CN206409587U - A kind of T-shaped commutator of pulley wire rope - Google Patents
A kind of T-shaped commutator of pulley wire rope Download PDFInfo
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- CN206409587U CN206409587U CN201621344308.9U CN201621344308U CN206409587U CN 206409587 U CN206409587 U CN 206409587U CN 201621344308 U CN201621344308 U CN 201621344308U CN 206409587 U CN206409587 U CN 206409587U
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- pulley
- commutation
- wire rope
- longitudinal
- steel wire
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Abstract
A kind of T-shaped commutator of pulley wire rope, including casing and the commutation body being disposed below, are indirectly connected between commutation body and casing by longitudinal bracing seat；Laterally and longitudinally connecting hole is set on casing, lateral connection hole is movably connected with horizontal pulley shaft assembly；The longitudinal direction of commutation body sets commutation body positioning inner headed face, longitudinal bracing seat activity is located between the longitudinally connected hole of casing and commutation body positioning inner headed face, coaxial below commutation body positioning inner headed face to set annular groove, longitudinal bracing seat is movably connected with longitudinal pulley shaft assembly including longitudinal pulley including being located in annular groove；Set to set on commutation body detent mechanism, commutation body between casing and commutation body and angle pulley is set in commutation supported hole, two angle pulley grooves, angle pulley groove, commutation support shaft assembly is set in commutation supported hole；Longitudinal pulley shaft assembly is movably connected with horizontal pulley shaft assembly by two steel wire ropes.Suitable for the T-shaped commutation motion of limited angle, price advantage is high, and transmission power can match in excellence or beauty gear wheel reversing mode.
Description
Technical field
The utility model belongs to engineering goods technical field, is related to a kind of mechanical T-shaped commutator, specially a kind of pulley steel
The T-shaped commutator of cord.
Background technology
Current existing mechanical T-shaped commutator, is the gear transmission modes such as bevel gear, worm and gear, spiral bevel gear mostly.
Gear type commutator precision is higher, but processing technology is complicated, expensive, and for the T-shaped commutation of humanoid robot joint,
All it is the commutation campaign of limited angle mostly, it is not necessary to unlimited angle commutation.Therefore lack in the market one kind be more easy to realize, into
This cheap mechanical commutator, to meet the market demand of the different use occasions of different user.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art or defect to change there is provided a kind of pulley wire rope is T-shaped
To device, the problem of gear tumbler cost is higher is solved, it is adaptable to which the T-shaped commutation of limited angle, the class that is particularly suitable for use in is man-machine
Device person joint moves, and commutator Advantage height more traditional in price, and transmission power can match in excellence or beauty gear wheel reversing mode.
To achieve these goals, the utility model employs following technical scheme：
A kind of T-shaped commutator of pulley wire rope, it is characterised in that the commutation including casing and immediately below the casing
Body, is indirectly connected between the commutation body and casing by longitudinal bracing seat；
Lateral connection hole and longitudinally connected hole are respectively equipped with the casing；Put with including in the lateral connection hole of the casing
Horizontal pulley shaft assembly including the horizontal pulley outside casing is movably connected；
The longitudinal direction of the commutation body is located in the vertical of casing provided with commutation body positioning inner headed face, the longitudinal bracing seat activity
To between connecting hole and commutation body positioning inner headed face, the longitudinal bracing seat and the longitudinal direction for including being placed in outside longitudinal bracing seat are sliding
Longitudinal pulley shaft assembly including wheel is movably connected；
Level is changed provided with the commutation supported hole with the axis perpendicular of commutation body positioning inner headed face, two on the commutation body
To pulley room every being set in parallel on the commutation body perpendicular with the commutation supported hole, provided with simultaneously in the commutation supported hole
Commutation through described two angle pulleys supports shaft assembly；
Longitudinal pulley shaft assembly is with horizontal pulley shaft assembly by two by way of described two angle pulleys and difference
It is movably connected around longitudinal pulley is located at the isometric steel wire rope on horizontal pulley.
The above-mentioned T-shaped commutator of pulley wire rope, wherein,
Two steel wire ropes are respectively that is sequentially provided with the first steel wire rope and the second steel wire rope, first steel wire rope
One steel wire rope head, first longitudinal direction circular arc, the first commutation circular arc and the first steel wire tail of rope；Is sequentially provided with second steel wire rope
Two steel wire rope heads, the second horizontal circular arc, the second commutation circular arc and the second steel wire tail of rope.
The horizontal pulley is with being respectively equipped with the first steel wire rope head groove, the second steel wire rope head groove and channel-section steel silk on longitudinal pulley
Rope yarn groove；First, second steel wire rope head corresponding matching on first, second steel wire rope is overlapped on first on horizontal pulley
In steel wire rope head groove, the second steel wire rope head groove；First, second steel wire tail of rope corresponding matching overlap joint on first, second steel wire rope
In the first steel wire rope head groove, the second steel wire rope head groove on longitudinal pulley.
The outer wall of longitudinal bracing seat be sequentially provided with from top to bottom support base positioning periphery, support base fastening thread,
Commutate body positioning periphery；
The commutation body is provided with the commutation body being connected with the commutation body positioning periphery on longitudinal bracing seat and positioned
Inner headed face, the lower surface of support base fastening thread is commutation body locating surface, and the bottom radial symmetric of support base fastening thread is equal
It is furnished with two pairs of spanner clamping faces.
The horizontal pulley shaft assembly include the horizontal pulley spindle being integrally made up of the horizontal pulley and transverse shaft and
It is spaced two cross-brace bearings being set in transverse shaft and the horizontal fastening spiral shell being connected on transverse shaft external screw thread
It is female；
Longitudinal pulley shaft assembly include the longitudinal pulley spindle being integrally made up of with longitudinal axostylus axostyle longitudinal pulley and
It is spaced two longitudinal bracing bearings being set on longitudinal axis bar and the longitudinally secured spiral shell being connected on longitudinal axostylus axostyle external screw thread
It is female.
The commutation support shaft assembly includes the commutation support shaft being located in two angle pulley holes and is connected
Two live bearings between the support shaft and angle pulley and the axle being fastened on commutation support shaft external part are kept off with elasticity
Circle.
Further,
It is located at position-limit mechanism of the top provided with the horizontal pulley spindle anglec of rotation of control of horizontal pulley on the casing.
The anglec of rotation position-limit mechanism of the horizontal pulley shaft assembly is distributed in above casing lateral connection hole including arc
Several screw holes and the arc-shaped limit block that is connected by screw on screw hole；
The horizontal pulley spindle is provided with the confined planes being closely sticked with the lower surface of the limited block.
Further,
Provided with detent mechanism of the commutation body phase for longitudinal bracing seat between the casing and commutation body.
Detent mechanism on the commutation body includes：
Be symmetrically distributed in the casing longitudinally connected hole periphery and from casing top vertically through a positioning hole and
Several connecting holes, are symmetrically distributed in a positioning hole and several connection screw threads for the commutation body positioning inner headed face periphery
Hole, and the casing and the alignment pin spiral shell in the positioning hole and connecting hole and connection screw thread hole on commutation body are arranged in simultaneously
Bolt and connecting bolt.
The bottom of the alignment pin bolt and connecting bolt to about half hole of positioning hole and bolt hole of the commutation body
Deep position, remaining hole position is the interface being connected with external mechanical devices.
Commutation body with the axis perpendicular of the commutation supported hole is provided with two angle pulley grooves, described two commutations
Pulley correspondence is movably arranged on into pulley groove；
In described two pulley groove difference first pulley grooves and second pulley groove, the first pulley groove and second pulley groove
Angle pulley be respectively the first angle pulley and the second angle pulley.
Compared with prior art, the utility model has the advantages that：
1. the utility model use pulley wire rope reverse flow technique, the more traditional T-shaped mechanical commutator Advantage height of cost,
Under traditional bevel gear is commutated, worm and gear commutates, increase and widened the field of mechanical T-shaped commutator, increase mechanical T
The application of type commutator.
Humanoid robot joint, manipulator arm joint 2. the utility model is particularly suitable for use in, realize fixed angle scope
Commutation motion.
3. the utility model detent mechanism provided with commutation body between casing and commutation body, longitudinal direction is positioned at by commutation body
On support base, angle pulley, longitudinal pulley spindle on commutation body can serve as an entirety, during rotation longitudinal bracing seat, and three
Person can just be axially moveable together, so as to effectively act as the effect for reducing wire rope gearing gap.
4. the gear tumbler for the comparable size that can be matched in excellence or beauty in terms of the utility model commutator transfer motion power.
In a word, the utility model realizes the accurate commutation of input and output by the gap adjustment to two steel wire ropes, especially
It is can to adjust the error range between commutation angle degree to arrive optimum state.
Brief description of the drawings
Fig. 1 is the T-shaped commutator dimensional structure diagram of a kind of pulley wire rope that the utility model is related to；
Fig. 2 is the dimensional structure diagram of Fig. 1 support with favored policy backward；
Fig. 3 be horizontal pulley shaft assembly and the longitudinal pulley shaft assembly of the T-shaped commutator of Fig. 1 middle pulley steel wire ropes and casing
And the assembling cutting structural perspective between commutation body；
Fig. 4 is the assembling cutting knot between the commutation support shaft assembly of the T-shaped commutator of Fig. 1 middle pulley steel wire ropes and commutation body
Structure stereogram；
Fig. 5 is the body structure schematic diagram being related in Fig. 1,2；
Fig. 6 is the casing cutting structural representation in Fig. 5；
Fig. 7 is the horizontal pulley spindle dimensional structure diagram being related in Fig. 1,2；
Fig. 8 is the commutation body top projection dimensional structure diagram being related in Fig. 1；
Fig. 9 is Fig. 8 bottom surface project stereoscopic structural representation；
Figure 10 is the dimensional structure diagram for the longitudinal bracing seat being related in the utility model Fig. 1-4；
Figure 11 is the explosive view of the T-shaped commutator of the utility model；
Figure 12 is the reversing principle schematic diagram of the T-shaped commutator of the utility model.
In figure：The steel wire ropes of 1- first；1a- fag ends；1b- commutation circular arcs；1c- longitudinal directions circular arc, 1d- tails of rope；
The steel wire ropes of 2- second；2a- fag ends；2b- transverse direction circular arcs；2c- commutation circular arcs；2d- tails of rope；
3- screws；4- limited blocks；4a- confined planes；5- cross-brace bearings；
6- transverse direction pulley spindles；61- transverse direction pulleys；62- transverse shafts；62d- transverse direction pulley spindle external screw threads；
61a- transverse direction pulley the first fag end grooves；61b- transverse direction pulley the second fag end grooves；61c- transverse direction pulley wire rope wire casings；
61d- external screw threads, 61e- confined planes；
7- casings；71- lateral connections hole；The longitudinally connected holes of 72-；7a- axiss of pitch, 7b- longitudinal axis, 7c- is longitudinally propped up
Support seat positioning periphery, the longitudinally connected hole internal threads of 7d-；7e- positioning holes, 7f- bolts hole；7g- screw holes；
8- transverse direction clamp nuts；The longitudinally secured nuts of 9-；10- longitudinal bracing bearings；
11- longitudinal bracings seat, 11a- support bases positioning periphery, 11b- support base fastening threads, 11c- commutation body positioning
Periphery, 11d- spanners clamping face, 11e- commutation body locating surfaces；
12- longitudinal bracings seat clamp nut；
13- commutation bodies；13a- commutation body positioning inner headed faces；13b- commutation supported holes；13c- positioning holes, 13d- connection screw threads
Hole；
13e- the first angle pulley grooves；13f- the second angle pulley grooves；13g- annular grooves；
14- alignment pin bolts；
15- longitudinal directions pulley spindle, 151- longitudinal directions pulley；152- longitudinal directions axostylus axostyle；152a- longitudinal directions pulley spindle external screw thread；151b- is indulged
To pulley spindle the first steel wire rope head groove, 151c- longitudinal directions pulley spindle steel wire rope wire casing, the 151d- longitudinal directions steel wire rope head of pulley spindle second
Groove；
16- commutation support shafts；
The angle pulleys of 17- first, the angle pulleys of 17a- first commutation grooving；
18- needle bearings；
The angle pulleys of 19- second, the angle pulleys of 19a- second commutation grooving；
20- circlips for shaft；21- connecting bolts.
Embodiment
It is below in conjunction with the accompanying drawings and specific real to make those skilled in the art more fully understand the technical solution of the utility model
Mode is applied to be described in further detail the utility model.
Referring to Fig. 1,2, coordinate referring to Fig. 3-Figure 12, the utility model is related to a kind of T-shaped commutator of pulley wire rope, its institute
The key technology scheme of use is：
Commutation body 13 including casing 7 and immediately below casing 7, longitudinal bracing is passed through between commutation body 13 and casing 7
Seat 11 is indirectly connected to.Lateral connection hole 71 and longitudinally connected hole 72 are respectively equipped with casing 7；The lateral connection hole 71 of casing 7 with
Horizontal pulley shaft assembly including being placed in the horizontal pulley 61 outside casing 7 is movably connected.
The longitudinal direction of the commutation body 13 is located in casing 7 provided with commutation body positioning inner headed face 13a, longitudinal bracing 11 activities of seat
Longitudinally connected hole 72 and commutation body positioning inner headed face 13a between, longitudinal bracing seat 11 with including being placed in outside longitudinal bracing seat 11
Longitudinal pulley shaft assembly 15 including longitudinal pulley 151 in portion is movably connected；
In the present embodiment, abducent annular groove 13g is coaxially provided with below commutation body positioning inner headed face 13a, longitudinal direction
Pulley 151 is movably arranged in commutation body annular groove 13g.
As shown in figure 11, the horizontal pulley shaft assembly on the utility model commutator is included by horizontal pulley 61 and lateral shaft
The horizontal pulley spindle 6 of the one composition of bar 62 and interval are set in two cross-brace bearings 5 and connection in transverse shaft 62
Horizontal clamp nut 8 on horizontal pulley spindle external screw thread 62d.
Longitudinal pulley shaft assembly on the utility model commutator is included by longitudinal pulley 151 and longitudinal one of axostylus axostyle 152
Two longitudinal bracing bearings 10 and be connected to longitudinal direction that longitudinal pulley spindle 15 of composition and interval are set on longitudinal axis bar 152
Longitudinally secured nut 9 on pulley spindle external screw thread 151a.
Further, the top of horizontal pulley 61 is located at as shown in Fig. 1-3,11, on casing 7 provided with the horizontal pulley spindle 6 of control
The position-limit mechanism of the anglec of rotation；The position-limit mechanism includes several screws that arc is distributed in the top of 7 lateral connection hole of casing 71
Hole 7g and the arc-shaped limit block 4 being connected to by screw 3 on screw hole 7g；Horizontal pulley spindle 6 is provided with the lower end with limited block 4
The confined planes 61e that face 4a is closely sticked.
With reference to Fig. 2, Fig. 3, horizontal pulley spindle 6 is supported by two cross-brace bearings 5, and cross-brace bearing 5 is set in case
In body 7, horizontal pulley spindle 6 is provided with external screw thread 6d, the horizontal precession external screw thread 6d of clamp nut 8, by horizontal pulley spindle 6 and horizontal stroke
It is fixed together to the inner ring of spring bearing 5；Horizontal pulley spindle 6 transversely axis 7a can move in a circle, and be limited the He of block 4
Screw 3 limits axial displacement；Limited block 4 is fixed on casing 7 by screw 3, limited plane 61e on horizontal pulley spindle 6, laterally
After confined planes 4a laminatings on confined planes 61e and limited block 4 on pulley spindle 6, horizontal pulley spindle 6 can not be rotated, i.e., laterally sliding
The anglec of rotation of wheel shaft 6 is limited block 4 and limited, prevent commutator in commutation process the second steel wire rope 2 from horizontal pulley 61
Depart from.
Referring to Fig. 8,9,11, the positioning between casing 7 and commutation body 13 provided with commutation body 13 relative to longitudinal bracing seat 11
Mechanism, the detent mechanism includes：It is symmetrically distributed in the periphery of longitudinally connected hole 72 of casing 7 and from the plan vertical insertion of casing 7
One positioning hole 7e and several connecting holes 7f, is symmetrically distributed in a positioning hole 13c of commutation body positioning inner headed face 13a peripheries
With several connection screw thread holes 13d, and positioning hole 7e, the 13c and connecting hole being arranged on casing 7 and commutation body 13 simultaneously
Alignment pin bolt 14 and connecting bolt 21 in 7f, connection screw thread hole 13d.
In order to effectively expand the application of commutator, above-mentioned alignment pin bolt 14 and connect that the utility model is related to
The bottom of connecting bolt 21 only to commutation body 13 about half hole depth of positioning hole 13c and connection screw thread hole 13d position, remaining hole position
For the interface (not shown) being connected with outside mechanical structure or mechanical device.
As shown in Figure 8,9, level is provided with the commutation with commutation body positioning inner headed face 13a axis perpendicular on commutation body 13
Supported hole 13b, first, second angle pulley groove 13e, 13f with commutation supported hole 13b axis perpendicular, first, second changes
First, second angle pulley 17,19 is provided with into pulley groove 13e, 13f, provided with simultaneously in the commutation supported hole 13b of body 13 that commutates
Commutation through first, second angle pulley 17,19 supports shaft assembly.
As shown in Figure 2,3, longitudinal pulley shaft assembly passes through by way of the first angle pulley 17, second with horizontal pulley shaft assembly
Angle pulley 19 and rotating around being located at longitudinal pulley 151 and the first steel wire rope 1 isometric on horizontal pulley 61, the second steel wire rope 2
It is movably connected.
The first steel wire rope head 1a, the first commutation circular arc 1b, first longitudinal direction circular arc 1c and the are sequentially provided with first steel wire rope 1
One steel wire tail of rope 1d；The second steel wire rope head 2a, the second horizontal circular arc 2b, the second commutation circular arc are sequentially provided with second steel wire rope 2
2c and the second steel wire tail of rope 2d.
Horizontal pulley 61 is with being respectively equipped with first, second steel wire rope head groove 61a, 61b and first, the on longitudinal pulley 151
Two steel wire rope stern notch 151b, 151d and channel-section steel cord wire casing 61c, 151c；Wherein, on first, second steel wire rope 1,2 first,
Second steel wire rope head 1a, 2a corresponding matching is overlapped in first, second steel wire rope head groove 61a, 61b on horizontal pulley 61；The
First, first, second steel wire tail of rope 1d, 2d corresponding matching on the second steel wire rope 12 is overlapped on first, on longitudinal pulley 151
In two steel wire rope head groove 151b, 151d.
Referring to Figure 10,11, the outer wall of longitudinal bracing seat 11 is sequentially provided with support base positioning periphery 11a, branch from top to bottom
Support seat fastening thread 11b, commutation body positioning periphery 11c.
The body 13 that commutates is provided with to be determined with the commutation bodies being connected of the commutation body positioning periphery 11c on longitudinal bracing seat 11
Position inner headed face 13a, support base fastening thread 11b lower surface are commutation body locating surface 11e, support base fastening thread 11b's
Bottom radial symmetric is evenly equipped with two couples of spanner clamping face 11d.As shown in Fig. 3,11, longitudinal pulley spindle 15 is by two longitudinal bracing axles
10 supports are held, longitudinal bracing bearing 10 is set in longitudinal bracing seat 11, external screw thread 15a is provided with longitudinal pulley spindle 15, longitudinal direction
In the precession external screw thread 15a of clamp nut 9, the inner ring of longitudinal pulley spindle 15 and longitudinal bracing bearing 10 is fixed together；Longitudinal direction
Pulley spindle can move in a circle along longitudinal axis 7b, and be defined axial displacement；
Longitudinal bracing seat 11 provided with positioning periphery 11a, positioning periphery 11a and support base positioning periphery 7c be with
Conjunction relation, longitudinal bracing seat 11 is positioned on casing 7；Support base fastening thread 11b, casing 7 are provided with longitudinal bracing seat 11
On be provided with internal thread 7d, by longitudinal bracing seat 11 precession casings 7 in, screwed support seat clamp nut 12, you can by longitudinal bracing
Seat 11 is fixed on casing 7.
As shown in Fig. 8,9,11, commutation body 13 is provided with supported hole 13b, and commutation support shaft 16 is set in supported hole 13b,
First angle pulley 17, the second angle pulley 19 are set in commutation support shaft 16 by needle bearing 18；First angle pulley
17th, the second angle pulley 19 can move in a circle along the axis of commutation support shaft 16；Circlip for shaft 20 is stuck in commutation support
On axle 16, the axial displacement of limitation commutation support shaft 16；There are commutation body positioning inner headed face 13a, commutation body positioning on commutation body 13
Inner headed face 13a is matching relationship with commutation body positioning periphery 11c；Longitudinal bracing seat 11 is used provided with commutation body locating surface 11e
Axial displacement when the commutation inwardly rotation on the longitudinal axis 7b of casing of body 13 is limited；There is positioning hole 13c on commutation body 13,
It is pin-and-hole that positioning hole 13c has one section towards the direction of casing 7, is matching relationship, alignment pin bolt 14 with alignment pin bolt 14
It is matching relationship with positioning hole 7e, so that commutation body 13 is positioned on casing 7, positioning hole 13c dorsad has one section in the direction of casing 7
There is one section of external screw thread on screwed hole, the head of alignment pin bolt 14, can be in precession screwed hole；There is connection screw thread hole on commutation body 13
13d, connecting bolt 21 is connected with connection screw thread hole 13d, and commutation body 13 is fixed on casing 7；Pulled on longitudinal bracing seat 11
Hand clamping face 11d, rotation longitudinal bracing seat 11 can drive commutation body 13 to be moved axially on longitudinal axis 7b.
The fag end 1a of first steel wire rope 1 is set in the first steel wire rope head groove 6a of horizontal pulley spindle 6, commutation circular arc 1b patches
Commutation grooving 17a is closed, longitudinal circular arc 1c laminating steel wire ropes wire casing 15c, tail of rope 1d is set in the first steel wire rope head groove 15b；The
The fag end 2a of two steel wire ropes 2 is set in the second steel wire rope head groove 6b, horizontal circular arc 2b laminatings steel wire rope wire casing 6c, and commutate circular arc
2c laminating commutation grooving 19a, tail of rope 2d is set in the second steel wire rope head groove 15d.
As shown in figure 11, when horizontal pulley spindle 6 moves in a circle in the direction of arrow, in the first steel wire rope head groove 6a
Drive under, the first steel wire rope 1 will be fitted on steel wire rope wire casing 6c, i.e. the first steel wire rope 1 is fitted on steel wire rope wire casing 6c
Length increase；The motion of first steel wire rope drives the first angle pulley 17 to rotate in the direction of arrow C；Tail of rope 1d is set in
In one steel wire rope stern notch 15b, due to steel wire rope, length change amount is very small in the range of carrying, it is believed that be that length is constant, the
One steel wire rope 1 increased length on steel wire rope wire casing 6c is equal to the length of the first steel wire rope 1 reduction on steel wire rope wire casing 15c
Degree, can so drive longitudinal pulley spindle 15 to rotate in the direction of arrow B；The rotation of longitudinal pulley spindle 15 makes to be set in the second steel
Tail of rope 2d motions in cord stern notch 15d, then drive the second steel wire rope 2 laminating steel wire rope wire casing 15c；Second steel wire rope 2
Length change makes the second angle pulley 19 rotate in the direction of arrow D；The fag end 2a of second steel wire rope 2 is set in the second steel wire rope
In head groove 6b, you can horizontal pulley spindle 6 is rotated in the direction of arrow A；Second steel wire rope 2 increases on steel wire rope wire casing 15c
Length be equal to the reduction on steel wire rope wire casing 6c of the second steel wire rope 2 length；So commutator is that to complete certain flashy
Motion.
As shown in figure 1, commutation support shaft 16, the first angle pulley 17, the center line of the second angle pulley 19 and longitudinal direction are sliding
The center spacing of wheel shaft 15 is changeless, but the first angle pulley 17, the second angle pulley 19 and longitudinal pulley spindle 15
Distance relative to horizontal pulley spindle 6 can change, and gap adjustment is exactly herein.
In other words, so-called gap adjustment be exactly using two angle pulleys 17,19, longitudinal pulley spindle 15 as an entirety,
Distance relative to horizontal pulley axis changes, so as to reach the purpose of pretension steel wire rope, eliminates steel wire rope the end of a thread center
Line interval error.
As shown in figs. 1-4, longitudinal pulley spindle 15, be equipped with keyway (not shown) on horizontal pulley spindle 6, use respectively
In connection input and output；The effect of commutator is exactly that the motion input in a direction is come in, then by commutation output
The motion in another perpendicular direction.
Now just input component and output can be respectively mounted in longitudinal keyway with horizontal keyway, realize commutation function
Meanwhile, further, the commutation of input and output is realized by the gap adjustment of the first steel wire rope 1, the second steel wire rope 2, especially
It is the regulating error between input and output commutation angle so that the transmission power of the utility model commutator can match in excellence or beauty gear wheel reversing
Mode.
Figure 12 be the T-shaped commutator of the utility model pulley wire rope schematic diagram, its reversing principle approximately as：
DS in figure and circle a is tangential on S points, and DS and circle e is tangent with D points；GR and circle b are tangent with R points, and GR is tangent with justifying e
With G points；BC and circle a is tangent to be tangential on C points with B points, BC and circle f；HU and circle b is tangential on U points, and HU is tangential on H points with circle f；Circle
A, circle b diameters are equal, circle e, circle f diameter it is equal；Circle e is located in the plane that SD, GR are together decided on, and it is common that circle f is located at AC, HU
In the plane of decision；BSDGR is the first steel wire rope, and KUHCA is the second steel wire rope；The afterbody R of first steel wire rope is fixed on round b's
On circular arc, it can be moved in a circle with circle b；The head B of first steel wire rope is fixed on round a circular arc, can do circumference fortune with circle a
It is dynamic；The head K of second steel wire rope is fixed on round b circular arc, can be moved in a circle with circle b；The afterbody A of second steel wire rope is fixed
On circle a circular arc, it can be moved in a circle with circle a；M is the circle a center of circle, and N is the circle b center of circle, crosses M and does hanging down perpendicular to a faces
Line, excessively N do the vertical line perpendicular to b faces, intersect at, ∠ MON=90 ° at 0 point；E is the circle e center of circle, and F is the circle f center of circle；P、V、Q、
T supports to be fixed, and circle can move in a circle in the plane being fixedly supported on where respective circle, without other frees degree.
When circle a moves in a circle according to the direction of arrow 1 around P, the first steel wire rope, the second steel wire rope are pasted on circle 1,2
The length of conjunction is changed, and the first steel wire rope variable quantity and second steel wire rope of laminating length on circle a are fitted length on a is justified
Variable quantity it is identical, the first steel wire rope circle a, circle b on laminating length variable quantity it is equal, the second steel wire rope circle a, circle b on
The variable quantity for length of fitting is equal.
When circle a motions make the tail of rope of the second steel wire rope move to A ' by A, the second steel wire rope laminating length on circle a
Change, which makes to justify directions of the f along arrow 4, to move in a circle, while driving circle b rotations, the fag end of the second steel wire rope is moved to by K
K’；Circle b motion makes the tail of rope of the first steel wire rope move to R ' by R, and the change of laminating length on circle b of the first steel wire rope makes circle
E moves in a circle along arrow 3, while the fag end of the first steel wire rope moves to A ' by A, so far completes certain flashy commutation fortune
It is dynamic.
It follows that the angle of commutation motion is 90 °；Gearratio is circle a, circle b diameter ratios, i.e., 1: 1；Driving angle scope
For ∠ BMS.
The tensioning function that the utility model commutator possesses, its principle approximately as：
Referring to Fig. 6,11, rotation longitudinal bracing seat 11 can be such that rotation longitudinal bracing seat 11 is axially moved on longitudinal axis 7b
It is dynamic, commutation body 13 can also moved axially along longitudinal axis 7b；Longitudinal bracing seat 11 axial movement can make longitudinal pulley spindle 15,
The overall relatively transverse pulley spindle 6 of first angle pulley 17, the second angle pulley 19 is moved axially on longitudinal axis 7b, you can risen
To the effect of tensioning steel wire rope；After the completion of tensioning regulation, rotary support seat clamp nut 12, you can fix longitudinal bracing seat 11
On casing 7, you can longitudinal pulley spindle 15, the first angle pulley 17, the relatively transverse pulley spindle 6 of the second angle pulley 19 are consolidated
It is fixed；Because alignment pin bolt 14 is by body 13 and the relative positioning of casing 7 of commutating, therefore during regulation is tensioned, commutate body 13
Only this one degree of freedom is moved axially along longitudinal axis 7b；Screwed in place pin bolt 14, connecting bolt 21, you can fixation is changed
To body 13.
Connection screw thread hole 13d on commutation body 13, which had both been played, is fixed on commutation body 13 on longitudinal bracing seat 11 and casing 7
Effect, also function to the outside mechanical structure of connection, the effect of mechanical device.
Commutator of the present utility model has following parameter：Gearratio 1: 1；Commutate 90 ° of angle；160 ° of driving angle；Pass
Graduating power can match in excellence or beauty the gear tumbler of comparable size.
Claims (12)
1. a kind of T-shaped commutator of pulley wire rope, it is characterised in that the commutation including casing and immediately below the casing
Body, is indirectly connected between the commutation body and casing by longitudinal bracing seat；
Lateral connection hole and longitudinally connected hole are respectively equipped with the casing；The lateral connection hole of the casing is placed in case with including
Horizontal pulley shaft assembly including external horizontal pulley is movably connected；
The longitudinal direction of the commutation body is provided with commutation body positioning inner headed face, and the longitudinal direction that the longitudinal bracing seat activity is located in casing connects
Connect between hole and commutation body positioning inner headed face, the longitudinal bracing seat including being placed in longitudinal pulley outside longitudinal bracing seat with existing
Interior longitudinal pulley shaft assembly is movably connected；
Level is slided provided with the commutation supported hole with the axis perpendicular of commutation body positioning inner headed face, two commutations on the commutation body
Wheel is spaced and parallel is arranged on on the perpendicular commutation body of the commutation supported hole, be provided with the commutation supported hole also cross
The commutation support shaft assembly of described two angle pulleys；
Longitudinal pulley shaft assembly is with horizontal pulley shaft assembly by two by way of described two angle pulleys and winding respectively
It is movably connected in longitudinal pulley with the isometric steel wire rope on horizontal pulley.
2. the T-shaped commutator of pulley wire rope according to claim 1, it is characterised in that two steel wire ropes are respectively
The first steel wire rope head, first longitudinal direction circular arc are sequentially provided with one steel wire rope and the second steel wire rope, first steel wire rope, first is changed
To circular arc and the first steel wire tail of rope；The second steel wire rope head, the second horizontal circular arc are sequentially provided with second steel wire rope, second is changed
To circular arc and the second steel wire tail of rope.
3. the T-shaped commutator of pulley wire rope according to claim 2, it is characterised in that the horizontal pulley and longitudinal pulley
On be respectively equipped with the first steel wire rope head groove, the second steel wire rope head groove and channel-section steel cord wire casing；On first, second steel wire rope
First, second steel wire rope head corresponding matching is overlapped on the first steel wire rope head groove on horizontal pulley, in the second steel wire rope head groove；The
First, first, second steel wire tail of rope corresponding matching on the second steel wire rope is overlapped on the first steel wire rope head groove on longitudinal pulley,
In two steel wire rope head grooves.
4. the T-shaped commutator of pulley wire rope according to claim 1 or 2 or 3, it is characterised in that the longitudinal bracing seat
Outer wall is sequentially provided with support base positioning periphery, support base fastening thread, commutation body positioning periphery from top to bottom；
The commutation body is provided with the commutation body being connected with the commutation body positioning periphery on longitudinal bracing seat and positions inner circle
Face, the lower surface of support base fastening thread is commutation body locating surface, and the bottom radial symmetric of support base fastening thread is evenly equipped with
Two pairs of spanner clamping faces.
5. the T-shaped commutator of pulley wire rope according to claim 4, it is characterised in that the horizontal pulley shaft assembly includes
The horizontal pulley spindle and interval that are integrally made up of the horizontal pulley and transverse shaft are set in two transverse directions in transverse shaft
Spring bearing and the horizontal clamp nut being connected on transverse shaft external screw thread；
Longitudinal pulley shaft assembly includes longitudinal pulley spindle and the interval being integrally made up of with longitudinal axostylus axostyle longitudinal pulley
Two longitudinal bracing bearings being set on longitudinal axostylus axostyle and the longitudinally secured nut being connected on longitudinal axostylus axostyle external screw thread.
6. the T-shaped commutator of pulley wire rope according to claim 5, it is characterised in that the commutation support shaft assembly includes
The commutation support shaft being located in two angle pulley holes and two work being connected between the support shaft and angle pulley
Dynamic bearing and the circlip for shaft being fastened on commutation support shaft external part.
7. the T-shaped commutator of pulley wire rope according to claim 6, it is characterised in that be located at horizontal pulley on the casing
Position-limit mechanism of the top provided with the horizontal pulley spindle anglec of rotation of control.
8. the T-shaped commutator of pulley wire rope according to claim 7, it is characterised in that the rotation of the horizontal pulley shaft assembly
Gyration position-limit mechanism is distributed in several screw holes above casing lateral connection hole including arc and is connected by screw
Arc-shaped limit block on screw hole；
The horizontal pulley spindle is provided with the confined planes being closely sticked with the lower surface of the limited block.
9. the T-shaped commutator of pulley wire rope according to claim 6, it is characterised in that set between the casing and commutation body
There is detent mechanism of the commutation body phase for longitudinal bracing seat.
10. the T-shaped commutator of pulley wire rope according to claim 9, it is characterised in that the detent mechanism on the commutation body
Including：
Be symmetrically distributed in the casing longitudinally connected hole periphery and from casing top vertically through a positioning hole and some
Individual connecting hole, is symmetrically distributed in a positioning hole and several connection screw thread holes for the commutation body positioning inner headed face periphery, with
And be arranged in simultaneously the casing with commutation body on positioning hole and connecting hole and connection screw thread hole in alignment pin bolt and
Connecting bolt.
11. the T-shaped commutator of pulley wire rope according to claim 8, it is characterised in that the alignment pin bolt and connection
The bottom of bolt is to the position of about half hole depth of positioning hole and bolt hole of the commutation body, and remaining hole position is to be filled with outside machinery
Put the interface being connected.
12. the T-shaped commutator of pulley wire rope according to claim 6, it is characterised in that the axis with the commutation supported hole
Perpendicular commutation body is movably arranged on into pulley groove provided with two angle pulley grooves, described two angle pulley correspondences；
Described two pulley groove difference first pulley grooves and second pulley groove, the first pulley groove and changing in second pulley groove
It is respectively the first angle pulley and the second angle pulley to pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621344308.9U CN206409587U (en) | 2016-12-08 | 2016-12-08 | A kind of T-shaped commutator of pulley wire rope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621344308.9U CN206409587U (en) | 2016-12-08 | 2016-12-08 | A kind of T-shaped commutator of pulley wire rope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206409587U true CN206409587U (en) | 2017-08-15 |
Family
ID=59550928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621344308.9U Withdrawn - After Issue CN206409587U (en) | 2016-12-08 | 2016-12-08 | A kind of T-shaped commutator of pulley wire rope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206409587U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438888A (en) * | 2016-12-08 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Pulley steel wire rope T-shaped commutator |
| CN111376290A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Pull wire adjustment mechanism and finger |
| CN111788046A (en) * | 2019-04-12 | 2020-10-16 | 深圳配天智能技术研究院有限公司 | Limiting device, mechanical arm and robot |
-
2016
- 2016-12-08 CN CN201621344308.9U patent/CN206409587U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438888A (en) * | 2016-12-08 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Pulley steel wire rope T-shaped commutator |
| CN111376290A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Pull wire adjustment mechanism and finger |
| CN111376290B (en) * | 2018-12-29 | 2022-04-15 | 深圳市优必选科技有限公司 | Pull wire adjustment mechanism and finger |
| CN111788046A (en) * | 2019-04-12 | 2020-10-16 | 深圳配天智能技术研究院有限公司 | Limiting device, mechanical arm and robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170815 Effective date of abandoning: 20181225 |