CN106426266A - Swing mechanism - Google Patents
Swing mechanism Download PDFInfo
- Publication number
- CN106426266A CN106426266A CN201611093588.5A CN201611093588A CN106426266A CN 106426266 A CN106426266 A CN 106426266A CN 201611093588 A CN201611093588 A CN 201611093588A CN 106426266 A CN106426266 A CN 106426266A
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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.)
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Classifications
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- 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 invention provides a swing mechanism. The swing mechanism comprises an output wheel, an input wheel, a first reversing wheel, a first driving rope and a second driving rope,wherein the output wheel cannot rotate and cannot also move, the plane where the input wheel is located is intersected with the plane where the output wheel is located, the input wheel can rotate and move, the first reversing wheel can rotate and move, one end of the second driving rope is fixedly connected or hinge to the input wheel, the other end of the second driving rope is fixedly connected or hinge to the output wheel, reversing is performed through a second reversing wheel, and the second driving rope at least attaches to the partial circumference of the input wheel, the second driving rope located between the second reversing wheel and the output wheel is tangent with the second reversing wheel and the output wheel, the second driving rope located between the second reversing wheel and the input wheel istangent with the second reversing wheel and the input wheel, and the input wheel, the first reversing wheel and the second reversing wheel are invariant in relative position. The swing mechanism is simple in structure, easy to achieve, low in cost and suitable for humanoid robot joints, and achieves a robot joint swinging function.
Description
Technical field
The present invention relates to mechanical field, it is related specifically to a kind of swing mechanism.
Background technology
Swing mechanism is very crucial for robot arm, how to be realized using steering wheel, but steering wheel takes in prior art
With costliness, volume larger it is impossible to realize high integration.
Content of the invention
The problem that the present invention solves is how to realize swinging using steering wheel in prior art, somewhat expensive, and volume is larger, no
Method realizes high integration.
For solving the above problems, the present invention provides a kind of swing mechanism, including：
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 by 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
The first transmission rope between wheel is all tangent with the first reverse wheel and output wheel；Between the first reverse wheel and wheel for inputting first
Transmission 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 by 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
The second transmission rope between wheel is all tangent with the second reverse wheel and output wheel；Between the second reverse wheel and wheel for inputting second
Transmission 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.
Further, the wheel diameter of the wheel diameter of the first reverse wheel and the second commutation is 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, in the rotary shaft of wheel for inputting and the rotary shaft of output wheel are generally aligned in the same plane.
Further, the first reverse wheel and the second reverse wheel are mirrored symmetrically.
Further, the first reverse wheel and the second reverse wheel are parallel.
Further, the equal diameters of wheel for inputting and output wheel；Or, 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 described groove.
Further, the first transmission rope is fixedly connected with wheel for inputting or hinged position is fixed with the second transmission rope and wheel for inputting
Connect or hinged position is identical.
Further, the first transmission rope is fixedly connected with output wheel or hinged position is fixed with the second transmission rope and output wheel
Connect or hinged position is identical.
Compared with prior art, technical scheme has advantages below：
This swing mechanism structure is simple, easily realization, low cost, it is adaptable to humanoid robot joint, are realized robot and closed
The oscillating function of section.
Brief description
Fig. 1 is the schematic diagram of swing mechanism of the present invention.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
With reference to Fig. 1, present embodiments provide a kind of swing mechanism, including wheel for inputting 10, output wheel 20, the first reverse wheel
30th, the first transmission rope 40, the second reverse wheel 50 and the second transmission rope 60.
Described output wheel 20 can not rotate, nor mobile.Described output wheel 20 is maintained static by fixing axle 21.
Described wheel for inputting 10 external connection power device, to drive described wheel for inputting 10 to rotate.Described wheel for inputting 10 can also move
Dynamic, that is, the home position of described wheel for inputting 10 can change.
The plane that the plane that wheel for inputting 10 is located is located with output wheel 20 intersects.
Described first reverse wheel 30 can rotate.Described first reverse wheel 30 can also move, i.e. described first reverse wheel
30 home position can change.
Described second reverse wheel 50 can rotate.Described second reverse wheel 50 can also move, i.e. described second reverse wheel
50 home position can change.
With reference to the bold portion in Fig. 1, one end of the first transmission rope 40 is fixedly connected with wheel for inputting 10 or is articulated with point A ",
The other end is fixedly connected with output wheel 20 or is articulated with B point, 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；Positioned at the first transmission rope 41 between the first reverse wheel 30 and output wheel 20 and the first reverse wheel
30 and output wheel 20 all tangent；Positioned at the first transmission rope 42 between the first reverse wheel 30 and wheel for inputting 10 and the first reverse wheel 30
All tangent with wheel for inputting 10.
In a particular embodiment, one end of described first transmission rope 40 is provided with fixture block, described wheel for inputting 10 is arranged
There is draw-in groove, described fixture block snaps in described draw-in groove to be attached.It is also equipped with fixture block on the other end of described first transmission rope 40,
It is provided with draw-in groove, described fixture block snaps in described draw-in groove to be attached on described output wheel 20.
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.
The part-circular periphery of the first transmission rope 40 laminating output wheel 20, as minor segment BC in FIG.
In other embodiments, described first transmission rope 40 can also be fitted the whole circumference of output wheel 20, or even first
Transmission rope 40 can on output wheel 20 around on 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 described groove.So it is easy to the first transmission rope 40 and wheel for inputting 10, output wheel 20 and the first reverse wheel 30
Laminating.
It is tangential on point H positioned at the first transmission rope 41 between the first reverse wheel 30 and output wheel 20 and the first reverse wheel 30,
It is tangential on point C with output wheel 20.
It is tangential on point I positioned at the first transmission rope 42 between the first reverse wheel 30 and wheel for inputting 10 and the first reverse wheel 30,
All it is tangential on point A with wheel for inputting 10 ".
First transmission rope 40 is A " IHCB.
Here, the first reverse wheel 30, the first transmission rope 41 being located between the first reverse wheel 30 and output wheel 20 and position
In the first transmission rope 42 between the first reverse wheel 30 and wheel for inputting 10 is generally aligned in the same plane.
First transmission rope 40 is fixedly connected with wheel for inputting 10 or is articulated with point A ", described point A " for the first transmission rope 42 with defeated
Enter wheel 10 point of contact, or point A " positioned at towards direction g direction away from the position at this point of contact.If point A " is located at the another of this point of contact
Side, then when wheel for inputting 10 rotates towards the direction of direction g, the first transmission rope 40 will depart from the first reverse wheel 30, has no
Method fits to it is impossible to be swung on wheel for inputting 10, and this has run counter to the function of swing mechanism, is not the swing of description of the invention
Mechanism.Likewise, point A " direction towards direction g can be arranged in away from the other positions at this point of contact, or even the first biography
Running rope 40 can on wheel for inputting 10 around on a few.
One end of second transmission rope 60 is fixedly connected with wheel for inputting 10 or is articulated with point A ", the other end is fixing with output wheel 20
Connect or be articulated with point B, and commutated by the second reverse wheel 50, the second transmission rope 60 is at least fitted partly the justifying of wheel for inputting 10
Week；Homogeneous with the second reverse wheel 50 and output wheel 20 positioned at the second transmission rope 61 between the second reverse wheel 50 and output wheel 20
Cut；Homogeneous with the second reverse wheel 50 and wheel for inputting 10 positioned at the second transmission rope 62 between the second reverse wheel 50 and wheel for inputting 10
Cut.
Described first transmission rope 40 and the second transmission rope 60 are respectively positioned at the both sides of wheel for inputting 10 and output wheel 20.If described
First transmission rope 40 and the second transmission rope 60 are positioned at the same side of wheel for inputting 10 and output wheel 20, then cannot realize swing mechanism
Oscillating function, this design is not swing mechanism described in the invention.
In a particular embodiment, one end of described second transmission rope 60 is provided with fixture block, described wheel for inputting 10 is arranged
There is draw-in groove, described fixture block snaps in described draw-in groove to be attached.It is also equipped with fixture block on the other end of described second transmission rope 60,
It is provided with draw-in groove, described fixture block snaps in described draw-in groove to be attached on described output wheel 20.
In the present embodiment, the first transmission rope 40 is fixedly connected with wheel for inputting 10 or hinged position and the second transmission rope 60
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
It is fixedly connected with output wheel 20 with the second transmission rope 60 or hinged position is identical.
The part-circular periphery of the second transmission rope 60 laminating wheel for inputting 10, as minor segment A in FIG " D.
In other embodiments, described second transmission rope 60 can also be fitted the whole circumference of wheel for inputting 10, or even second
Transmission rope 60 can on wheel for inputting 10 around on 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 described groove.So it is easy to the second transmission rope 60 and wheel for inputting 10, output wheel 20 and the second reverse wheel 50
Laminating.
It is tangential on point J positioned at the second transmission rope 61 between the second reverse wheel 50 and output wheel 20 and the second reverse wheel 50,
It is tangential on point B with output wheel 20.
It is tangential on point K positioned at the second transmission rope 62 between the second reverse wheel 50 and wheel for inputting 10 and the second reverse wheel 50,
All it is tangential on point D with wheel for inputting 10.
Second transmission rope 60 is BJKDA ".
Here, the second reverse wheel 50, the second transmission rope 61 being located between the second reverse wheel 50 and output wheel 20 and position
In the second transmission rope 62 between the second reverse wheel 50 and wheel for inputting 10 is generally aligned in the same plane.
Output wheel 20, it is located at the second transmission rope 61 between the second reverse wheel 50 and output wheel 20 and is located at the first commutation
In the first transmission rope 41 between wheel 30 and output wheel 20 is generally aligned in the same plane.
Wheel for inputting 10, it is located at the second transmission rope 62 between the second reverse wheel 50 and wheel for inputting 10 and is located at the first commutation
In the first transmission rope 42 between wheel 30 and wheel for inputting 10 is generally aligned in the same plane.
In other embodiments, the second transmission rope 60 can on output wheel 20 around on a few.
In other embodiments, the first transmission rope 40 is fixedly connected with wheel for inputting 10 or hinged position and the second transmission rope
60 are fixedly connected with wheel for inputting 10 or hinged position can differ.First transmission rope 40 is fixedly connected with output wheel 20 or cuts with scissors
The position connecing is fixedly connected with output wheel 20 with the second transmission rope 60 or hinged position can also differ.
Here it is noted that when the bonding position of the first transmission rope 40 and output wheel 20 and the second transmission rope 60 with defeated
When having overlap, preferably on output wheel 20, two grooves of setting supply the first transmission rope 40 and second to the bonding position going out wheel 20 respectively
Transmission rope 60 uses, and prevents the first transmission rope 40 and the second transmission rope 60 to be mutually wound around or rub and hinder swing.
Likewise, when the bonding position of the first transmission rope 40 and wheel for inputting 10 and the patch of the second transmission rope 60 and wheel for inputting 10
When there is overlap conjunction position, arranging two grooves preferably on wheel for inputting 10 makes for the first transmission rope 40 and the second transmission rope 60 respectively
With preventing the first transmission rope 40 and the second transmission rope 60 to be mutually wound around or rub and hinder swing.
In the present embodiment, the equal diameters of the diameter of the first reverse wheel 30 and the second reverse wheel 50.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 embodiment
In, the diameter of the diameter of the first reverse wheel 30 and the second reverse wheel 50 can also be unequal, or even the diameter of the first reverse wheel 30
Can be more than the diameter of wheel for inputting 10 and output wheel 20 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.
In the fixing axle 21 of the rotary shaft of wheel for inputting 10 and output wheel 20 is generally aligned in the same plane.
In the present embodiment, the first reverse wheel 30 and the second reverse wheel 50 are mirrored symmetrically.
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 second reverse wheel 50 relative position constant.
The specific operation principle of swing mechanism is as follows：
Wheel for inputting 10 rotates along direction g, drives the junction point of the first transmission rope 40 and wheel for inputting 10, i.e. point A " along direction g
Rotate, because the first transmission rope 40 is non-stretchable, and output wheel 20 does not rotate, nor mobile, lead to wheel for inputting 10 around direction n
Rotate, 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 first transmission rope 42 is changed into point A with the point of contact of wheel for inputting 10.
Further, because the relative position of wheel for inputting 10, the first reverse wheel 30 is constant, the first reverse wheel 30 is in frictional force
Rotate towards direction f under effect, and position 1 is swung to by position 2.First transmission rope 40 position tangent with output wheel 20 is by point C
It is changed into point C ', the length that the first transmission rope 40 is fitted with output wheel 20 reduces, decrement is minor arc CC '；First transmission rope 40 with
Wheel for inputting 10 laminating length increase, incrementss be minor arc AA ', because the first transmission rope 40 is non-stretchable, therefore minor arc CC ' with
The equal length of minor arc AA '.
Same principle, the second reverse wheel 50 rotates towards direction e in the presence of frictional force, and is put in place by position 2 swing
Put 1.Second transmission rope 60 position tangent with output wheel 20 is changed into point B ' from point B, and laminating length increases；Second transmission rope 60 with
The laminating length of wheel for inputting 10 reduces, and both variable quantities are equal.
When wheel for inputting 10 rotates towards the contrary direction of direction g, 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 swinging it should avoid the
One transmission rope 40 position tangent with output wheel 20 is changed into point B, likewise, the second transmission rope 60 and wheel for inputting 10 phase should be avoided
The position cut is changed into point A '.
The angle of oscillation speed of this swing mechanism is that the angular velocity of wheel for inputting 10 is multiplied by diameter and the wheel for inputting 10 of output wheel 20
Diameter ratio；Pendulum angle scope is the second transmission rope 60 and the angle fitted corresponding to length of wheel for inputting 10, the first biography
Running rope 40 and the smaller value in the angle fitted corresponding to length of output wheel 20.
This swing mechanism structure is simple, easily realization, low cost, it is adaptable to humanoid robot joint, are realized robot and closed
The function that section swings.
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, without departing from this
In the spirit and scope of invention, all can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope limiting is defined.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611093588.5A CN106426266B (en) | 2016-12-01 | 2016-12-01 | A kind of swing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611093588.5A CN106426266B (en) | 2016-12-01 | 2016-12-01 | A kind of swing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426266A true CN106426266A (en) | 2017-02-22 |
| CN106426266B CN106426266B (en) | 2019-02-12 |
Family
ID=58223396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611093588.5A Active CN106426266B (en) | 2016-12-01 | 2016-12-01 | A kind of swing mechanism |
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| 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 active Active
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 |
|---|---|
| CN106426266B (en) | 2019-02-12 |
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