4), the number of teeth is even, sliding motion caused by passive sliding on the surface does not transmit driving force in order to avoid interference, when two poles of the crossed ball gear (1) and a single-stage gear I (2) or a single-stage gear II (70) coincide, rolling rotation of the single-stage gear I (2) or the single-stage gear II (70) does not transmit any torque, and when the single-stage gear I (2) or the single-stage gear II (70) is driven independently, two of three degrees of freedom of the crossed ball gear (1) can be restrained or driven.