CN112943885A - Bone joint type transmission mechanism - Google Patents
Bone joint type transmission mechanism Download PDFInfo
- Publication number
- CN112943885A CN112943885A CN202110243767.7A CN202110243767A CN112943885A CN 112943885 A CN112943885 A CN 112943885A CN 202110243767 A CN202110243767 A CN 202110243767A CN 112943885 A CN112943885 A CN 112943885A
- Authority
- CN
- China
- Prior art keywords
- transmission
- bone joint
- condyle
- plate
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000988 bone and bone Anatomy 0.000 title claims abstract description 250
- 230000005540 biological transmission Effects 0.000 title claims abstract description 202
- 230000007246 mechanism Effects 0.000 title claims abstract description 169
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 238000009434 installation Methods 0.000 abstract 1
- 230000000903 blocking effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 4
- 230000000670 limiting effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/122—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and oscillating motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/039—Gearboxes for accommodating worm gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention relates to the technical field of transmission mechanisms, in particular to a bone joint type transmission mechanism which comprises a plurality of bone joint plates, wherein the bone joint plates are sequentially connected end to end from front to back, two adjacent bone joint plates are movably connected, a plurality of transmission mechanism units are in one-to-one correspondence with the bone joint plates and are arranged on the corresponding bone joint plates, the two adjacent transmission mechanism units are in transmission connection, the first bone joint plate is fixedly connected with the corresponding first transmission mechanism unit, and the other bone joint plates are in rotary connection with the respective corresponding transmission mechanism units; the driving mechanism is in transmission connection with the last transmission mechanism unit and can drive the last transmission mechanism unit to move. The condyle driving mechanism can swing along a curve track in a plane, has higher movement flexibility, simple structure and convenient installation, and can realize the adjustment of the curve movement track of the condyle plate by adjusting the size of the flexible movement interval.
Description
Technical Field
The invention relates to the technical field of transmission mechanisms, in particular to a bone joint type transmission mechanism.
Background
The transmission mechanism is widely applied in modern industrial production, the prior transmission mechanism mainly adopts a linear transmission mechanism and a robot capable of realizing curve transmission, for example, an existing functional sofa is generally provided with an angle-adjustable backrest, so that a customer can adjust the backrest of the sofa into a proper angle according to the requirement during rest or leisure and entertainment, and the sofa realizes the swinging of the backrest by adopting a linear telescopic transmission mechanism.
However, the application scene of the linear transmission mechanism is narrow, only the linear motion of the object can be realized, the motion track is limited, and the motion is not flexible enough.
The existing device for realizing curve transmission is realized by adopting a robot with flexible motion, the robot integrates the research results of multiple subjects such as machinery, microelectronics, a computer, automatic control, sensor and information processing, artificial intelligence and the like, and the robot is a typical carrier of electromechanical integration technology.
However, the curved motion achieved by the existing robot may complicate the structure of the device, and the existing robot may swing stiff and have problems of complicated structure and high maintenance cost.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the technical problems of low motion flexibility and limited track of the transmission mechanism in the prior art, the condyle transmission mechanism can swing along a curved track in a plane, and has high motion flexibility.
The technical scheme adopted by the invention for solving the technical problems is as follows: a bone joint type transmission mechanism comprises a plurality of bone joint plates, wherein the bone joint plates are sequentially connected end to end from front to back, two adjacent bone joint plates are movably connected, and a flexible movement interval is formed between the two adjacent bone joint plates;
the transmission mechanism units are in one-to-one correspondence with the bone joint plates, each transmission mechanism unit is installed on the corresponding bone joint plate, every two adjacent transmission mechanism units are in transmission connection, any one transmission mechanism unit in the transmission mechanism units is fixedly connected with the corresponding bone joint plate, and the rest transmission mechanism units are in rotary connection with the corresponding bone joint plates;
the driving mechanism is in transmission connection with any one of the transmission mechanism units, and can drive the transmission mechanism units to move, so that the plurality of bone joint plates form a flexible transmission chain through the cooperation of the rest transmission mechanism units and the flexible movement intervals, the plurality of bone joint plates are all located in a plane a, and the flexible transmission chain can move along a curve track in the plane a.
Further, the transmission mechanism units comprise even numbers of gears, the gears are sequentially arranged along the length direction of the bone joint plates, two adjacent gears are meshed, any one gear on the first transmission mechanism unit is fixedly connected with the corresponding first bone joint plate, gears on the other transmission mechanism units are rotatably connected with the respective corresponding bone joint plates, and the gears on the two adjacent transmission mechanism units are in transmission connection.
Further, the driving mechanism is located at the last transmission mechanism unit, and the driving mechanism is in transmission connection with the last gear.
