CN206522415U - A kind of tandem power dividing ball joint - Google Patents
A kind of tandem power dividing ball joint Download PDFInfo
- Publication number
- CN206522415U CN206522415U CN201720173151.6U CN201720173151U CN206522415U CN 206522415 U CN206522415 U CN 206522415U CN 201720173151 U CN201720173151 U CN 201720173151U CN 206522415 U CN206522415 U CN 206522415U
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- Prior art keywords
- low speed
- ball
- nut sleeve
- moving
- coil
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Abstract
The utility model discloses a kind of tandem power dividing ball joint, including quantity no less than the high-speed guide screw mechanism of two pieces, Jing Quan, low speed nut sleeve, low speed ball, moving-coil, the first support ball, guiding ball, multigroup high-speed guide screw mechanism work, it can only be moved because feed nut is connected with low speed nut sleeve along high-speed guide screw, simultaneously, low speed nut sleeve, low speed ball, moving-coil constitute screw transmission and are oriented to ball limitation low speed nut sleeve and rotate, therefore, low speed nut sleeve is converted into the rotation of moving-coil by moving linearly, so as to realize deceleration transmission.The apparatus structure is simple, carries out power dividing by multigroup high-speed guide screw mechanism, not only high transmission accuracy, bearing capacity is strong, and manufacturing cost is low, transmission efficiency, simultaneously, compact conformation, small volume, and almost PURE ROLLING, coefficient of friction are extremely low, the hysteresis in transmission is reduced, the repetitive positioning accuracy of joint of robot is improved from source.
Description
Technical field
The utility model is related to a kind of mechanical device, more particularly to a kind of tandem power dividing ball joint.
Background technology
Existing joint of robot mainly includes actuating unit (such as motor), transmission mechanism (such as gear), reductor, existing machine
Device person joint is generally RV reductors with reductor, existing RV reductors core part be Cycloidal Wheel, pin wheel housing, planet carrier, partially
Heart axle, belongs to thin-walled, special-shaped part, and domestic working condition is extremely difficult to micron-sized machining accuracy, it is difficult to carry out large quantities of
Amount production, has strict phase requirements, adjustment link is complicated, causes RV reductors expensive in assembling, meanwhile, it is traditional
RV reductors are in order to ensure without motion dead band, it is necessary to the back lash of reserved very little, cause backlash difference can only control 1 arc point with
It is interior, positioning precision is both reduced, the rigidity of RV reductors is reduced again, meanwhile, RV speed reducer structures are complicated, and volume is big, it is difficult to
Applied to cooperation robot, DELTA robots, SCARA robots.In view of drawbacks described above, is necessary to design a kind of tandem in fact
Power dividing ball joint.
Utility model content
Technical problem to be solved in the utility model is：A kind of tandem power dividing ball joint is provided, to solve
Certainly existing RV reductors volume is big, the problem of expensive and poor repetitive positioning accuracy.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of tandem power dividing ball joint,
Including quantity no less than the high-speed guide screw mechanism of two pieces, Jing Quan, low speed nut sleeve, low speed ball, moving-coil, the first support ball,
Ball is oriented to, described Jing Quan is located on the outside of high-speed guide screw mechanism, described Jing Quan is rolled with high-speed guide screw mechanism to be connected, described
Low speed nut sleeve run through by high-speed guide screw mechanism and on the inside of the quiet circle, described low speed nut sleeve and high-speed guide screw mechanism spiral shell
Line is connected and is movably connected with Jing Quan, and described low speed ball is located on the outside of low speed nut sleeve, described low speed ball and low speed
Nut sleeve, which is rolled, to be connected, and described moving-coil is located on the outside of low speed ball and on the outside of quiet circle, described moving-coil and low speed ball
Roll and be connected and be movably connected with Jing Quan, the first described support ball is located between Jing Quan and moving-coil, the first described support
Ball rolls to be connected and roll with moving-coil with Jing Quan to be connected, and described guiding ball is located between Jing Quan and low speed nut sleeve, institute
The guiding ball stated rolls to be connected and roll with low speed nut sleeve with Jing Quan to be connected；
Described high-speed guide screw mechanism also includes rotation section, high-speed guide screw, the second support ball, feed nut, described
High-speed guide screw be located at rotation section side, described high-speed guide screw is integrally connected with rotation section, and described second supports ball
On the outside of rotation section and on the inside of quiet circle, the second described support ball is rolled with rotation section to be connected and rolls phase with Jing Quan
Even, described feed nut is located on the outside of high-speed guide screw and through low speed nut sleeve, described feed nut and high-speed guide screw spiral shell
Line is connected and is connected with low speed nut external threading；
The utility model further improves as follows：
Further, described rotation section is additionally provided with the first stopper slot, and the first described stopper slot is located on the outside of rotation section,
The first described stopper slot is not through rotation section.
Further, described rotation section is additionally provided with mounting hole, and described mounting hole is not through rotation section.
Further, described Jing Quan is additionally provided with the second stopper slot, and the second described stopper slot is located on the inside of quiet circle, described
The second stopper slot not through Jing Quan, the second support ball is rolled in the first stopper slot and the second stopper slot, so as to high speed
Screw mechanism is supported.
Further, described Jing Quan is additionally provided with the 3rd stopper slot, and the 3rd described stopper slot is located on the outside of quiet circle, described
The 3rd stopper slot not through Jing Quan.
Further, described Jing Quan is additionally provided with the first guide groove, and the first described guide groove is located on the inside of quiet circle, described
The first guide groove not through Jing Quan.
Further, described low speed nut sleeve is additionally provided with the second guide groove, and the second described guide groove is located at low speed spiral shell
On the outside of mother set, the second described guide groove is oriented to ball in the first guide groove and the second guide groove not through low speed nut sleeve
Roll, so as to carry out being oriented to and spacing to low speed nut sleeve.
Further, described low speed nut sleeve is additionally provided with the first raceway, and the first described raceway is located at low speed nut sleeve
Outside, the first described raceway is not through low speed nut sleeve.
Further, described moving-coil is additionally provided with the 4th stopper slot, and the 4th described stopper slot is located on the inside of moving-coil, described
The 4th stopper slot not through moving-coil, the first support ball is rolled in the 3rd stopper slot and the 4th stopper slot, so as to moving-coil
It is supported.
Further, described moving-coil is additionally provided with the second raceway, and the second described raceway is located on the inside of moving-coil, and described the
Two raceways are not through moving-coil, and low speed ball is rolled in the cavity interior circulation that the first raceway and the second raceway are constituted, to ensure low speed
Nut sleeve stable movement, continuously.
Compared with prior art, the tandem power dividing ball joint, during work, actuating unit (such as motor) is by passing
Motivation structure (such as gear) input power drives multigroup high-speed guide screw mechanism work, so as to drive high-speed guide screw to rotate, and then drives
Feed nut is moved, and because feed nut and low speed nut sleeve are connected, feed nut can only be moved along high-speed guide screw, so as to drive
Low speed nut sleeve is moved, because low speed nut sleeve, low speed ball, moving-coil constitute screw transmission and are oriented to ball limitation low speed spiral shell
Mother set is rotated, therefore, and low speed nut sleeve is converted into the rotation of moving-coil by moving linearly, so as to realize deceleration transmission.The device knot
Structure is simple, carries out power dividing by multigroup high-speed guide screw mechanism, not only high transmission accuracy, and bearing capacity is strong, and is manufactured into
This low, transmission efficiency, meanwhile, compact conformation, small volume, and almost PURE ROLLING, coefficient of friction is extremely low, reduces biography
Hysteresis in dynamic, the backlash for reducing ball joint is poor, and the repetitive positioning accuracy of joint of robot is improved from source.
Brief description of the drawings
Fig. 1 shows the utility model explosive view
Fig. 2 shows the utility model sectional view
Fig. 3 shows the utility model high-speed guide screw mechanism sectional view
Fig. 4 shows the utility model rotation section graphics
Fig. 5 shows the quiet circle graphics of the utility model
Fig. 6 shows the utility model moving-coil graphics
The quiet circle 2 of high-speed guide screw mechanism 1
The low speed ball 4 of low speed nut sleeve 3
Moving-coil 5 first supports ball 6
It is oriented to the rotation section 101 of ball 7
High-speed guide screw 102 second supports ball 103
The stopper slot 105 of feed nut 104 first
The stopper slot 201 of mounting hole 106 second
The guide groove 203 of 3rd stopper slot 202 first
The raceway 302 of second guide groove 301 first
The raceway 502 of 4th stopper slot 501 second
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of tandem power dividing ball joint, including quantity are many
High-speed guide screw mechanism 1, quiet circle 2, low speed nut sleeve 3 in two pieces, low speed ball 4, the support of moving-coil 5, first ball 6, orienting roll
Pearl 7, described quiet circle 2 is located at the outside of high-speed guide screw mechanism 1, and described quiet circle 2 is rolled with high-speed guide screw mechanism 1 to be connected, described
Low speed nut sleeve 3 run through by high-speed guide screw mechanism 1 and positioned at the quiet inner side of circle 2, described low speed nut sleeve 3 and high-speed guide screw machine
The screw thread of structure 1 is connected and is movably connected with quiet circle 2, and described low speed ball 4 is located at the outside of low speed nut sleeve 3, described low speed rolling
Pearl 4 rolls with low speed nut sleeve 3 to be connected, and described moving-coil 5 is located at the outside of low speed ball 4 and positioned at the quiet outside of circle 2, and described is dynamic
Circle 5 is rolled with low speed ball 4 to be connected and 2 is movably connected with quiet circle, the first described support ball 6 be located at it is quiet enclose 2 and moving-coil 5 it
Between, the first described support ball 6 rolls to be connected and roll with moving-coil 5 with quiet circle 2 to be connected, and described guiding ball 7 is located at quiet
Between circle 2 and low speed nut sleeve 3, described guiding ball 7 rolls to be connected and roll with low speed nut sleeve 3 with quiet circle 2 to be connected, institute
The high-speed guide screw mechanism 1 stated also includes rotation section 101, the support of high-speed guide screw 102, second ball 103, feed nut 104, institute
The high-speed guide screw 101 stated is located at the side of rotation section 102, and described high-speed guide screw 101 is connected with the one of rotation section 102, described
Second support ball 103 is located at the outside of rotation section 101 and positioned at the quiet inner side of circle 2, the second described support ball 103 and rotation section
101 roll connected and are connected with the quiet rolling of circle 2, and described feed nut 104 is located at the outside of high-speed guide screw 102 and runs through low speed spiral shell
Mother set 3, described feed nut 104 is connected with the screw thread of high-speed guide screw 102 and is connected with the screw thread of low speed nut sleeve 3, and described turns
Dynamic portion 101 is additionally provided with the first stopper slot 105, and the first described stopper slot 105 is located at the outside of rotation section 101, the first described limit
Position groove 105 is not through rotation section 101, and described rotation section 101 is additionally provided with mounting hole 106, and described mounting hole 106 is not through turning
Dynamic portion 101, described quiet circle 2 is additionally provided with the second stopper slot 201, and the second described stopper slot 201 is located at the quiet inner side of circle 2, described
The second stopper slot 201 not through quiet circle 2, the second support ball 103 is rolled in the first stopper slot 105 and the second stopper slot 201
Dynamic, so as to be supported to high-speed guide screw mechanism 1, described quiet circle 2 is additionally provided with the 3rd stopper slot 202, and described the 3rd is spacing
Groove 202 is located at the quiet outside of circle 2, and the 3rd described stopper slot 202 is not through quiet circle 2, and described quiet circle 2 is additionally provided with the first guide groove
203, the first described guide groove 203 is located at the quiet inner side of circle 2, and the first described guide groove 203 is not through quiet circle 2, and described is low
Fast nut sleeve 3 is additionally provided with the second guide groove 301, and the second described guide groove 301 is located at the outside of low speed nut sleeve 3, and described the
Two guide grooves 301 are oriented to ball 7 and rolled in the first guide groove 203 and the second guide groove 301 not through low speed nut sleeve 3, from
And low speed nut sleeve 3 is carried out to be oriented to and spacing, described low speed nut sleeve 3 is additionally provided with the first raceway 302, the first described rolling
Road 302 is located at the outside of low speed nut sleeve 3, and the first described raceway 302 is not through low speed nut sleeve 3, and described moving-coil 5 is additionally provided with
4th stopper slot 501, the 4th described stopper slot 501 is located at the inner side of moving-coil 5, and the 4th described stopper slot 501 is not through moving-coil
5, the first support ball 6 is rolled in the 3rd stopper slot 202 and the 4th stopper slot 501, so that moving-coil 5 is supported, it is described
Moving-coil 5 be additionally provided with the second raceway 502, the second described raceway 502 is located at the inner side of moving-coil 5, and the second described raceway 502 is not passed through
Moving-coil 5 is worn, low speed ball 4 is rolled in the cavity interior circulation that the first raceway 302 and the second raceway 502 are constituted, to ensure low speed spiral shell
The stable movement of mother set 3, continuously, the tandem power dividing ball joint, during work, actuating unit (such as motor) passes through driver
Structure (such as gear) input power drives multigroup high-speed guide screw mechanism 1 to work, so as to drive high-speed guide screw 102 to rotate, and then drives
Feed nut 104 is moved, and because feed nut 104 and low speed nut sleeve 3 are connected, feed nut 104 can only be along high-speed guide screw 102
It is mobile, so as to drive low speed nut sleeve 3 to move, due to low speed nut sleeve 3, low speed ball 4, moving-coil 5 constitute screw transmission and
It is oriented to the limitation low speed of ball 7 nut sleeve 3 to rotate, therefore, low speed nut sleeve 3 is converted into the rotation of moving-coil 5 by moving linearly, so that
Realize deceleration transmission.The apparatus structure is simple, carries out power dividing by multigroup high-speed guide screw mechanism 1, not only high transmission accuracy,
Bearing capacity is strong, and manufacturing cost is low, transmission efficiency, meanwhile, compact conformation, small volume, and almost PURE ROLLING,
Coefficient of friction is extremely low, reduces the hysteresis in transmission, and the backlash for reducing ball joint is poor, and machine is improved from source
The repetitive positioning accuracy of person joint.
The utility model is not limited to above-mentioned specific embodiment, and one of ordinary skill in the art visualizes from above-mentioned
Hair, without performing creative labour, a variety of conversion made are all fallen within protection domain of the present utility model.
Claims (10)
1. a kind of tandem power dividing ball joint, it is characterised in that including quantity no less than two pieces high-speed guide screw mechanism,
Jing Quan, low speed nut sleeve, low speed ball, moving-coil, the first support ball, guiding ball, described Jing Quan are located at high-speed guide screw machine
On the outside of structure, described Jing Quan is connected with high-speed guide screw mechanism rolling, described low speed nut sleeve run through by high-speed guide screw mechanism and
On the inside of the quiet circle, described low speed nut sleeve is connected with high-speed guide screw mechanism screw thread and is movably connected with Jing Quan, and described is low
Fast ball is located on the outside of low speed nut sleeve, and described low speed ball is rolled with low speed nut sleeve to be connected, and described moving-coil is located at low
On the outside of fast ball and on the outside of quiet circle, described moving-coil is rolled with low speed ball to be connected and is movably connected with Jing Quan, described
First support ball is located between Jing Quan and moving-coil, and the first described support ball is rolled with Jing Quan to be connected and roll phase with moving-coil
Even, described guiding ball is located between Jing Quan and low speed nut sleeve, described guiding ball be connected with Jing Quan rollings and with it is low
Fast nut sleeve, which is rolled, to be connected；
Described high-speed guide screw mechanism also includes rotation section, high-speed guide screw, the second support ball, feed nut, described high speed
Leading screw is located at rotation section side, and described high-speed guide screw is integrally connected with rotation section, and the second described support ball, which is located at, to be rotated
On the outside of portion and on the inside of quiet circle, the second described support ball rolls to be connected and roll with Jing Quan with rotation section to be connected, described
Feed nut be located on the outside of high-speed guide screw and through low speed nut sleeve, described feed nut be connected with high-speed guide screw screw thread and
It is connected with low speed nut external threading.
2. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described rotation section is additionally provided with
One stopper slot, the first described stopper slot is located on the outside of rotation section, and the first described stopper slot is not through rotation section.
3. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described rotation section is additionally provided with peace
Hole is filled, described mounting hole is not through rotation section.
4. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described Jing Quan is additionally provided with second
Stopper slot, the second described stopper slot is located on the inside of quiet circle, and the second described stopper slot is not through Jing Quan.
5. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described Jing Quan is additionally provided with the 3rd
Stopper slot, the 3rd described stopper slot is located on the outside of quiet circle, and the 3rd described stopper slot is not through Jing Quan.
6. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described Jing Quan is additionally provided with first
Guide groove, the first described guide groove is located on the inside of quiet circle, and the first described guide groove is not through Jing Quan.
7. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described low speed nut sleeve is also set
There is the second guide groove, the second described guide groove is located on the outside of low speed nut sleeve, and the second described guide groove is not through low speed spiral shell
Mother set.
8. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described low speed nut sleeve is also set
There is the first raceway, the first described raceway is located on the outside of low speed nut sleeve, and the first described raceway is not through low speed nut sleeve.
9. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described moving-coil is additionally provided with the 4th
Stopper slot, the 4th described stopper slot is located on the inside of moving-coil, and the 4th described stopper slot is not through moving-coil.
10. tandem power dividing ball joint as claimed in claim 1, it is characterised in that described moving-coil is additionally provided with second
Raceway, the second described raceway is located on the inside of moving-coil, and the second described raceway is not through moving-coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720173151.6U CN206522415U (en) | 2017-02-25 | 2017-02-25 | A kind of tandem power dividing ball joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720173151.6U CN206522415U (en) | 2017-02-25 | 2017-02-25 | A kind of tandem power dividing ball joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206522415U true CN206522415U (en) | 2017-09-26 |
Family
ID=59891783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720173151.6U Expired - Fee Related CN206522415U (en) | 2017-02-25 | 2017-02-25 | A kind of tandem power dividing ball joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206522415U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106855105A (en) * | 2017-02-25 | 2017-06-16 | 池州市弥优智能传动部件有限公司 | A kind of tandem power dividing ball joint |
| CN114346735A (en) * | 2022-01-17 | 2022-04-15 | 清华大学 | Linear feeding device |
-
2017
- 2017-02-25 CN CN201720173151.6U patent/CN206522415U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106855105A (en) * | 2017-02-25 | 2017-06-16 | 池州市弥优智能传动部件有限公司 | A kind of tandem power dividing ball joint |
| CN106855105B (en) * | 2017-02-25 | 2023-04-28 | 池州市弥优机床有限公司 | Series power split ball joint |
| CN106855105B8 (en) * | 2017-02-25 | 2023-05-26 | 池州弥优机床有限公司 | Series power split ball joint |
| CN114346735A (en) * | 2022-01-17 | 2022-04-15 | 清华大学 | Linear feeding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170926 Termination date: 20210225 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |