Straight tooth and chain tooth non-standard assembly structure meeting tooth and chain transition

Abstract

The utility model relates to a straight tooth and chain tooth non-standard assembly structure meeting tooth and chain transition, which comprises a backrest frame, a seat frame and a manipulator, a tooth-shaped chain is connected between a first rack on the backrest frame and a second rack on the seat frame on each side of the backrest frame, and a walking shaft is arranged on the manipulator. Walking wheel assemblies capable of being meshed with the first racks or the toothed chains or the second racks to achieve walking are arranged at the two ends of the walking shaft and comprise straight gears and chain gears, the straight gears are meshed with the first racks or the second racks to walk, the tooth number of the straight gears is equal to that of the chain gears or is integral multiples of that of the chain gears, and the chain gears are meshed with the toothed chains; and passages are respectively arranged between two sides of the chain gear and the two straight gears. The transmission mechanism has the advantages that the structure is simple, the reference circle of the chain gear and the reference circle of the straight gear do not need to be equal, toothed chain transition is smooth, and the transmission mechanism has the function of preventing the mechanical arm from moving when the mechanical arm walks.

Description

Technical Field

[0001] This utility model relates to the field of massage chair technology, specifically to a non-standard combination structure of straight teeth and chain teeth that satisfies the transition between teeth and chains. Background Technology

[0002] With the continuous advancement of technology, massage chairs will be designed and functionally more advanced to better serve people's daily lives. Massage chairs have evolved from the initial sitting function to the backrest function, and then to the "zero gravity" reclining function. The development of massage chairs that can be laid flat like a bed is to provide a more comfortable and personalized massage experience, that is, to achieve the effect of "extreme relaxation" on the massage chair.

[0003] The present invention application, number 202111620325.6, relates to a flattenable massage chair with an involute toothed chain track that facilitates robotic arm movement. The chair includes a backrest frame, a seat frame, and a robotic arm. The backrest frame is mounted on the seat frame. The chair also includes a toothed chain, with one end mounted on the backrest frame and the other end mounted on the seat frame. The toothed chain comprises several chain tooth plates, each with two toothed portions at its head and tail. The head and tail teeth of adjacent chain tooth plates along the length of the toothed chain are staggered and hinged together. The robotic arm is equipped with a sprocket that meshes with the toothed chain. By adopting this design, constant pitch meshing of the sprocket and the toothed chain can be achieved, resulting in more stable robotic arm operation. The chair features a simple structure, high torque transmission, and good noise reduction.

[0004] To ensure synchronous meshing between the sprocket and the toothed chain, the aforementioned application requires that the pitch circle of the sprocket and the pitch circle of the toothed chain be equal, rather than having the same number of teeth or an integer multiple of the number of teeth. Since the width of the channel steel for the motion of existing robotic arms is already fixed, for gears with a constant pitch circle diameter, the sprocket can only use matching or approximately equal pitch circle tooth profiles and an integer number of teeth. Summary of the Invention

[0005] The technical problem to be solved by this utility model is to provide a simple assembly structure that does not require the pitch circles of the chain gear and the spur gear to be equal, and has the function of preventing the robot arm from moving around when it is moving, in order to overcome the shortcomings of the prior art.

[0006] To achieve the above objectives, the following technical solution is adopted: a non-standard combination structure of spur teeth and chain teeth that satisfies the transition between teeth and chains, including a backrest frame, a seat frame, and a robot arm. The backrest frame is mounted on the seat frame, and backrest frame guide rails are provided on both sides of the backrest frame. The seat frame is provided on both sides of the seat frame. Two first racks are provided on the backrest frame guide rails, and two second racks are provided on the seat frame guide rails. A toothed chain is connected between the first racks and the second racks. The robot arm is provided with a traveling shaft. The two ends of the traveling shaft are provided with traveling wheel assemblies that can mesh with the first racks, the toothed chain, or the second racks to achieve movement. The traveling wheel assembly includes spur gears and chain gears. The spur gears include a first spur gear and a second spur gear that mesh with the two first racks or the second racks. The chain gears mesh with the toothed chain and are located between the first spur gears and the second spur gears. The number of teeth of the spur gears and the chain gears are equal or an integer multiple of the number of teeth of the chain gears. There are passages on both sides of the chain gears between the first spur gears and the second spur gears, respectively.