Further, the transmission mechanism units comprise even numbers of gears, the gears are sequentially arranged along the length direction of the bone joint plates, two adjacent gears are meshed, the gears at two ends of the middle transmission mechanism unit are fixedly connected with the corresponding bone joint plates, the gears on the other transmission mechanism units are rotatably connected with the corresponding bone joint plates, and the gears on the two adjacent transmission mechanism units are in transmission connection.
Further, the driving mechanisms are arranged at two ends of the flexible transmission chain and are in transmission connection with the gears at two ends of the flexible transmission chain.
Further, the transmission mechanism unit at the middle comprises odd gears, the other transmission mechanism units comprise even gears, the gears are sequentially arranged along the length direction of the condyle plates, two adjacent gears are meshed with each other, any one gear on the first transmission mechanism unit and any one gear on the last transmission mechanism unit are fixedly connected with the condyle plates, the gears on the other transmission mechanism units are rotatably connected with the corresponding condyle plates, and the gears on the two adjacent transmission mechanism units are in transmission connection.
Further, the driving mechanism is arranged in the middle of the flexible transmission chain and is in transmission connection with the gear at the middle of the flexible transmission chain.
Further, the transmission mechanism units comprise odd gears, the gears are sequentially arranged along the length direction of the condyle plates, two adjacent gears are meshed, any one gear on the first transmission mechanism unit is fixedly connected with the condyle plates, gears on the other transmission mechanism units are rotatably connected with the corresponding condyle plates, and the gears on the two adjacent transmission mechanism units are in transmission connection.
Further, the driving mechanism is located at the last transmission mechanism unit, and the driving mechanism is in transmission connection with the last gear.
Further, the driving mechanism comprises a driving motor, the driving motor is fixedly connected with the bone joint plate, an output shaft of the driving motor is in transmission connection with the gear, and a self-locking mechanism is in transmission connection with the output shaft of the driving motor.
Further, the self-locking mechanism comprises a box body, a worm is installed in the box body and is in rotating connection with the box body, the worm is in transmission connection with an output shaft of the driving motor, a worm wheel meshed with the worm is arranged in the box body and is in rotating connection with the box body, and an output shaft of the worm wheel is in transmission connection with a gear on the last bone joint plate.
Furthermore, two adjacent condyle plates are rotatably connected through a connecting structure, one end of the connecting structure, which is close to the driving mechanism, is fixedly connected with one condyle plate, and the other end of the connecting structure is rotatably connected with the adjacent condyle plate.
Furthermore, the connecting structure comprises a connecting rod, one end of the connecting rod, which is close to the driving mechanism, is fixedly connected with one of the bone joint plates, and the other end of the connecting rod is rotatably connected with the adjacent bone joint plate.
Furthermore, one end of the connecting rod, which is close to the driving mechanism, is provided with two positioning holes, positioning pins are arranged in the positioning holes, and the positioning pins are fixedly connected with the bone joint plates.
Further, the one end that the locating hole was kept away from to the connecting rod is equipped with the connecting axle, the connecting axle is with the coaxial setting of gear and the fixed connection of bone node plate tip, the connecting axle runs through the bone node plate and rotates with the bone node plate to be connected, the spacing pin of both ends fixedly connected with of connecting axle, spacing pin is contradicted with the bone node plate.
Further, the bone joint plate comprises an upper bone plate and a lower bone plate, the upper bone plate and the lower bone plate are arranged in parallel, a mounting space for mounting the gear is formed between the upper bone plate and the lower bone plate, and the upper bone plate is fixedly connected with the lower bone plate.
Furthermore, four corners of the upper bone plate and the lower bone plate are provided with chamfers, and flexible movement intervals are formed between the chamfers on two adjacent bone joint plates.
The invention has the advantages that the condyle transmission mechanism drives the transmission mechanism unit to move through the driving mechanism, and then the transmission mechanism unit transmits the motion, so that the condyle transmission mechanism swings along a curve track in a plane, and the condyle transmission mechanism has the advantage of higher motion flexibility and is simple in structure and convenient to install; and the adjustment of the curvilinear motion trail of the bone joint plate can be realized by adjusting the size of the flexible motion space.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of a first state of a condyle transmission mechanism according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of a second state of the condyle transmission mechanism according to embodiment 1 of the present invention.
FIG. 3 is a state diagram of the condyle driving mechanism of the embodiment 1 of the present invention when the condyle plate is not rotated.
Fig. 4 is a partial cross-sectional view of a condyle driving mechanism according to embodiment 1 of the present invention.
Fig. 5 is an enlarged view at a in fig. 4.
Fig. 6 is an enlarged view at B in fig. 4.
Fig. 7 is a schematic structural view of a condyle driving mechanism in embodiment 2 of the present invention.
Fig. 8 is a schematic structural view of a condyle driving mechanism in embodiment 3 of the present invention.
