Multi-degree-of-freedom pitch circle inner-meshing circular moving transmission device

Abstract

The invention discloses a multi-degree-of-freedom pitch circle inner-meshing circular moving transmission device. The device comprises a parallel spherical joint upper platform, a fixed upper top cover, at least two outer ring inner gears and a device lower platform; the outer circumferential edge of each outer ring inner gear is movably connected with the parallel spherical joint upper platform through a connecting part and a parallel spherical joint rocker arm; at least two connecting shaft outer gear banks for driving the outer ring inner gears to rotate independently are evenly distributed and rotationally arranged between the fixed upper top cover and the device lower platform; each connecting shaft outer gear bank comprises a gear shaft, a driving outer gear and a driven outer gear; and circular pitch circle structures are arranged on sides of the outer ring inner gears, the meshing driving outer gears and the meshing driven outer gears. With the device, positioning of the gears can be realized, a driving motor is arranged below the lower platform while the excellent motion characteristics of a conventional circular moving pair are guaranteed, the dynamic load of the whole transmission device in the power output process is reduced, the rotational inertia is smaller, and the motion performance is more excellent.

Description

technical field [0001] The invention belongs to the field of spherical three-degree-of-freedom parallel mechanisms, and relates to a transmission mechanism of parallel ball joints, in particular to a multi-degree-of-freedom pitch circle internal meshing ring type mobile transmission device. Background technique [0002] In order to meet the transmission requirements of the existing parallel ball joint transmission mechanism, the driving motor is usually placed on the moving rocker arm. When the motor drives the rocker arm, the motor also moves with it. Although this method is very simple and convenient to implement, But it also has disadvantages that cannot be ignored. A common solution nowadays is to fix the driving motor under the lower platform by means of hollow shaft transmission so that it does not move with the movement of the mechanism. However, the working characteristics of the hollow shaft still have certain problems. [0003] The motor is placed on the moving ro...

AI Technical Summary

Problems solved by technology

[0009] In order to meet the requirements of power transmission, the existing gear structure uses involutes to draw the tooth shape according to the corresponding actual needs, and makes the corresponding gear structure, and realizes the power transmission function through the meshing of the external gear and the internal gear. Insufficient, industrial manufacturing errors and other reasons, the meshing between the teeth is not completely in accordance with the expected involute form, this kind of common gear meshing has some defects that cannot be ignored

[0010] The deviation between the tooth shape and its expected involute caused by insufficient machining accuracy and industrial manufacturing errors may cause some single teeth to be inserted too deep and cause radial displacement under the promotion of a certain radial force, so that the meshing process is not completely in accordance with The expected involute form proceeds, the meshing point moves, causing the gear meshing to no longer be a pure rolling form, the transmission resistance increases and the acceleration gear is damaged

[0011] When the transmission device needs to be driven by the inner gear of the outer ring, a whole set of complicated bearings and positioning structures are often required to make it precisely positioned somewhere and can rotate freely to realize the transmission function. the weight of

[0012] In the common ordinary internal gear structure, during the meshing process of the outer gear and the inner gear of the outer ring, due to factors such as machining accuracy, the tooth shape of the gear deviates from the design drawing, and radial displacement is likely to occur, which changes the meshing point of the gear. Deviating from the expected pure rolling mesh, increasing the transmission resistance and causing damage to the teeth, affecting the stability of the transmission process

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