A gear structure for a robot spherical joint

Abstract

The application discloses a gear structure for a robot spherical joint. The gear structure comprises a spherical body, a plurality of meshing teeth arranged at intervals in the latitude direction of the spherical body, and a plurality of meshing teeth arranged at intervals in the longitude direction of the spherical body, and the diameter of the tooth end face of each meshing tooth is tapered away from the spherical body. By arranging the plurality of meshing teeth at intervals in the longitude direction and the latitude direction of the spherical body, and tapering the diameter of the tooth end face of each meshing tooth away from the spherical body, the overall strength of the gear structure is enhanced, the meshing process is smoother, the noise generated by impact and friction is effectively reduced, and the human-computer interaction experience is improved. Meanwhile, the conical frustum-shaped meshing tooth design avoids sharp wedge-shaped structures, reduces the risk of chipping during use, and prolongs the service life of the gear structure.

Description

Technical Field

[0001] This invention belongs to the field of robotic equipment technology, and specifically relates to a gear structure for a ball joint of a robot. Background Technology

[0002] A robot is a machine device widely used in the industrial field. The robot joint is one of the core components of a robot, and the robot joint enables the robot to move flexibly through gear transmission.

[0003] However, the gear structure used in traditional robot joints is an involute gear (such as...). Figure 1 This type of gear structure generates high-frequency noise (>50dB) due to impact and friction during meshing, affecting the human-computer interaction experience. Furthermore, these involute gears typically have sharp wedges, making them prone to chipping during use. The chipped residue falling into the joint can cause secondary damage to the tooth surface, reducing its lifespan. Therefore, developing a novel gear structure to improve the performance and lifespan of robot joints has become an urgent problem to be solved in the field of robotics. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a gear structure for a robot ball joint, so as to solve the technical problem that existing robot joint gear structures are prone to breakage during use, which affects their service life.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a spherical joint gear structure, comprising a spherical body, a plurality of teeth spaced apart along the latitudinal direction of the spherical body, and a plurality of the teeth spaced apart along the longitudinal direction of the spherical body, wherein the diameter of the tooth end face of each tooth gradually decreases along the direction away from the spherical body.

[0006] Furthermore, the teeth are arranged in a conical frustum shape.

[0007] Furthermore, the intersection point of the longitude and latitude lines of the spherical body coincides with the center point of the tooth tip surface of the meshing tooth.

[0008] Furthermore, the included angle between the centerlines of two adjacent teeth located on the same longitude line of the spherical body is 30°-60°.

[0009] Furthermore, the included angle between the centerlines of two adjacent teeth located on the same latitude line of the spherical body is 30°-60°.

[0010] Furthermore, the tooth is provided with a circular boss at one end near the spherical body, and the sidewall of the circular boss is concave.

[0011] Furthermore, the ratio of the height of the circular boss to the height of the tooth is 1:(3-5).

[0012] Furthermore, the diameter of the top end face of the circular boss is equal to the diameter of the bottom end face of the tooth.

[0013] Furthermore, the teeth are formed by rotating the cycloids on both sides of the involute tooth shape around its central axis.

[0014] The beneficial effects of this invention are as follows: Compared with the prior art, this invention features multiple teeth spaced apart in the longitude and latitude directions of the spherical body, with the diameter of the tooth end face of each tooth gradually decreasing away from the spherical body. This design not only enhances the overall strength of the gear structure but also makes the meshing process smoother, effectively reducing noise generated by impact and friction, and improving the human-computer interaction experience. At the same time, the conical frustum-shaped tooth design avoids sharp wedge structures, reducing the risk of chipping during use, thereby extending the service life of the gear structure.

[0015] Other advantages, objectives, and features of the invention will be set forth in the following description and will be apparent to those skilled in the art in some respects, or may be learned by practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0016] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration: Figure 1 This is a schematic diagram of the gear structure used in the conventional robot joint proposed in this invention; Figure 2 This is a first-view structural schematic diagram of a ball joint gear structure according to an embodiment of the present invention; Figure 3 This is a second-view structural schematic diagram of a ball joint gear structure according to an embodiment of the present invention; Figure 4 for Figure 3 A magnified structural diagram of A in the middle; Figure 5 for Figure 3 A magnified structural diagram of B in the diagram.

[0017] Figure label: 1- Spherical body; 2- Tooth; 3- Circular boss. Detailed Implementation

[0018] like Figures 2 to 5As shown, this embodiment proposes a spherical joint gear structure, including a spherical body 1. Multiple teeth 2 are spaced apart along the latitudinal direction and along the longitudinal direction of the spherical body 1. The diameter of the tooth tip face of each tooth 2 gradually decreases away from the spherical body 1. This design not only enhances the overall strength of the gear structure but also makes the meshing process smoother, effectively reducing noise generated by impact and friction, and improving the human-machine interaction experience. Simultaneously, the tooth 2 structure avoids sharp wedge-shaped structures, reducing the risk of chipping during use and thus extending the service life of the gear structure.

[0019] Preferably, the tooth 2 is in the shape of a conical frustum. This shape not only enhances the structural strength of the tooth 2, but also avoids the sharp wedge-shaped structure in traditional involute gears, thereby greatly reducing the risk of chipping during use. The reduction of chipping means that the service life of the gear is effectively extended, and at the same time, it reduces the possibility of secondary damage caused by chipping residue falling into the joint.

[0020] Furthermore, the intersection of the longitude and latitude lines of the spherical body 1 coincides with the center point of the tooth tip face of the gear 2. This precise alignment design further enhances the smoothness and accuracy of gear transmission, enabling the gear to maintain higher stability and lower noise levels during operation, thereby improving the overall performance of the robot joint. In practical applications, this design can significantly reduce vibration and noise caused by unstable gear transmission, providing the robot with a smoother and quieter motion experience.

[0021] Further, please refer to Figure 4 As shown, the included angle α between the centerlines of two adjacent teeth 2 located on the same longitude line of the spherical body 1 is 30°-60°. This specific angle design helps optimize the meshing performance of the gears, allowing the gears to distribute the load more evenly during transmission, reducing local stress concentration, and thus further improving the durability and reliability of the gears. Specifically, the included angle can be 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc. Of course, in this application, depending on the specific implementation, the included angle can also be set to other values, and is not limited here.

[0022] Similarly, please see Figure 5 As shown, the included angle b between the centerlines of two adjacent teeth 2 located on the same latitude line of the spherical body 1 is also 30°-60°. Specifically, this included angle is 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc. Through the design of specific included angles, the meshing performance of the gears is further optimized, so that the gears can distribute the load more evenly during transmission, reduce local stress concentration, and thus further improve the durability and reliability of the gears.

[0023] Further, please refer to Figure 1 As shown, the end of the tooth 2 near the spherical body is also provided with a circular boss 3, and the sidewall of the circular boss 3 is concave. This design not only enhances the connection strength between the tooth 2 and the spherical body 1, but also plays a role in shock absorption and noise reduction to a certain extent through the concave sidewall design. It also ensures a smooth transition for the tooth 2, further improving the overall performance of the gear structure. In practical applications, the circular boss design can effectively disperse the stress generated by the tooth 2 under force, preventing structural damage caused by stress concentration, thereby extending the service life of the gear. At the same time, the concave sidewall design can also reduce air vibration at the connection between the tooth 2 and the spherical body 1, thereby reducing noise generation and providing a quieter and more stable operating environment for the robot.

[0024] Furthermore, the height ratio of the circular boss 3 to the height of the gear 2 is 1:(3-5). Specifically, the height ratio of the circular boss 3 to the gear 2 is 1:3, 1:4, 1:5, etc. This design ensures that the circular boss 3, while enhancing connection strength and reducing vibration and noise, also avoids the inertial effects caused by excessive mass, thereby guaranteeing the transmission efficiency and response speed of the gear and not negatively impacting the overall structure and performance of the gear 2.

[0025] Furthermore, the diameter of the top face of the circular boss 3 is equal to the diameter of the bottom face of the gear. This ensures the overall symmetry and stability of the gear structure, allowing for smoother and more stable gear transmission. Simultaneously, this symmetrical design simplifies the gear manufacturing process, improves production efficiency, and reduces manufacturing costs. In practical applications, this design significantly enhances the transmission efficiency and stability of robot joints, providing a strong guarantee for the high-performance operation of the robot.

[0026] Furthermore, the gear 2 is formed by rotating the cycloids on both sides of the involute tooth profile around its central axis. In this way, the tooth profile of the gear 2 can better fit the shape of the circular boss 3, making the gear mesh more tightly and reducing the backlash and error during transmission.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A gear structure for a robot ball joint, characterized in that, It includes a spherical body, a plurality of teeth spaced apart along the latitudinal direction of the spherical body, and a plurality of teeth spaced apart along the longitudinal direction of the spherical body, wherein the diameter of the tooth end face of each tooth gradually decreases along the direction away from the spherical body.

2. The spherical joint gear structure according to claim 1, characterized in that, The teeth are arranged in a conical frustum shape.

3. The spherical joint gear structure according to claim 2, characterized in that, The intersection of the longitude and latitude lines of the spherical body coincides with the center point of the tip surface of the tooth.

4. The spherical joint gear structure according to claim 1, characterized in that, The included angle between the centerlines of two adjacent teeth located on the same longitude line of the spherical body is 30°-60°.

5. A spherical joint gear structure according to claim 1, characterized in that, The included angle between the centerlines of two adjacent teeth located on the same latitude line of the spherical body is 30°-60°.

6. A spherical joint gear structure according to claim 2, characterized in that, The tooth is also provided with a circular boss at one end near the spherical body, and the sidewall of the circular boss is concave.

7. A spherical joint gear structure according to claim 6, characterized in that, The ratio of the height of the circular boss to the height of the tooth is 1:(3-5).

8. A spherical joint gear structure according to claim 6, characterized in that, The diameter of the top end face of the circular boss is equal to the diameter of the bottom end face of the tooth.

9. A spherical joint gear structure according to claim 8, characterized in that, The teeth are formed by rotating the cycloids on both sides of the involute tooth shape around its central axis.

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