Fig. 9 is a schematic structural view of a condyle driving mechanism in embodiment 4 of the present invention.
In the figure: 1. a condyle plate; 11. a superior bone plate; 12. a lower bone plate; 2. a flexible movement pitch; 21. chamfering; 3. a gear; 4. a connecting rod; 41. positioning a pin; 42. a connecting shaft; 43. a limit pin; 5. a drive motor; 6. a box body; 61. a worm; 62. a turbine; 7. and rotating the distance.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1: as shown in fig. 1 to 6, the condyle driving mechanism according to the preferred embodiment of the present invention includes a plurality of condyle plates 1, the plurality of condyle plates 1 are sequentially connected end to end from front to back, two adjacent condyle plates 1 are rotatably connected through a connecting structure, one end of the connecting structure is fixedly connected to one of the condyle plates 1, and the other end of the connecting structure is rotatably connected to the adjacent condyle plate 1.
Connection structure includes connecting rod 4, the one end and one of them condyle plate 1 fixed connection of connecting rod 4, the other end rotates with adjacent condyle plate 1 to be connected, the one end of connecting rod 4 is equipped with two locating holes, be equipped with shop bolt 41 in the locating hole, shop bolt 41 and condyle plate 1 fixed connection, the one end that the locating hole was kept away from to connecting rod 4 is equipped with connecting axle 42, connecting axle 42 is coaxial setting and fixed connection with gear 3 of condyle plate 1 tip, connecting axle 42 runs through condyle plate 1 and rotates with condyle plate 1 to be connected, the both ends fixedly connected with stop pin 43 of connecting axle 42, stop pin 43 offsets with condyle plate 1.
The osteosynthesis plate 1 comprises an upper bone plate 11 and a lower bone plate 12, wherein the upper bone plate 11 and the lower bone plate 12 are arranged in parallel, a mounting space for mounting the gear 3 is formed between the upper bone plate 11 and the lower bone plate 12, and the upper bone plate 11 is fixedly connected with the lower bone plate 12. Four corners of the upper bone plate 11 and the lower bone plate 12 are provided with chamfers 21, the chamfers 21 on the two adjacent bone node plates 1 form a flexible movement interval 2, a rotation interval 7 is arranged between the parts, which are not chamfered, of the two adjacent bone node plates 1, and the rotation interval 7 provides a space for relative rotation between the two adjacent bone node plates 1.
The bone joint plate comprises a plurality of transmission mechanism units, wherein the transmission mechanism units are in one-to-one correspondence with the bone joint plates 1 and are arranged on the corresponding bone joint plates 1, two adjacent transmission mechanism units are in transmission connection, the first bone joint plate 1 is fixedly connected with the corresponding first transmission mechanism unit, and the rest bone joint plates 1 are in rotation connection with the corresponding transmission mechanism units.
The transmission mechanism units comprise even numbers of gears 3, the gears 3 are sequentially arranged along the length direction of the bone joint plates 1, two adjacent gears 3 are meshed, any one gear 3 on the first transmission mechanism unit is fixedly connected with the corresponding first bone joint plate 1, the gears 3 on the other transmission mechanism units are rotatably connected with the respective corresponding bone joint plates 1, and the gears 3 on the two adjacent transmission mechanism units are in transmission connection.
The driving mechanism is in transmission connection with the last transmission mechanism unit and can drive the last transmission mechanism unit to move, so that the plurality of bone joint plates 1 form a flexible transmission chain through the matching of the plurality of transmission mechanism units and the flexible movement interval 2, the plurality of bone joint plates 1 are all located in a plane a, and the flexible transmission chain can enable the first bone joint plate 1 to move along a curve track in the plane a.
The driving mechanism comprises a driving motor 5, the last condyle plate 1 is fixedly connected with an adapter plate, the driving motor 5 is fixedly connected onto the adapter plate, and an output shaft of the driving motor 5 is in transmission connection with a self-locking mechanism. The self-locking mechanism comprises a box body 6, a worm 61 is installed in the box body 6, the worm 61 is rotationally connected with the box body 6, the worm 61 is in transmission connection with an output shaft of a driving motor 5, a worm wheel 62 meshed with the worm 61 is arranged in the box body 6, the worm wheel 62 is rotationally connected with the box body 6, an output shaft of the worm wheel 62 is in transmission connection with a gear 3 on the last bone joint plate 1, a transmission connection mode of the output shaft of the worm wheel 62 and the gear 3 on the last bone joint plate 1 can be adjusted to a certain extent according to actual requirements, the output shaft of the worm wheel 62 and the gear 3 on the last bone joint plate can be fixedly connected to achieve transmission connection, and transmission connection of the output shaft of the worm wheel 62 and the gear 3 on the last bone joint.
