CN1166396A - Spherical involute gear transmission mechanism - Google Patents
Spherical involute gear transmission mechanism Download PDFInfo
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- CN1166396A CN1166396A CN 96118183 CN96118183A CN1166396A CN 1166396 A CN1166396 A CN 1166396A CN 96118183 CN96118183 CN 96118183 CN 96118183 A CN96118183 A CN 96118183A CN 1166396 A CN1166396 A CN 1166396A
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- gear
- gears
- spherical
- transmission mechanism
- involute
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Abstract
The transmission machanism is used for flexible wrist joint of robot, composite joint of bionical machine and other similar field. It includes one convex gear and one concave gear, and these two gears are on two spherical crown, in annular continuous sequence and with involute generatrix. Two gears are meshed through inserting the cog ring of one gear into the intercog channel. The output shaft can produce deflection motion in 360 deg relative to input shaft and this ensures no error in principle. This kind of spheroidal gear may be machined simply with shaping cutter in lathe.
Description
The present invention relates to a kind of spherical involute gear transmission mechanism that can be used for all kinds of robot flexibility wrist joints and various bionic mechanical compound motion joints and other field.
1991, on " the 3rd the academic discussion collection of thesis of national robot ", delivered the article " paint-spray robot flexible waist design and analysis " of Zhang Chunsheng.Reported a kind of " spherical crown gear " mechanism of Norway engineer Ole.Monlang invention in the literary composition, the design feature of this " spherical crown gear " transmission mechanism is: produce several discrete according to certain rules pits that distributes on a ball-crown body, and on another ball-crown body, inlay same number of finger-like double wedge, the engagement of pit and finger-like double wedge can realize that two ball-crown bodies do that approximate sphere is pure to roll motion.Because the gear teeth of this spherical crown gear are in a discrete distribution, when spheroid when the direction of wheel between cog is rolled, meshing point can only lean on the engagement of adjacent teeth to realize not in plane of movement, therefore, has the transmission principle error.Its error becomes big with deflection angle and obviously increases, and maximum can reach 7mm, so only be used for the less demanding paint-spray robot of kinematic accuracy.And tooth distribution is adding man-hour on the spheroid of space, needs a custom-designed two-dimentional indexing means could realize the space orientation of cutter, makes process complicated unusually, and difficulty is very big, and processing cost is very high.
The object of the present invention is to provide a kind of no transmission principle error, two spheroids can be made relative pure rolling by stable drive ratio along any direction, and handling ease realizes spherical gear transmission mechanism cheap for manufacturing cost.
The object of the present invention is achieved like this: this spherical involute gear transmission mechanism, comprise convexity gear and middle concave gear, and it is characterized in that the gear teeth of two gears are distributed in respectively on two ball-crown bodies, and arrange continuously in the form of a ring that its bus is an involute.The ring gear of one of them gear inserts in the between cog groove of another gear, realizes the engagement of the gear teeth.The center gear teeth of convexity gear are the column revolving body of a protrusion, and the center of middle concave gear is provided with pit between an annular tooth.Two spherical gears are installed in respectively on the crossed circular framework of an axis quadrature, and the intersection point of framework two axial lines overlaps with the centre of sphere.Two gear centre lines are the gear line of symmetry of middle the line of symmetry by one of them gear and another gear just in time, and two line of symmetries are called pole axis, is in collinear position at the initial pole axis of two spherical gears in installation site.Crossing pole axis, to dissect two gear gained profiles of tooth identical with the contrate tooth profile of common garden post spur gear.Behind the gear polishing, resulting face gear claims the virtual gear of spherical gear.The ratio of the corner of two gears is called the gearratio of spherical gear, and the size of gearratio equals the ratio of the virtual gear number of teeth of two spherical gears.During motion, two gears can only be made fixed-point motion around the centre of sphere separately, make whole engagement process occur in the public law face of ring gear like this and are always the pure rolling of a contact, thereby realize no transmission principle error.This spherical involute gear transmission mechanism output shaft can be made omnibearing yaw motion with respect to power shaft in 360 ° of scopes.
Two spherical gears of the present invention can be made relative pure rolling by accurate stable drive ratio along any direction, have realized no transmission principle error; This gear can be processed on engine lathe with form cutter, and processing method is simple, realizes easily.
Below in conjunction with accompanying drawing the present invention is illustrated:
Fig. 1 is the spherical involute gear transmission mechanism structural representation;
Fig. 2 is a barrel shaped tooth wheel construction schematic diagram;
Fig. 3 is a concave gear structure schematic diagram.
In conjunction with the accompanying drawings: this spherical involute gear transmission mechanism, comprise convexity gear [1] and middle concave gear [2], it is characterized in that the gear teeth [3] of two gears are distributed in respectively on two ball-crown bodies, and arrange continuously in the form of a ring that its bus is an involute.The belt tooth [3] of one of them gear can insert another gear between in the groove [6], realize the engagement of the gear teeth.The center gear teeth [4] of convexity gear are the column revolving body of a protrusion, and the center of middle concave gear is provided with pit [5] between an annular tooth.Two spherical gears are installed in respectively on the crossed circular framework [7] of an axis quadrature, and the intersection point of framework two axial lines overlaps with the centre of sphere.Pole axis [8] at two spherical gears in initial installation site is in collinear position.
Claims (1)
1. a spherical involute gear transmission mechanism comprises convexity gear [1] and middle concave gear [2], it is characterized in that the gear teeth [3] of two gears are distributed in respectively on two ball-crown bodies, and arranges continuously in the form of a ring, and its bus is an involute.The belt tooth [8] of one of them gear can insert in the between cog groove [6] of another gear, realizes the engagement of the gear teeth.The center gear teeth [4] of convexity gear are the column revolving body of a protrusion, and the center of middle concave gear is provided with pit [5] between an annular tooth.Two spherical gears are installed in respectively on the crossed circular framework [7] of an axis quadrature, and the intersection point of framework two axial lines overlaps with the centre of sphere.Pole axis [8] at two spherical gears in initial installation site is in collinear position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96118183 CN1166396A (en) | 1996-05-23 | 1996-05-23 | Spherical involute gear transmission mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96118183 CN1166396A (en) | 1996-05-23 | 1996-05-23 | Spherical involute gear transmission mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1166396A true CN1166396A (en) | 1997-12-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 96118183 Pending CN1166396A (en) | 1996-05-23 | 1996-05-23 | Spherical involute gear transmission mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1166396A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100334370C (en) * | 2004-12-29 | 2007-08-29 | 西安理工大学 | Rotation and torsional vibration compound movement mechanism based on planetary drive with small teeth difference |
| CN103100811A (en) * | 2013-01-22 | 2013-05-15 | 北京工业大学 | Novel welding gun based on bionics |
| CN103573921A (en) * | 2013-07-24 | 2014-02-12 | 杨兆奎 | Involute spherical gear transmission pair |
| CN103878785A (en) * | 2014-03-21 | 2014-06-25 | 北京航空航天大学 | Constant speed parallel type power transmission device |
| CN114110129A (en) * | 2021-11-26 | 2022-03-01 | 长春理工大学 | Spherical gear and toothed disc mechanism |
-
1996
- 1996-05-23 CN CN 96118183 patent/CN1166396A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100334370C (en) * | 2004-12-29 | 2007-08-29 | 西安理工大学 | Rotation and torsional vibration compound movement mechanism based on planetary drive with small teeth difference |
| CN103100811A (en) * | 2013-01-22 | 2013-05-15 | 北京工业大学 | Novel welding gun based on bionics |
| CN103100811B (en) * | 2013-01-22 | 2015-06-03 | 北京工业大学 | Novel welding gun based on bionics |
| CN103573921A (en) * | 2013-07-24 | 2014-02-12 | 杨兆奎 | Involute spherical gear transmission pair |
| CN103573921B (en) * | 2013-07-24 | 2016-02-24 | 杨兆奎 | A kind of involute spherical gear transmission pair |
| CN103878785A (en) * | 2014-03-21 | 2014-06-25 | 北京航空航天大学 | Constant speed parallel type power transmission device |
| CN103878785B (en) * | 2014-03-21 | 2016-03-02 | 北京航空航天大学 | A kind of parallel-connection type power transmission device of constant speed |
| CN114110129A (en) * | 2021-11-26 | 2022-03-01 | 长春理工大学 | Spherical gear and toothed disc mechanism |
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| C01 | Deemed withdrawal of patent application (patent law 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |