CN114750205A - Five move two overlapping gear transfer mechanisms of platform - Google Patents
Five move two overlapping gear transfer mechanisms of platform Download PDFInfo
- Publication number
- CN114750205A CN114750205A CN202210432355.2A CN202210432355A CN114750205A CN 114750205 A CN114750205 A CN 114750205A CN 202210432355 A CN202210432355 A CN 202210432355A CN 114750205 A CN114750205 A CN 114750205A
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- gear
- transmission mechanism
- driving
- convex rib
- inner convex
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a double-overlapped gear transmission mechanism of a five-axis moving platform, which comprises a driving gear; the driven gear and the driving gear are vertically arranged on respective axes, and the axial lengths of the gear teeth of the driving gear and the driven gear are equal; the intermediate gear is meshed with both the driving gear and the driven gear and comprises an upper gear and a lower gear which are axially superposed, and the axial length of each gear tooth of the upper gear and the lower gear is equal to half of that of the gear tooth of the driving gear; the inner rings of the upper gear and the lower gear are respectively assembled with a vertical shaft through bearings, and the axial distance between the respective bearings of the upper gear and the lower gear is greater than the axial length of the gear teeth of the driving gear; the inner rings of the upper gear and the lower gear are provided with inner convex ribs, and the inner convex ribs are in contact with the opposite end faces of the two bearings on the vertical shaft. By adopting the invention, the intermediate gear in the gear set which is responsible for transmission is changed into two independent gears, the processing difficulty is reduced, the lightweight effect is good, the structural strength of the gears is high, and the gears are not easy to deform and skew.
Description
Technical Field
The invention relates to the field of parallel robots, in particular to a double-stack gear transmission mechanism of a five-axis moving platform.
Background
The five-axis moving platform base is a base of the parallel robot, plays a role in bearing and bearing, and simultaneously contains parts such as gears for transmitting power. The internal gear set mainly plays a role in force transmission and speed regulation, the structural strength of the gear set is required to be increased, but the teeth reinforced by a simple structure have negative effects on assembly difficulty and light weight.
Disclosure of Invention
The invention aims to provide a double-stacked gear transmission mechanism of a five-axis moving platform, which changes an intermediate gear in a gear set, which is responsible for transmission, into two independent gears, reduces the processing difficulty, has good light weight effect and large structural strength of the gears, and is not easy to deform and skew.
In order to solve the above problems, the present invention provides a dual-stacked gear transmission mechanism for a five-axis motion platform, and to achieve the above object, the technical solution adopted by the present invention to solve the technical problems is:
a double-stack gear transmission mechanism of a five-axis moving platform comprises: a driving gear; the driven gear and the driving gear are vertically arranged along the respective axes, and the axial lengths of the gear teeth of the driving gear and the driven gear are equal; the intermediate gear is meshed with both the driving gear and the driven gear, the intermediate gear comprises an upper gear and a lower gear which are axially superposed, and the axial length of each gear tooth of the upper gear and the lower gear is equal to half of the axial length of the gear tooth of the driving gear; the inner rings of the upper gear and the lower gear are respectively assembled with a vertical shaft through bearings, and the axial distance between the bearings of the upper gear and the lower gear is greater than the axial length of the gear teeth of the driving gear; the upper gear and the lower gear inner ring are respectively provided with an upper inner convex rib and a lower inner convex rib which are radially and inwardly protruded, and the upper inner convex rib and the lower inner convex rib are in contact with the opposite end faces of the two bearings on the vertical shaft.
The beneficial effect of adopting above-mentioned technical scheme is: the technical scheme is that the gear set in the base of the parallel robot is used for transmitting rotary power. The intermediate gear transmits the rotational power of the drive gear to the driven gear. The intermediate gear is in a state that two gears are axially overlapped, and the overlapped upper gear and the overlapped lower gear are equivalent to thick gears with the length of the gear teeth doubled. The thick gear has enough meshing surfaces with the driving gear and the driven gear, and the upper limit of force transmission is high.
Because the upper gear and the lower gear are actually two parts, the internal space of the thick gear before superposition is the same as that of the thick gear, and the processing is easy, thereby being beneficial to light weight.
The bearing is the junction site of vertical axle and intermediate gear simultaneously, plays the effect that provides rotatory degree of freedom and provide stable root and support, and the axial distance that two bearings pull open is great, so intermediate gear root arm of force is great, and powerful is great, so difficult emergence crooked deformation's situation when intermediate gear transmits strength.