Under the transmission action of the gear 3 on each bone joint plate 1, the rotation of the gear 3 is transmitted to the first bone joint plate 1, because one gear 3 on the first bone joint plate 1 is fixedly connected with the bone joint plate 1, the gear 3 fixed on the first bone joint plate 1 cannot rotate relative to the bone joint plate 1 to generate locked rotation, and under the action of the meshing force of the gear 3, the locked rotation generates a reverse transmission effect and is transmitted to the next gear 3 from the fixed gear 3 until the locked rotation is transmitted to the last gear 3 on the last bone joint plate 1.
The working principle is as follows: referring to fig. 1 to 6, under the driving action of the driving motor 5 and the decelerating action of the worm wheel 62 and the worm 61, the gear 3 on the last bone joint plate 1 starts to rotate, and under the transmission action of the gear 3 on each bone joint plate 1, the rotation of the gear 3 is transmitted to the gear 3 fixed on the first bone joint plate 1, because the fixed gear 3 on the first bone joint plate 1 is fixed with the bone joint plate 1, the fixed gear 3 cannot rotate relative to the bone joint plate 1, so that the gear 3 is locked, and the locked rotation is transmitted from the fixed gear 3 to the previous gear 3 of the fixed gear 3 and then sequentially transmitted to the last gear 3 on the first bone joint plate 1, and under the locked rotation action of the gear 3, the last gear 3 on the first bone joint plate 1 cannot rotate relative to the first bone joint plate 1.
Under the effect of the meshing force of gear 3, last gear 3 rotates together on first condyle plate 1 and the first condyle plate 1, and flexible motion interval 2 provides sufficient interval for the motion of condyle plate 1, and when first condyle plate 1 rotated to inconsistent with second condyle plate 1, under the effect of conflict, first condyle plate 1 no longer continued the rotation.
Therefore, the first gear 3 on the second bone joint plate 1 and the last gear 3 on the first bone joint plate 1 cannot rotate, the rotation blocking effect of the gear 3 is transmitted to the first gear 3 on the second bone joint plate 1, the first gear 3 on the second bone joint plate 1 cannot rotate relative to the second bone joint plate 1, then the rotation blocking effect of the gear 3 is sequentially transmitted to the last gear 3 on the second bone joint plate 1, then the second bone joint plate 1 starts to rotate under the action of the rotation blocking effect of the gear 3 and the meshing force of the gear 3, and the rotation principle is the same as that of the first bone joint plate 1.
The posterior facet plates 1 are in turn rotated according to the same principle as the first facet plate 1 and the second facet plate 1, and will not be described again.
When the bone joint plate 1 adjacent to the last bone joint plate 1 rotates to be abutted against the last bone joint plate 1, the driving motor 5 is stopped, and the whole bone joint type transmission mechanism reaches a static locking state under the self-locking action of the worm gear 61 mechanism.
As shown in fig. 1 and fig. 2, taking the rightmost point b at the upper end of the first condyle plate 1 as an example, during the rotation of the condyle plate 1, the motion trajectory of the point b can be obtained by the superposition of downward motion and rightward motion (as viewed in the figure), so as to implement a curvilinear motion, and during the motion of the condyle plate 1 along the curvilinear trajectory, due to the relative rotation of the condyle plate 1, the flexible motion interval 2 at one side of the condyle plate 1 is gradually reduced, while the flexible motion interval 2 at the other side is gradually increased.
When the motion trail of the condyle plate 1 is required to be adjusted, the size of the chamfer 21 on the condyle plate 1 can be adjusted according to the requirement, so that the size of the flexible motion interval 2 between the two condyle plates 1 can be adjusted, the rotation angle of the condyle plate 1 can be adjusted, and the motion trail of the condyle plate 1 can be adjusted.
The driving mechanisms are arranged at two ends of the flexible transmission chain and are in transmission connection with the gears 3 at two ends of the flexible transmission chain.
The working principle is as follows: referring to fig. 7, firstly, the driving motor 5 which starts the left end of the flexible transmission chain is started, under the driving action of the driving motor 5 and the deceleration action of the worm wheel 62 and the worm 61, the gear 3 at the left end of the flexible transmission chain starts to rotate, the rotation of the gear 3 is transmitted from the left end of the flexible transmission chain to the middle, when the rotation of the gear 3 is transmitted to the middle bone joint plate 1, because the gears 3 at the two ends of the middle bone joint plate 1 are fixed with the bone joint plate 1, the gear 3 cannot rotate relative to the bone joint plate 1, therefore, the bone joint plate 1 can rotate along with the gear 3, and the middle bone joint plate 1 and the adjacent bone joint plate 1 rotate relative to each other.
When the bone segment plate 1 of the most middle bone segment plate 1 rotates to be abutted against the adjacent bone segment plate 1, the bone segment plate 1 of the most middle bone segment plate 1 does not rotate any more, the gear 3 at the left end of the most middle bone segment plate 1 does not rotate any more, so that the gear 3 meshed with the gear 3 at the left end of the most middle bone segment plate 1 does not rotate relative to the corresponding bone segment plate 1, the gear 3 generates a blocking effect, the blocking of the gear 3 is transmitted from the bone segment plate 1 of the most middle bone segment plate 1 to the left end, when the blocking of the gear 3 is transmitted to the joint of the two bone segment plates 1, the gear 3 at the joint of the two bone segment plates 1 cannot rotate relative to the bone segment plate 1, so that the bone segment plates 1 rotate under the blocking effect of the gear 3 and the meshing effect of the gear 3, and the rotation of the bone segment plates 1 is transmitted from the bone segment plate 1 of the most middle bone segment plate 1 to the left end in turn, when the condyle plate 1 at the left end of the flexible transmission chain rotates to be abutted to the adjacent condyle plate 1, the driving motor 5 is stopped, the worm wheel 62 and the worm 61 realize self-locking, and the part on the left side of the condyle mechanism is statically locked.
Then start the driving motor 5 of the right end of the flexible transmission chain, the middle bone joint plate rotates together with all the bone joint plates on the left side, the rotation principle is the same as the rotation principle when starting the driving motor 5 on the right end of the flexible transmission chain, then the rotation of the bone joint plates 1 is transmitted from the middle bone joint plate to the right end in sequence, when the rotation of the bone joint plates 1 is transmitted to the bone joint plate on the right end, the driving motor 5 is stopped, the worm gear realizes self-locking, and the whole bone joint mechanism reaches a static locking state.
The driving mechanism is arranged in the middle of the flexible transmission chain and is in transmission connection with the gear 3 at the middle of the flexible transmission chain.
The working principle is as follows: referring to fig. 8, under the driving action of the driving motor 5 and the decelerating action of the worm wheel 62 and the worm 61, the middle gear 3 of the flexible transmission chain starts to rotate, the rotation of the gear 3 is transmitted from the middle gear 3 of the transmission mechanism unit to two ends, when the rotation of the gear 3 is transmitted to the transmission mechanism units on the first bone joint plate 1 and the last bone joint plate 1, because one gear 3 is fixed to the bone joint plate 1 on each of the first bone joint plate 1 and the last bone joint plate 1, the fixed gear 3 cannot rotate relative to the bone joint plate 1, so that the previous gear 3 meshed with the fixed gear 3 cannot rotate, and the gear 3 has a stalling action, and the stalling is transmitted from the fixed gear 3 to the gear 3 in the middle of the flexible transmission chain.
When the locked-rotor is transmitted to the last gear 3 on the first bone joint plate 1, the last gear 3 on the first bone joint plate 1 cannot rotate relative to the bone joint plate 1, under the action of the meshing force of the gears 3, the first bone joint plate 1 and the last gear 3 on the first bone joint plate 1 rotate together, so that the first bone joint plate 1 rotates along one end of the second bone joint plate 1, in the rotating process of the bone joint plate 1, the flexible movement interval 2 on one side of the bone joint plate 1 is gradually reduced, and the flexible movement interval 2 on the other side is gradually increased.
Meanwhile, when the rotation of the gear 3 is transmitted to the last bone joint plate 1, one of the gears 3 on the last bone joint plate 1 is fixed with the bone joint plate 1, the gear 3 fixed with the bone joint plate 1 cannot rotate relative to the bone joint plate 1, so that the gear 3 meshed with the gear cannot rotate relative to the bone joint plate 1, and the gear 3 is locked, when the locked rotation of the gear 3 is transmitted to the first gear 3 on the last bone joint plate 1, the first gear 3 on the last bone joint plate 1 cannot rotate relative to the last bone joint plate 1, under the action of the meshing force of the gear 3, the last bone joint plate 1 rotates along one end of the bone joint plate 1 adjacent to the last gear, and the rotation direction of the last bone joint plate 1 is the same as the rotation direction of the first bone joint plate 1.
When the bone joint plate 1 rotates to be inconsistent with the adjacent bone joint plate 1, the bone joint plate 1 does not rotate any more, so that the gear 3 at the joint of the two adjacent bone joint plates 1 cannot rotate relatively, the locked rotor of the gear 3 is transmitted to the gear 3 on the adjacent bone joint plate 1, and then the locked rotor of the gear 3 is transmitted in sequence towards the middle of the flexible transmission chain.
Meanwhile, the rotation of the bone joint plates 1 on the flexible transmission chain is also transmitted from the first bone joint plate 1 and the last bone joint plate 1 to the middle, and the motion principle of the rest bone joint plates 1 is the same as that of the first bone joint plate 1 and the last bone joint plate 1.
When the locked rotation of the gear 3 is transmitted to the middle bone joint plate 1, the driving motor 5 is stopped, and the whole bone joint type transmission mechanism reaches a static locking state under the self-locking action of the worm gear 61 mechanism.
When the motion trail of the condyle plate 1 is required to be adjusted, the size of the chamfer 21 on the condyle plate 1 can be adjusted according to the requirement, so that the size of the flexible motion interval 2 between the two condyle plates 1 can be adjusted, the rotation angle of the condyle plate 1 can be adjusted, and the motion trail of the condyle plate 1 can be adjusted.
The driving mechanism is positioned at the last transmission mechanism unit and is in transmission connection with the last gear 3.
The working principle is as follows: referring to fig. 9, under the driving action of the driving motor 5 and the decelerating action of the worm wheel 62 and the worm 61, the gear 3 on the last bone joint plate 1 starts to rotate, and under the transmission action of the gear 3 on each bone joint plate 1, the rotation of the gear 3 is transmitted to the gear 3 fixed on the first bone joint plate 1, because the fixed gear 3 on the first bone joint plate 1 is fixed with the bone joint plate 1, the fixed gear 3 cannot rotate relative to the bone joint plate 1, so that the gear 3 is locked, and the locked rotation is transmitted from the fixed gear 3 to the previous gear 3 of the fixed gear 3 and then sequentially transmitted to the last gear 3 on the first bone joint plate 1, and under the locking action of the gear 3, the last gear 3 on the first bone joint plate 1 cannot rotate relative to the first bone joint plate 1.
Under the effect of the meshing force of gear 3, last gear 3 rotates together on first condyle plate 1 and the first condyle plate 1, and flexible motion interval 2 provides sufficient interval for the motion of condyle plate 1, and when first condyle plate 1 rotated to inconsistent with second condyle plate 1, under the effect of conflict, first condyle plate 1 no longer continued the rotation.
So that the first gear 3 on the second bone joint plate 1 and the last gear 3 on the first bone joint plate 1 cannot rotate, and the rotation blocking effect of the gear 3 is transmitted to the first gear 3 on the second bone joint plate 1, so that the first gear 3 on the second bone joint plate 1 cannot rotate relative to the second bone joint plate 1, and then the rotation blocking effect of the gear 3 is sequentially transmitted to the last gear 3 on the second bone joint plate 1, and then the second bone joint plate 1 starts to rotate under the action of the rotation blocking effect of the gear 3 and the meshing force of the gear 3, and the rotation directions of the first bone joint plate 1 and the second bone joint plate 1 are opposite because the rotation direction of the last gear 3 on the second bone joint plate 1 is opposite to the rotation direction of the last gear 3 on the first bone joint plate 1.
The posterior facet plates 1 are in turn rotated according to the same principle as the first facet plate 1 and the second facet plate 1, and will not be described again.
When the bone joint plate 1 adjacent to the last bone joint plate 1 rotates to be abutted against the last bone joint plate 1, the driving motor 5 is stopped, and the whole bone joint type transmission mechanism reaches a static locking state under the self-locking action of the worm gear 61 mechanism.
At the 1 pivoted in-process of condyle plate, the flexible motion interval 2 of condyle plate 1 one side reduces gradually, and the flexible motion interval 2 of opposite side crescent, when needs are adjusted the motion track of condyle plate 1, can adjust the size of chamfer 21 on condyle plate 1 as required to adjust the size of flexible motion interval 2 between two condyle plates 1, can adjust the turned angle of condyle plate 1, and then can adjust the motion track of condyle plate 1.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (17)
1. A kind of bone joint type drive motor constructs, characterized by: comprises that
The bone joint plates (1) are sequentially connected end to end from front to back, two adjacent bone joint plates (1) are movably connected, and a flexible movement space (2) is formed between the two adjacent bone joint plates (1);
the transmission mechanism units correspond to the bone joint plates (1) one by one, each transmission mechanism unit is installed on the corresponding bone joint plate (1), every two adjacent transmission mechanism units are in transmission connection, any one transmission mechanism unit in the transmission mechanism units is fixedly connected with the corresponding bone joint plate, and the rest transmission mechanism units are in rotary connection with the corresponding bone joint plates;
the driving mechanism is in transmission connection with any one of the transmission mechanism units, the driving mechanism can drive the transmission mechanism units to move, so that the plurality of bone joint plates (1) form a flexible transmission chain through the matching of the rest transmission mechanism units and the flexible movement interval (2), the plurality of bone joint plates (1) are located in a plane a, and the flexible transmission chain can move along a curve track in the plane a.
2. The condyle transmission according to claim 1, wherein: the transmission mechanism units comprise even numbers of gears (3), the gears (3) are sequentially arranged along the length direction of the bone joint plates (1), two adjacent gears (3) are meshed with each other, any one gear (3) on the first transmission mechanism unit is fixedly connected with the corresponding first bone joint plate (1), the gears (3) on the other transmission mechanism units are rotatably connected with the corresponding bone joint plates (1), and the gears (3) on the two adjacent transmission mechanism units are in transmission connection.
3. The condyle drive mechanism according to claim 2, wherein: the driving mechanism is positioned at the last transmission mechanism unit and is in transmission connection with the last gear (3).
4. The condyle transmission according to claim 1, wherein: the transmission mechanism units comprise even numbers of gears (3), the gears (3) are sequentially arranged along the length direction of the bone joint plates (1), two adjacent gears (3) are meshed with each other, the gears (3) at two ends of the middle transmission mechanism unit are fixedly connected with the corresponding bone joint plates (1), the gears (3) on the other transmission mechanism units are rotatably connected with the corresponding bone joint plates (1), and the gears (3) on the two adjacent transmission mechanism units are in transmission connection.
5. The condyle transmission according to claim 4, wherein: the driving mechanisms are arranged at two ends of the flexible transmission chain and are in transmission connection with the gears (3) at two ends of the flexible transmission chain.
6. The condyle transmission according to claim 1, wherein: the middle-most transmission mechanism unit comprises odd gears, the other transmission mechanism units comprise even gears (3), the gears (3) are sequentially arranged along the length direction of the bone joint plate (1), two adjacent gears (3) are meshed, any one of the gears on the first transmission mechanism unit and the last transmission mechanism unit is fixedly connected with the bone joint plate, the gears (3) on the other transmission mechanism units are rotatably connected with the corresponding bone joint plate (1), and the gears (3) on the two adjacent transmission mechanism units are in transmission connection.
7. The condyle transmission according to claim 6, wherein: the driving mechanism is arranged in the middle of the flexible transmission chain and is in transmission connection with the gear (3) at the middle of the flexible transmission chain.
8. The condyle transmission according to claim 1, wherein: the drive mechanism unit includes odd number gear (3), gear (3) are arranged in proper order along condyle board (1) length direction, adjacent two gear (3) mesh mutually, arbitrary gear (3) and condyle board fixed connection on the first drive mechanism unit, gear (3) on the other drive mechanism units rotate with condyle board (1) that correspond separately and are connected, gear (3) transmission on two adjacent drive mechanism units is connected.
9. The condyle transmission according to claim 8, wherein: the driving mechanism is positioned at the last transmission mechanism unit and is in transmission connection with the last gear (3).
10. A condyle drive mechanism as claimed in any one of claims 3, 5, 7 and 9, wherein: the driving mechanism comprises a driving motor (5), the driving motor (5) is fixedly connected with the condyle plate (1), an output shaft of the driving motor (5) is in transmission connection with the gear (3), and a self-locking mechanism is in transmission connection with an output shaft of the driving motor (5).
11. The condyle drive mechanism according to claim 10, wherein: the self-locking mechanism comprises a box body (6), a worm (61) is installed in the box body (6), the worm (61) is rotatably connected with the box body (6), the worm (61) is in transmission connection with an output shaft of a driving motor (5), a turbine (62) meshed with the worm (61) is arranged in the box body (6), the turbine (62) is rotatably connected with the box body (6), and an output shaft of the turbine (62) is in transmission connection with a gear (3) on the last bone joint plate (1).
12. The condyle transmission according to claim 1, wherein: the two adjacent condyle plates (1) are rotatably connected through a connecting structure, one end of the connecting structure, which is close to the driving mechanism, is fixedly connected with one condyle plate (1), and the other end of the connecting structure is rotatably connected with the adjacent condyle plate (1).
13. The condyle drive mechanism according to claim 12, wherein: the connecting structure comprises a connecting rod (4), one end of the connecting rod (4) close to the driving mechanism is fixedly connected with one of the bone joint plates (1), and the other end of the connecting rod is rotatably connected with the adjacent bone joint plate (1).
14. The condyle drive mechanism according to claim 13, wherein: one end of the connecting rod (4) close to the driving mechanism is provided with two positioning holes, positioning pins (41) are arranged in the positioning holes, and the positioning pins (41) are fixedly connected with the condyle plates (1).
15. The condyle transmission according to claim 14, wherein: the one end that the locating hole was kept away from in connecting rod (4) is equipped with connecting axle (42), connecting axle (42) and gear (3) coaxial setting and fixed connection of bone section board (1) tip, connecting axle (42) run through bone section board (1) and rotate with bone section board (1) and be connected, the both ends fixedly connected with spacing pin (43) of connecting axle (42), spacing pin (43) are inconsistent with bone section board (1).
