A hydraulically driven large swing angle transmission mechanism

Abstract

A hydraulically driven large swing angle transmission mechanism relates to the technical field of hydraulically driven robots. The present invention solves the problems of the existing hydraulically driven humanoid robot shoulder joints, such as a small working range, inability to perform complex movements, large size, low space utilization, small load bearing capacity, and limited work tasks that can be completed. In the present invention, under the action of the rotating hydraulic cylinder, the swing guide rail seat rotating bracket will rotate to a certain angle. When the swing hydraulic cylinder acts, the swing rod can be swung to a certain angle through the slider assembly, the swing guide rail, and the swing two-force rod. Under the action of the swing hydraulic cylinder, the swing rod can be swung to a certain angle. Under the action of the rotating hydraulic cylinder, the swing rod can be rotated to a certain angle. The present invention is used to realize the swinging action and large-range rotation action of the swing rod, increase the integration and space utilization of the robot, make the robot structure more compact, and adopt hydraulic drive to enable the robot to withstand higher loads.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulically driven robots, and in particular to a hydraulically driven large swing angle transmission mechanism. Background Art

[0002] Due to the maturity of linear hydraulic cylinder technology, compared to oscillating cylinders, linear hydraulic cylinders offer a smaller footprint and a higher power-to-weight ratio. Hydraulically driven robots rely on linear hydraulic cylinder drive and connecting rod transmission to achieve swing and rotation of joints. Through proper path planning, structural design, and setting of the working range, robot joints can achieve sensitive and accurate movement. Given the high dynamic performance requirements of hydraulically driven robots, the robot joints require a high-strength, lightweight mechanical structure.

[0003] Taking the humanoid robot shoulder joint as an example, hydraulically actuated shoulder joints offer superior dynamic performance and load-bearing capacity compared to motor-driven shoulder joints. Most motor-actuated shoulder joints are bulky and lack high integration due to their numerous degrees of freedom and the need for coordination with the elbow and wrist. Hydraulically actuated shoulder joints offer high power density, can carry higher loads, and achieve a higher level of integration.

[0004] Some robot joints are required to rotate more than 180 degrees, sometimes even over 300 degrees. To avoid dead spots during transmission, the linear hydraulic cylinder-driven connecting rod transmission mechanism theoretically limits the joint rotation range to 180 degrees, and transmits low torque at extreme positions. To ensure a large working range and load-bearing capacity for the robot arm, the shoulder joint must also have a large working range. The shoulder joint structure must withstand heavy loads, so it must be sufficiently strong.

[0005] The existing hydraulically driven humanoid robot shoulder joints have some shortcomings: a small working range and an inability to perform complex movements; a large size and low space utilization; a small load-bearing capacity and limited work tasks that can be completed. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of the existing hydraulically driven humanoid robot shoulder joints, such as a small working range, inability to perform complex movements; large size, low space utilization; small load bearing capacity, and limited work tasks that can be completed, and thus provide a hydraulically driven large swing angle transmission mechanism.

[0007] The technical solution of the present invention is:

[0008] A hydraulically driven large swing angle transmission mechanism, which includes a swing mechanism and a rotation mechanism.

[0009] The swing mechanism includes a swing rod 1, a swing two-force rod 8, a swing guide rail seat rotating bracket 2 and a swing hydraulic cylinder 10. The swing rod 1 includes an upper arm platform, two bearing mounting plates 14 and two inner mounting plates 17. The upper arm platform is composed of an integrally formed and coaxially arranged disc-shaped upper platform part and a lower rod section part. The top of the disc-shaped upper platform part is provided with two symmetrically arranged bearing mounting plates 14. The two bearing mounting plates 14 are hinged to one end of the swing guide rail seat rotating bracket 2 through a swing connection piece 1. The inner sides of the two bearing mounting plates 14 are provided with two symmetrically arranged inner mounting plates 17. The two inner mounting plates 17 are hinged to one end of the swing two-force rod 8 through a swing connection piece 2. The other end of the swing guide rail seat rotating bracket 2 is rotatably mounted with a swing hydraulic cylinder 10. The piston rod end of the swing hydraulic cylinder 10 is inserted into the inside of the swing guide rail seat rotating bracket 2 and is hinged to the other end of the swing two-force rod 8.

[0010] The rotating mechanism includes a rotating bearing seat 3, a base frame 4, a transmission bevel gear 9, a fan bevel gear 5, a fan bevel gear connecting rod 6, a rotating two-force rod 7 and a rotating hydraulic cylinder 13. The middle part of the swing guide seat rotating bracket 2 is rotatably connected to the rotating bearing seat 3. The rotating bearing seat 3 is installed on the upper part of the base frame 4, and the transmission bevel gear 9 is sleeved in the middle part of the swing guide seat rotating bracket 2. A fan bevel gear connecting rod 6 is provided below the transmission bevel gear 9. A connecting rod connecting shaft section is provided at the upper part of the base frame 4. The fan bevel gear connecting rod 6 can be rotatably installed on the connecting rod connecting shaft section of the base frame 4. The fan bevel gear 5 is installed on the transmission bevel gear 9. The fan bevel gear 5 is meshed with the transmission bevel gear 9. The side surface of the fan bevel gear connecting rod 6 is provided with two symmetrically arranged rotating pin mounting ear plates. The two rotating pin mounting ear plates are hinged to one end of the rotating two-force rod 7 through a rotating connecting piece 1. The other end of the rotating two-force rod 7 is hinged to the piston rod end of the rotating hydraulic cylinder 13 through a rotating connecting piece 2. The rotating hydraulic cylinder 13 is installed at the lower part of the base frame 4.

[0011] Furthermore, the swing guide rail seat rotating bracket 2 is a stepped hollow shaft structure, and one end of the swing guide rail seat rotating bracket 2 is provided with two connecting ear plates symmetrically arranged along the axis of the rotating bracket, and the ends of the two connecting ear plates are respectively provided with two coaxially arranged swing joint shaft connecting sleeves, and each swing joint shaft connecting sleeve is radially processed with a locking screw mounting hole 37 that passes through the inner and outer sides of the swing joint shaft connecting sleeve, and the middle part of the swing guide rail seat rotating bracket 2 is processed with a swing rod rotating bearing shoulder 38, and the other end of the swing guide rail seat rotating bracket 2 is provided with a coaxially arranged support bearing seat 39.

[0012] Furthermore, the swing connection part 1 includes a swing joint shaft 24, a swing bearing 16, a swing bearing 23, two swing sleeves 27, two shoulder bearing end covers 15 and two set screws 25. The two bearing mounting plates 14 are respectively provided with two coaxially arranged bearing mounting holes, and the two bearing mounting holes are respectively embedded with the swing bearing 16 and the swing bearing 23. The outer sides of the swing bearing 16 and the swing bearing 23 are respectively provided with two shoulder bearing end covers 15. The two shoulder bearing end covers 15 are respectively fixedly connected to the outer side surfaces of the corresponding two bearing mounting plates 14 by multiple connecting screws. The swing guide seat rotation bracket 2 is The two connecting ear plates at the ends are respectively inserted into the gap between the corresponding bearing mounting plate 14 and the inner mounting plate 17. A swing sleeve 27 is respectively provided between each connecting ear plate and the adjacent inner mounting plate 17. The two ends of the swing joint shaft 24 respectively pass through the two swing sleeves 27, the two connecting ear plates, the swing bearing 16 and the swing bearing 2 23 and the two shoulder bearing end covers 15. The side of the swing joint shaft 24 is processed with two symmetrically arranged radial connecting threaded holes, which correspond one to one with the fixing screw mounting holes 37 of the two connecting ear plates. The two connecting ear plates are connected to the swing joint shaft 24 through two fixing screws 25.

[0013] Furthermore, the second swing connection member includes a swing pin 19, a radial spherical sliding bearing 21, an elastic retaining ring 26 and two swing pin sleeves 20. The upper parts of the two inner mounting plates 17 are respectively processed with two coaxially arranged pin mounting holes 18. A swing pin connecting sleeve is provided at one end of the second swing force rod 8. A radial spherical sliding bearing 21 is embedded in the inner hole of the swing pin connecting sleeve. Two swing pin sleeves 20 are respectively provided between the swing pin connecting sleeve and the two inner mounting plates 17. An integrally formed stop ring is provided at one end of the swing pin 19. The other end of the swing pin 19 passes through the pin mounting hole 18 on one side, the swing pin sleeve 20, the radial spherical sliding bearing 21, the swing pin sleeve 20 on the other side and the pin mounting hole 18 in sequence and is connected to the elastic retaining ring 26.

[0014] Furthermore, the swinging mechanism also includes a swinging guide rail 28 and a slider assembly 11. A swinging guide rail 28 is provided inside the swinging guide rail seat rotating bracket 2 along the length direction of the rotating bracket. The swinging guide rail 28 is located below the piston rod of the swinging hydraulic cylinder 10. The bottom of the swinging guide rail 28 is connected to the swinging guide rail seat rotating bracket 2 by multiple connecting screws, and the slider assembly 11 is slidably installed on the top of the swinging guide rail 28.

[0015] Furthermore, the rotating mechanism also includes a rotating guide rail 12 and a slider assembly 11. A rotating guide rail 12 is provided at the bottom of the base 4 in the vertical direction. The rotating guide rail 12 is located on the side of the piston rod of the rotating hydraulic cylinder 13. The side of the rotating guide rail 12 is connected to the base 4 through a plurality of connecting screws, and the slider assembly 11 is slidably installed on the side of the rotating guide rail 12.

[0016] Furthermore, the slider assembly 11 includes a slider 52, a slider connector 53, a slider pin 54, a piston rod connecting nut 55 and a slider pin washer 56. A slide groove is provided at the bottom of the slider 52 along the length direction, and a slider connector 53 is installed on the top of the slider 52. Both sides of the top of the slider connector 53 are respectively provided with an integrally formed slider sleeve 1 and a slider sleeve 2. The slider sleeve 1 is coaxially arranged with the piston rod of the swing hydraulic cylinder 10 and / or the rotating hydraulic cylinder 13, and the slider sleeve 2 is arranged perpendicular to the axis of the slider sleeve. The piston rod connecting nut 55 is coaxially installed on the slider. On the end face of the block sleeve, the piston rod end of the swing hydraulic cylinder 10 and / or the rotating hydraulic cylinder 13 is processed with an external thread, and the piston rod end of the swing hydraulic cylinder 10 and / or the rotating hydraulic cylinder 13 passes through the inner hole of the slider sleeve one and is threadedly connected to the piston rod connecting nut 55, and the slider pin 54 is inserted in the inner hole of the slider sleeve two, and the other end of the swing two-force rod 8 and / or the rotating two-force rod 7 is provided with a U-shaped frame, and two coaxially arranged slider pin mounting holes 57 are respectively provided on the two side wing plates of the U-shaped frame, and the two ends of the slider pin 54 are respectively inserted in the two slider pin mounting holes 57 of the U-shaped frame.

[0017] Furthermore, the swing mechanism also includes a support bearing 40, a linear sensor 47, a servo valve 45 and two oil pressure sensors 43. A support bearing 40 is embedded in the inner hole of the support bearing seat 39 at the other end of the swing guide seat rotating bracket 2. A support bearing shoulder 41 is provided at one end of the swing hydraulic cylinder body 30. The support bearing 40 is sleeved on the swing hydraulic cylinder body 30 and axial positioning is achieved through the support bearing shoulder 41. The swing hydraulic cylinder body 30 is rotatably connected to the swing guide seat rotating bracket 2 through the support bearing 40. A servo valve mounting seat 44 is provided on the upper part of the swing hydraulic cylinder body 30. The servo valve 45 is mounted on the On the servo valve mounting seat 44, two oil pressure sensor mounting threaded holes 42 are processed on the upper part of the swing hydraulic cylinder body 30. The two oil pressure sensor mounting threaded holes 42 are respectively located on the front and rear sides of the servo valve 45. The two oil pressure sensor mounting threaded holes 42 are respectively connected to the rod cavity and the rodless cavity of the swing hydraulic cylinder body 30. The two oil pressure sensors 43 are respectively connected to the swing hydraulic cylinder body 30 through the two oil pressure sensor mounting threaded holes 42. A linear sensor mounting threaded hole is opened in the center of the swing hydraulic cylinder end cover 46, and the linear sensor 47 is connected to the swing hydraulic cylinder end cover 46 through the linear sensor mounting threaded hole.

[0018] Furthermore, the rotating connecting part 1 includes a radial spherical sliding bearing 21, a rotating pin 33 and two rotating pin sleeves 34. Two rotating pin connecting ear plates on the side of the fan-shaped bevel gear connecting rod 6 are respectively processed with two coaxially arranged rotating pin mounting holes 32. A rotating two-force rod 7 is provided at one end with a rotating pin connecting sleeve. The radial spherical sliding bearing 21 is embedded in the inner hole of the rotating pin connecting sleeve. Two rotating pin sleeves 34 are respectively provided between the rotating pin connecting sleeve and the two rotating pin connecting ear plates. The rotating pin 33 is inserted into the inner hole of the radial spherical sliding bearing 21. The two ends of the rotating pin 33 pass through the rotating pin sleeves 34 and the rotating pin mounting holes 32 on both sides in turn.

[0019] Furthermore, the rotating mechanism also includes a radial spherical sliding bearing 21, a fan-shaped bevel gear fixing flange 51, two fan-shaped bevel gear rotating bearing seats 49 and two fan-shaped bevel gear rotating bearings 50. The fan-shaped bevel gear connecting rod 6 is a circular sleeve structure. A fan-shaped plate 48 extending radially outward is provided in the middle of the fan-shaped bevel gear connecting rod 6. The fan-shaped bevel gear 5 is connected to the fan-shaped plate 48 by a plurality of connecting screws. Two coaxially arranged fan-shaped bevel gear rotating bearing seats 49 are provided at both ends of the fan-shaped bevel gear connecting rod 6. A sector bevel gear rotating bearing 50 is embedded in the inner hole of each sector bevel gear rotating bearing seat 49, and the sector bevel gear connecting rod 6 is rotatably connected to the connecting rod connecting shaft section of the base frame 4 through two sector bevel gear rotating bearings 50. A connecting rod limiting shoulder is processed on the connecting rod connecting shaft section of the base frame 4, and a sector bevel gear fixing flange 51 is sleeved on the end of the connecting rod connecting shaft section of the base frame 4. The sector bevel gear fixing flange 51 and the connecting rod limiting shoulder can both realize axial positioning of the two sector bevel gear rotating bearings 50.

[0020] Compared with the prior art, the present invention has the following effects:

[0021] 1. The present invention provides a bevel sector gear and a transmission bevel gear. By rotating the hydraulic cylinder, the slider assembly, the rotating guide rail, and the rotating two-force rod, the bevel sector gear connecting rod rotates a certain angle, thereby driving the bevel sector gear to rotate. When the bevel sector gear rotates, the transmission bevel gear meshing with the bevel sector gear drives the swing guide rail seat rotating bracket to rotate, thereby realizing the rotation of the shoulder joint. Since the gear ratio of the bevel sector gear to the transmission bevel gear is 2:1, this method can enable the shoulder joint to rotate a larger angle, thereby increasing the working range of the arm.

[0022] 2. The present invention provides a swing guide rail seat rotating bracket. Under the action of the rotating hydraulic cylinder, the swing guide rail seat rotating bracket will rotate a certain angle. When the swing hydraulic cylinder acts, the slider assembly, the swing guide rail and the swing two-force rod can make the swing rod swing a certain angle. In this way, the swinging action and large-range rotation action of the swing rod can be achieved, thereby increasing the integration of the robot, improving space utilization, and making the robot structure more compact.

[0023] 3. The present invention provides a swinging hydraulic cylinder and a rotating hydraulic cylinder. Under the action of the swinging hydraulic cylinder, the swing arm can swing to a certain angle, and under the action of the rotating hydraulic cylinder, the swing arm can rotate to a certain angle. Under the action of the servo valve and the oil pressure sensor, the swing angle can be controlled more accurately. Using hydraulics as a driving method can enable the robot to withstand higher loads, thereby increasing the number of tasks that the robot can complete. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 2. It is a structural schematic diagram of the hydraulically driven large swing angle transmission mechanism of the present invention;

[0025] Figure 2 1 is a schematic structural diagram of the swing rod 1 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0026] Figure 3 This is an exploded view of the assembly of the swing rod 1, the swing guide rail seat rotating bracket 2, and the swing two-force rod 8 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0027] Figure 4 This is a schematic structural diagram of the swing guide rail seat rotating bracket 2 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the swing mechanism in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0029] Figure 6 1 is a schematic structural diagram of the swing hydraulic cylinder body 30 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0030] Figure 7 1 is a schematic structural diagram of the slider assembly 11 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0031] Figure 8 It is a structural schematic diagram of the rotating mechanism in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0032] Figure 9 2. It is a schematic structural diagram of the sector bevel gear connecting rod 6 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0033] Figure 10 It is a structural schematic diagram of the rotating two-force rod 7 in the hydraulically driven large swing angle transmission mechanism of the present invention;

[0034] Figure 11 It is a cross-sectional view of the installation position of the sector bevel gear rotating bearing 50 in the hydraulically driven large swing angle transmission mechanism of the present invention.

[0035] In the figure: 1. Swing rod; 2. Swing guide rail seat rotating bracket; 3. Rotating bearing seat; 4. Base; 5. Sector bevel gear; 6. Sector bevel gear connecting rod; 7. Rotating two-force rod; 8. Swinging two-force rod; 9. Transmission bevel gear; 10. Swing hydraulic cylinder; 11. Slider assembly; 12. Rotating guide rail; 13. Rotating hydraulic cylinder; 14. Bearing mounting plate; 15. Shoulder bearing end cover; 16. Swing bearing 1; 17. Inner mounting plate; 18. Pin mounting hole; 19. Swing pin; 20. Swing pin sleeve; 21. Radial spherical sliding bearing; 22. Swing joint shaft mounting hole; 23. Swing bearing 2; 24. Swing joint shaft; 25. Set screw; 26. Elastic ring; 27. Swing sleeve; 28. Swing guide rail; 29. ​​Swing hydraulic cylinder piston rod; 30. Swing hydraulic cylinder body; 31. Swing rod rotation 3. Bearing; 32. Rotating pin mounting hole; 33. Rotating pin; 34. Rotating pin sleeve; 35. Rotating hydraulic cylinder piston rod; 36. Rotating hydraulic cylinder body; 37. Set screw mounting hole; 38. Swing rod rotating bearing shoulder; 39. Support bearing seat; 40. Support bearing; 41. Support bearing shoulder; 42. Oil pressure sensor mounting threaded hole; 43. Oil pressure sensor; 44. Servo valve mounting seat; 45. Servo valve; 46. Swing hydraulic cylinder end cover; 47. Linear sensor; 48. Fan plate; 49. Fan bevel gear rotating bearing seat; 50. Fan bevel gear rotating bearing; 51. Fan bevel gear fixing flange; 52. Slider; 53. Slider connector; 54. Slider pin; 55. Piston rod connecting nut; 56. Slider pin gasket; 57. Slider pin mounting hole; 58. Rotating hydraulic cylinder end cover. DETAILED DESCRIPTION

[0036] Specific implementation method 1: Combination Figures 1 to 11 This embodiment describes a hydraulically driven large swing angle transmission mechanism, which includes a swing mechanism and a rotation mechanism.

[0037] The swing mechanism includes a swing rod 1, a swing two-force rod 8, a swing guide rail seat rotating bracket 2 and a swing hydraulic cylinder 10. The swing rod 1 includes an upper arm platform, two bearing mounting plates 14 and two inner mounting plates 17. The upper arm platform is composed of an integrally formed and coaxially arranged disc-shaped upper platform part and a lower rod section part. The top of the disc-shaped upper platform part is provided with two symmetrically arranged bearing mounting plates 14. The two bearing mounting plates 14 are hinged to one end of the swing guide rail seat rotating bracket 2 through a swing connection piece 1. The inner sides of the two bearing mounting plates 14 are provided with two symmetrically arranged inner mounting plates 17. The two inner mounting plates 17 are hinged to one end of the swing two-force rod 8 through a swing connection piece 2. The other end of the swing guide rail seat rotating bracket 2 is rotatably mounted with a swing hydraulic cylinder 10. The piston rod end of the swing hydraulic cylinder 10 is inserted into the inside of the swing guide rail seat rotating bracket 2 and is hinged to the other end of the swing two-force rod 8.

[0038] The rotating mechanism includes a rotating bearing seat 3, a base frame 4, a transmission bevel gear 9, a fan bevel gear 5, a fan bevel gear connecting rod 6, a rotating two-force rod 7 and a rotating hydraulic cylinder 13. The middle part of the swing guide seat rotating bracket 2 is rotatably connected to the rotating bearing seat 3. The rotating bearing seat 3 is installed on the upper part of the base frame 4, and the transmission bevel gear 9 is sleeved in the middle part of the swing guide seat rotating bracket 2. A fan bevel gear connecting rod 6 is provided below the transmission bevel gear 9. A connecting rod connecting shaft section is provided at the upper part of the base frame 4. The fan bevel gear connecting rod 6 can be rotatably installed on the connecting rod connecting shaft section of the base frame 4. The fan bevel gear 5 is installed on the transmission bevel gear 9. The fan bevel gear 5 is meshed with the transmission bevel gear 9. The side surface of the fan bevel gear connecting rod 6 is provided with two symmetrically arranged rotating pin mounting ear plates. The two rotating pin mounting ear plates are hinged to one end of the rotating two-force rod 7 through a rotating connecting piece 1. The other end of the rotating two-force rod 7 is hinged to the piston rod end of the rotating hydraulic cylinder 13 through a rotating connecting piece 2. The rotating hydraulic cylinder 13 is installed at the lower part of the base frame 4.

[0039] Among them, the gear ratio of the sector bevel gear 5 and the transmission bevel gear 9 is 2: 1. The swing hydraulic cylinder 10, the rotating bearing seat 3, the rotating guide rail 12 and the rotating hydraulic cylinder 13 are all connected to the base frame 4 with screws.

[0040] Specific implementation method 2: Combination Figures 1 to 11This embodiment describes the swing guide base rotating bracket 2 of this embodiment. It has a stepped hollow shaft structure. Two connecting lugs are symmetrically arranged along the axis of the rotating bracket at one end. The ends of these two connecting lugs are respectively provided with two coaxially arranged swing joint shaft connecting sleeves. Each swing joint shaft connecting sleeve is machined with a set screw mounting hole 37 radially extending through the inner and outer surfaces of the swing joint shaft connecting sleeve. A swing rod rotating bearing shoulder 38 is machined in the middle of the swing guide base rotating bracket 2. A coaxially arranged support bearing seat 39 is provided at the other end of the swing guide base rotating bracket 2. The remaining components and connection relationships are the same as those of the first embodiment.

[0041] The rotating mechanism further includes a swing rod rotating bearing 31 , which is sleeved on the middle of the swing guide rail seat rotating bracket 2 and is axially positioned by the swing rod rotating bearing shoulder 38 .

[0042] Specific implementation method three: Combination Figures 1 to 11 Explain this embodiment. The swing connection part 1 of this embodiment includes a swing joint shaft 24, a swing bearing 16, a swing bearing 23, two swing sleeves 27, two shoulder bearing end covers 15 and two set screws 25. The two bearing mounting plates 14 are respectively provided with two coaxially arranged bearing mounting holes, and the two bearing mounting holes are respectively embedded with the swing bearing 16 and the swing bearing 23. The outer sides of the swing bearing 16 and the swing bearing 23 are respectively provided with two shoulder bearing end covers 15. The two shoulder bearing end covers 15 are respectively fixedly connected to the outer side surfaces of the corresponding two bearing mounting plates 14 by multiple connecting screws. The swing guide seat rotates The two connecting lugs at one end of the dynamic support 2 are respectively inserted into the gap between the corresponding bearing mounting plate 14 and the inner mounting plate 17. A swing sleeve 27 is respectively installed between each connecting lug and the adjacent inner mounting plate 17. The two ends of the swing joint shaft 24 pass through the two swing sleeves 27, the two connecting lugs, the first swing bearing 16 and the second swing bearing 23, and the two shoulder bearing end caps 15. The side of the swing joint shaft 24 is machined with two symmetrically arranged radial connecting threaded holes. These two radial connecting threaded holes correspond one-to-one with the set screw mounting holes 37 of the two connecting lugs. The two connecting lugs are connected to the swing joint shaft 24 via two set screws 25. The other components and connection relationships are the same as those of the first or second embodiment.

[0043] Specific implementation method four: Combination Figures 1 to 11To describe this embodiment, the second swing connector of this embodiment includes a swing pin 19, a radial spherical sliding bearing 21, an elastic retaining ring 26, and two swing pin bushings 20. The upper portions of the two inner mounting plates 17 are respectively machined with two coaxially arranged pin mounting holes 18. A swing pin connecting sleeve is provided at one end of the second swing force rod 8. The radial spherical sliding bearing 21 is embedded in the inner hole of the swing pin connecting sleeve. Two swing pin bushings 20 are respectively provided between the swing pin connecting sleeve and the two inner mounting plates 17. An integrally formed stop ring is provided at one end of the swing pin 19. The other end of the swing pin 19 passes through the pin mounting hole 18 on one side, the swing pin bushing 20, the radial spherical sliding bearing 21, the swing pin bushing 20 on the other side, and the pin mounting hole 18, and is connected to the elastic retaining ring 26. The other components and connection relationships are the same as those of the first, second, or third specific embodiments.

[0044] Among them, two coaxially arranged swing joint shaft mounting holes 22 are respectively processed in the middle of the two inner mounting plates 17, and the swing joint shafts 24 are inserted into the two swing joint shaft mounting holes 22, and the swing joint shafts 24 are clearance-fitted with the swing joint shaft mounting holes 22.

[0045] Specific implementation method five: Combination Figures 1 to 11 This embodiment describes the swing mechanism, which also includes a swing rail 28 and a slider assembly 11. The swing rail 28 is positioned within the swing rail seat and along the length of the swing bracket 2. The swing rail 28 is located below the piston rod of the swing hydraulic cylinder 10. The bottom of the swing rail 28 is connected to the swing rail seat and the swing bracket 2 via multiple screws, and the slider assembly 11 is slidably mounted on the top of the swing rail 28. This arrangement is identical to that of Embodiments 1, 2, 3, or 4.

[0046] Specific implementation method six: combination Figures 1 to 11 To explain this embodiment, the rotation mechanism of this embodiment also includes a rotating guide rail 12 and a slider assembly 11. The bottom of the base frame 4 is provided with a rotating guide rail 12 in the vertical direction. The rotating guide rail 12 is located on the piston rod side of the rotating hydraulic cylinder 13. The side of the rotating guide rail 12 is connected to the base frame 4 by multiple connecting screws. The slider assembly 11 is slidably mounted on the side of the rotating guide rail 12. With this arrangement, the swing guide rail 28 installed on the swing guide rail seat rotating bracket 2 will rotate a certain angle under the action of the rotating hydraulic cylinder 13. When the swing hydraulic cylinder 10 is activated, the swing arm 1 can swing a certain angle. In this way, the swinging motion and large-range rotation motion of the swing arm 1 can be achieved, thereby enhancing the integration of the robot and improving space utilization. The other components and connection relationships are the same as those of the specific embodiments one, two, three, four or five.

[0047] Specific implementation method seven: combination Figures 1 to 11 Describing this embodiment, the slider assembly 11 of this embodiment includes a slider 52, a slider connector 53, a slider pin 54, a piston rod connecting nut 55 and a slider pin gasket 56. A slide groove is provided at the bottom of the slider 52 along the length direction, and a slider connector 53 is installed on the top of the slider 52. An integrally formed slider sleeve 1 and a slider sleeve 2 are provided on both sides of the top of the slider connector 53. The slider sleeve 1 is coaxially arranged with the piston rod of the swing hydraulic cylinder 10 and / or the rotating hydraulic cylinder 13, and the slider sleeve 2 is arranged perpendicular to the axis of the slider sleeve. The piston rod connecting nut 55 is coaxial Mounted on the end surface of the slider sleeve, the piston rod ends of the swing hydraulic cylinder 10 and / or the rotating hydraulic cylinder 13 are machined with external threads. These piston rod ends pass through the inner hole of the slider sleeve 1 and are threadedly connected to the piston rod connecting nut 55. A slider pin 54 is inserted into the inner hole of the slider sleeve 2. A U-shaped bracket is provided at the other end of the swing lever 8 and / or the rotating lever 7. Two coaxially arranged slider pin mounting holes 57 are defined on either side of the U-shaped bracket. The two ends of the slider pin 54 are inserted into the two slider pin mounting holes 57 of the U-shaped bracket, respectively. With this arrangement, both the swing lever 8 and the rotating lever 7 have symmetrical slider pin mounting holes 57 on one side. Both the swing lever 8 and the rotating lever 7 are penetrated by the slider pin 54 and secured with a circlip 26. The remaining components and connections are the same as those of the first, second, third, fourth, fifth, or sixth embodiments.

[0048] Among them, the swing hydraulic cylinder 10 includes a swing hydraulic cylinder piston rod 29, a swing hydraulic cylinder body 30 and a swing hydraulic cylinder end cover 46. The head end of the swing hydraulic cylinder piston rod 29 passes through the inner cavity of the swing hydraulic cylinder body 30 and the center hole at the front end of the cylinder body from back to front and extends to the outside of the cylinder body. A swing hydraulic cylinder end cover 46 is provided at the tail of the swing hydraulic cylinder body 30, and the swing hydraulic cylinder end cover 46 is connected to the tail of the swing hydraulic cylinder body 30 by multiple connecting screws.

[0049] The rotating hydraulic cylinder 13 includes a rotating hydraulic cylinder piston rod 35, a rotating hydraulic cylinder body 36 and a rotating hydraulic cylinder end cover 58. The head end of the rotating hydraulic cylinder piston rod 35 passes through the inner cavity of the rotating hydraulic cylinder body 36 and the center hole at the front end of the cylinder body from back to front and extends to the outside of the cylinder body. A rotating hydraulic cylinder end cover 58 is provided at the tail end of the rotating hydraulic cylinder body 36, and the rotating hydraulic cylinder end cover 58 is connected to the tail end of the rotating hydraulic cylinder body 36 by multiple connecting screws.

[0050] Specific implementation method eight: combination Figures 1 to 11Describing this embodiment, the swing mechanism of this embodiment also includes a support bearing 40, a linear sensor 47, a servo valve 45 and two oil pressure sensors 43. A support bearing 40 is embedded in the inner hole of the support bearing seat 39 at the other end of the swing guide seat rotating bracket 2. A support bearing shoulder 41 is provided at one end of the swing hydraulic cylinder body 30. The support bearing 40 is sleeved on the swing hydraulic cylinder body 30 and axially positioned through the support bearing shoulder 41. The swing hydraulic cylinder body 30 is rotatably connected to the swing guide seat rotating bracket 2 through the support bearing 40. A servo valve mounting seat 44 is provided on the upper part of the swing hydraulic cylinder body 30. The servo valve 45 is provided on the upper part of the swing hydraulic cylinder body 30. 5 is mounted on the servo valve mounting base 44. Two oil pressure sensor mounting threaded holes 42 are machined into the upper portion of the swing hydraulic cylinder body 30. These two oil pressure sensor mounting threaded holes 42 are located on the front and rear sides of the servo valve 45, respectively. The two oil pressure sensor mounting threaded holes 42 communicate with the rod chamber and rodless chamber of the swing hydraulic cylinder body 30, respectively. Two oil pressure sensors 43 are connected to the swing hydraulic cylinder body 30 through the two oil pressure sensor mounting threaded holes 42. A linear sensor mounting threaded hole is defined in the center of the swing hydraulic cylinder end cap 46, and a linear sensor 47 is connected to the swing hydraulic cylinder end cap 46 through the linear sensor mounting threaded hole. This arrangement enables relatively precise control of the swing angle through the action of the servo valve 45 and the oil pressure sensor 43. Other components and connections are the same as those in Specific Embodiments 1, 2, 3, 4, 5, 6, or 7.

[0051] Specific implementation method nine: Combination Figures 1 to 11 To describe this embodiment, the first rotating connector of this embodiment includes a radial spherical sliding bearing 21, a rotating pin 33, and two rotating pin bushings 34. Two coaxially arranged rotating pin mounting holes 32 are machined on the two rotating pin connecting lugs on the side of the sector bevel gear connecting rod 6. A rotating pin connecting sleeve is provided at one end of the rotating second force rod 7. The radial spherical sliding bearing 21 is embedded in the inner hole of the rotating pin connecting sleeve. Two rotating pin bushings 34 are provided between the rotating pin connecting sleeve and the two rotating pin connecting lugs. The rotating pin 33 is inserted into the inner hole of the radial spherical sliding bearing 21. The two ends of the rotating pin 33 pass through the rotating pin bushings 34 and the rotating pin mounting holes 32 on both sides. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, or eighth embodiments.

[0052] Specific implementation method ten: Combination Figures 1 to 11Explain this embodiment. The rotation mechanism of this embodiment also includes a radial spherical sliding bearing 21, a fan-shaped bevel gear fixing flange 51, two fan-shaped bevel gear rotating bearing seats 49 and two fan-shaped bevel gear rotating bearings 50. The fan-shaped bevel gear connecting rod 6 is a circular sleeve structure. The middle part of the fan-shaped bevel gear connecting rod 6 is provided with a fan-shaped plate 48 extending radially outward. The fan-shaped bevel gear 5 is connected to the fan-shaped plate 48 by a plurality of connecting screws. Two coaxially arranged fan-shaped bevel gear rotating bearing seats are provided at both ends of the fan-shaped bevel gear connecting rod 6. 49. A sector bevel gear rotating bearing 50 is embedded in the inner hole of each sector bevel gear rotating bearing seat 49. The sector bevel gear connecting rod 6 is rotatably connected to the connecting rod connecting shaft section of the base frame 4 via the two sector bevel gear rotating bearings 50. The connecting rod connecting shaft section of the base frame 4 is machined with a connecting rod limiting shoulder. The end of the connecting rod connecting shaft section of the base frame 4 is sleeved with a sector bevel gear fixing flange 51. The sector bevel gear fixing flange 51 and the connecting rod limiting shoulder can achieve axial positioning of the two sector bevel gear rotating bearings 50. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth, or ninth embodiment.

[0053] How it works

[0054] Combine Figures 1 to 11 The working principle of the hydraulically driven large swing angle transmission mechanism of the present invention is explained as follows: the present invention can make the slider assembly 11 move linearly along the swing guide rail 28 under the action of the swing hydraulic cylinder 10. When the slider assembly 11 moves linearly along the swing guide rail 28, the swing two-force rod 8 can be rotated. When the swing two-force rod 8 rotates, the swing rod 1 can swing within a certain range around the swing joint shaft 24. Under the action of the rotating hydraulic cylinder 13, the slider assembly 11 can move linearly along the rotating guide rail 12. When the slider assembly 11 moves linearly along the rotating guide rail 12, the rotating two-force rod 7 can be rotated. When the rotating two-force rod 7 rotates, the fan-shaped bevel gear connecting rod 6 can be rotated around the base frame 4, thereby driving the transmission bevel gear 9 to rotate. When the transmission bevel gear 9 rotates, the fan-shaped bevel gear 5 meshing with the transmission bevel gear 9 can be rotated. When the fan-shaped bevel gear 5 rotates, the swing guide rail seat rotating bracket 2 can be rotated, thereby realizing a large range of rotation of the swing rod 1.

[0055] The swing guide rail 28 mounted on the swing guide rail seat rotating bracket 2 is rotated by a certain angle under the action of the rotating hydraulic cylinder 13. When the swing hydraulic cylinder 10 is activated, the swing arm 1 can be swung by a certain angle. In this way, the swing arm 1 can swing and rotate over a wide range, thereby enhancing the integration of the robot and improving space utilization. The swing angle can be more accurately controlled by the servo valve 45 and the oil pressure sensor 43.

[0056] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A hydraulically driven large swing angle transmission mechanism, characterized in that: It includes a swing mechanism and a rotation mechanism. The swing mechanism comprises a swing rod (1), a swing two-force rod (8), a swing guide rail seat rotating bracket (2) and a swing hydraulic cylinder (10). The swing rod (1) comprises an upper end arm platform, two bearing mounting plates (14) and two inner side mounting plates (17). The upper end arm platform is composed of an integrally formed and coaxially arranged disc-shaped upper platform part and a lower rod section part. The top end of the disc-shaped upper platform part is provided with two symmetrically arranged bearing mounting plates (14). The two bearing mounting plates (14) are symmetrically arranged. The first connecting member is hinged to one end of the swing guide seat rotating bracket (2); two inner mounting plates (17) arranged symmetrically are provided on the inner sides of the two bearing mounting plates (14); the two inner mounting plates (17) are hinged to one end of the swing two-force rod (8) through the second swing connecting member; a swing hydraulic cylinder (10) is rotatably mounted on the other end of the swing guide seat rotating bracket (2); the piston rod end of the swing hydraulic cylinder (10) is inserted into the swing guide seat rotating bracket (2) and hinged to the other end of the swing two-force rod (8); The rotating mechanism comprises a rotating bearing seat (3), a base frame (4), a transmission bevel gear (9), a sector bevel gear (5), a sector bevel gear connecting rod (6), a rotating two-force rod (7) and a rotating hydraulic cylinder (13). The middle part of the swing guide rail seat rotating bracket (2) is rotatably connected to the rotating bearing seat (3). The rotating bearing seat (3) is installed on the upper part of the base frame (4). The transmission bevel gear (9) is sleeved on the middle part of the swing guide rail seat rotating bracket (2). A sector bevel gear connecting rod (6) is provided below the transmission bevel gear (9). A connecting rod connecting shaft section is provided on the upper part of the base frame (4). The sector bevel gear The gear connecting rod (6) is rotatably mounted on the connecting rod connecting shaft section of the base frame (4); a sector bevel gear (5) is mounted on the transmission bevel gear (9); the sector bevel gear (5) is meshed with the transmission bevel gear (9); two symmetrically arranged rotating pin mounting lugs are provided on the side surface of the sector bevel gear connecting rod (6); the two rotating pin mounting lugs are hinged to one end of a rotating second force rod (7) through a rotating connecting piece 1; the other end of the rotating second force rod (7) is hinged to the piston rod end of a rotating hydraulic cylinder (13) through a rotating connecting piece 2; and the rotating hydraulic cylinder (13) is mounted on the lower part of the base frame (4).

2. The hydraulically driven large swing angle transmission mechanism according to claim 1, characterized in that: The swing guide seat rotating bracket (2) is a stepped hollow shaft structure. One end of the swing guide seat rotating bracket (2) is provided with two connecting ear plates symmetrically arranged along the axis of the rotating bracket. The ends of the two connecting ear plates are respectively provided with two coaxially arranged swing joint shaft connecting sleeves. Each swing joint shaft connecting sleeve is radially processed with a set screw mounting hole (37) penetrating the inner and outer sides of the swing joint shaft connecting sleeve. The middle part of the swing guide seat rotating bracket (2) is processed with a swing rod rotating bearing shaft shoulder (38). The other end of the swing guide seat rotating bracket (2) is provided with a coaxially arranged support bearing seat (39).

3. The hydraulically driven large swing angle transmission mechanism according to claim 2, characterized in that: The swing connecting member 1 includes a swing joint shaft (24), a swing bearing 1 (16), a swing bearing 2 (23), two swing sleeves (27), two shoulder bearing end covers (15) and two set screws (25). The two bearing mounting plates (14) are respectively provided with two coaxially arranged bearing mounting holes. The two bearing mounting holes are respectively embedded with the swing bearing 1 (16) and the swing bearing 2 (23). The outer sides of the swing bearing 1 (16) and the swing bearing 2 (23) are respectively provided with two shoulder bearing end covers (15). The two shoulder bearing end covers (15) are respectively fixedly connected to the outer side surfaces of the corresponding two bearing mounting plates (14) through a plurality of connecting screws. The swing guide seat rotating bracket (2) is provided with a plurality of connecting screws. The two connecting ear plates at the ends are respectively inserted into the gap between the corresponding bearing mounting plate (14) and the inner mounting plate (17), and a swing sleeve (27) is respectively provided between each connecting ear plate and the adjacent inner mounting plate (17). The two ends of the swing joint shaft (24) respectively pass through the two swing sleeves (27), the two connecting ear plates, the swing bearing 1 (16) and the swing bearing 2 (23) and the two shoulder bearing end covers (15). The side surface of the swing joint shaft (24) is processed with two symmetrically arranged radial connecting threaded holes, and the two radial connecting threaded holes respectively correspond to the fixing screw mounting holes (37) of the two connecting ear plates. The two connecting ear plates are connected to the swing joint shaft (24) through two fixing screws (25).

4. The hydraulically driven large swing angle transmission mechanism according to claim 3, characterized in that: The second swing connecting member comprises a swing pin (19), a radial spherical sliding bearing (21), an elastic retaining ring (26) and two swing pin sleeves (20); the upper parts of the two inner mounting plates (17) are respectively processed with two coaxially arranged pin mounting holes (18); one end of the swing second force rod (8) is provided with a swing pin connecting sleeve; the inner hole of the swing pin connecting sleeve is embedded with a radial spherical sliding bearing (21); two swing pin sleeves (20) are respectively provided between the swing pin connecting sleeve and the two inner mounting plates (17); one end of the swing pin (19) is provided with an integrally formed stop ring; the other end of the swing pin (19) passes through the pin mounting hole (18) on one side, the swing pin sleeve (20), the radial spherical sliding bearing (21), the swing pin sleeve (20) on the other side and the pin mounting hole (18) in sequence and is connected to the elastic retaining ring (26).

5. The hydraulically driven large swing angle transmission mechanism according to claim 4, characterized in that: The swing mechanism further comprises a swing guide rail (28) and a slider assembly (11). A swing guide rail (28) is provided inside the swing guide rail seat rotating bracket (2) along the length direction of the rotating bracket. The swing guide rail (28) is located below the piston rod of the swing hydraulic cylinder (10). The bottom of the swing guide rail (28) is connected to the swing guide rail seat rotating bracket (2) through a plurality of connecting screws. The slider assembly (11) is slidably mounted on the top of the swing guide rail (28).

6. The hydraulically driven large swing angle transmission mechanism according to claim 5, characterized in that: The rotating mechanism further comprises a rotating guide rail (12) and a slider assembly (11). The bottom of the base frame (4) is provided with a rotating guide rail (12) in a vertical direction. The rotating guide rail (12) is located on the side of the piston rod of the rotating hydraulic cylinder (13). The side of the rotating guide rail (12) is connected to the base frame (4) through a plurality of connecting screws. The slider assembly (11) is slidably mounted on the side of the rotating guide rail (12).

7. A hydraulically driven large swing angle transmission mechanism according to claim 5 or 6, characterized in that: The slider assembly (11) includes a slider (52), a slider connector (53), a slider pin (54), a piston rod connecting nut (55) and a slider pin washer (56). A sliding groove is provided at the bottom of the slider (52) along the length direction. A slider connector (53) is installed on the top of the slider (52). Two sides of the top of the slider connector (53) are provided with an integrally formed slider sleeve 1 and a slider sleeve 2, respectively. The slider sleeve 1 is coaxially arranged with the piston rod of the swing hydraulic cylinder (10) and / or the rotating hydraulic cylinder (13). The slider sleeve 2 is arranged perpendicular to the axis of the slider sleeve. The piston rod connecting nut (55) is coaxially installed on the slider. On the end surface of the sleeve, the piston rod end of the swing hydraulic cylinder (10) and / or the rotating hydraulic cylinder (13) is processed with an external thread, the piston rod end of the swing hydraulic cylinder (10) and / or the rotating hydraulic cylinder (13) passes through the inner hole of the slider sleeve one and is threadedly connected to the piston rod connecting nut (55), the slider pin shaft (54) is inserted into the inner hole of the slider sleeve two, and the other end of the swing two-force rod (8) and / or the rotating two-force rod (7) is provided with a U-shaped frame, and two coaxially arranged slider pin shaft mounting holes (57) are respectively opened on the two side wing plates of the U-shaped frame, and the two ends of the slider pin shaft (54) are respectively inserted into the two slider pin shaft mounting holes (57) of the U-shaped frame.

8. The hydraulically driven large swing angle transmission mechanism according to claim 7, characterized in that: The swing mechanism further comprises a support bearing (40), a linear sensor (47), a servo valve (45) and two oil pressure sensors (43). A support bearing (40) is embedded in the inner hole of the support bearing seat (39) at the other end of the swing guide seat rotating bracket (2). A support bearing shoulder (41) is provided at one end of the cylinder body of the swing hydraulic cylinder (10). The support bearing (40) is sleeved on the cylinder body of the swing hydraulic cylinder (10) and is axially positioned through the support bearing shoulder (41). The cylinder body of the swing hydraulic cylinder (10) is rotatably connected to the swing guide seat rotating bracket (2) through the support bearing (40). A servo valve mounting seat (44) is provided on the upper part of the cylinder body of the swing hydraulic cylinder (10). The servo valve (45) is installed on the upper part of the cylinder body of the swing hydraulic cylinder (10). Mounted on a servo valve mounting seat (44), the upper portion of the cylinder body of the swing hydraulic cylinder (10) is processed with two oil pressure sensor mounting threaded holes (42), the two oil pressure sensor mounting threaded holes (42) are respectively located on the front and rear sides of the servo valve (45), the two oil pressure sensor mounting threaded holes (42) are respectively communicated with the rod cavity and the rodless cavity of the cylinder body of the swing hydraulic cylinder (10), the two oil pressure sensors (43) are respectively connected to the cylinder body of the swing hydraulic cylinder (10) through the two oil pressure sensor mounting threaded holes (42), a linear sensor mounting threaded hole is opened at the center of the end cover of the swing hydraulic cylinder (10), and the linear sensor (47) is connected to the end cover of the swing hydraulic cylinder (10) through the linear sensor mounting threaded hole.

9. The hydraulically driven large swing angle transmission mechanism according to claim 8, characterized in that: The first rotating connecting member comprises a radial spherical sliding bearing (21), a rotating pin (33) and two rotating pin bushings (34); two rotating pin connecting ear plates on the side of the sector bevel gear connecting rod (6) are respectively processed with two coaxially arranged rotating pin mounting holes (32); one end of the rotating two-force rod (7) is provided with a rotating pin connecting sleeve; the inner hole of the rotating pin connecting sleeve is embedded with a radial spherical sliding bearing (21); two rotating pin bushings (34) are respectively provided between the rotating pin connecting sleeve and the two rotating pin connecting ear plates; the rotating pin (33) is inserted into the inner hole of the radial spherical sliding bearing (21); and the two ends of the rotating pin (33) pass through the rotating pin bushings (34) and the rotating pin mounting holes (32) on both sides in sequence.

10. The hydraulically driven large swing angle transmission mechanism according to claim 9, characterized in that: The rotating mechanism also includes a radial spherical sliding bearing (21), a fan-shaped bevel gear fixing flange (51), two fan-shaped bevel gear rotating bearing seats (49) and two fan-shaped bevel gear rotating bearings (50). The fan-shaped bevel gear connecting rod (6) is a circular shaft sleeve structure. A fan-shaped plate (48) extending radially outward is provided in the middle of the fan-shaped bevel gear connecting rod (6). The fan-shaped bevel gear (5) is connected to the fan-shaped plate (48) through a plurality of connecting screws. Two coaxially arranged fan-shaped bevel gear rotating bearing seats (49) are respectively provided at both ends of the fan-shaped bevel gear connecting rod (6). Each fan-shaped bevel gear is provided with a fan-shaped plate (48) extending radially outward. Sector bevel gear rotating bearings (50) are embedded in the inner holes of the sector bevel gear rotating bearing seats (49), and the sector bevel gear connecting rod (6) is rotatably connected to the connecting rod connecting shaft section of the base frame (4) through the two sector bevel gear rotating bearings (50). A connecting rod limiting shoulder is processed on the connecting rod connecting shaft section of the base frame (4), and a sector bevel gear fixing flange (51) is sleeved on the end of the connecting rod connecting shaft section of the base frame (4). The sector bevel gear fixing flange (51) and the connecting rod limiting shoulder can both realize axial positioning of the two sector bevel gear rotating bearings (50).

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