The upper inner convex rib and the lower inner convex rib also have an axial limiting effect on the bearing, and the structural strength of the root part of the intermediate gear is ensured.
As a further improvement of the invention, the number of the gear teeth and the reference circle diameter of the upper gear and the lower gear are equal, the two bearings on the vertical shaft are an upper bearing and a lower bearing respectively, and the upper bearing and the lower bearing are radial bearings with the same size.
The beneficial effect of adopting above-mentioned technical scheme is: the gear teeth formed by the superposition of the upper gear and the lower gear are coherent and are not influenced in use.
As a further improvement of the invention, the contact surfaces of the upper gear and the lower gear mutually comprise an end contact surface and a side contact surface which are vertically crossed, the end contact surface is vertical to the axis of the vertical shaft, and the generatrix of the side contact surface is parallel to the axis of the vertical shaft.
The beneficial effect of adopting above-mentioned technical scheme is: the contact surface of the upper gear and the lower gear is large, the upper gear and the lower gear are in axial contact and radial contact, the upper gear and the lower gear are assembled tightly, and the upper gear and the lower gear can bear stress in all directions such as the axial direction and the radial direction.
As a further improvement of the invention, a top plate is assembled above the driving gear, the driven gear and the intermediate gear together, the upper gear is arranged between the top plate and the lower gear, the upper gear and the lower gear are assembled through a plurality of axial bolts, and the bolts penetrate through the contact surface of the end part.
The beneficial effect of adopting above-mentioned technical scheme is: the top plate provides movable assembly for each gear, and the bolt enables the upper gear and the lower gear to be axially compressed.
As a further improvement of the invention, one surface of the lower gear, which is far away from the upper gear, is provided with a recessed step hole, the upper gear is provided with a threaded hole, the step hole and the threaded hole are both provided with bolts, the cross-section profile of the step hole is a waist-shaped hole, and the length direction of the waist-shaped hole is overlapped with the tangential direction of the position of the step hole.
The beneficial effect of adopting above-mentioned technical scheme is: the stepped hole is convenient for burying the big end of the bolt, and the length of the waist-shaped hole extends along the tangential direction, so that the upper gear and the lower gear have fine adjustment capability within a small angle range relative to the circumferential direction when being fixed, and the respective gear teeth of the upper gear and the lower gear correspond to each other conveniently.
As a further improvement of the invention, the axial length of the upper gear is greater than that of the lower gear, the lower gear is positioned in the radial projection from the driving gear to the driven gear, and the side contact surface is the contact part of the outer wall of the lower gear and the inner wall of the upper gear.
The beneficial effect of adopting above-mentioned technical scheme is: the lower gear body is relatively closer to the driving gear and the driven gear, but the lower gear is relatively arranged on the inner ring of the upper gear, so that the upper gear and the lower gear are close in compression degree, and are not pressed on the nearest lower gear.
As a further improvement of the invention, the inner diameters of the upper inner convex rib and the lower inner convex rib are equal, and the inner diameter of the upper inner convex rib is larger than the outer diameter of the contact part of the vertical shaft and the upper bearing and the lower bearing.
The beneficial effect of adopting above-mentioned technical scheme is: the upper inner convex rib and the lower inner convex rib do not hinder the assembly of the vertical shaft, the upper bearing and the lower bearing.
As a still further improvement of the present invention, the vertical shaft is provided with a flange portion projecting radially outward, and a shaft end surface of the flange portion is in contact with a lower surface of the top plate.
The beneficial effect of adopting above-mentioned technical scheme is: the flange portion increases the stability of the top of the vertical shaft, and the vertical shaft is allowed to extend in the vertical direction.
As a further improvement of the invention, a horizontal bevel gear is coaxially fixed on the driven gear, the horizontal bevel gear is meshed with a vertical bevel gear, and the axes of the horizontal bevel gear and the vertical bevel gear are respectively in the vertical direction and the horizontal direction; the vertical bevel gear is coaxially fixed with a center shaft, one end of the center shaft, which deviates from the vertical bevel gear, is provided with a bearing seat with a fixed spatial position, and the outer wall of the center shaft is vertically fixed with a rocker arm between the bearing seat and the vertical bevel gear.
The beneficial effect of adopting above-mentioned technical scheme is: the driven gear receives the rotary power and then sequentially transmits the rotary power to the horizontal bevel gear, the vertical bevel gear, the central shaft and the rocker arm. The rocker arm has a rotational degree of freedom about a horizontal axis as a final output member.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a top view of one embodiment of the present invention;
FIG. 2 is a cross-sectional view A-A of one embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of one embodiment of the present invention at B;
FIG. 4 is a perspective view of one embodiment of the present invention;
FIG. 5 is a bottom view of the drive gear, driven gear, and intermediate gear of one embodiment of the present invention;
FIG. 6 is a cross-sectional view C-C of one embodiment of the present invention.
1-a driving gear; 2-a driven gear; 3-upper gear; 4-lower gear; 5-horizontal bevel gear; 6-vertical bevel gear; 7-bearing seats; 8-central axis; 9-a rocker arm; 10-a top plate; 11-a vertical axis; 12-an upper bearing; 13-a lower bearing; 14-upper inner convex rib; 15-lower inner convex rib; 16-a threaded hole; 17-a stepped bore; 18-contact surface; 19-an engagement zone; 20-end contact face; 21-side contact face; 22-flange portion.
Detailed Description
The present invention will be further described in detail with reference to the following specific examples:
in order to achieve the object of the present invention, a dual-stacked gear transmission mechanism of a five-axis motion platform comprises: a driving gear 1; the driven gear 2 and the driving gear 1 are vertically arranged along respective axes, and the axial lengths of the gear teeth of the driving gear 1 and the driven gear 2 are equal; the intermediate gear is meshed with the driving gear 1 and the driven gear 2 and comprises an upper gear 3 and a lower gear 4 which are axially superposed, and the axial length of each gear tooth of the upper gear 3 and the lower gear 4 is equal to half of that of the gear tooth of the driving gear 1; the inner rings of the upper gear 3 and the lower gear 4 are respectively assembled with a vertical shaft 11 through bearings, and the axial distance between the respective bearings of the upper gear 3 and the lower gear 4 is greater than the axial length of the gear teeth of the driving gear 1; the inner rings of the upper gear 3 and the lower gear 4 are respectively provided with an upper inner convex rib 14 and a lower inner convex rib 15 which are protruded inwards in the radial direction, and the upper inner convex rib 14 and the lower inner convex rib 15 are in contact with the opposite end faces of the two bearings on the vertical shaft 11.
The beneficial effect of adopting above-mentioned technical scheme is: the technical scheme is that the gear set in the base of the parallel robot is used for transmitting rotary power. The intermediate gear transmits the rotational power of the drive gear to the driven gear. The intermediate gear is a state that two gears are axially overlapped, and the overlapped upper gear and lower gear are equivalent to thick gears with the length of the gear teeth doubled. The thick gear has enough meshing surfaces with the driving gear and the driven gear, and the upper limit of force transmission is high. Because the upper gear and the lower gear are actually two parts, the internal space of the thick gear before superposition is the same as that of the thick gear, and the processing is easy, thereby being beneficial to light weight. Simultaneously, the bearings are the connecting parts of the vertical shaft and the intermediate gear, the effect of providing rotational freedom and providing stable root support is achieved, the axial distance of the two bearings which are pulled open is large, so that the force arm of the root part of the intermediate gear is large, the structure is strong and large, and the situation of skew deformation is not easy to occur when the intermediate gear transmits force. The upper inner convex rib and the lower inner convex rib also have an axial limiting effect on the bearing, and the structural strength of the root of the intermediate gear is ensured.
In other embodiments of the present invention, the number of teeth and the pitch circle diameter of each of the upper gear 3 and the lower gear 4 are equal, the two bearings on the vertical shaft 11 are the upper bearing 12 and the lower bearing 13, respectively, and the upper bearing 12 and the lower bearing 13 are radial bearings with the same size.
The beneficial effect of adopting above-mentioned technical scheme is: the gear teeth formed by the superposition of the upper gear and the lower gear are coherent and are not influenced in use.
In other embodiments of the present invention, the contact surfaces of the upper gear 3 and the lower gear 4 include an end contact surface 20 and a side contact surface 21 which intersect perpendicularly, the end contact surface 20 is perpendicular to the axis of the vertical shaft 11, and a generatrix of the side contact surface 21 is parallel to the axis of the vertical shaft 11.
The beneficial effect of adopting above-mentioned technical scheme is: the upper gear and the lower gear have larger contact surfaces, are in axial contact and radial contact with each other, are assembled more tightly and can bear stress in all directions such as the axial direction and the radial direction.
In other embodiments of the present invention, the top plate 10 is assembled above the driving gear 1, the driven gear 2 and the intermediate gear, the upper gear 3 is disposed between the top plate 10 and the lower gear 4, the upper gear 3 and the lower gear 4 are assembled by a plurality of axial bolts, and the bolts pass through the end contact surface 20.
The beneficial effect of adopting above-mentioned technical scheme is: : the top plate provides movable assembly for each gear, and the bolt enables the upper gear and the lower gear to be axially compressed.
In another embodiment of the present invention, one surface of the lower gear 4 facing away from the upper gear 3 is provided with a recessed stepped hole 17, the upper gear 3 is provided with a threaded hole 16, the stepped hole 17 and the threaded hole 16 are both provided with bolts, the cross-sectional profile of the stepped hole 17 is a waist-shaped hole, and the length direction of the waist-shaped hole coincides with the tangential direction of the position of the stepped hole 17.
The beneficial effect of adopting above-mentioned technical scheme is: the stepped hole is convenient for burying the big end of the bolt, and the length of the waist-shaped hole extends along the tangential direction, so that the upper gear and the lower gear have fine adjustment capability within a small angle range relative to the circumferential direction when being fixed, and the respective gear teeth of the upper gear and the lower gear correspond to each other conveniently.
In other embodiments of the present invention, the axial length of the upper gear 3 is greater than the axial length of the lower gear 4, the lower gear 3 is located in the radial projection from the driving gear 1 to the driven gear 2, and the side contact surface 21 is the contact point between the outer wall of the lower gear 4 and the inner wall of the upper gear 3.
The beneficial effect of adopting above-mentioned technical scheme is: the lower gear body is relatively closer to the driving gear and the driven gear, but the lower gear is relatively arranged on the inner ring of the upper gear, so that the upper gear and the lower gear are ensured to be pressed to similar degrees, and not all the lower gears are pressed to the nearest lower gear.
In other embodiments of the present invention, the inner diameters of the upper inner convex rib 14 and the lower inner convex rib 15 are equal, and the inner diameter of the upper inner convex rib 14 is larger than the outer diameter of the vertical shaft 11 where the vertical shaft contacts with the upper bearing 12 and the lower bearing 13.
The beneficial effect of adopting above-mentioned technical scheme is: the upper inner convex rib and the lower inner convex rib do not hinder the assembly of the vertical shaft, the upper bearing and the lower bearing.
In other embodiments of the present invention, the vertical shaft 11 is provided with a flange portion 22 that protrudes radially outward, and an axial end surface of the flange portion 22 is in contact with the lower surface of the top plate 10.
The beneficial effect of adopting above-mentioned technical scheme is: the flange portion increases the stability of the top of the vertical shaft, and the vertical shaft is allowed to extend in the vertical direction.
In other embodiments of the present invention, as shown in fig. 4, a horizontal bevel gear 5 is coaxially fixed to the driven gear 2, the horizontal bevel gear 5 is engaged with a vertical bevel gear 6, and the respective axes of the horizontal bevel gear 5 and the vertical bevel gear 6 are vertical and horizontal; a central shaft 8 is coaxially fixed on the vertical bevel gear 6, one end, deviating from the vertical bevel gear 6, of the central shaft 8 is provided with a bearing seat 7 with a fixed spatial position, and a rocker arm 9 is vertically fixed on the outer wall of the central shaft 8 between the bearing seat 7 and the vertical bevel gear 6.
The beneficial effect of adopting above-mentioned technical scheme is: the driven gear receives the rotary power and then sequentially transmits the rotary power to the horizontal bevel gear, the vertical bevel gear, the central shaft and the rocker arm. The rocker arm has a rotational degree of freedom about a horizontal axis as a final output member.
As shown in fig. 4, in order to express the internal structure, a cover outside the product is hidden in fig. 4.
As shown in fig. 3, the contact position of the upper gear 3 and the lower gear 4 with the driving gear 1 or the driven gear 2 is a meshing area 19.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (9)
1. The utility model provides a five move two pile gear transmission mechanism of platform which characterized in that includes:
a driving gear;
the driven gear and the driving gear are vertically arranged along respective axes, and the axial lengths of respective gear teeth of the driving gear and the driven gear are equal;
the intermediate gear is meshed with both the driving gear and the driven gear, the intermediate gear comprises an upper gear and a lower gear which are axially superposed, and the axial length of each gear tooth of the upper gear and the lower gear is equal to half of the axial length of the gear tooth of the driving gear;
the upper gear and the lower gear are respectively assembled with a vertical shaft through bearings, and the axial distance between the bearings of the upper gear and the lower gear is greater than the axial length of the gear teeth of the driving gear; the upper gear and the lower gear inner ring are respectively provided with an upper inner convex rib and a lower inner convex rib which are radially and inwardly protruded, and the upper inner convex rib and the lower inner convex rib are in contact with the opposite end faces of the two bearings on the vertical shaft.
2. The double-row gear transmission mechanism of a five-axis motion platform as claimed in claim 1, wherein: the number of the gear teeth of the upper gear and the lower gear and the diameter of the reference circle are equal, the two bearings on the vertical shaft are an upper bearing and a lower bearing respectively, and the upper bearing and the lower bearing are radial bearings with the same size.
3. The dual-stack gear transmission mechanism of a five-axis motion platform of claim 2, characterized in that: the contact surface between the upper gear and the lower gear comprises an end contact surface and a side contact surface which are vertically crossed, the end contact surface is perpendicular to the axis of the vertical shaft, and the generatrix of the side contact surface is parallel to the axis of the vertical shaft.
4. The double-row gear transmission mechanism of the five-axis power platform as claimed in claim 3, wherein: the top plate is assembled above the driving gear, the driven gear and the intermediate gear together, the upper gear is arranged between the top plate and the lower gear, the upper gear and the lower gear are assembled through a plurality of axial bolts, and the bolts penetrate through the end contact surface.
5. The double-row gear transmission mechanism of the five-axis power platform as claimed in claim 4, wherein: the one side that lower gear deviates from last gear possesses sunken stepped hole, it possesses the screw hole to go up the gear, the bolt has worn jointly in stepped hole, the screw hole, the section profile in stepped hole is waist type hole, the length direction in waist type hole and the tangential direction coincidence of stepped hole position.
6. The dual-stack gear transmission mechanism of a five-axis motion platform of claim 5, characterized in that: the axial length of the upper gear is greater than that of the lower gear, the lower gear is located in the radial projection from the driving gear to the driven gear, and the lateral contact surface is the contact position of the outer wall of the lower gear and the inner wall of the upper gear.
7. The dual-stack gear transmission mechanism of a five-axis motion platform of claim 2, characterized in that: the inner diameters of the upper inner convex rib and the lower inner convex rib are equal, and the inner diameter of the upper inner convex rib is larger than the outer diameter of the contact part of the vertical shaft and the upper bearing and the lower bearing.
8. The dual-stack gear transmission mechanism of a five-axis motion platform of claim 4, characterized in that: the vertical shaft is provided with a flange portion protruding radially outward, and a shaft end surface of the flange portion is in contact with a lower surface of the top plate.
9. The dual-stack gear transmission mechanism of a five-axis motion platform according to claim 1, characterized in that: a horizontal bevel gear is coaxially fixed on the driven gear, the horizontal bevel gear is meshed with a vertical bevel gear, and the respective axes of the horizontal bevel gear and the vertical bevel gear are respectively in the vertical direction and the horizontal direction; a central shaft is coaxially fixed on the vertical bevel gear, a bearing seat with a fixed spatial position is arranged at one end of the central shaft, which is far away from the vertical bevel gear, and a rocker arm is vertically fixed on the outer wall of the central shaft between the bearing seat and the vertical bevel gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210432355.2A CN114750205A (en) | 2022-04-22 | 2022-04-22 | Five move two overlapping gear transfer mechanisms of platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210432355.2A CN114750205A (en) | 2022-04-22 | 2022-04-22 | Five move two overlapping gear transfer mechanisms of platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114750205A true CN114750205A (en) | 2022-07-15 |
Family
ID=82332521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210432355.2A Pending CN114750205A (en) | 2022-04-22 | 2022-04-22 | Five move two overlapping gear transfer mechanisms of platform |
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| CN (1) | CN114750205A (en) |
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