CN209240023U - A kind of joint swing mechanism based on Hindley worm gear - Google Patents
A kind of joint swing mechanism based on Hindley worm gear Download PDFInfo
- Publication number
- CN209240023U CN209240023U CN201821992117.2U CN201821992117U CN209240023U CN 209240023 U CN209240023 U CN 209240023U CN 201821992117 U CN201821992117 U CN 201821992117U CN 209240023 U CN209240023 U CN 209240023U
- Authority
- CN
- China
- Prior art keywords
- worm gear
- hindley worm
- joint
- ball
- hindley
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of joint swing mechanism based on Hindley worm gear, including a pair of of joint end, connecting plate and Hindley worm gear pair；Gear pair includes intermeshing concave Hindley worm gear and convexity Hindley worm gear, concave Hindley worm gear and the convexity Hindley worm gear include ball-crown body, involute gear teeth is evenly distributed on the circumference of ball-crown body, the bottom of ball-crown body is provided with installation axle, cruciform groove is provided at the top of the ball-crown body of concave Hindley worm gear, cross double wedge is provided at the top of the ball-crown body of convexity Hindley worm gear, cross double wedge is adapted with cruciform groove；The installation axle of concave Hindley worm gear and convexity Hindley worm gear is rotatably dispose in the inside at two joint ends respectively；The both ends of connecting plate are provided with pivot, and two joints end is rotatablely connected with respective pivot respectively.The utility model can realize the swing of joint any direction, transmission shaft deflecting and steady transmission based on Hindley worm gear.
Description
Technical field
The utility model belongs to robot arm joint technical field, more particularly to a kind of based on Hindley worm gear realization joint
The joint swing mechanism of any direction swing, transmission shaft deflecting.
Background technique
It is defeated to be frequently necessary to can to change transmission in industrial robot arm joint and other Universal drive speed adjusting gears
Enter the gear drive of angle between axis and transmission output shaft, that is to say, that gear drive is that arm joint realizes swing
Core component.
Chinese patent discloses a kind of pivoted axle gear drive, uses application No. is 2013205872680
Special gear realizes the angle of input shaft and output shaft in power train process with regard to the gear of structure and can be changed, and has expanded gear mechanism
The application field of structure, but this pivoted axle gear drive can only also realize that the angle of input shaft and output shaft is put down same
Change on face, transmission has dead angle, undesirable applied to the effect in arm joint.
Another Chinese patent discloses a kind of gearing mechanism of spherical gear application No. is 201620190088.2, though
Any change of angle between power input shaft and output shaft in three dimensions so is realized, but is passed in spherical gear pair
During dynamic, since flank profil attenuates spherical surface apex is thinning, it be unable to driven load, bigger torque is born, so that in height
It cannot be steadily driven in the case where load.
Utility model content
It is intended to overcome above-mentioned the deficiencies in the prior art, the technical issues of the utility model solves has been to provide one
Kind of the joint swing mechanism based on Hindley worm gear, can be realized based on Hindley worm gear joint any direction swing, transmission shaft deflecting and
Steady transmission.
The utility model solves technical solution used by above-mentioned technical problem: a kind of joint pendulum based on Hindley worm gear
Motivation structure, the joint swing mechanism include joint end, connecting plate and Hindley worm gear pair；
The Hindley worm gear pair includes intermeshing concave Hindley worm gear and convexity Hindley worm gear, the middle concave spherical surface tooth
Wheel and the convexity Hindley worm gear include ball-crown body, and involute gear teeth, institute are evenly distributed on the circumference of the ball-crown body
The bottom for stating ball-crown body is provided with installation axle, is provided at the top of the ball-crown body of the concave Hindley worm gear cross recessed
Slot is provided with cross double wedge, the cross double wedge and described ten at the top of the ball-crown body of the convexity Hindley worm gear
Font groove is adapted；
The joint end is two, and the installation axle of the concave Hindley worm gear and the convexity Hindley worm gear rotates respectively to be set
It is placed in the inside at two joint ends；
The both ends of the connecting plate are provided with pivot, two joint ends respectively with the corresponding company of pivoting
It connects.
Further, the end at two joint ends is equipped with installation through-hole, is provided in two installation through-holes
Annular guiding tooth, and two annular guiding tooths are meshed；The ball-crown body is located at the inside of the annular guiding tooth.
Further, the annular tooth part that the annular guiding tooth includes mounting portion and connect with one end of the mounting portion, institute
Stating mounting portion is hollow structure, and the installation axle is pierced by the mounting portion and is rotatablely connected with the mounting portion, the ball-crown body
Positioned at the inside of the annular tooth part.
Further, the annular tooth part is two, and is relatively arranged on one end of the mounting portion, and the ball-crown body is located at
Between two annular tooth parts.
Further, casing is provided between the installation through-hole and the mounting portion.
Further, the installation through-hole is stepped hole, the large-diameter portion of the outer diameter of the annular tooth part and the installation through-hole
It is adapted, the outer diameter of described sleeve pipe is adapted with the small diameter portion of the installation through-hole.
Further, the involute gear teeth is the round-arced tooth gear teeth.
Further, the joint end is cylindrical structure.
Further, the connecting plate is two, and two connecting plates are symmetrically disposed on joint end peripheral part.
After above-mentioned technical proposal, the beneficial effects of the utility model are:
Joint swing mechanism of the utility model based on Hindley worm gear mainly includes joint end, connecting plate and Hindley worm gear
It is secondary；Wherein Hindley worm gear pair is core component, and Hindley worm gear pair includes concave Hindley worm gear and convexity Hindley worm gear, middle concave spherical surface
Involute gear teeth, the ball-crown body of concave Hindley worm gear are evenly distributed on the circumference of the ball-crown body of gear and convexity Hindley worm gear
Top be provided with cruciform groove, cross double wedge, cross double wedge are provided at the top of the ball-crown body of convexity Hindley worm gear
It is adapted with cruciform groove.Wherein cross double wedge and cruciform groove can bear bigger torsion when to middle transmission process
Square, it is ensured that the steady transmission under high load condition.
Equally distributed involute gear teeth can realize that engagement of the two joint end when swinging to 90 degree or so passes on circumference
It is dynamic；Cross double wedge, groove in the involute profile for having standard on each normal section, it can be achieved that in or close to it is middle when
Engaged transmission.Hindley worm gear pair is designed according to the involute theory of engagement, in the swing process of joint end, it is ensured that Hindley worm gear pair
Flank profil under any angle can perfect engagement, engagement swing angle is 90 degree reachable, no transmission dead angle.
For the path of action for guaranteeing Hindley worm gear pair in swing process, the utility model is additionally arranged annular guiding tooth；Annular
The validity of engaged transmission when guiding tooth is used to limit center away to realize Hindley worm gear pair centering, and annular guiding tooth can also prevent
De- tooth phenomenon when only Hindley worm gear pair engages.
Detailed description of the invention
Fig. 1 is joint swing mechanism schematic structural cross-sectional view of the utility model based on Hindley worm gear；
Fig. 2 is the structural schematic diagram of concave Hindley worm gear in Fig. 1；
Fig. 3 is the structural schematic diagram of another angle of Fig. 2；
Fig. 4 is the structural schematic diagram of convexity Hindley worm gear in Fig. 1；
Fig. 5 is the structural schematic diagram of another angle of Fig. 4；
Fig. 6 is the structural schematic diagram of an annular guiding tooth in Fig. 1；
Fig. 7 is the structural schematic diagram of another the annular guiding tooth engaged with Fig. 6；
Hindley worm gear pair meshing state schematic diagram when Fig. 8 is centering engaged transmission；
Fig. 9 is Hindley worm gear pair meshing state schematic diagram when swinging to 90 degree of engaged transmissions；
In figure: the joint 1- end, 2- concave Hindley worm gear, 21- ball-crown body, 22- installation axle, 23- involute gear teeth, 24-
Cruciform groove, 3- convexity Hindley worm gear, 31- ball-crown body, 32- installation axle, 33- involute gear teeth, the cross double wedge of 34-,
4- connecting plate, 51- annular guiding tooth, 511- mounting portion, 512- annular tooth part, 52- annular guiding tooth, 521- mounting portion, 522-
Annular tooth part, 6- casing, 7- pivot, 8- bearing, 9- bearing.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The embodiment of utility model is described in detail.
As shown in Figure 1, a kind of joint swing mechanism based on Hindley worm gear, the main member of the joint swing mechanism is one
To joint end 1, connecting plate 4 and Hindley worm gear pair.
As Fig. 2 to Fig. 5 jointly shown in, Hindley worm gear pair includes intermeshing concave Hindley worm gear 2 and middle convex spherical tooth
Wheel 3, concave Hindley worm gear 2 include ball-crown body 21, are evenly distributed with involute gear teeth 23, ball-crown body on the circumference of ball-crown body 21
21 bottom is provided with installation axle 22, and the top of the ball-crown body 21 of concave Hindley worm gear 2 is provided with cruciform groove 24.
Convexity Hindley worm gear 3 includes ball-crown body 31, is evenly distributed with involute gear teeth 33, ball on the circumference of ball-crown body 31
The bottom of hat body 31 is provided with installation axle 32, and the top of the ball-crown body 31 of convexity Hindley worm gear 3 is provided with cross double wedge 34, and ten
Font double wedge 34 is adapted with cruciform groove 24, and has the involute profile of standard on each normal section, centering or
Close to can be realized when centering engaged transmission and transmitting torque.
The installation axle 22,23 of concave Hindley worm gear 2 and convexity Hindley worm gear 3 is rotatably dispose in two joints end 1 respectively
It is internal.The both ends of connecting plate 4 are provided with pivot 7, and two joints end 1 is rotatablely connected with respective pivot 7 respectively；Connecting plate 4 is real
The connection at existing two joints end 1, while two joints end 1 can occur to rotate at any angle relative to connecting plate 4.Connecting plate 4
It is two, two connecting plates 4 are symmetrically disposed on 1 peripheral part of joint end, it can be ensured that form stable company between two joints end 1
It connects.
In the present embodiment, involute gear teeth 23,33 is the round-arced tooth gear teeth, and joint end 1 is cylindrical structure.
There are two flank profils to move towards for design within the scope of 90 degree on ball-crown body 21,31, i.e. the trend of involute gear teeth 23: by four
Circumferential center flank profil transition from large to small (in the facewidth direction flank profil from large to small)；The trend of cross double wedge 34: from center to
Surrounding flank profil transition from large to small (in the facewidth direction flank profil from large to small)；Ensure to there is last flank profil to nibble in 0 degree and 90 degree
It closes.
As Fig. 1, Fig. 6, Fig. 7 jointly shown in, for guarantee swing process in Hindley worm gear pair path of action, the utility model
It is additionally arranged annular guiding tooth 51,52；Annular guiding tooth 51,52 is for limiting center away from (annular guiding tooth 51,52 is also involute
The reference diameter of gear teeth, annular guiding tooth 51,52 is consistent with ball-crown body 21,31 arc diameters, to ensure two annulars
When guiding tooth 51,52 centerings engagement, lucky Hindley worm gear pair centering engagement) to realize Hindley worm gear pair centering when engaged transmission
Validity, and annular guiding tooth 5 can also prevent from taking off tooth phenomenon when the engagement of Hindley worm gear pair.
The end at two joints end 1 is equipped with installation through-hole, be respectively arranged in two installation through-holes annular guiding tooth 51,
52, and two annular guiding tooths 51,52 are meshed；Ball-crown body 21,31 is located at the inside of corresponding annular guiding tooth 51,52,
Ball-crown body 21 is located at the inside of annular guiding tooth 51 in the present embodiment, and ball-crown body 31 is located at the inside of annular guiding tooth 52.
In the present embodiment, annular guiding tooth 51,52 includes mounting portion 511,521 and connects with one end of mounting portion 511,521
The annular tooth part 512,522 connect, mounting portion 511,521 are hollow structure (being equivalent to equipped with inner hole), and installation axle 22,32 is worn respectively
Out corresponding mounting portion 511,521 and with mounting portion 511,521 rotation connection (installation axle 22 is pierced by mounting portion 511, installation axle
32 are pierced by mounting portion 521), ball-crown body 21,31 is located at the inside of corresponding annular tooth part 512,522.Above scheme into one
Step is improved, and annular tooth part 512,522 is two, and is relatively arranged on one end of mounting portion 511,521, at this time ball-crown body 21
Between corresponding two annular tooth parts 512, ball-crown body 31 is between corresponding two annular tooth parts 522.
In the present embodiment, a set is each provided between installation through-hole and the mounting portion 511,521 of annular guiding tooth 51,52
Pipe 6, installation through-hole are stepped hole, the outer diameter of the annular tooth part 512,522 of annular guiding tooth 51,52 and the large-diameter portion of installation through-hole
It is adapted (tight fit), the outer diameter of casing 6 is adapted (tight fit) with the small diameter portion of installation through-hole.
It should be understood that
In the present embodiment, two joints end 1 is achieved in that with what respective pivot 7 was rotatablely connected respectively: by being mounted on
Bearing 8 on joint end 1 realizes rotation connection, which undertakes axially position effect simultaneously.
The reality that installation axle 22,32 is pierced by corresponding mounting portion 511,521 respectively and is rotatablely connected with mounting portion 511,521
Existing mode is: it realizes and is rotatablely connected by bearing 9, the inner wall tight fit of the outer ring of bearing 9 and hollow mounting portion 511,521,
The inner ring of bearing 9 and the periphery wall tight fit of installation axle 22,32, the bearing 9 undertake axially position effect simultaneously.
When concave Hindley worm gear 2 and convexity Hindley worm gear 3 engage, in addition to it can realize transmission during the swing, also
It can be at present can output torque to middle engagement, it is ensured that steady transmission when high load condition.
As Fig. 8 and Fig. 9 jointly shown in, the utility model is based on the joint swing mechanism of Hindley worm gear, it can be achieved that swing side
To -90 ° to 90 ° of any adjustings and transmission is without dead angle, better than ordinary robot's arm joint of existing multi-servomotor composition.
The above is the preferred embodiment of the utility model, is not intended to limit the utility model, all in this reality
It should be included in the protection scope of the utility model with any modification made within novel spirit and principle.
Claims (9)
1. a kind of joint swing mechanism based on Hindley worm gear, which is characterized in that the joint swing mechanism includes joint end, connects
Fishplate bar and Hindley worm gear pair；
The Hindley worm gear pair includes intermeshing concave Hindley worm gear and convexity Hindley worm gear, the concave Hindley worm gear and
The convexity Hindley worm gear includes ball-crown body, and involute gear teeth, the ball are evenly distributed on the circumference of the ball-crown body
The bottom of hat body is provided with installation axle, is provided with cruciform groove at the top of the ball-crown body of the concave Hindley worm gear, institute
State and be provided with cross double wedge at the top of the ball-crown body of convexity Hindley worm gear, the cross double wedge with it is described cross recessed
Slot is adapted；
The joint end is two, and the installation axle of the concave Hindley worm gear and the convexity Hindley worm gear is rotatably dispose in respectively
The inside at two joint ends；
The both ends of the connecting plate are provided with pivot, and two joint ends are connect with corresponding described pivot respectively.
2. the joint swing mechanism based on Hindley worm gear as described in claim 1, which is characterized in that two joint ends
End is equipped with installation through-hole, and annular guiding tooth, and two annular guiding tooths are provided in two installation through-holes
It is meshed；The ball-crown body is located at the inside of the annular guiding tooth.
3. the joint swing mechanism based on Hindley worm gear as claimed in claim 2, which is characterized in that the annular guiding tooth packet
The annular tooth part for including mounting portion and connecting with one end of the mounting portion, the mounting portion are hollow structure, and the installation axle is worn
It the mounting portion and is rotatablely connected out with the mounting portion, the ball-crown body is located at the inside of the annular tooth part.
4. the joint swing mechanism based on Hindley worm gear as claimed in claim 3, which is characterized in that the annular tooth part is two
It is a, and it is relatively arranged on one end of the mounting portion, the ball-crown body is located between two annular tooth parts.
5. the joint swing mechanism based on Hindley worm gear as claimed in claim 4, which is characterized in that the installation through-hole and institute
It states and is provided with casing between mounting portion.
6. the joint swing mechanism based on Hindley worm gear as claimed in claim 5, which is characterized in that the installation through-hole is rank
Terraced hole, the outer diameter of the annular tooth part are adapted with the large-diameter portion of the installation through-hole, the outer diameter of described sleeve pipe and the installation
The small diameter portion of through-hole is adapted.
7. the joint swing mechanism based on Hindley worm gear as described in claim 1, which is characterized in that the involute gear teeth
It is the round-arced tooth gear teeth.
8. the joint swing mechanism based on Hindley worm gear as described in claim 1, which is characterized in that the joint end is cylinder
Shape structure.
9. the joint swing mechanism based on Hindley worm gear as claimed in claim 8, which is characterized in that the connecting plate is two
A, two connecting plates are symmetrically disposed on joint end peripheral part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821992117.2U CN209240023U (en) | 2018-11-29 | 2018-11-29 | A kind of joint swing mechanism based on Hindley worm gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821992117.2U CN209240023U (en) | 2018-11-29 | 2018-11-29 | A kind of joint swing mechanism based on Hindley worm gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209240023U true CN209240023U (en) | 2019-08-13 |
Family
ID=67530633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821992117.2U Expired - Fee Related CN209240023U (en) | 2018-11-29 | 2018-11-29 | A kind of joint swing mechanism based on Hindley worm gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209240023U (en) |
-
2018
- 2018-11-29 CN CN201821992117.2U patent/CN209240023U/en not_active Expired - Fee Related
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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: 20190813 Termination date: 20211129 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |