Three-degree-of-freedom spherical tooth transmission pair

Abstract

The invention discloses a three-degree-of-freedom spherical tooth transmission pair and relates to the technical field of mechanical transmission and bionic moving joints. The three-degree-of-freedom spherical tooth transmission pair comprises a discrete spherical gear and a continuous spherical gear engaged with the discrete spherical gear. The discrete spherical gear and the continuous spherical gear each comprise a plurality of planar involute ring tooth surfaces and a plurality of spherical involute sphero-conic tooth surfaces, wherein the planar involute ring tooth surfaces and the spherical involute sphero-conic tooth surfaces are perpendicularly crossed so as to form a plurality of convex surface spherical teeth of the discrete spherical gear and to form a plurality of concave surface spherical teeth of the continuous spherical gear. One convex surface spherical tooth is used for being inserted into one corresponding concave surface spherical tooth so that the defects that an existing spherical gear only has two degrees of freedom, the machining and manufacturing difficulty is large, and the machining cost is excessively high can be overcome, movement of deflection, pitching and rotation around the axis in three degrees of freedom can be achieved, machining is easy, engaged transmission is stable, and no transmission principle error exists.

Description

technical field [0001] The invention relates to the technical field of mechanical transmission and bionic motion joints, in particular to a three-degree-of-freedom spherical tooth transmission pair. Background technique [0002] The traditional gear mechanism is a single-degree-of-freedom transmission, which cannot meet the requirements of multiple transmission degrees of freedom in emerging fields. The appearance of spherical gears has completely changed this phenomenon. [0003] In the 1980s, Norwegian engineers invented the world's first Trallfa painting robot flexible wrist based on ball gear transmission with two degrees of freedom of motion, which can transmit two-dimensional rotary motion. It is difficult to manufacture and the processing cost is too high. [0004] Pan Cunyun and others proposed a "involute ring ball gear", which is formed by the rotation of a plane involute around the axis, and any section passing through the axis is a plane involute tooth profile. ...

AI Technical Summary

Problems solved by technology

[0002] The traditional gear mechanism is a single-degree-of-freedom transmission, which cannot meet the requirements of multiple transmission degrees of freedom in emerging fields. The appearance of spherical gears has completely changed this phenomenon.

[0003] In the 1980s, Norwegian engineers invented the world's first Trallfa painting robot flexible wrist based on ball gear transmission with two degrees of freedom of motion, which can transmit two-dimensional rotary motion. It is difficult to manufacture and the processing cost is too high

But the ball gear has only two degrees of freedom, and the gripper cannot be connected to the wrist based on the ball gear

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