CN216975697U

CN216975697U - Flexible universal joint gear rocker driving structure

Info

Publication number: CN216975697U
Application number: CN202220800636.4U
Authority: CN
Inventors: 朱鸿; 李晓贞; 徐欣良宜; 王屹初
Original assignee: Jingqin Zhizao Suzhou Medical Technology Co ltd
Current assignee: Jingqin Zhizao Suzhou Medical Technology Co ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2022-07-15
Anticipated expiration: 2032-04-08

Abstract

The utility model discloses a flexible universal joint gear rocker driving structure which comprises a support base, wherein a rocker driving structure, a primary transmission structure and a secondary transmission structure are arranged on the support base; the rocker driving structure is respectively in transmission fit with the primary transmission structure and the secondary transmission structure; under the action of external force, the rocker drives the secondary driving device to rotate and reciprocate around the central axis of the secondary driving shaft, so that the secondary driving gear is driven to rotate; the rocker drives the primary driving device to rotate and reciprocate around the central axis of the primary driving shaft through the hinged point along the end direction of the secondary driving shaft under the action of external force; the primary driving shaft drives the primary driving gear to rotate clockwise or anticlockwise. The utility model converts the universal motion in the vertical direction into the rotation of two disks in a plane through the mutual transmission and matching of the gears, thereby solving the problems of abrasion and breakage of the driving wire caused by the change of the motion direction when the flexible universal joint line is driven.

Description

Flexible universal joint gear rocker driving structure

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a flexible universal joint gear rocker driving structure.

Background

Flexible joints are currently used extensively in the medical industry, such as medical endoscopes in particular.

In the prior art, the structural design of the flexible joint driving device considers the use habits of safety and doctors, the line driving direction of the flexible universal joint and the direction of the driving rocker are vertical, the directions of the driving mechanism and the driving line are vertical to each other when the flexible joint driving device is used, and the driving line is easily abraded and broken at a break angle due to repeated use, so that the motion of the whole driving mechanism is interrupted or is not smooth, and the operation treatment effect is influenced.

Therefore, it is desirable to provide a driving device capable of overcoming the problems of abrasion and breakage of the driving wire caused by the change of the moving direction when the flexible universal joint wire is driven.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a flexible gimbal gear rocker driving structure for solving the problems in the prior art.

The utility model discloses a flexible universal joint gear rocker driving structure which comprises a support base, wherein a rocker driving structure, a primary transmission structure and a secondary transmission structure are arranged on the support base; the rocker driving structure is respectively in transmission fit with the primary transmission structure and the secondary transmission structure;

four abdicating through holes and a plurality of limiting holes are arranged on the bracket base;

the rocker driving structure comprises a rocker, a primary driving device and a secondary driving device; the rocker is in transmission fit with the primary driving device and the secondary driving device respectively;

the end part of the rocker is provided with a rocker hinged through hole;

the end part of the primary driving device is provided with a primary driving shaft; a primary through groove is formed in the middle of the primary driving device, and a primary hinge through hole is formed in the side wall of the primary through groove;

the secondary driving device is of a structure in a shape of Chinese character 'ji', and a secondary through groove and a secondary driving shaft are arranged on the secondary driving device;

the second-stage driving device is erected on the first-stage driving device, the central axes of the first-stage driving shaft and the second-stage driving shaft are perpendicular to each other and are positioned on the same plane, the end parts of the first-stage driving device and the second-stage driving device respectively penetrate through the abdicating through holes for limiting, the rocker penetrates through the second-stage through groove and then is hinged with the first-stage driving device through a first-stage pin, and the first-stage pin is matched with the rocker hinging through hole and the first-stage hinging through hole;

the primary transmission structure comprises a primary wire binding disc, a primary driving gear and at least one primary driven gear, the primary driving gear and the primary driven gear are in meshing transmission, the primary wire binding disc and the primary driven gear are in coaxial transmission, and the primary wire binding disc and the primary driven gear are hinged in a limiting hole of the support base through a pin; the primary driving shaft and the central through hole of the primary driving gear form detachable fixed connection through a fixing piece;

the secondary transmission structure comprises a secondary wire binding disc, a secondary driving gear and at least one secondary driven gear, the secondary driving gear and the secondary driven gear are in meshing transmission, the secondary wire binding disc and the secondary driven gear are in coaxial transmission, and the secondary wire binding disc and the secondary driven gear are hinged to a limiting hole of the support base through a pin; the secondary driving shaft and the central through hole of the secondary driving gear form detachable fixed connection through a fixing piece;

the rocker rotates and reciprocates around a hinge point along the end part direction of the first-stage driving shaft under the action of external force, the rocker is attached to the side wall of the second-stage through groove to drive the second-stage driving device to rotate and reciprocate around the central axis of the second-stage driving shaft, the second-stage driving shaft drives the second-stage driving gear to rotate clockwise or anticlockwise, and the second-stage driving gear drives the second-stage driven gear and the second-stage binding disc to rotate clockwise or anticlockwise, so that the driving wire on the second-stage binding disc is adjusted, and the bending direction of the flexible universal joint is adjusted;

the rocker drives the primary driving device to do rotary reciprocating motion around the central axis of the primary driving shaft through the hinge point along the end direction of the secondary driving shaft under the action of external force; the one-level drive shaft drives the one-level driving gear to rotate clockwise or anticlockwise, and the one-level driving gear drives the one-level driven gear and the one-level wiring disc to rotate clockwise or anticlockwise, so that the driving wire on the one-level wiring disc is adjusted, and the bending direction adjustment of the flexible universal joint is completed.

As a further improvement of the utility model, 1 or 2 primary hinge through holes are arranged on the inner side wall of the primary through groove, and when two primary hinge through holes are arranged, the rocker hinge through holes are required to be correspondingly arranged.

As a further improvement of the utility model, the angle range of the rotary reciprocating motion of the primary driving device is 0-60 degrees, and the angle range of the rotary reciprocating motion of the secondary driving device is 0-60 degrees.

Specifically, the primary driving device is in an original state in a vertical state, can move 30 degrees towards the left and right movement directions respectively, and the total movement angle range is 0-60 degrees.

Further, the secondary driving device is in an original state in a vertical state and can move 30 degrees towards the left and right movement directions respectively, and the total movement angle range is 0-60 degrees.

As a further improvement of the utility model, a support base sealing cover is also arranged on the support base, abdicating half holes are correspondingly arranged on the support base and the support base sealing cover, and the corresponding abdicating half holes form abdicating through holes.

As a further improvement of the utility model, the bracket base and the bracket base cover are fixedly connected through a pin and a blind hole.

As a further improvement of the utility model, the primary driving gear and the primary driven gear are bevel gears, cylindrical gears or face gears.

As a further improvement of the utility model, the primary driving gear is a primary big bevel gear, the primary driven gear comprises a primary cylindrical gear, a primary small bevel gear and a secondary cylindrical gear, the primary binding wire disc and the primary cylindrical gear are hinged in a limiting hole of the bracket base through a pin, and the primary binding wire disc and the primary cylindrical gear are coaxially driven; the first-stage bevel pinion and the second-stage cylindrical gear are hinged in a limiting hole of the bracket base through pins and are in coaxial transmission; the secondary cylindrical gear is matched with the primary cylindrical gear in a transmission mode, the secondary cylindrical gear is meshed with the primary cylindrical gear, and the primary big bevel gear is meshed with the primary small bevel gear.

As a further improvement of the utility model, the primary driving gear is a face gear, the primary driven gear comprises a primary cylindrical gear, a tertiary cylindrical gear and a secondary cylindrical gear, the primary wire binding disc and the primary cylindrical gear are hinged in a limiting hole of the bracket base through a pin, and the primary wire binding disc and the primary cylindrical gear are in coaxial transmission; the three-stage cylindrical gear and the second-stage cylindrical gear are hinged in a limiting hole of the bracket base through pins and are in coaxial transmission; the secondary cylindrical gear is in transmission fit with the primary cylindrical gear, the secondary cylindrical gear is meshed with the primary cylindrical gear, and the face gear is meshed with the tertiary cylindrical gear.

As a further improvement of the utility model, the secondary driving gear and the secondary driven gear are bevel gears, cylindrical gears or face gears.

As a further improvement of the utility model, the secondary driving gear is a secondary big bevel gear, the secondary driven gear is a secondary small bevel gear, the secondary wire binding disc and the secondary small bevel gear are hinged in a limiting hole of the bracket base through a pin, and the secondary wire binding disc and the secondary small bevel gear are coaxially driven; and the secondary large bevel gear and the secondary small bevel gear are mutually meshed.

As a further improvement of the utility model, the secondary driving gear is a face gear, the secondary driven gear is a cylindrical gear, the secondary wire binding disc and the cylindrical gear are hinged in a limiting hole of the bracket base through a pin, and the secondary wire binding disc and the cylindrical gear are coaxially driven; and the secondary driving gear is meshed with the cylindrical gear.

As a further improvement of the utility model, the primary transmission structure comprises a primary binding wire disc, a primary driving gear and two primary driven gears, one primary driven gear is in meshing transmission with the primary driving gear, the other primary driven gear is in coaxial transmission with the primary binding wire disc, and is hinged in a limiting hole of the bracket base through a pin; through the meshing transmission between the one-level driven gear, the one-level drive shaft passes through the mounting with the central through-hole of one-level driving gear and forms detachable fixed connection.

As a further improvement of the utility model, the secondary transmission structure comprises a secondary wire binding disc, a secondary driving gear and two secondary driven gears, wherein one secondary driven gear is in meshing transmission with the secondary driving gear; the other secondary driven gear is in coaxial transmission with the secondary wire binding disc and is hinged in a limiting hole of the bracket base together with the secondary wire binding disc through a pin; the driven gears are in meshing transmission; the second grade drive shaft passes through the central through-hole of second grade driving gear and forms detachable fixed connection through the mounting.

As a further improvement of the utility model, the bracket base is of a C-shaped structure, a plurality of limiting holes are formed in the bracket base, an installation shaft penetrates through the limiting holes, a lower counter bore is formed in the center of the installation shaft, the first-stage wire binding disc and the first-stage driven gear are hinged in the sinking hole of the bracket base through a pin, and the second-stage wire binding disc and the second-stage driven gear are hinged in the sinking hole of the bracket base through a pin.

As a further improvement of the utility model, a support limit plate extends from the support base, a positioning hole is arranged on the support limit plate, and the positioning hole and the corresponding sinking hole are coaxially arranged.

The first-stage wire binding disc, the first-stage cylindrical gear and the supporting limiting plate are fixed in a limiting mode through pins, and the pins specifically penetrate through the positioning holes, the center hole of the first-stage driven gear, the center hole in the first-stage wire binding disc and the sinking hole in sequence to achieve limiting of the support base, the first-stage wire binding disc, the first-stage cylindrical gear and the supporting limiting plate.

The central through hole of second grade drive shaft and second grade driving gear forms detachable fixed connection through the mounting, and specific saying so, the second grade drive shaft is equipped with the second grade spacing collar, and the central through hole of second grade driving gear passes the setting of second grade drive shaft, and one end is spacing through the second grade spacing collar, and the other end is through quick-witted rice screw tightly screw fixation promptly in the second grade drive shaft, correspond in the second grade drive shaft and on the gear shaft face of second grade driving gear and be equipped with the screw hole, quick-witted rice screw and screw hole looks adaptation.

The central through-hole of one-level drive shaft and one-level driving gear forms detachable fixed connection through the mounting, and specific saying so, the one-level drive shaft is equipped with the one-level spacing collar, and the central through-hole of one-level driving gear passes the one-level drive shaft setting, and one end is spacing through the one-level spacing collar, and the other end is through the machine rice screw tightly screw fixation promptly in the one-level drive shaft, correspond in the one-level drive shaft and on the gear shaft face of one-level driving gear and be equipped with the screw hole, machine rice screw and screw hole looks adaptation.

As a further improvement of the utility model, the coaxial transmission is coaxial in circle center and synchronously rotates along the shaft as a whole, specifically, the gear or the wire binding disc is respectively fixed with the same transmission shaft, and the gear or the wire binding disc is connected with the shaft through a key on the shaft.

Compared with the prior art, the utility model has the following advantages.

When the technical scheme is implemented, four driving wires of the flexible universal joint are correspondingly bound on a first-stage binding wire disc and a second-stage binding wire disc in pairs, the joint rotation is controlled by controlling the clockwise and anticlockwise rotation of the first-stage binding wire disc and the second-stage binding wire disc, the first-stage binding wire disc and the second-stage binding wire disc are placed in a driving structure in parallel, the discs are perpendicular to a rocker of a driving mechanism, and universal motion in the vertical direction is converted into the rotation of the two discs in a plane through the mutual transmission matching of gears.

The technical scheme of the utility model solves the problems of abrasion and breakage of the driving wire caused by the change of the motion direction of the driving wire when the flexible universal joint wire is driven.

According to the technical scheme, the driving line which is easy to wear and break due to the fact that the movement direction needs to be changed originally is changed into the driving direction through the characteristic that the movement direction can be changed through the gear transmission structure, and therefore the wear and the breakage of the driving line are avoided.

The technical scheme of the utility model has reasonable design and meets the requirement of transmission dynamics, and the rocker drives the two wire binding disks to rotate through gear transmission under the action of external force by the mutual matching of the bracket base, the rocker driving structure, the primary transmission structure and the secondary transmission structure, so that the driving wire of the wire binding disks finishes the actions of winding or unwinding, and the flexible joint at the other end of the driving wire is driven to finish the actions of bending and resetting.

The number of the first-stage hinge through holes arranged on the inner side wall of the first-stage through groove can be 1 or 2 according to materials or use requirements, and when two first-stage hinge through holes are arranged, the rocker hinge through holes are required to be correspondingly arranged.

The angle range of the rotary reciprocating motion of the primary driving device is 0-120 degrees, the angle range of the rotary reciprocating motion of the secondary driving device is 0-120 degrees, and the limit value corresponds to the maximum bending angle of the flexible joint, namely the straight line state of the flexible joint which is not bent.

The primary driving gear and the primary driven gear are bevel gears, cylindrical gears or face gears, the secondary driving gear and the secondary driven gear are bevel gears, cylindrical gears or face gears, and the combination of different types of gears can be carried out according to the consideration of actual production, customers, installation requirements or production cost, wherein the face gears have the advantages of high contact ratio and low vibration of transmission, insignificant influence of installation errors on face gear transmission and the like.

The bracket base is of a C-shaped structure, so that the stability is good; the bracket base is provided with a plurality of limiting holes, the limiting holes are provided with mounting shafts in a penetrating manner, the centers of the mounting shafts are provided with lower counter bores, and the mounting stability of the lower counter bores is good.

Drawings

Fig. 1 is a schematic diagram of a flexible gimbal gear rocker drive structure.

FIG. 2 is a schematic diagram of a flexible gimbal gear rocker drive structure with the mount base removed.

Fig. 3 is a schematic structural view of a bracket base.

Fig. 4 is a schematic structural diagram of a primary driving device.

Fig. 5 is a schematic structural diagram of the two-stage driving device.

FIG. 6 is a schematic diagram of a flexible gimbal gear rocker drive configuration using face gears.

Fig. 7 is a schematic structural diagram of the rocker.

FIG. 8 is a schematic diagram of a cradle base including a cradle base cover.

Fig. 9 is an assembled perspective view of the rocker and the primary drive means.

FIG. 10 is a schematic view of the bracket base with the mounting shaft and lower counterbore removed.

In the figure: 1-first-stage binding wire disc, 2-first-stage cylindrical gear, 3-first-stage driving gear, 4-first-stage bevel pinion, 401-third-stage cylindrical gear, 5-second-stage cylindrical gear, 6-bracket base, 601-mounting shaft, 602-lower counter bore, 603-supporting limiting plate, 604-positioning hole, 605-limiting hole, 7-bracket base sealing cover, 8-second-stage driving device, 801-second-stage driving shaft, 802-second-stage limiting ring, 803-second-stage through groove, 9-rocker, 901-rocker hinge through hole; 10-a first-level driving device, 1001-a first-level driving shaft, 1002-a first-level limiting ring, 1003-a first-level hinged through hole, 1004-a first-level through groove, 11-a second-level wire binding disc, 12-a second-level bevel pinion, 1201-a cylindrical gear, 13-a second-level driving gear, 14-a abdicating half hole, 15-an abdicating through hole and 16-a first-level pin.

Detailed Description

The utility model is further explained below with reference to the figures and examples.

Example 1

A flexible universal joint gear rocker driving structure,

the device comprises a bracket base, wherein a rocker driving structure, a primary transmission structure and a secondary transmission structure are arranged on the bracket base; the rocker driving structure is in transmission fit with the primary transmission structure and the secondary transmission structure respectively;

four abdicating through holes 15 and a plurality of limiting holes 605 are arranged on the bracket base,

the rocker driving structure comprises a rocker 9, a primary driving device 10 and a secondary driving device 8; the rocker 9 is respectively in transmission fit with the primary driving device 10 and the secondary driving device 8;

a rocker hinged through hole 901 is formed in the end part of the rocker 9;

a primary driving shaft 1001 is arranged at the end part of the primary driving device 10; a primary through groove 1004 is formed in the middle of the primary driving device 10, and a primary hinge through hole 1003 is formed in the side wall of the primary through groove 1004;

the secondary driving device 8 is of a structure like a Chinese character ji, and a secondary through groove 803 and a secondary driving shaft 801 are arranged on the secondary driving device 8;

the secondary driving device 8 is erected on the primary driving device 10, the central axes of the primary driving shaft 1001 and the secondary driving shaft 801 are perpendicular to each other and are positioned on the same plane, the end parts of the primary driving device 10 and the secondary driving device 8 respectively penetrate through the abdicating through holes 15 for limiting, the rocker 9 penetrates through the secondary through groove 803 and then is hinged with the primary driving device 10 through a primary pin 16, and the primary pin 16 is matched with the rocker hinge through hole 901 and the primary hinge through hole 1003;

the primary transmission structure comprises a primary wire binding disc 1, a primary driving gear 3 and at least one primary driven gear, the primary driving gear and the primary driven gear are in meshing transmission, the primary wire binding disc 1 and the primary driven gear are in coaxial transmission, and the primary wire binding disc 1 and the primary driven gear are hinged in a limiting hole 605 of the support base 6 through pins; the primary driving shaft 1001 and the central through hole of the primary driving gear 3 form detachable fixed connection through a fixing piece;

the secondary transmission structure comprises a secondary wire binding disc 11, a secondary driving gear 13 and at least one secondary driven gear, the secondary driving gear 13 and the secondary driven gear are in meshing transmission, the secondary wire binding disc 11 and the secondary driven gear are in coaxial transmission, and the secondary wire binding disc 11 and the secondary driven gear are hinged to a limiting hole 605 of the support base 6 through pins; the secondary driving shaft 801 is detachably and fixedly connected with a central through hole of the secondary driving gear 13 through a fixing piece;

under the action of external force, the rocker 9 rotates and reciprocates around a hinge point along the end direction of the primary driving shaft 1001, is attached to the side wall of the secondary through groove 803 to drive the secondary driving device 8 to rotate and reciprocate around the central axis of the secondary driving shaft 801, the secondary driving shaft 801 drives the secondary driving gear 13 to rotate clockwise or anticlockwise, the secondary driving gear 13 drives the secondary driven gear and the secondary binding disk 11 to rotate clockwise or anticlockwise, so that a driving wire on the secondary binding disk 11 is adjusted, and the adjustment of the bending direction of the flexible universal joint is completed;

under the action of external force, the rocker 9 drives the primary driving device 10 to rotate and reciprocate around the central axis of the primary driving shaft 1001 along the end direction of the secondary driving shaft 801 through a hinge joint; the one-level drive shaft 1001 drives the one-level driving gear 3 to rotate clockwise or anticlockwise, and the one-level driving gear 3 drives the one-level driven gear and the one-level binding wire disc 1 to rotate clockwise or anticlockwise, so that a drive wire on the one-level binding wire disc 1 is adjusted, and the bending direction of the flexible universal joint is adjusted.

As shown in figure 1, four driving wires corresponding to each other in pairs, namely two driving wires moving left and right in one direction, of the flexible universal joint are in a pair, the two pairs of driving wires are tied on a first-stage wire binding disc 1 and a second-stage wire binding disc 11, and the joint rotation is controlled by controlling the clockwise and anticlockwise rotation of the first-stage wire binding disc 1 and the second-stage wire binding disc 11.

Example 2

The rest is consistent with the technical scheme of the embodiment 1, under the action of external force, the angle range of the rotary reciprocating motion of the primary driving device 10 is 0-120 degrees, and the angle range of the rotary reciprocating motion of the secondary driving device 8 is 0-120 degrees.

Specifically, the primary driving device 10 is in the original state in the vertical state, and can move 60 ° in the left-right movement direction, respectively, and the total movement angle is 0 to 120 °.

The secondary driving device 8 is in an original state in a vertical state, and can move 60 degrees towards the left and right movement directions respectively, and the total movement angle is 0-120 degrees.

Example 3

The rest is consistent with the technical scheme of the

embodiment

1 or 2, under the action of external force, the angle range of the rotary reciprocating motion of the primary driving device 10 is 0-90 degrees, and the angle range of the rotary reciprocating motion of the secondary driving device 8 is 0-90 degrees.

Specifically, the primary driving device 10 is in the original state in the vertical state, and can move 45 ° in the left-right movement direction, respectively, and the total movement angle is 0 to 90 °.

The secondary driving device 8 is in an original state in a vertical state, can move 45 degrees towards the left and right movement directions respectively, and the total movement angle is 0-90 degrees.

Example 4

The rest is consistent with any technical scheme of the embodiment 1-3, under the action of external force, the angle range of the rotary reciprocating motion of the primary driving device 10 is 0-60 degrees, and the angle range of the rotary reciprocating motion of the secondary driving device 8 is 0-60 degrees.

Specifically, the primary driving device 10 is in the original state in the vertical state, and can move 30 ° in the left-right movement direction, respectively, and the total movement angle is 0 to 60 °.

The secondary driving device 8 is in an original state in a vertical state, and can move 30 degrees towards the left and right movement directions respectively, and the total movement angle is 0-60 degrees.

Example 5

The rest is consistent with any technical scheme of the embodiments 1 to 4, under the action of external force, the angle range of the rotary reciprocating motion of the primary driving device 10 is 0-30 degrees, and the angle range of the rotary reciprocating motion of the secondary driving device 8 is 0-30 degrees.

Specifically, the primary driving device 10 is in the original state in the vertical state, and can move 15 ° in the left-right movement direction, respectively, and the total movement angle is 0 to 30 °.

The secondary driving device 8 is in an original state in a vertical state, can move 15 degrees towards the left and right movement directions respectively, and the total movement angle is 0-30 degrees.

Example 6

The rest is the same as any technical scheme of the embodiment 1-6, 1 or 2 first-stage hinge through holes 1003 arranged on the inner side wall of the first-stage through groove 1004 can be arranged, and when two first-stage hinge through holes 1003 are arranged, the rocker hinge through holes 901 need to be correspondingly arranged.

Example 7

The rest of the technical schemes are consistent with any one of the technical schemes of the embodiments 1 to 6, the support base is also provided with a support base sealing cover 7, the support base 6 and the support base sealing cover 7 are correspondingly provided with abdicating half holes, and the abdicating half holes 14 correspondingly form abdicating through holes 15.

Example 8

Otherwise, the technical solution is the same as that of any one of embodiments 1 to 7, and the bracket base 6 and the bracket base cover 7 are fixedly connected through a pin and a blind hole.

Example 9

The rest is consistent with any technical scheme of the embodiment 1-8, and the first-stage driving gear 3 and the first-stage driven gear are bevel gears, cylindrical gears or face gears.

Example 10

The rest is consistent with any technical scheme of the embodiment 1-9, the first-stage driving gear 3 is a first-stage big bevel gear, the first-stage driven gear comprises a first-stage cylindrical gear 2, a first-stage small bevel gear 4 and a second-stage cylindrical gear 5, the first-stage wire binding disc 1 and the first-stage cylindrical gear 2 are hinged in a limiting hole 605 of the support base 6 through pins, and the first-stage wire binding disc 1 and the first-stage cylindrical gear 2 are in coaxial transmission; the primary bevel pinion 4 and the secondary cylindrical gear 5 are hinged in corresponding limiting holes 605 of the bracket base 6 through pins, and the primary bevel pinion 4 and the secondary cylindrical gear 5 are coaxially driven; the secondary cylindrical gear 5 is matched with the primary cylindrical gear 2 in a transmission mode, the secondary cylindrical gear 5 is meshed with the primary cylindrical gear 2, and the primary big bevel gear is meshed with the primary small bevel gear 4.

The one-level wire binding disc 1 and the one-level cylindrical gear 2 are coaxially driven, the circle centers of the one-level wire binding disc 1 and the one-level cylindrical gear 2 are coaxial and integrally synchronously rotate along the shaft, the one-level wire binding disc 1 and the one-level cylindrical gear 2 are fixed with the same transmission shaft respectively, and the one-level wire binding disc 1 and the one-level cylindrical gear 2 are connected with the shaft through an on-shaft key.

The first-stage bevel pinion 4 and the second-stage cylindrical gear 5 are coaxially driven, the centers of circles of the first-stage bevel pinion 4 and the second-stage cylindrical gear 5 are coaxial, and the whole body synchronously rotates along the shaft, specifically, the first-stage bevel pinion 4 and the second-stage cylindrical gear 5 are respectively fixed with the same transmission shaft, and the first-stage bevel pinion 4 and the second-stage cylindrical gear 5 are respectively connected with the shaft through an on-shaft key.

Example 11

The rest is consistent with any technical scheme of the embodiment 1-10, the first-stage driving gear 3 is a face gear, the first-stage driven gear comprises a first-stage cylindrical gear 2, a third-stage cylindrical gear 401 and a second-stage cylindrical gear 5, the first-stage wire binding disc 1 and the first-stage cylindrical gear 2 are hinged in a limiting hole 605 of the support base 6 through pins, and the first-stage wire binding disc 1 and the first-stage cylindrical gear 2 are in coaxial transmission; the third-stage cylindrical gear 401 and the second-stage cylindrical gear 5 are hinged in a corresponding limiting hole 605 of the support base 6 through pins, and the third-stage cylindrical gear 401 and the second-stage cylindrical gear 5 are in coaxial transmission; second grade roller gear 5 and one-level roller gear 2 transmission adaptation, second grade roller gear 5 and one-level roller gear 2 intermeshing, face gear and tertiary roller gear 401 intermeshing.

The three-stage cylindrical gear 401 and the second-stage cylindrical gear 5 are in coaxial transmission, the centers of circles of the three-stage cylindrical gear 401 and the second-stage cylindrical gear 5 are coaxial and the whole body synchronously rotates along the shaft, specifically, the three-stage cylindrical gear 401 and the second-stage cylindrical gear 5 are respectively fixed with the same transmission shaft, and the three-stage cylindrical gear 401 and the second-stage cylindrical gear 5 are respectively connected with the shaft through an on-shaft key.

Example 12

The rest is the same as any technical scheme of the embodiment 1 to 11, and the secondary driving gear 13 and the secondary driven gear are bevel gears, cylindrical gears or face gears.

Example 13

The rest is consistent with any technical scheme of the embodiment 1-12, the secondary driving gear 13 is a secondary big bevel gear, the secondary driven gear is a secondary small bevel gear 12, the secondary wire binding disc 11 and the secondary small bevel gear 12 are hinged in a limiting hole 605 of the bracket base 6 through pins, and the secondary wire binding disc 11 and the secondary small bevel gear 12 are in coaxial transmission; the second-stage big bevel gear 13 and the second-stage small bevel gear 12 are meshed with each other.

The second-stage wire binding disc 11 and the second-stage small bevel gear 12 are coaxially driven, the centers of circles of the second-stage wire binding disc 11 and the second-stage small bevel gear 12 are coaxial and the whole body synchronously rotates along the shaft, specifically, the second-stage wire binding disc 11 and the second-stage small bevel gear 12 are respectively fixed with the same transmission shaft, and the second-stage wire binding disc 11 and the second-stage small bevel gear 12 are respectively connected with the shaft through an on-shaft key.

Example 14

The rest is consistent with any technical scheme of the embodiment 1-13, the secondary driving gear 13 is a face gear, the secondary driven gear is a cylindrical gear 1201, the secondary wire binding disc 11 and the cylindrical gear 1201 are hinged in a limiting hole 605 of the bracket base 6 through pins, and the secondary wire binding disc 11 and the cylindrical gear 1201 are in coaxial transmission; the secondary drive gear 13 and the cylindrical gear 1201 mesh with each other.

The secondary wire binding disc 11 and the cylindrical gear 1201 are in coaxial transmission, the centers of circles of the secondary wire binding disc 11 and the cylindrical gear 1201 are coaxial and the whole body synchronously rotates along the shaft, specifically, the secondary wire binding disc 11 and the cylindrical gear 1201 are respectively fixed with the same transmission shaft, and the gears are respectively connected with the shaft through keys on the shaft.

Example 15

The rest of the devices are consistent with any technical scheme of the embodiment 1-14, the primary transmission structure comprises a primary wire binding disc 1, a primary driving gear 3 and two primary driven gears, one primary driven gear is in meshing transmission with the primary driving gear 3, the other primary driven gear is in coaxial transmission with the primary wire binding disc 1 and is hinged in a limiting hole 605 of the bracket base 6 together with the primary wire binding disc 1 through a pin; through the meshing transmission between the one-level driven gear, one-level drive shaft 1001 passes through the mounting with the central through hole of one-level driving gear 3 and forms detachable fixed connection.

First-order wiring disc 1 and one-order driven gear for first-order wiring disc 1 and one-order driven gear centre of a circle coaxial and whole along this axle synchronous rotation, specific first-order wiring disc 1 and one-order driven gear are fixed with same transmission shaft respectively for saying so, the gear forms with the axle through epaxial key respectively and is connected.

Example 16

The rest is consistent with the technical scheme of any one of the embodiments 1 to 15, the secondary transmission structure comprises a secondary wire binding disc 11, a secondary driving gear 13 and two secondary driven gears, and one secondary driven gear is in meshing transmission with the secondary driving gear 13; the other secondary driven gear is in coaxial transmission with the secondary wire binding disc 11 and is hinged in a limiting hole 605 of the bracket base 6 together with the secondary wire binding disc 11 through a pin; the driven gears are in meshing transmission; the secondary driving shaft 801 is detachably and fixedly connected with the central through hole of the secondary driving gear 13 through a fixing piece.

The other two-stage driven gear is in coaxial transmission with the two-stage wire binding disc 11, the centers of the two-stage wire binding disc 11 and one of the two-stage driven gears are coaxial and the whole body rotates synchronously along the shaft, specifically, the two-stage wire binding disc 11 and one of the two-stage driven gears are fixed with the same transmission shaft, and the two-stage wire binding disc 11 and one of the two-stage driven gears are connected with the shaft through an on-shaft key.

Example 17

The rest of the technical scheme is consistent with any one of the technical schemes of the embodiments 1 to 16, the support base 6 is of a C-shaped structure, a plurality of limiting holes 605 are formed in the support base 6, an installation shaft 601 penetrates through the limiting holes 605, a lower counter bore 602 is formed in the center of the installation shaft, the first-stage wire binding disc 1 and the first-stage driven gear are hinged in the lower sinking hole 602 of the support base through pins, and the second-stage wire binding disc and the second-stage driven gear are hinged in the lower sinking hole 602 of the support base through pins.

Example 18

The rest of the technical solutions are the same as those in any one of embodiments 1 to 17, a support limiting plate 603 extends from the support base 6, a positioning hole 604 is formed in the support limiting plate 603, and the positioning hole 604 is coaxially arranged with a corresponding lower counter bore 602.

The first-stage wire binding disc 1, the first-stage cylindrical gear 2 and the supporting limiting plate 603 are limited and fixed through pins, and specifically, the pins sequentially penetrate through the positioning holes 604, the center hole of the first-stage driven gear, the center hole in the first-stage wire binding disc 11 and the sinking hole 602 to complete the limitation of the support base 6, the first-stage wire binding disc 1, the first-stage cylindrical gear 2 and the supporting limiting plate 603.

Example 19

The rest of the technical solutions are the same as those of any one of embodiments 1 to 18, the secondary driving shaft 801 and the central through hole of the secondary driving gear 13 are fixedly connected in a detachable manner through a fixing member, specifically, the secondary driving shaft 801 is provided with a secondary limiting ring 802, the central through hole of the secondary driving gear 13 penetrates through the secondary driving shaft 801, one end of the central through hole is limited by the secondary limiting ring 802, the other end of the central through hole is fixed on the secondary driving shaft 801 through a screw, namely a fastening screw, the threaded holes are correspondingly formed in the secondary driving shaft 801 and the gear shaft surface of the secondary driving gear 13, and the screw is matched with the threaded holes.

Example 20

All the other technical schemes are consistent with any one of the technical schemes of the embodiments 1 to 19, the first-stage driving shaft 1001 and the central through hole of the first-stage driving gear 3 form detachable fixed connection through a fixing piece, specifically, the first-stage driving shaft 1001 is provided with a first-stage limiting ring 1002, the central through hole of the first-stage driving gear 3 penetrates through the first-stage driving shaft 1001, one end of the central through hole is limited through the first-stage limiting ring 1002, the other end of the central through hole is fixed on the first-stage driving shaft 1001 through a screw, namely a tightening screw, the screw holes are correspondingly formed in the first-stage driving shaft 1001 and the gear shaft surface of the first-stage driving gear 3, and the screw holes are matched with the screw holes.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the utility model, and these changes and modifications are all within the scope of the utility model. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a flexible universal joint gear rocker drive structure which characterized in that:

the device comprises a support base (6), wherein a rocker driving structure, a primary transmission structure and a secondary transmission structure are arranged on the support base (6); the rocker driving structure is in transmission fit with the primary transmission structure and the secondary transmission structure respectively;

four abdicating through holes (15) and a plurality of limiting holes (605) are arranged on the bracket base (6);

the rocker driving structure comprises a rocker (9), a primary driving device (10) and a secondary driving device (8); the rocker (9) is respectively in transmission fit with the primary driving device (10) and the secondary driving device (8);

the end part of the rocker (9) is provided with a rocker hinge through hole (901);

a primary driving shaft (1001) is arranged at the end part of the primary driving device (10); a primary through groove (1004) is formed in the middle of the primary driving device (10), and a primary hinge through hole (1003) is formed in the side wall of the primary through groove (1004);

the secondary driving device (8) is of a structure in a shape like a Chinese character 'ji', and a secondary through groove (803) and a secondary driving shaft (801) are arranged on the secondary driving device (8);

the secondary driving device (8) is erected on the primary driving device (10), the central axes of the primary driving shaft (1001) and the secondary driving shaft (801) are perpendicular to each other and are positioned on the same plane, the end parts of the primary driving device (10) and the secondary driving device (8) respectively penetrate through the abdicating through hole (15) for limiting, the rocker (9) penetrates through the secondary through groove (803) and then is hinged with the primary driving device (10) through a primary pin (16), and the primary pin (16) is matched with the rocker hinging through hole (901) and the primary hinging through hole (1003);

the primary transmission structure comprises a primary binding wire disc (1), a primary driving gear (3) and at least one primary driven gear, the primary driving gear (3) and the primary driven gear are in meshing transmission, the primary binding wire disc (1) and the primary driven gear are in coaxial transmission, and the primary binding wire disc (1) and the primary driven gear are hinged in a limiting hole (605) of the support base (6) through a pin; the primary driving shaft (1001) and the central through hole of the primary driving gear (3) form detachable fixed connection through a fixing piece;

the secondary transmission structure comprises a secondary wire binding disc (11), a secondary driving gear (13) and at least one secondary driven gear, the secondary driving gear (13) and the secondary driven gear are in meshing transmission, the secondary wire binding disc (11) and the secondary driven gear are in coaxial transmission, and the secondary wire binding disc (11) and the secondary driven gear are hinged to a limiting hole (605) of the support base (6) through a pin; the secondary driving shaft (801) and the central through hole of the secondary driving gear (13) form detachable fixed connection through a fixing piece;

under the action of external force, the rocker (9) rotates and reciprocates around a hinge point along the end direction of the first-stage driving shaft (1001), is attached to the side wall of the second-stage through groove (803) to drive the second-stage driving device (8) to rotate and reciprocate around the central axis of the second-stage driving shaft (801), the second-stage driving shaft (801) drives the second-stage driving gear (13) to rotate clockwise or anticlockwise, the second-stage driving gear (13) drives the second-stage driven gear and the second-stage binding wire disc (11) to rotate clockwise or anticlockwise, so that a driving wire on the second-stage binding wire disc (11) is adjusted, and the bending direction adjustment of the flexible universal joint is completed;

the rocker (9) drives the primary driving device (10) to rotate and reciprocate around the central axis of the primary driving shaft (1001) through a hinge point along the end direction of the secondary driving shaft (801) under the action of external force; one-level drive shaft (1001) drive one-level driving gear (3) and do clockwise or anticlockwise rotation, and one-level driving gear (3) drive one-level driven gear, one-level wiring disc (1) do clockwise or anticlockwise rotation's motion to the drive wire on the adjustment one-level wiring disc (1), the crooked direction adjustment of completion flexible universal joint.

2. The flexible gimbal gear rocker drive structure of claim 1, wherein: the angle range of the rotary reciprocating motion of the primary driving device (10) is 0-60 degrees, and the angle range of the rotary reciprocating motion of the secondary driving device (8) is 0-60 degrees.

3. The flexible gimbal gear-rocker drive structure of claim 1, wherein: the primary driving gear (3) and the primary driven gear are bevel gears, cylindrical gears or face gears.

4. The flexible gimbal gear-rocker drive structure of claim 3, wherein: the first-stage driving gear (3) is a first-stage big bevel gear, the first-stage driven gear comprises a first-stage cylindrical gear (2), a first-stage small bevel gear (4) and a second-stage cylindrical gear (5), the first-stage wire binding disc (1) and the first-stage cylindrical gear (2) are hinged in a limiting hole (605) of the support base (6) through pins, and the first-stage wire binding disc (1) and the first-stage cylindrical gear (2) are in coaxial transmission; the primary bevel pinion (4) and the secondary cylindrical gear (5) are hinged in a limiting hole (605) of the bracket base (6) through pins, and the primary bevel pinion (4) and the secondary cylindrical gear (5) are in coaxial transmission; the two-stage cylindrical gear (5) is matched with the one-stage cylindrical gear (2) in a transmission mode, the two-stage cylindrical gear (5) is meshed with the one-stage cylindrical gear (2), and the one-stage big bevel gear is meshed with the one-stage small bevel gear (4).

5. The flexible gimbal gear-rocker drive structure of claim 3, wherein: the first-stage driving gear (3) is a face gear, the first-stage driven gear comprises a first-stage cylindrical gear (2), a third-stage cylindrical gear (401) and a second-stage cylindrical gear (5), the first-stage wire binding disc (1) and the first-stage cylindrical gear (2) are hinged in a limiting hole (605) of the support base (6) through pins, and the first-stage wire binding disc (1) and the first-stage cylindrical gear (2) are in coaxial transmission; the three-stage cylindrical gear (401) and the second-stage cylindrical gear (5) are hinged in a limiting hole (605) of the support base (6) through a pin, and the three-stage cylindrical gear (401) and the second-stage cylindrical gear (5) are in coaxial transmission; the secondary cylindrical gear (5) is in transmission fit with the primary cylindrical gear (2), the secondary cylindrical gear (5) is meshed with the primary cylindrical gear (2), and the face gear is meshed with the third-stage cylindrical gear (401).

6. The flexible gimbal gear-rocker drive structure of claim 1, wherein: the secondary driving gear (13) and the secondary driven gear are bevel gears, cylindrical gears or face gears.

7. The flexible gimbal gear-rocker drive structure of claim 6, wherein: the secondary driving gear (13) is a secondary big bevel gear, the secondary driven gear is a secondary small bevel gear (12), the secondary wire binding disc (11) and the secondary small bevel gear (12) are hinged in a limiting hole (605) of the bracket base (6) through pins, and the secondary wire binding disc (11) and the secondary small bevel gear (12) are in coaxial transmission; and the secondary driving gear (13) is meshed with the secondary bevel pinion (12).

8. The flexible gimbal gear-rocker drive structure of claim 6, wherein:

the secondary driving gear (13) is a face gear, the secondary driven gear is a cylindrical gear (1201), the secondary wire binding disk (11) and the cylindrical gear (1201) are hinged in a limiting hole (605) of the bracket base (6) through a pin, and the secondary wire binding disk (11) and the cylindrical gear (1201) are in coaxial transmission; the secondary driving gear (13) is meshed with the cylindrical gear (1201).

9. The flexible gimbal gear rocker drive structure of any of claims 1-8, wherein: the primary transmission structure comprises a primary wire binding disc (1), a primary driving gear (3) and two primary driven gears, one primary driven gear is in meshing transmission with the primary driving gear (3), the other primary driven gear is in coaxial transmission with the primary wire binding disc (1), and the primary wire binding disc (1) and the other primary driven gear are hinged in a limiting hole (605) of the bracket base (6) through a pin; through the meshing transmission between the one-level driven gear, the central through hole of one-level drive shaft (1001) and one-level driving gear (3) passes through the mounting and forms detachable fixed connection.

10. The flexible gimbal gear rocker drive structure of any of claims 1-8, wherein: the secondary transmission structure comprises a secondary wire binding disc (11), a secondary driving gear (13) and two secondary driven gears, and one secondary driven gear is in meshing transmission with the secondary driving gear (13); the other secondary driven gear is in coaxial transmission with the secondary wire binding disc (11) and is hinged in a limiting hole (605) of the bracket base (6) through a pin with the secondary wire binding disc (11); the driven gears are in meshing transmission; the second-stage driving shaft (801) and the central through hole of the second-stage driving gear (13) form detachable fixed connection through a fixing piece.

11. The flexible gimbal gear rocker drive structure of any of claims 1-8, wherein: support base (6) are C type structure, wear to be equipped with installation axle (601) on spacing hole (605), be equipped with down counter bore (602) on installation axle (601), one-level wiring disc (1) and one-level driven gear articulate in support base's lower counter bore (602) through the pin, second grade wiring disc (11) and second grade driven gear articulate in support base's lower counter bore (602) through the pin.

12. The flexible gimbal gear rocker drive structure of claim 11, wherein: the support base (6) is extended with a support limiting plate (603), the support limiting plate (603) is provided with a positioning hole (604), and the positioning hole (604) and a lower counter bore (602) corresponding to the positioning hole are coaxially arranged.