16. The condyle transmission according to claim 1, wherein: the osteosynthesis plate (1) comprises an upper bone plate (11) and a lower bone plate (12), the upper bone plate (11) and the lower bone plate (12) are arranged in parallel, a mounting space for mounting a gear (3) is formed between the upper bone plate (11) and the lower bone plate (12), and the upper bone plate (11) is fixedly connected with the lower bone plate (12).
17. The condyle drive mechanism according to claim 16, wherein: four corners of the upper bone plate (11) and the lower bone plate (12) are provided with chamfers (21), and flexible movement intervals (2) are formed between the chamfers (21) on two adjacent bone node plates (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110243767.7A CN112943885B (en) | 2021-03-05 | 2021-03-05 | Bone segment type transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110243767.7A CN112943885B (en) | 2021-03-05 | 2021-03-05 | Bone segment type transmission mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112943885A true CN112943885A (en) | 2021-06-11 |
| CN112943885B CN112943885B (en) | 2024-03-08 |
Family
ID=76247817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110243767.7A Active CN112943885B (en) | 2021-03-05 | 2021-03-05 | Bone segment type transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112943885B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105702168A (en) * | 2016-01-26 | 2016-06-22 | 深圳市华星光电技术有限公司 | Curvature-adjustable display device |
| CN205434313U (en) * | 2015-12-29 | 2016-08-10 | 张国柱 | Undulation massager |
| CN109202877A (en) * | 2018-07-09 | 2019-01-15 | 许志宏 | The drive mechanism and bionic mechanical hand of bio-simulation mechanical finger |
| CN109986595A (en) * | 2019-05-22 | 2019-07-09 | 扬州哈工科创机器人研究院有限公司 | A kind of flexible swing mechanism of highly emulated robot |
| CN215908344U (en) * | 2021-03-05 | 2022-02-25 | 江苏华阳智能科技有限公司 | Bone joint type transmission mechanism |
-
2021
- 2021-03-05 CN CN202110243767.7A patent/CN112943885B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205434313U (en) * | 2015-12-29 | 2016-08-10 | 张国柱 | Undulation massager |
| CN105702168A (en) * | 2016-01-26 | 2016-06-22 | 深圳市华星光电技术有限公司 | Curvature-adjustable display device |
| CN109202877A (en) * | 2018-07-09 | 2019-01-15 | 许志宏 | The drive mechanism and bionic mechanical hand of bio-simulation mechanical finger |
| CN109986595A (en) * | 2019-05-22 | 2019-07-09 | 扬州哈工科创机器人研究院有限公司 | A kind of flexible swing mechanism of highly emulated robot |
| CN215908344U (en) * | 2021-03-05 | 2022-02-25 | 江苏华阳智能科技有限公司 | Bone joint type transmission mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112943885B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5100028B2 (en) | Camshaft adjusting device for internal combustion engine | |
| US8298114B2 (en) | Planetary gear assembly | |
| US5398904A (en) | Gear reducer | |
| CN215908344U (en) | Bone joint type transmission mechanism | |
| EP0888504A1 (en) | Dual-drive three-speed differential transmission for gimbal actuator | |
| JP2004522641A (en) | Actuator mechanism for adjusting angular position of mirror element in wing mirror for motor vehicle, and wing mirror for motor vehicle having actuator mechanism | |
| CN108891310B (en) | Motor-shared automobile seat adjusting system | |
| CN1951719A (en) | Hinge mounting for an adjustment device of a motor vehicle seat | |
| JP2011529559A (en) | Locking device for rotatable member | |
| CN112943885A (en) | Bone joint type transmission mechanism | |
| JPS59106744A (en) | Method and device for installing eccentric body in planetary gear mechanism | |
| CN109340369A (en) | Two grades of mechanical transmission gear shifting actuating mechanisms and automatic mechanical transmission | |
| US8308151B2 (en) | Elevator assembly for robotic positioning of a workpiece | |
| CN112890509B (en) | Use method of bone joint type transmission mechanism | |
| CN213069595U (en) | Driving device and photovoltaic tracking system | |
| CN108321992A (en) | Rotary positioning mechanism for manufacturing multi-row rotor chute and rotor chute manufacturing device | |
| JP2547583B2 (en) | Rotary-planting device backlash removal device | |
| CN111255823B (en) | Pawl type overrunning clutch and control mechanism thereof | |
| CN100402890C (en) | Gearing | |
| CN210804149U (en) | High-precision two-degree-of-freedom remote lever device | |
| CN208433531U (en) | The transmission device and antenna adjusted applied to lower decline angle | |
| CN207939369U (en) | Rotary positioning mechanism for manufacturing multi-row rotor chute and rotor chute manufacturing device | |
| CN215007980U (en) | Double-station linkage switch, refrigerator and air conditioner | |
| CN216737484U (en) | Lifting device and mobile robot | |
| JPH0874961A (en) | Rack/pinion driving mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |