CN106426266A - Swing mechanism - Google Patents

Abstract

The invention provides a swing mechanism, comprising: an output wheel, the output wheel cannot rotate or move; an input wheel, the plane where the input wheel is located intersects with the plane where the output wheel is located, and the input wheel can rotate and move; the first reversing The first reversing wheel can rotate and move; the first transmission rope; the second transmission rope, one end of which is fixedly connected or hinged to the input wheel, and the other end is fixedly connected or hinged to the output wheel, and is reversed by the second reversing wheel , the second transmission rope fits at least part of the circumference of the input wheel; the second transmission rope located between the second reversing wheel and the output wheel is tangent to the second reversing wheel and the output wheel; The second transmission rope between the input wheels is all tangent to the second reversing wheel and the input wheel; the relative positions of the input wheel, the first reversing wheel and the second reversing wheel are unchanged. The oscillating mechanism has a simple structure, is easy to implement, and has low cost, and is suitable for the joints of a humanoid robot to realize the function of the oscillating joints of the robot.

Description

a swing mechanism

technical field

The invention relates to the mechanical field, in particular to a swing mechanism.

Background technique

The swing mechanism is very critical for the robot arm. In the prior art, steering gears are often used to realize them. However, the steering gears are expensive and bulky, and cannot achieve high integration.

Contents of the invention

The problem solved by the invention is that in the prior art, the steering gear is mostly used to realize the swing, which is expensive, has a large volume, and cannot achieve high integration.

In order to solve the above problems, the present invention provides a swing mechanism, comprising:

The output wheel, the output wheel cannot rotate or move, and has a fixed shaft;

Input wheel, the plane where the input wheel is located intersects the plane where the output wheel is located, and the input wheel can rotate and move;

The first reversing wheel, the first reversing wheel can rotate and move;

The first transmission rope, one end of which is fixedly connected or hinged to the input wheel, and the other end is fixedly connected or hinged to the output wheel, and is reversed by the first reversing wheel. The first transmission rope fits at least part of the circumference of the output wheel; The first transmission rope between the reversing wheel and the output wheel is tangent to the first reversing wheel and the output wheel; The wheels are evenly tangent;

The second reversing wheel, the second reversing wheel can rotate and move;

The second transmission rope, one end of which is fixedly connected or hinged to the input wheel, and the other end is fixedly connected or hinged to the output wheel, and is reversed by the second reversing wheel. The second transmission rope fits at least part of the circumference of the input wheel; The second transmission rope between the reversing wheel and the output wheel is all tangent to the second reversing wheel and the output wheel; The wheels are evenly tangent;

The relative positions of the input wheel, the first reversing wheel and the second reversing wheel are unchanged.

Further, the wheel diameter of the first reversing wheel is equal to the wheel diameter of the second reversing wheel.

Further, the diameters of the first reversing wheel and the second reversing wheel are smaller than the diameters of the input wheel and the output wheel.

Further, the rotation axis of the input wheel and the rotation axis of the output wheel are located in the same plane.

Further, the first reversing wheel and the second reversing wheel are mirror symmetrical.

Further, the first reversing wheel is parallel to the second reversing wheel.

Further, the diameters of the input wheel and the output wheel are equal; or, the diameters of the input wheel and the output wheel are not equal.

Further, a groove is provided on the circumference of the input wheel, the output wheel, the first reversing wheel and/or the second reversing wheel, and the first transmission rope and the second transmission rope can be accommodated in the groove.

Further, the position where the first transmission rope is fixedly connected or hinged to the input wheel is the same as the position where the second transmission rope is fixedly connected or hinged to the input wheel.

Further, the position where the first transmission rope is fixedly connected or hinged to the output wheel is the same as the position where the second transmission rope is fixedly connected or hinged to the output wheel.

Compared with the prior art, the technical solution of the present invention has the following advantages:

The swing mechanism has a simple structure, is easy to realize, and has low cost, and is suitable for humanoid robot joints to realize the swing function of the robot joints.

Description of drawings

Fig. 1 is a schematic diagram of the swing mechanism of the present invention.

detailed description

In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Referring to FIG. 1 , this embodiment provides a swing mechanism, including an input wheel 10 , an output wheel 20 , a first reversing wheel 30 , a first transmission rope 40 , a second reversing wheel 50 and a second transmission rope 60 .

The output wheel 20 cannot rotate or move. The output wheel 20 is fixed by a fixed shaft 21 .

The input wheel 10 is externally connected with a power device to drive the input wheel 10 to rotate. The input wheel 10 can also move, that is, the position of the center of the input wheel 10 can change.

The plane in which the input wheel 10 lies intersects the plane in which the output wheel 20 lies.

The first reversing wheel 30 can rotate. The first reversing wheel 30 can also move, that is, the position of the center of the circle of the first reversing wheel 30 can change.

The second reversing wheel 50 can rotate. The second reversing wheel 50 can also move, that is, the center position of the second reversing wheel 50 can change.

Referring to the solid line part in Fig. 1, one end of the first transmission rope 40 is fixedly connected or hinged at point A" with the input wheel 10, and the other end is fixedly connected or hinged at point B with the output wheel 20, and passes through the first reversing wheel 30 reversing, the first transmission rope 40 fits at least part of the circumference of the output wheel 20; Tangent; the first transmission rope 42 located between the first reversing wheel 30 and the input wheel 10 is tangent to both the first reversing wheel 30 and the input wheel 10 .

In a specific embodiment, one end of the first transmission rope 40 is provided with a clamping block, and the input wheel 10 is provided with a clamping slot, and the clamping block is clamped into the clamping slot for connection. The other end of the first transmission rope 40 is also provided with a clamping block, and the output wheel 20 is provided with a clamping slot, and the clamping block is clamped into the clamping slot for connection.

In this embodiment, point A″ is located on the circumference of the input wheel 10 and point B is located on the circumference of the output wheel 20 .

The first transmission rope 40 fits a portion of the circumference of the output wheel 20 , which is the inferior arc segment BC in FIG. 1 .

In other embodiments, the first transmission rope 40 can also be attached to the entire circumference of the output wheel 20 , and even the first transmission rope 40 can be wound on the output wheel 20 several times.

More specifically, grooves are provided on the circumferences of the input wheel 10 , the output wheel 20 and the first reversing wheel 30 , and the first transmission rope 40 is accommodated in the grooves. This facilitates the bonding of the first transmission rope 40 to the input wheel 10 , the output wheel 20 and the first reversing wheel 30 .

The first transmission rope 41 located between the first reversing wheel 30 and the output wheel 20 is tangent to the first reversing wheel 30 at point H, and is tangent to the output wheel 20 at point C.

The first transmission rope 42 located between the first reversing wheel 30 and the input wheel 10 is tangent to the first reversing wheel 30 at point I, and both tangent to the input wheel 10 at point A".

The first drive rope 40 is A" IHCB.

Here, the first reversing wheel 30, the first transmission rope 41 located between the first reversing wheel 30 and the output wheel 20, and the first transmission rope 42 located between the first reversing wheel 30 and the input wheel 10 are located at the same in plane.

The first transmission rope 40 is fixedly connected or hinged to the input wheel 10 at point A", the point A" is the tangent point between the first transmission rope 42 and the input wheel 10, or the point A" is located away from the tangent in the direction of direction g. point. If the point A" is on the other side of the tangent point, then when the input wheel 10 turns in the direction g, the first transmission rope 40 will break away from the first reversing wheel 30 and cannot fit On the input wheel 10, it cannot be oscillated, which violates the function of the oscillating mechanism, and is not the oscillating mechanism described in the present invention. Likewise, the point A" can be set at other positions away from the tangent point in the direction g, even the first transmission rope 40 can be wound several times on the input wheel 10 .

One end of the second drive rope 60 is fixedly connected to the input wheel 10 or hinged at point A", and the other end is fixedly connected to the output wheel 20 or hinged at point B, and is reversed by the second reversing wheel 50. The second drive rope 60 Fit at least part of the circumference of the input wheel 10; the second transmission rope 61 between the second reversing wheel 50 and the output wheel 20 is tangent to the second reversing wheel 50 and the output wheel 20; The second transmission rope 62 between the 50 and the input wheel 10 is tangent to the second reversing wheel 50 and the input wheel 10 .

The first transmission rope 40 and the second transmission rope 60 are located on two sides of the input wheel 10 and the output wheel 20 respectively. If the first transmission rope 40 and the second transmission rope 60 are located on the same side of the input wheel 10 and the output wheel 20, then the swing function of the swing mechanism cannot be realized, and this design is not the swing mechanism described in the present invention.

In a specific embodiment, one end of the second transmission rope 60 is provided with a clamping block, and the input wheel 10 is provided with a clamping slot, and the clamping block is clamped into the clamping slot for connection. The other end of the second transmission rope 60 is also provided with a clamping block, and the output wheel 20 is provided with a clamping slot, and the clamping block is clamped into the clamping slot for connection.

In this embodiment, the position where the first transmission rope 40 is fixedly connected or hinged to the input wheel 10 is the same as the position where the second transmission rope 60 is fixedly connected or hinged to the input wheel 10 . The position where the first transmission rope 40 is fixedly connected or hinged to the output wheel 20 is the same as the position where the second transmission rope 60 is fixedly connected or hinged to the output wheel 20 .

The second transmission rope 60 fits a portion of the circumference of the input wheel 10, which is the inferior arc segment A"D in FIG. 1 .

In other embodiments, the second transmission rope 60 can also be attached to the entire circumference of the input wheel 10 , and even the second transmission rope 60 can be wound on the input wheel 10 several times.

More specifically, grooves are provided on the circumference of the input wheel 10 , the output wheel 20 and the second reversing wheel 50 , and the second transmission rope 60 is accommodated in the grooves. This facilitates the attachment of the second transmission rope 60 to the input wheel 10 , the output wheel 20 and the second reversing wheel 50 .

The second transmission rope 61 located between the second reversing wheel 50 and the output wheel 20 is tangent to the second reversing wheel 50 at point J and tangent to the output wheel 20 at point B.

The second transmission rope 62 located between the second reversing wheel 50 and the input wheel 10 is tangent to the second reversing wheel 50 at point K, and both tangent to the input wheel 10 at point D.

The second transmission rope 60 is BJKDA".

Here, the second reversing wheel 50, the second transmission rope 61 located between the second reversing wheel 50 and the output wheel 20, and the second transmission rope 62 located between the second reversing wheel 50 and the input wheel 10 are located at the same in plane.

The output pulley 20 , the second transmission rope 61 between the second reversing pulley 50 and the output pulley 20 , and the first transmission rope 41 between the first reversing pulley 30 and the output pulley 20 are located in the same plane.

The input wheel 10 , the second transmission rope 62 located between the second reversing wheel 50 and the input wheel 10 , and the first transmission rope 42 located between the first reversing wheel 30 and the input wheel 10 are located in the same plane.

In other embodiments, the second transmission rope 60 can be wound several times around the output wheel 20 .

In other embodiments, the position where the first transmission rope 40 is fixedly connected or hinged to the input wheel 10 and the position where the second transmission rope 60 is fixedly connected or hinged to the input wheel 10 may be different. The position where the first transmission rope 40 is fixedly connected or hinged to the output wheel 20 and the position where the second transmission rope 60 is fixedly connected or hinged to the output wheel 20 may also be different.

Here, it should be noted that when the joint position of the first transmission rope 40 and the output wheel 20 and the joint position of the second transmission rope 60 and the output wheel 20 overlap, it is better to set two grooves on the output wheel 20 The first transmission rope 40 and the second transmission rope 60 are respectively used to prevent the first transmission rope 40 and the second transmission rope 60 from being entangled or rubbed against each other to hinder the swing.

Similarly, when the fitting position of the first transmission rope 40 and the input wheel 10 overlaps with the fitting position of the second transmission rope 60 and the input wheel 10, it is preferable to set two grooves on the input wheel 10 for the first A transmission rope 40 and a second transmission rope 60 are used to prevent the first transmission rope 40 and the second transmission rope 60 from being entangled or rubbed against each other to hinder the swing.

In this embodiment, the diameter of the first reversing wheel 30 is equal to the diameter of the second reversing wheel 50 . More specifically, the diameters of the first reversing wheel 30 and the second reversing wheel 50 are smaller than the diameters of the input wheel 10 and the output wheel 20 . Of course, in other embodiments, the diameter of the first reversing wheel 30 and the diameter of the second reversing wheel 50 can also be unequal, even the diameter of the first reversing wheel 30 and the diameter of the second reversing wheel 50 can be greater than The diameter of the input wheel 10 and the output wheel 20 .

In other embodiments, the diameter of the first reversing wheel 30 and the diameter of the second reversing wheel 50 may also be unequal.

The rotation axis of the input wheel 10 and the fixed axis 21 of the output wheel 20 are located in the same plane.

In this embodiment, the first reversing wheel 30 and the second reversing wheel 50 are mirror-symmetrical.

In this embodiment, the first reversing wheel 30 and the second reversing wheel 50 are parallel.

The relative positions of the input wheel 10, the first reversing wheel 30, and the second reversing wheel 50 remain unchanged.

The specific working principle of the swing mechanism is as follows:

The input wheel 10 rotates along the direction g, and drives the connection point between the first transmission rope 40 and the input wheel 10, that is, point A" to rotate along the direction g. Since the first transmission rope 40 cannot be stretched, and the output wheel 20 does not rotate, it cannot moves, causing the input wheel 10 to rotate around the direction n, and swing from position 2 to position 1. Referring to position 1 in Figure 1, point A' in position 1 is equivalent to point A" in position 2. In position 1, The point of tangency between the first drive rope 42 and the input pulley 10 becomes point A.

Further, since the relative positions of the input wheel 10 and the first reversing wheel 30 remain unchanged, the first reversing wheel 30 rotates in the direction f under the action of friction, and swings from position 2 to position 1 . The tangent position between the first transmission rope 40 and the output wheel 20 changes from point C to point C', the length of the first transmission rope 40 and the output wheel 20 is reduced, and the reduction is the inferior arc CC'; the first transmission rope 40 The length attached to the input wheel 10 is increased by the minor arc AA'. Since the first transmission rope 40 cannot be stretched, the minor arc CC' and the minor arc AA' are equal in length.

In the same principle, the second reversing wheel 50 rotates in the direction e under the action of friction, and swings from position 2 to position 1 . The tangent position between the second transmission rope 60 and the output wheel 20 changes from point B to point B', and the bonding length increases; the bonding length between the second transmission rope 60 and the input wheel 10 decreases, and the amount of change between the two is equal.

When the input wheel 10 rotates in the direction opposite to the direction g, the principle is the same as above and will not be repeated here.

It should be noted that during the swinging process of the input wheel 10, the first reversing wheel 30, and the second reversing wheel 50, the position where the first transmission rope 40 is tangent to the output wheel 20 should be prevented from becoming point B. Similarly, it should be It is avoided that the position where the second transmission rope 60 is tangent to the input wheel 10 becomes point A'.

The swing angular velocity of this swing mechanism is the angular velocity of input wheel 10 multiplied by the diameter of output wheel 20 and the diameter ratio of input wheel 10; A smaller value of the angle corresponding to the length of the transmission rope 40 and the output wheel 20 .

The oscillating mechanism has a simple structure, is easy to implement, and has low cost, and is suitable for the joints of a humanoid robot to realize the function of the oscillating joints of the robot.

Although the present invention is disclosed above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so the protection scope of the present invention should be based on the scope defined in the claims.

Claims (10)

1. a kind of swing mechanism is it is characterised in that include：

Output wheel, output wheel can not rotate, nor mobile, and has a fixing axle；

Wheel for inputting, the plane that the plane that wheel for inputting is located is located with output wheel intersects, and wheel for inputting can rotate and move；

First reverse wheel, the first reverse wheel can rotate and move；

First transmission rope, its one end is fixedly connected with wheel for inputting or hinged, and the other end is fixedly connected with output wheel or hinged, and leads to Cross the first reverse wheel commutation, the first transmission rope is at least fitted the part-circular periphery of output wheel；Positioned at the first reverse wheel and output wheel it Between the first transmission rope all tangent with the first reverse wheel and output wheel；Positioned at the first transmission between the first reverse wheel and wheel for inputting Rope is all tangent with the first reverse wheel and wheel for inputting；

Second reverse wheel, the second reverse wheel can rotate and move；

Second transmission rope, its one end is fixedly connected with wheel for inputting or hinged, and the other end is fixedly connected with output wheel or hinged, and leads to Cross the second reverse wheel commutation, the second transmission rope is at least fitted the part-circular periphery of wheel for inputting；Positioned at the second reverse wheel and output wheel it Between the second transmission rope all tangent with the second reverse wheel and output wheel；Positioned at the second transmission between the second reverse wheel and wheel for inputting Rope is all tangent with the second reverse wheel and wheel for inputting；

Wheel for inputting, the first reverse wheel, the second reverse wheel relative position constant.

2. swing mechanism as claimed in claim 1 is it is characterised in that the wheel of the wheel diameter of the first reverse wheel and the second commutation is straight Footpath is equal.

3. swing mechanism as claimed in claim 2 is it is characterised in that the diameter of the first reverse wheel and the second reverse wheel is less than defeated Enter the diameter of wheel and output wheel.

4. swing mechanism as claimed in claim 1 is it is characterised in that the rotary shaft of wheel for inputting and the fixing axle of output wheel are located at In same plane.

5. swing mechanism as claimed in claim 4 is it is characterised in that the first reverse wheel and the second reverse wheel are mirrored symmetrically.

6. swing mechanism as claimed in claim 5 is it is characterised in that the first reverse wheel and the second reverse wheel are parallel.

7. swing mechanism as claimed in claim 1 is it is characterised in that the equal diameters of wheel for inputting and output wheel；Or, input The diameter of wheel and output wheel is unequal.

8. swing mechanism as claimed in claim 1 is it is characterised in that wheel for inputting, output wheel, the first reverse wheel and/or second Reverse wheel provided circumferentially about fluted, the first transmission rope and the second transmission rope can be placed in described groove.

9. swing mechanism as claimed in claim 1 is it is characterised in that the first transmission rope is fixedly connected with wheel for inputting or hinged Position is fixedly connected with wheel for inputting with the second transmission rope or hinged position is identical.

10. swing mechanism as claimed in claim 1 is it is characterised in that the first transmission rope is fixedly connected with output wheel or hinged Position be fixedly connected with output wheel with the second transmission rope or hinged position is identical.