CN106426266B - a swing mechanism - Google Patents
a swing mechanism Download PDFInfo
- Publication number
- CN106426266B CN106426266B CN201611093588.5A CN201611093588A CN106426266B CN 106426266 B CN106426266 B CN 106426266B CN 201611093588 A CN201611093588 A CN 201611093588A CN 106426266 B CN106426266 B CN 106426266B
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- CN
- China
- Prior art keywords
- wheel
- inputting
- reverse
- transmission rope
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of swing mechanisms, comprising: output wheel, output wheel are not able to rotate, and can not be moved；Wheel for inputting, the plane where wheel for inputting intersect with the plane where output wheel, and wheel for inputting can be rotated and be moved；First reverse wheel, the first reverse wheel can be rotated and be moved；First transmission rope；Second transmission rope, one end are fixedly connected or hingedly with wheel for inputting, and the other end is fixedly connected or hingedly with output wheel, and is commutated by the second reverse wheel, and the second transmission rope is at least bonded the part-circular periphery of wheel for inputting；The second transmission rope and the second reverse wheel and output wheel between the second reverse wheel and output wheel is tangent；The second transmission rope and the second reverse wheel and wheel for inputting between the second reverse wheel and wheel for inputting is tangent；Wheel for inputting, the first reverse wheel, the relative position of the second reverse wheel are constant.This swing mechanism structure is simple, easy to accomplish, at low cost, is suitable for humanoid robot joint, realizes the function that joint of robot is swung.
Description
Technical field
The present invention relates to machinery fields, are related specifically to a kind of swing mechanism.
Background technique
Swing mechanism is very crucial for robot arm, and the prior art mainly adopts steering engines to realize, but steering engine takes
With valuableness, volume is larger, cannot achieve high integration.
Summary of the invention
Problems solved by the invention is that the prior art mainly adopts steering engines to be swung to realize, somewhat expensive, volume is larger, nothing
Method realizes high integration.
To solve the above problems, the present invention provides a kind of swing mechanism, comprising:
Output wheel, output wheel are not able to rotate, and can not be moved, and have a fixing axle；
Wheel for inputting, the plane where wheel for inputting intersect with the plane where output wheel, and wheel for inputting can be rotated and be moved；
First reverse wheel, the first reverse wheel can be rotated and be moved；
First transmission rope, one end are fixedly connected or hingedly with wheel for inputting, and the other end is fixedly connected or hingedly with output wheel,
And commutated by the first reverse wheel, the first transmission rope is at least bonded the part-circular periphery of output wheel；Positioned at the first reverse wheel and output
The first transmission rope and the first reverse wheel and output wheel between wheel is tangent；First between the first reverse wheel and wheel for inputting
Transmission rope and the first reverse wheel and wheel for inputting are tangent；
Second reverse wheel, the second reverse wheel can be rotated and be moved；
Second transmission rope, one end are fixedly connected or hingedly with wheel for inputting, and the other end is fixedly connected or hingedly with output wheel,
And commutated by the second reverse wheel, the second transmission rope is at least bonded the part-circular periphery of wheel for inputting；Positioned at the second reverse wheel and output
The second transmission rope and the second reverse wheel and output wheel between wheel is tangent；Second between the second reverse wheel and wheel for inputting
Transmission rope and the second reverse wheel and wheel for inputting are tangent；
Wheel for inputting, the first reverse wheel, the relative position of the second reverse wheel are constant.
Further, the wheel diameter of the first reverse wheel and the wheel diameter of the second commutation are equal.
Further, the diameter of the first reverse wheel and the second reverse wheel is less than the diameter of wheel for inputting and output wheel.
Further, the rotation axis of wheel for inputting and the rotation axis of output wheel are in the same plane.
Further, the first reverse wheel and the second reverse wheel are symmetrical in mirror surface.
Further, the first reverse wheel and the second reverse wheel are parallel.
Further, the diameter of wheel for inputting and output wheel is equal；Alternatively, the diameter of wheel for inputting and output wheel is unequal.
Further, wheel for inputting, output wheel, the first reverse wheel and/or the second reverse wheel is provided circumferentially about fluted, and first
Transmission rope and the second transmission rope can be placed in the groove.
Further, the first transmission rope is fixedly connected with wheel for inputting or hinged position is fixed with the second transmission rope with wheel for inputting
Connection or hinged position are identical.
Further, the first transmission rope is fixedly connected with output wheel or hinged position is fixed with the second transmission rope with output wheel
Connection or hinged position are identical.
Compared with prior art, technical solution of the present invention has the advantage that
This swing mechanism structure is simple, easy to accomplish, at low cost, is suitable for humanoid robot joint, realizes that robot closes
The oscillating function of section.
Detailed description of the invention
Fig. 1 is the schematic diagram of swing mechanism of the present invention.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
With reference to Fig. 1, a kind of swing mechanism, including wheel for inputting 10, output wheel 20, the first reverse wheel are present embodiments provided
30, the first transmission rope 40, the second reverse wheel 50 and the second transmission rope 60.
The output wheel 20 is not able to rotate, and can not be moved.The output wheel 20 is fixed by fixing axle 21.
The 10 external connection power device of wheel for inputting, to drive the wheel for inputting 10 to rotate.The wheel for inputting 10 can also move
Dynamic, i.e., the center location of the described wheel for inputting 10 can change.
Plane where wheel for inputting 10 intersects with the plane where output wheel 20.
First reverse wheel 30 can rotate.First reverse wheel 30 can also move, i.e., described first reverse wheel
30 center location can change.
Second reverse wheel 50 can rotate.Second reverse wheel 50 can also move, i.e., described second reverse wheel
50 center location can change.
With reference to the bold portion in Fig. 1, one end of the first transmission rope 40 is fixedly connected with or is articulated with point A " with wheel for inputting 10,
The other end is fixedly connected with or is articulated with B point with output wheel 20, and is commutated by the first reverse wheel 30, and the first transmission rope 40 at least pastes
Close the part-circular periphery of output wheel 20；The first transmission rope 41 and the first reverse wheel between the first reverse wheel 30 and output wheel 20
30 and output wheel 20 it is tangent；The first transmission rope 42 and the first reverse wheel 30 between the first reverse wheel 30 and wheel for inputting 10
It is tangent with wheel for inputting 10.
In a particular embodiment, it is provided with fixture block on one end of first transmission rope 40, is arranged on the wheel for inputting 10
There is card slot, the fixture block is caught in the card slot to be attached.It is also equipped with fixture block on the other end of first transmission rope 40,
Card slot is provided on the output wheel 20, the fixture block is caught in the card slot to be attached.
In the present embodiment, point A " is located on the circumference of wheel for inputting 10, and point B is located on the circumference of output wheel 20.
First transmission rope 40 is bonded the part-circular periphery of output wheel 20, is minor segment BC in Fig. 1.
In other embodiments, first transmission rope 40 can also be bonded the whole circumference or even first of output wheel 20
Transmission rope 40 can on output wheel 20 around it is upper a few.
More specifically, wheel for inputting 10, output wheel 20 and the first reverse wheel 30 is provided circumferentially about fluted, the first transmission
Rope 40 is placed in the groove.In this way convenient for the first transmission rope 40 and wheel for inputting 10, output wheel 20 and the first reverse wheel 30
Fitting.
The first transmission rope 41 and the first reverse wheel 30 between the first reverse wheel 30 and output wheel 20 are tangential on point H,
Point C is tangential on output wheel 20.
The first transmission rope 42 and the first reverse wheel 30 between the first reverse wheel 30 and wheel for inputting 10 are tangential on point I,
Point A " is tangential on wheel for inputting 10.
First transmission rope 40 is A " IHCB.
Here, the first reverse wheel 30, the first transmission rope 41 between the first reverse wheel 30 and output wheel 20 and position
The first transmission rope 42 between the first reverse wheel 30 and wheel for inputting 10 is in the same plane.
First transmission rope 40 is fixedly connected with or is articulated with point A " with wheel for inputting 10, the point A " be the first transmission rope 42 with it is defeated
Enter the point of contact of wheel 10, or point A " is located at towards the direction of direction g far from the position at the point of contact.If point A " is located at the another of the point of contact
Side, then the first transmission rope 40 will be detached from the first reverse wheel 30, have no when wheel for inputting 10 is rotated towards the direction of direction g
Method fits on wheel for inputting 10, can not be swung, this has violated the function of swing mechanism, is not the swing of description of the invention
Mechanism.It is being located at likewise, point A " can be set towards in other positions of the direction of direction g far from the point of contact or even first passes
Running rope 40 can on wheel for inputting 10 around it is upper a few.
One end of second transmission rope 60 is fixedly connected with or is articulated with point A " with wheel for inputting 10, and the other end and output wheel 20 are fixed
Point B is connected or be articulated with, and is commutated by the second reverse wheel 50, the second transmission rope 60 is at least bonded the part circle of wheel for inputting 10
Week；The second transmission rope 61 and the second reverse wheel 50 and output wheel 20 between the second reverse wheel 50 and output wheel 20 is homogeneous
It cuts；The second transmission rope 62 and the second reverse wheel 50 and wheel for inputting 10 between the second reverse wheel 50 and wheel for inputting 10 is homogeneous
It cuts.
First transmission rope 40 and the second transmission rope 60 are located at the two sides of wheel for inputting 10 and output wheel 20.If described
First transmission rope 40 and the second transmission rope 60 are located at the same side of wheel for inputting 10 and output wheel 20, then cannot achieve swing mechanism
Oscillating function, this design is not swing mechanism described in the invention.
In a particular embodiment, it is provided with fixture block on one end of second transmission rope 60, is arranged on the wheel for inputting 10
There is card slot, the fixture block is caught in the card slot to be attached.It is also equipped with fixture block on the other end of second transmission rope 60,
Card slot is provided on the output wheel 20, the fixture block is caught in the card slot to be attached.
In the present embodiment, the first transmission rope 40 is fixedly connected or hinged position and the second transmission rope 60 with wheel for inputting 10
It is fixedly connected with wheel for inputting 10 or hinged position is identical.First transmission rope 40 is fixedly connected with output wheel 20 or hinged position
And the second transmission rope 60 is fixedly connected with output wheel 20 or hinged position is identical.
Second transmission rope 60 is bonded the part-circular periphery of wheel for inputting 10, is minor segment A " D in Fig. 1.
In other embodiments, second transmission rope 60 can also be bonded the whole circumference or even second of wheel for inputting 10
Transmission rope 60 can on wheel for inputting 10 around it is upper a few.
More specifically, wheel for inputting 10, output wheel 20 and the second reverse wheel 50 is provided circumferentially about fluted, the second transmission
Rope 60 is placed in the groove.In this way convenient for the second transmission rope 60 and wheel for inputting 10, output wheel 20 and the second reverse wheel 50
Fitting.
The second transmission rope 61 and the second reverse wheel 50 between the second reverse wheel 50 and output wheel 20 are tangential on point J,
Point B is tangential on output wheel 20.
The second transmission rope 62 and the second reverse wheel 50 between the second reverse wheel 50 and wheel for inputting 10 are tangential on point K,
Point D is tangential on wheel for inputting 10.
Second transmission rope 60 is BJKDA ".
Here, the second reverse wheel 50, the second transmission rope 61 between the second reverse wheel 50 and output wheel 20 and position
The second transmission rope 62 between the second reverse wheel 50 and wheel for inputting 10 is in the same plane.
Output wheel 20, the second transmission rope 61 between the second reverse wheel 50 and output wheel 20 and be located at first commutation
The first transmission rope 41 between wheel 30 and output wheel 20 is in the same plane.
Wheel for inputting 10, the second transmission rope 62 between the second reverse wheel 50 and wheel for inputting 10 and be located at first commutation
The first transmission rope 42 between wheel 30 and wheel for inputting 10 is in the same plane.
In other embodiments, the second transmission rope 60 can on output wheel 20 around it is upper a few.
In other embodiments, the first transmission rope 40 is fixedly connected or hinged position and the second transmission rope with wheel for inputting 10
60 are fixedly connected or hinged position can not be identical with wheel for inputting 10.First transmission rope 40 is fixedly connected or cuts with scissors with output wheel 20
The position connect is fixedly connected with the second transmission rope 60 with output wheel 20 or hinged position can not also be identical.
Herein, it is noted that when the first transmission rope 40 and output wheel 20 bonding position and the second transmission rope 60 with it is defeated
When the bonding position of wheel 20 has overlapping out, two grooves are set preferably on output wheel 20 and supply the first transmission rope 40 and second respectively
Transmission rope 60 uses, and prevents the first transmission rope 40 and the second transmission rope 60 mutually winding or friction and hinders to swing.
Likewise, when the first transmission rope 40 and the bonding position of wheel for inputting 10 and the patch of the second transmission rope 60 and wheel for inputting 10
When coincidence is equipped with overlapping, two grooves is set preferably on wheel for inputting 10, the first transmission rope 40 and the second transmission rope 60 is supplied to make respectively
With preventing the first transmission rope 40 and the second transmission rope 60 mutually winding or friction and hinder to swing.
In the present embodiment, the diameter of the diameter of the first reverse wheel 30 and the second reverse wheel 50 is equal.More specifically,
The diameter of one reverse wheel 30 and the second reverse wheel 50 is less than the diameter of wheel for inputting 10 and output wheel 20.Certainly, in other embodiments
In, the diameter of the diameter of the first reverse wheel 30 and the second reverse wheel 50 can also unequal or even the first reverse wheel 30 diameter
The diameter of wheel for inputting 10 and output wheel 20 can be greater than with the diameter of the second reverse wheel 50.
In other embodiments, the diameter of the diameter of the first reverse wheel 30 and the second reverse wheel 50 can also be unequal.
The rotation axis of wheel for inputting 10 and the fixing axle 21 of output wheel 20 are in the same plane.
In the present embodiment, the first reverse wheel 30 and the second reverse wheel 50 are symmetrical in mirror surface.
In the present embodiment, the first reverse wheel 30 is parallel with the second reverse wheel 50.
Wheel for inputting 10, the first reverse wheel 30, the relative position of the second reverse wheel 50 are constant.
The specific working principle of swing mechanism is as follows:
Wheel for inputting 10 is rotated along direction g, drives the tie point of the first transmission rope 40 and wheel for inputting 10, i.e., point A " is along direction g
Rotation, since the first transmission rope 40 is non-stretchable, and output wheel 20 does not rotate, and can not move, and causes wheel for inputting 10 around direction n
Rotation, and position 1 is swung to by position 2.With reference to the position 1 in Fig. 1, the point A ' in position 1 is equivalent to the point A " in position 2,
In position 1, the point of contact of the first transmission rope 42 and wheel for inputting 10 becomes point A.
Further, since the relative position of wheel for inputting 10, the first reverse wheel 30 is constant, the first reverse wheel 30 is in frictional force
It is rotated under effect towards direction f, and position 1 is swung to by position 2.First transmission rope 40 is with the tangent position of output wheel 20 by point C
Become point C ', the length that the first transmission rope 40 is bonded with output wheel 20 is reduced, and reduction amount is minor arc CC '；First transmission rope 40 with
Wheel for inputting 10 be bonded length increase, incrementss be minor arc AA ', since the first transmission rope 40 is non-stretchable, minor arc CC ' with
The equal length of minor arc AA '.
Same principle, the second reverse wheel 50 rotate under the action of frictional force towards direction e, and are swung in place by position 2
Set 1.Second transmission rope 60 becomes point B ' from point B with the tangent position of output wheel 20, and fitting length increases；Second transmission rope 60 with
The fitting length of wheel for inputting 10 is reduced, and the variable quantity of the two is equal.
When wheel for inputting 10 is rotated towards direction g opposite direction, principle is same as described above, is not repeated.
It should be noted that wheel for inputting 10, the first reverse wheel 30, the second reverse wheel 50 during swing, should avoid the
One transmission rope 40 becomes point B with the tangent position of output wheel 20, likewise, the second transmission rope 60 and 10 phase of wheel for inputting should be avoided
The position cut becomes point A '.
The swing angular velocity of this swing mechanism is the angular speed of wheel for inputting 10 multiplied by the diameter and wheel for inputting 10 of output wheel 20
Diameter ratio；Swing angle range is that the second transmission rope 60 and wheel for inputting 10 are bonded angle corresponding to length, the first biography
The smaller value of running rope 40 and output wheel 20 being bonded in angle corresponding to length.
This swing mechanism structure is simple, easy to accomplish, at low cost, is suitable for humanoid robot joint, realizes that robot closes
Save the function of swinging.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (10)
1. a kind of swing mechanism characterized by comprising
Output wheel, output wheel are not able to rotate, and can not be moved, and have a fixing axle；
Wheel for inputting, the plane where wheel for inputting intersect with the plane where output wheel, and wheel for inputting can be rotated and be moved；
First reverse wheel, the first reverse wheel can be rotated and be moved；
First transmission rope, one end are fixedly connected or hingedly with wheel for inputting, and the other end is fixedly connected or hingedly with output wheel, and is led to
The commutation of the first reverse wheel is crossed, the first transmission rope is at least bonded the part-circular periphery of output wheel；Positioned at the first reverse wheel and output wheel it
Between the first transmission rope and the first reverse wheel and output wheel it is tangent；The first transmission between the first reverse wheel and wheel for inputting
It restricts tangent with the first reverse wheel and wheel for inputting；
Second reverse wheel, the second reverse wheel can be rotated and be moved；
Second transmission rope, one end are fixedly connected or hingedly with wheel for inputting, and the other end is fixedly connected or hingedly with output wheel, and is led to
The commutation of the second reverse wheel is crossed, the second transmission rope is at least bonded the part-circular periphery of wheel for inputting；Positioned at the second reverse wheel and output wheel it
Between the second transmission rope and the second reverse wheel and output wheel it is tangent；The second transmission between the second reverse wheel and wheel for inputting
It restricts tangent with the second reverse wheel and wheel for inputting；
Wheel for inputting, the first reverse wheel, the relative position of the second reverse wheel are constant.
2. swing mechanism as described in claim 1, which is characterized in that the wheel diameter of the first reverse wheel and the wheel of the second commutation are straight
Diameter is equal.
3. swing mechanism as claimed in claim 2, which is characterized 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 described in claim 1, which is characterized in that the rotation axis 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, which is characterized in that the first reverse wheel and the second reverse wheel are symmetrical in mirror surface.
6. swing mechanism as claimed in claim 5, which is characterized in that the first reverse wheel and the second reverse wheel are parallel.
7. swing mechanism as described in claim 1, which is characterized in that the diameter of wheel for inputting and output wheel is equal；Alternatively, input
The diameter of wheel and output wheel is unequal.
8. swing mechanism as described in claim 1, which is characterized in that wheel for inputting, output wheel, the first reverse wheel and/or second
Reverse wheel it is provided circumferentially about fluted, the first transmission rope and the second transmission rope can be placed in the groove.
9. swing mechanism as described in claim 1, which is characterized in that the first transmission rope is fixedly connected or hinged with wheel for inputting
Position and the second transmission rope are fixedly connected with wheel for inputting or hinged position is identical.
10. swing mechanism as described in claim 1, which is characterized in that the first transmission rope is fixedly connected or hingedly with output wheel
And the second transmission rope is fixedly connected with output wheel or hinged position is identical for position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611093588.5A CN106426266B (en) | 2016-12-01 | 2016-12-01 | a swing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611093588.5A CN106426266B (en) | 2016-12-01 | 2016-12-01 | a swing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426266A CN106426266A (en) | 2017-02-22 |
| CN106426266B true CN106426266B (en) | 2019-02-12 |
Family
ID=58223396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611093588.5A Expired - Fee Related CN106426266B (en) | 2016-12-01 | 2016-12-01 | a swing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426266B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51158367U (en) * | 1975-06-12 | 1976-12-16 | ||
| JPS5284660U (en) * | 1975-12-20 | 1977-06-24 | ||
| US4065978A (en) * | 1976-09-07 | 1978-01-03 | G. D. Searle & Co. | Synchronized drive and cable handling system for a rotational machine element |
| SU996773A2 (en) * | 1979-02-12 | 1983-02-15 | Предприятие П/Я Г-4695 | Chain transmission |
| DE19624311C1 (en) * | 1996-06-18 | 1998-04-02 | Ingo Mussehl | Rear chain drive for off road motorcycle |
| CN103261739A (en) * | 2010-09-29 | 2013-08-21 | 麦斯克里克有限公司 | Apparatus for guiding a flexible member |
| CN105387157A (en) * | 2015-12-15 | 2016-03-09 | 施勤 | Winding transmission structure and method of pulleys and flexible rope |
| CN206326624U (en) * | 2016-12-01 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of swing mechanism |
-
2016
- 2016-12-01 CN CN201611093588.5A patent/CN106426266B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS51158367U (en) * | 1975-06-12 | 1976-12-16 | ||
| JPS5284660U (en) * | 1975-12-20 | 1977-06-24 | ||
| US4065978A (en) * | 1976-09-07 | 1978-01-03 | G. D. Searle & Co. | Synchronized drive and cable handling system for a rotational machine element |
| SU996773A2 (en) * | 1979-02-12 | 1983-02-15 | Предприятие П/Я Г-4695 | Chain transmission |
| DE19624311C1 (en) * | 1996-06-18 | 1998-04-02 | Ingo Mussehl | Rear chain drive for off road motorcycle |
| CN103261739A (en) * | 2010-09-29 | 2013-08-21 | 麦斯克里克有限公司 | Apparatus for guiding a flexible member |
| CN105387157A (en) * | 2015-12-15 | 2016-03-09 | 施勤 | Winding transmission structure and method of pulleys and flexible rope |
| CN206326624U (en) * | 2016-12-01 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of swing mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426266A (en) | 2017-02-22 |
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Granted publication date: 20190212 |