[0007] Using the above technical solution, the toothed chain is an elastic rack and pinion chain similar to that in the prior art, with an elastic substrate at its lower end. Due to the passageway, when the toothed chain meshes with the sprocket, it will not interfere with the movement of the spur gear. When the spur gear meshes with two first racks or second racks, it will not interfere with the movement of the sprocket. The sprocket tooth profile is obtained using the involute meshing method. Calculations show that both its tooth profile and number of teeth are less than the national standard minimum. Therefore, a non-standard combination of involute sprocket and spur gear teeth for the robot's walking drive gear assembly was designed using the meshing method. The pitch circle of the gear does not need to be equal to the pitch circle of the sprocket. By making the number of teeth on the spur gear equal to or an integer multiple of the number of teeth on the spur gear, the number of teeth on the spur gear can be reduced. The spur gear can also use standard chains. Machining non-standard spur gears is easier than machining non-standard chains, which also reduces costs. It also allows the spur gear to be more compatible with the toothed chain, resulting in tighter meshing, reduced noise, and less risk of tooth slippage or dislodging. Due to the passageway, the rotation of the spur gear is not affected when the first and second spur gears mesh to drive the first or second rack, and the rotation of the first and second spur gears is not affected when the spur gear meshes with the toothed chain. The structure is simple and the design is reasonable.

[0008] A non-standard assembly structure of spur teeth and chain teeth that satisfies the transition between teeth and chain can be further configured as follows: the two ends of the toothed chain are fixedly connected to the seat frame and the backrest frame through toothed chain fixing members, the two ends of the toothed chain fixing members are provided with baffles, the baffles pass through the backrest frame or the seat frame and are fixedly connected to the two sides of the toothed chain, the passage includes a first passage and a second passage, the first passage is located between the first spur gear and the chain gear, the second passage is located between the second spur gear and the chain gear, when the traveling wheel assembly travels from the first rack to the chain gear or from the chain gear to the second rack, the first passage and the second passage allow the baffles to extend into and approach the two sides of the chain gear.

[0009] Using the above technical solution, the top shape of the baffle is the same as the top shape of the single set of toothed chains, so that it can cooperate with the toothed chains. In order to prevent the baffle from losing teeth when the first rack and the toothed chain are engaged or when the toothed chain and the second rack are engaged, when the baffle is extended into the first passage and the second passage, the baffle is closer to the two sides of the chain gear and farther away from the opposite sides of the first spur gear or the second spur gear. This makes it less likely for teeth to slip or derail during the transition between the teeth and the chain, and improves stability.

[0010] A non-standard combination structure of straight teeth and chain teeth that satisfies the transition between teeth and chains can be further configured such that the width of the first passage or the second passage is greater than the width of the baffle.

[0011] Using the above technical solution, the toothed chain can use a standard CL-06 chain. The baffle and the two sides of the toothed chain can be fixedly connected by pins. Due to the presence of the baffle, the width of the two ends of the toothed chain should be slightly larger than the width of the middle section. In order to prevent the baffle from losing teeth when the first rack and the toothed chain are engaged or when the toothed chain is engaged with the second rack, the width of the baffle should not exceed the width of the first passage or the second passage, so that the transition between the teeth and the chain is smoother.

[0012] A non-standard combination structure of spur teeth and chain teeth that satisfies the transition between teeth and chain can be further configured such that: an anti-slip baffle is provided on the side of the first spur gear away from the robot arm.

[0013] Using the above technical solution, the anti-slip baffle is used to prevent the robot from slipping. When the robot moves on the first or second rack via the walking wheel assembly, the first spur gear of the robot is restricted to moving on the first or second rack due to the obstruction of the anti-slip baffle. This prevents the robot from slipping off the rack and being unable to continue moving. The design is reasonable.

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0015] Figure 1 This is a perspective view of an embodiment of the present utility model.

[0016] Figure 2 This is an embodiment of the present utility model. Figure 1 A schematic diagram of the structure after removing the robotic arm and the walking axis.

[0017] Figure 3 This is an embodiment of the present utility model. Figure 2 Enlarged view of part A in the image.

[0018] Figure 4 This is an embodiment of the present utility model. Figure 3 A schematic diagram of the structure of the central traveling wheel assembly.

[0019] Figure 5 This is an embodiment of the present utility model. Figure 2 A schematic diagram of the connection structure between the backrest guide rail, seat guide rail and toothed chain.

[0020] Figure 6 This is an embodiment of the present utility model. Figure 5 Enlarged view of part B.

[0021] Figure 7 This is an embodiment of the present utility model. Figure 2 A schematic diagram of the connection structure of the first rack, the second rack, the toothed chain, and the traveling wheel assembly.

[0022] Figure 8 This is an embodiment of the present utility model. Figure 7 Enlarged view of part C.

[0023] In the diagram: 1. Backrest frame; 2. Seat frame; 3. Robotic arm; 5. Walking wheel assembly; 10. Backrest frame guide rail; 20. Seat frame guide rail; 11. First rack; 21. Second rack; 31. Walking shaft; 32. Toothed chain fixing component; 33. Toothed chain; 51. Spur gear; 52. First spur gear; 53. Second spur gear; 54. Chain gear; 56. Anti-slip baffle; 61. First aisle; 62. Second aisle; 321. Baffle. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example: Figures 1-8The diagram illustrates a non-standard assembly structure of straight teeth and chain teeth that satisfies the transition between toothed and chain-like components. This structure includes a backrest frame 1, a seat frame 2, and a robotic arm 3. The backrest frame 1 is mounted on the seat frame 2. Backrest frame guide rails 10 are provided on both sides of the backrest frame 1, and seat frame guide rails 20 are provided on both sides of the seat frame 2. Two first racks 11 are provided on the backrest frame guide rails 10, and two second racks 21 are provided on the seat frame guide rails 20. A toothed chain 33 connects the first racks 11 and the second racks 21. Figures 5-8 As shown, the toothed chain 33 is fixedly connected to the seat frame 2 and the backrest frame 1 at both ends by toothed chain fasteners 32. Each toothed chain fastener 32 has baffles 321 at both ends. The baffles 321 pass through the backrest frame 1 or the seat frame 2 and are fixedly connected to both sides of the toothed chain 33. Figure 1 and Figure 2 As shown, the robotic arm 3 is equipped with a traveling shaft 31, and both ends of the traveling shaft 31 are provided with traveling wheel assemblies 5 that can mesh with the first rack 11, the toothed chain 33, or the second rack 21 to achieve movement. Figure 4 As shown, the walking wheel assembly 5 includes a spur gear 51 and a sprocket 54. The spur gear 51 includes a first spur gear 52 and a second spur gear 53 that mesh with two first racks 11 or a second rack. The sprocket 54 meshes with a toothed chain 33 and is positioned between the first spur gear 52 and the second spur gear 53. An anti-slip baffle 56 is provided on the side of the first spur gear 52 away from the robot arm 3. The anti-slip baffle 56 can prevent the robot arm 3 from slipping or losing teeth due to slippage during walking. The number of teeth of the spur gear 51 and the sprocket 54 are equal or an integer multiple of the number of teeth of the sprocket 54. The tooth profile of the sprocket 54 is obtained by involute meshing method. Since the number of teeth is less than the national standard minimum, a non-standard involute sprocket gear 54 and spur gear combination gear assembly for the robot's walking drive gear assembly was designed using a meshing method. The pitch circle of the spur gear 51 does not need to be equal to the pitch circle of the sprocket gear 54. The number of teeth of the spur gear 51 can be equal to or an integer multiple of the number of teeth of the sprocket gear 54. The number of teeth that can be selected for the sprocket gear 54 is also greater. At the same time, standard chains can be used. The machining of non-standard sprocket gear 54 is less difficult than machining non-standard chains, which can also reduce costs. It can also make the sprocket gear 54 more compatible with the toothed chain 33, resulting in tighter meshing, reduced noise, and less risk of tooth slippage or dislodging. Figure 4 and Figure 8As shown, the sprocket 53 has passageways 6 between its two sides and the first spur gear 52 and the second spur gear 53, respectively. Due to the passageways 6, when the toothed chain 33 meshes with the sprocket 54, it does not interfere with the movement of the first spur gear 52 and the second spur gear 53. Similarly, when the first spur gear 52 and the second spur gear 53 mesh with the two first racks 11 or the second rack 21, it does not interfere with the movement of the sprocket 54. The passageways include a first passageway 61 and a second passageway 62. The first passageway 61 is located between the first spur gear 52 and the sprocket 54, and the second passageway 62 is located between the second spur gear 53 and the sprocket 54. The traveling wheel assembly 5 travels from the first rack 11 to the chain... When gear 54 or sprocket 54 moves to the second rack 21, the first passageway 61 and the second passageway 62 allow baffle 321 to extend into and approach the two sides of sprocket 54. The width of the first passageway 61 or the second passageway 62 is greater than the width of baffle 321. In order to prevent baffle 321 from losing teeth when the first rack 11 and toothed chain 33 transition mesh or when the toothed chain 33 and the second rack 21 transition mesh, when baffle 321 extends into the first passageway 61 and the second passageway 62, baffle 321 is closer to the two sides of sprocket 53 and farther away from the opposite sides of the first spur gear 52 or the second spur gear 53, so that it is not easy for teeth to slip or derail during the transition between teeth and chain.

[0026] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A non-standard combination structure of straight teeth and chain teeth that satisfies the transition between teeth and chains, comprising a backrest frame (1), a seat frame (2), and a robot arm (3), wherein the backrest frame (1) is mounted on the seat frame (2), the backrest frame (1) is provided with backrest frame guide rails (10) on both sides, the seat frame (2) is provided with seat frame guide rails (20) on both sides, the backrest frame guide rails (10) are provided with two first racks (11), the seat frame guide rails (20) are provided with two second racks (21), a toothed chain (33) is connected between the first racks (11) and the second racks (21), and the robot arm (3) is provided with a traveling shaft (31), characterized in that: The walking shaft (31) is provided with a walking wheel assembly (5) at both ends, which can mesh with the first rack (11), the toothed chain (33), or the second rack (21) to achieve walking. The walking wheel assembly (5) includes a spur gear (51) and a sprocket (54). The spur gear (51) includes a first spur gear (52) and a second spur gear (53) that mesh with the two first racks (11) or the second rack. The sprocket (54) meshes with the toothed chain (33) and is located between the first spur gear (52) and the second spur gear (53). The number of teeth of the spur gear (51) and the sprocket (54) is equal or an integer multiple of the number of teeth of the sprocket (54). There are passageways (6) on both sides of the sprocket (54) between the first spur gear (52) and the second spur gear (53).

2. The non-standard assembly structure of straight teeth and chain teeth that satisfies the transition between teeth and chains according to claim 1, characterized in that: The toothed chain (33) is fixedly connected to the seat frame (2) and the backrest frame (1) at both ends by toothed chain fasteners (32). The toothed chain fasteners (32) are provided with baffles (321) at both ends. The baffles (321) pass through the backrest frame (1) or the seat frame (2) and are fixedly connected to the two sides of the toothed chain (33). The passage (6) includes a first passage (61) and a second passage (62). The first passage (61) is located between the first spur gear (52) and the sprocket (54). The second passage (62) is located between the second spur gear (53) and the sprocket. (54) When the walking wheel assembly (5) moves from the first rack (11) to the sprocket (54) or from the sprocket (54) to the second rack (21), the first passage (61) and the second passage (62) allow the baffle (321) to extend into and approach the two sides of the sprocket (54).

3. The non-standard assembly structure of straight teeth and chain teeth that satisfies the transition between teeth and chains according to claim 2, characterized in that: The width of the first passageway (61) or the second passageway (62) is greater than the width of the baffle (321).

4. A non-standard combination structure of straight teeth and chain teeth that satisfies the transition between teeth and chains, as described in any one of claims 1-3, characterized in that: An anti-slip baffle (56) is provided on the side of the first spur gear (52) away from the robot arm (3).

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