CN106438888B - A kind of pulley wire rope T-type commutator - Google Patents
A kind of pulley wire rope T-type commutator Download PDFInfo
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- CN106438888B CN106438888B CN201611121770.7A CN201611121770A CN106438888B CN 106438888 B CN106438888 B CN 106438888B CN 201611121770 A CN201611121770 A CN 201611121770A CN 106438888 B CN106438888 B CN 106438888B
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- pulley
- commutation
- longitudinal
- wire rope
- hole
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H9/00—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members
- F16H9/02—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion
- F16H9/04—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes
- F16H9/22—Gearings for conveying rotary motion with variable gear ratio, or for reversing rotary motion, by endless flexible members without members having orbital motion using belts, V-belts, or ropes specially adapted for ropes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
A kind of pulley wire rope T-type commutator commutates and is indirectly connected between body and cabinet by longitudinal bracing seat including cabinet and the commutation body being disposed below；Laterally and longitudinally connecting hole is set on cabinet, lateral connection hole is movably connected with lateral pulley shaft assembly；The longitudinal direction of commutation body sets commutation body positioning inner headed face, longitudinal bracing seat activity is threaded through between the longitudinally connected hole of cabinet and commutation body positioning inner headed face, annular groove coaxially is set below commutation body positioning inner headed face, longitudinal bracing seat is movably connected with longitudinal pulley shaft assembly including the longitudinal pulley being located in annular groove；Commutation body positioning mechanism is set between cabinet and commutation body, commutation supported hole, two angle pulley slots are set on the body that commutates, sets angle pulley in angle pulley slot, and commutation support shaft assembly is set in the supported hole that commutates；Longitudinal pulley shaft assembly is movably connected with lateral pulley shaft assembly by two wirerope.It commutates and moves suitable for limited angle T-type, price advantage is high, and transmitting power can match in excellence or beauty gear wheel reversing mode.
Description
Technical field
The invention belongs to engineering goods technical fields, are related to a kind of mechanical T-type commutator, specially a kind of pulley wire rope
T-type commutator.
Background technique
Mechanical T-type commutator existing at present, is the gear transmission modes such as bevel gear, worm and gear, spiral bevel gear mostly.
Gear type commutator accuracy is higher, but processing technology is complicated, expensive, and commutates for the T-type of humanoid robot joint,
All it is the commutation campaign of limited angle mostly, does not need unlimited angle commutation.Therefore lack currently on the market one kind be easier to realize, at
This cheap mechanical commutator, to meet the market demand of different user difference use occasion.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art or defects, provide a kind of pulley wire rope T-type commutator,
Solves the problems, such as gear tumbler higher cost, the T-type suitable for limited angle commutates, and is particularly suitable for humanoid robot pass
Section movement, and commutator Advantage height more traditional in price, transmitting power can match in excellence or beauty gear wheel reversing mode.
To achieve the goals above, present invention employs following technical solutions:
A kind of pulley wire rope T-type commutator, which is characterized in that the commutation including cabinet and immediately below the cabinet
Body is indirectly connected between commutation body and the cabinet by longitudinal bracing seat；
Lateral connection hole and longitudinally connected hole are respectively equipped on the cabinet；The lateral connection hole of the cabinet with include set
Lateral pulley shaft assembly including the lateral pulley outside cabinet is movably connected；
The longitudinal direction of the commutation body is equipped with commutation body and positions inner headed face, and the longitudinal bracing seat activity is threaded through the vertical of cabinet
To between connecting hole and the body positioning inner headed face that commutates, the longitudinal bracing seat is slided with including being placed in the longitudinal direction outside longitudinal bracing seat
Longitudinal pulley shaft assembly including wheel is movably connected；
Horizontal be equipped with is changed with the commutation supported hole of the axis perpendicular of commutation body positioning inner headed face, two on the commutation body
To pulley room every being arranged in parallel on the commutation body perpendicular with the commutation supported hole, it is equipped with simultaneously in the commutation supported hole
Commutation across described two angle pulleys supports shaft assembly；
The longitudinal direction pulley shaft assembly and lateral pulley shaft assembly pass through two by way of described two angle pulleys and difference
Longitudinal pulley is wound around to be movably connected with the isometric wirerope on lateral pulley.
Above-mentioned pulley wire rope T-type commutator, wherein
Two wirerope are respectively the first wirerope and the second wirerope, and is successively arranged on first wirerope
One steel wire rope head, first longitudinal direction circular arc, the first commutation circular arc and the first steel wire tail of rope；Is successively arranged on second wirerope
Two steel wire rope heads, the second lateral circular arc, the second commutation circular arc and the second steel wire tail of rope.
The first steel wire rope head slot, the second steel wire rope head slot and wirerope are respectively equipped on the transverse direction pulley and longitudinal pulley
Wire casing；The first, second steel wire rope head corresponding matching on first, second wirerope is overlapped on the first steel on lateral pulley
In cord head slot, the second steel wire rope head slot；The first, second steel wire tail of rope corresponding matching on first, second wirerope is overlapped on
In the first steel wire rope head slot, the second steel wire rope head slot on longitudinal pulley.
The outer wall of the longitudinal bracing seat be successively arranged from top to bottom support base positioning periphery, support base fastening thread,
The body that commutates positions periphery；
The commutation body is equipped with the commutation body being cooperatively connected with the commutation body positioning periphery on longitudinal bracing seat and positions
The lower end surface of inner headed face, support base fastening thread is the body positioning surface that commutates, and the lower part radial symmetric of support base fastening thread is equal
It is furnished with two pairs of spanner clamping faces.
The transverse direction pulley shaft assembly include the lateral pulley spindle being integrally made of the lateral pulley and transverse shaft and
The lateral fastening for being spaced two cross-brace bearings being set in transverse shaft and being connected on lateral pulley spindle external screw thread
Nut；
The longitudinal direction pulley shaft assembly include the longitudinal pulley spindle being integrally made of longitudinal pulley and longitudinal shaft and
It is spaced two longitudinal bracing bearings being set on longitudinal axis bar and the longitudinally secured spiral shell being connected on longitudinal shaft external screw thread
It is female.
The commutation support shaft assembly includes the commutation support shaft being threaded through in two commutation supported holes and is cooperatively connected
Two live bearings between the support shaft and angle pulley and the axis being fastened on commutation support shaft extension end elasticity gear
Circle.
Further,
The top for being located at lateral pulley on the cabinet is equipped with the position-limit mechanism for controlling lateral pulley spindle rotation angle.
The rotation angle position-limit mechanism of the transverse direction pulley shaft assembly includes that arc is distributed in above cabinet lateral connection hole
Several screw holes and the arc-shaped limit block that is connected by screw on screw hole；
The transverse direction pulley spindle is equipped with the confined planes being closely sticked with the lower end surface of the limited block.
Further,
Positioning mechanism of the commutation body relative to longitudinal bracing seat is equipped between the cabinet and commutation body.
Positioning mechanism on the commutation body includes:
Be symmetrically distributed in the cabinet longitudinally connected hole periphery and from top of the box vertically through a location hole and
Several bolts hole are symmetrically distributed in the location hole and several connection screw threads of the commutation body positioning inner headed face periphery
Hole, and the alignment pin spiral shell being arranged in the cabinet and the location hole and connecting hole and connection screw thread hole that commutate on body simultaneously
Bolt and connection bolt.
The alignment pin bolt and the bottom of bolt is connected to the location hole and connection screw thread hole about half of the commutation body
The position of a hole depth, remaining hole location are the interface being connected with external mechanical devices.
Described two commutations there are two angle pulley slot are set on the commutation body of the axis perpendicular of the commutation supported hole
Pulley correspondence is movably arranged in angle pulley slot；
Described two pulley grooves difference first pulley slots and second pulley slot, in the first pulley slot and second pulley slot
Angle pulley be respectively the first angle pulley and the second angle pulley.
Compared with prior art, the invention has the following beneficial effects:
1. the present invention uses pulley wire rope reverse flow technique, the more traditional T-type mechanical commutator Advantage height of cost, in tradition
Bevel gear commutation, worm and gear commutation under, increase and widened the field of mechanical T-type commutator, increase mechanical T-type and change
To the application range of device.
2. realizing the commutation of fixed angle range present invention is particularly suitable for humanoid robot joint, manipulator arm joint
Movement.
3. the present invention is equipped with the positioning mechanism of commutation body between cabinet and commutation body, commutation body is located in longitudinal bracing
On seat, the angle pulley on body that commutates, longitudinal pulley spindle can serve as an entirety, and when rotating longitudinal bracing seat, three is just
It can be axially moveable together, so as to effectively act as reducing the effect in wire rope gearing gap.
4. the gear tumbler for the comparable size that can match in excellence or beauty in terms of commutator transfer motion power of the present invention.
In short, the present invention realizes the accurate commutation of input with output by the gap adjustment to two wirerope, especially
The error range between commutation angle degree can be made to adjust to optimum state.
Detailed description of the invention
Fig. 1 is a kind of pulley wire rope T-type commutator schematic perspective view of the present invention；
Fig. 2 is the schematic perspective view of Fig. 1 support with favored policy backward；
Fig. 3 be Fig. 1 middle pulley wirerope T-type commutator lateral pulley shaft assembly and longitudinal pulley shaft assembly and cabinet
And the assembly cutting structural perspective between commutation body；
Fig. 4 is the assembly cutting knot between the commutation support shaft assembly of Fig. 1 middle pulley wirerope T-type commutator and the body that commutates
Structure perspective view；
Fig. 5 is Fig. 1, box structure diagram involved in 2；
Fig. 6 is the cabinet cutting structural schematic diagram in Fig. 5；
Fig. 7 is Fig. 1, lateral pulley spindle schematic perspective view involved in 2；
Fig. 8 is commutation body top projection schematic perspective view involved in Fig. 1；
Fig. 9 is the bottom surface project stereoscopic structural schematic diagram of Fig. 8；
Figure 10 is the schematic perspective view of longitudinal bracing seat involved in Fig. 1-4 of the present invention；
Figure 11 is the explosive view of T-type commutator of the present invention；
Figure 12 is the reversing principle schematic diagram of T-type commutator of the present invention.
In figure: the first wirerope of 1-；1a- rope end；1b- commutation circular arc；The longitudinal direction 1c- circular arc, 1d- tail of rope；
The second wirerope of 2-；2a- rope end；2b- transverse direction circular arc；2c- commutation circular arc；2d- tail of rope；
3- screw；4- limited block；4a- confined planes；5- cross-brace bearing；
6- transverse direction pulley spindle；61- transverse direction pulley；62- transverse shaft；62d- transverse direction pulley spindle external screw thread；
6a- the first steel wire rope head slot, 6b- the second steel wire rope head slot, 6c- wirerope wire casing, 6d- external screw thread, 6e- limit
Face；
61a- transverse direction pulley the first rope end slot；61b- transverse direction pulley the second rope end slot；61c- transverse direction pulley wire rope wire casing；
7- cabinet；71- lateral connection hole；The longitudinally connected hole 72-；7a- transverse axis, 7b- longitudinal axis, 7c- are longitudinally propped up
It supports seat and positions periphery, the longitudinally connected hole internal screw thread of 7d-；7e- location hole, 7f- bolt hole；7g- screw hole；
8- transverse direction fastening nut；The longitudinally secured nut of 9-；10- longitudinal bracing bearing；
11- longitudinal bracing seat, 11a- support base position periphery, 11b- support base fastening thread, 11c- commutation body positioning
Periphery, 11d- spanner clamping face, 11e- commutation body positioning surface；
12- longitudinal bracing seat fastening nut；
13- commutation body；13a- commutation body positions inner headed face；13b- commutation supported hole；13c- location hole, 13d- connection screw thread
Hole；
13e- the first angle pulley slot；13f- the second angle pulley slot；13g- annular groove；
14- alignment pin bolt；
The longitudinal direction 15- pulley spindle, the longitudinal direction 151- pulley；The longitudinal direction 152- shaft；The longitudinal direction 151a- pulley spindle external screw thread；151b- is vertical
To pulley spindle the first steel wire rope head slot, the longitudinal direction 151c- pulley spindle wirerope wire casing, the longitudinal direction 151d- the second steel wire rope head of pulley spindle
Slot；
16- commutation support shaft；
The first angle pulley of 17-, the first angle pulley of 17a- commutation rope groove；
18- needle bearing；
The second angle pulley of 19-, the second angle pulley of 19a- commutation rope groove；
20- circlip for shaft；21- connection bolt.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.
Referring to Fig. 1,2, cooperate referring to Fig. 3-Figure 12, the present invention relates to a kind of pulley wire rope T-type commutators, are used
Key technology scheme be:
Commutation body 13 including cabinet 7 and immediately below cabinet 7 commutates and passes through longitudinal bracing between body 13 and cabinet 7
Seat 11 is indirectly connected.Lateral connection hole 71 and longitudinally connected hole 72 are respectively equipped on cabinet 7；The lateral connection hole 71 of cabinet 7 with
Lateral pulley shaft assembly including being placed in the lateral pulley 61 outside cabinet 7 is movably connected.
The longitudinal direction of the commutation body 13 is equipped with commutation body and positions inner headed face 13a, and 11 activity of longitudinal bracing seat is threaded through cabinet 7
Longitudinally connected hole 72 and commutation body positioning inner headed face 13a between, longitudinal bracing seat 11 with include be 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, it is coaxially provided with abducent annular groove 13g below commutation body positioning inner headed face 13a, it is longitudinal
Pulley 151 is movably arranged in commutation body annular groove 13g.
As shown in figure 11, the lateral pulley shaft assembly on commutator of the present invention includes by lateral pulley 61 and transverse shaft 62
The two cross-brace bearings 5 and be connected to cross that the lateral pulley spindle 6 and interval integrally formed is set in transverse shaft 62
Lateral fastening nut 8 on pulley spindle external screw thread 62d.
Longitudinal pulley shaft assembly on commutator of the present invention includes integrally being made of longitudinal pulley 151 and longitudinal shaft 152
Longitudinal pulley spindle 15 and two longitudinal bracing bearings 10 being set on longitudinal axis bar 152 of interval and be connected to longitudinal pulley
Longitudinally secured nut 9 on axis external screw thread 151a.
Further, the top that lateral pulley 61 is located at as shown in Fig. 1-3,11, on cabinet 7, which is equipped with, controls lateral pulley spindle 6
Rotate the position-limit mechanism of angle；The position-limit mechanism includes several screws that arc is distributed in 7 lateral connection hole of cabinet, 71 top
Hole 7g and the arc-shaped limit block 4 being connected to by screw 3 on screw hole 7g；Lateral pulley spindle 6 is equipped with the lower end with limited block 4
The confined planes 6e that face 4a is closely sticked.
In conjunction with Fig. 2, Fig. 3, lateral pulley spindle 6 is supported by two cross-brace bearings 5, and cross-brace bearing 5 is set in case
In body 7, lateral pulley spindle 6 is equipped with external screw thread 6d, in lateral 8 precession external screw thread 6d of fastening nut, by lateral pulley spindle 6 with it is horizontal
It is fixed together to the inner ring of spring bearing 5；Lateral pulley spindle 6 can transversely axis 7a move in a circle, and be limited 4 He of block
Screw 3 limits axial displacement；Limited block 4 is fixed on cabinet 7 by screw 3, there is confined planes 6e on lateral pulley spindle 6, laterally
After confined planes 4a fitting on confined planes 6e and limited block 4 on pulley spindle 6, lateral pulley spindle 6 can not be rotated, i.e., lateral pulley
The rotation angle of axis 6 is limited the restriction of block 4, prevents commutator second wirerope 2 in commutation process from taking off from lateral pulley 61
From.
Referring to Fig. 8,9,11, positioning of the commutation body 13 relative to longitudinal bracing seat 11 is equipped between cabinet 7 and commutation body 13
Mechanism, the positioning mechanism include: be symmetrically distributed in cabinet 7 the periphery of longitudinally connected hole 72 and from 7 top of cabinet vertically through
One location hole 7e and several connecting holes 7f is symmetrically distributed in a location hole 13c of the commutation body positioning periphery inner headed face 13a
With several connection screw thread holes 13d, and location hole 7e, 13c and connecting hole for being arranged in cabinet 7 simultaneously and commutating on body 13
Alignment pin bolt 14 and connection bolt 21 in 7f, connection screw thread hole 13d.
In order to effectively expand the application range of commutator, above-mentioned alignment pin bolt 14 of the present invention and connection spiral shell
The bottom of bolt 21 only to commutation body 13 about half hole depth of location hole 13c and connection screw thread hole 13d position, remaining hole location be with
The interface (not shown) that external mechanical structure or mechanical device are connected.
As shown in Figure 8,9, the horizontal commutation being equipped with the axis perpendicular of commutation body positioning inner headed face 13a on commutation body 13
Supported hole 13b, first, second angle pulley slot 13e, 13f with the axis perpendicular of commutation supported hole 13b, first, second changes
It is equipped with the first, second angle pulley 17,19 into pulley groove 13e, 13f, is equipped with simultaneously in the commutation supported hole 13b of body 13 that commutates
Commutation across the first, second angle pulley 17,19 supports shaft assembly.
As shown in Figure 2,3, longitudinal pulley shaft assembly and lateral pulley shaft assembly pass through by way of the first angle pulley 17, second
Angle pulley 19 and it is wound around longitudinal pulley 151 and the first wirerope 1 isometric on lateral pulley 61, the second wirerope 2 respectively
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 successively arranged on first wirerope 1
One steel wire tail of rope 1d；The second steel wire rope head 2a, the second lateral circular arc 2b, the second commutation circular arc are successively arranged on second wirerope 2
2c and the second steel wire tail of rope 2d.
First, second steel wire rope head slot 61a, 61b and first, the are respectively equipped on lateral pulley 61 and longitudinal pulley 151
Two wirerope stern notch 151b, 151d and channel steel cord wire casing 61c, 151c；Wherein, on the first, second wirerope 1,2 first,
Second steel wire rope head 1a, 2a corresponding matching is overlapped in first, second steel wire rope head slot 61a, 61b on lateral pulley 61；The
One, first, second steel wire tail of rope 1d, 2d corresponding matching on the second wirerope 1,2 be overlapped on longitudinal pulley 151 first,
In second steel wire rope head slot 151b, 151d.
Referring to Figure 10,11, the outer wall of longitudinal bracing seat 11 is successively arranged support base positioning periphery 11a, branch from top to bottom
Support seat fastening thread 11b, commutation body positions periphery 11c.
It is fixed that the body 13 that commutates is equipped with the commutation body being cooperatively connected with the commutation body positioning periphery 11c on longitudinal bracing seat 11
The lower end surface of position inner headed face 13a, support base fastening thread 11b are the body positioning surface 11e that commutates, support base fastening thread 11b's
Lower part 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 axis
10 supports are held, longitudinal bracing bearing 10 is set in longitudinal bracing seat 11, and the outer spiral shell of longitudinal pulley spindle is provided on longitudinal pulley spindle 15
In line 151a, longitudinally secured 9 precession longitudinal direction pulley spindle external screw thread 151a of nut, by longitudinal pulley spindle 15 and longitudinal bracing bearing 10
Inner ring be fixed together；Longitudinal pulley spindle axis 7b can move in a circle along longitudinal direction, and be defined axial displacement；
Longitudinal bracing seat 11 be equipped with positioning periphery 11a, positioning periphery 11a and support base positioning periphery 7c be with
Longitudinal bracing seat 11 is located on cabinet 7 by conjunction relationship；Support base fastening thread 11b, cabinet 7 are provided on longitudinal bracing seat 11
On be provided with internal screw thread 7d, by 11 precession cabinet 7 of longitudinal bracing seat, screwed support seat fastening nut 12 can be by longitudinal bracing
Seat 11 is fixed on cabinet 7.
As shown in Fig. 8,9,11, commutation body 13 is equipped 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
17, 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 axis 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 and commutation body positioning periphery 11c is matching relationship；Longitudinal bracing seat 11 is equipped with commutation body positioning surface 11e, uses
In axial displacement of the restriction commutation body 13 when being rotated inward on the longitudinal axis 7b of cabinet；There is location hole 13c on commutation body 13,
Location hole 13c has one section towards 7 direction of cabinet for pin hole, is matching relationship, alignment pin bolt 14 with alignment pin bolt 14
It is matching relationship with location hole 7e, so that commutation body 13 is located on cabinet 7, location hole 13c has one section backwards to 7 direction of cabinet
There is one section of external screw thread on threaded hole, 14 head of alignment pin bolt, can be in precession threaded hole；There is connection screw thread hole on commutation body 13
13d, connection bolt 21 are connect with connection screw thread hole 13d, and commutation body 13 is fixed on cabinet 7；It is pulled on longitudinal bracing seat 11
Hand clamping face 11d, rotation longitudinal bracing seat 11 can drive commutation body 13 to move axially on longitudinal axis 7b.
The rope end 1a of first wirerope 1 is set in the first steel wire rope head slot 6a of lateral pulley spindle 6, commutation circular arc 1b patch
Close commutation rope groove 17a, longitudinal circular arc 1c is bonded longitudinal pulley spindle wirerope wire casing 151c, and tail of rope 1d is set in longitudinal pulley spindle the
In one steel wire rope head slot 151b；The rope end 2a of second wirerope 2 is set in the second steel wire rope head slot 6b, lateral circular arc 2b fitting
Wirerope wire casing 6c, commutation circular arc 2c fitting commutation rope groove 19a, tail of rope 2d are set in longitudinal the second steel wire rope head of pulley spindle slot
In 151d.
As shown in figure 11, when lateral pulley spindle 6 moves in a circle in the direction of arrow, in the first steel wire rope head slot 6a
Drive under, the first wirerope 1 will be fitted on wirerope wire casing 6c, i.e., the first wirerope 1 is bonded on wirerope wire casing 6c
Length increase；The movement of first wirerope drives the first angle pulley 17 to rotate in the direction of arrow C；Tail of rope 1d is set in vertical
Into pulley spindle the first wirerope stern notch 151b, since length variable quantity is very small in carrying range for wirerope, it is believed that be
Length is constant, and the first wirerope 1 increased length on wirerope wire casing 6c is equal to the first wirerope 1 in longitudinal pulley spindle steel wire
The length of reduction on rope yarn slot 151c, can drive longitudinal pulley spindle 15 to rotate in the direction of arrow B in this way；Longitudinal pulley spindle 15
Rotation make the tail of rope 2d being set in longitudinal pulley spindle the second wirerope stern notch 151d move, then drive the second wirerope 2
It is bonded longitudinal pulley spindle wirerope wire casing 151c；The length variation of second wirerope 2 makes the second angle pulley 19 along the side of arrow D
To rotation；The rope end 2a of second wirerope 2 is set in the second steel wire rope head slot 6b, and lateral pulley spindle 6 can be made along arrow A's
Direction rotation；Second wirerope 2 increased length on longitudinal pulley spindle wirerope wire casing 151c is equal to the second wirerope 2 in steel
The length of reduction on cord wire casing 6c；Commutator completes certain flashy movement in this way.
As shown in Figure 1, the center line of commutation support shaft 16, the first angle pulley 17, the second angle pulley 19 and longitudinal direction are sliding
The center spacing of wheel shaft 15 is fixed and invariable, but the first angle pulley 17, the second angle pulley 19 and longitudinal pulley spindle 15
Distance relative to lateral pulley spindle 6 can change, and gap adjustment is exactly herein.
In other words, so-called gap adjustment be exactly two angle pulleys 17,19, longitudinal pulley spindle 15 as a whole,
Distance relative to lateral pulley axis changes, to achieve the purpose that pre-tighten wirerope, eliminates wirerope 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 lateral pulley spindle 6, use respectively
In connection input and output；The effect of commutator is exactly that the movement input in a direction is come in, then by commutation output
The movement in another perpendicular direction.
Input component and output can be installed respectively in longitudinal keyway and lateral keyway at this time, realize commutation function
Meanwhile further, the commutation of input with output is realized by the gap adjustment of the first wirerope 1, the second wirerope 2, especially
It is the regulating error between input and output commutation angle, the gear wheel reversing side so that the transmitting power of commutator of the present invention can match in excellence or beauty
Formula.
Figure 12 be pulley wire rope T-type commutator of the present invention schematic diagram, reversing principle approximately as:
DS in figure and circle a is tangential on S point, and DS and circle e are tangent with D point；GR and circle b is tangent and R point, GR and circle e are tangent
With G point；BC and circle a is tangent to be tangential on C point with B point, BC and circle f；HU and circle b is tangential on U point, and HU and circle f are tangential on H point；Circle
A, circle b diameter is equal, and circle e, the diameter of circle f are equal；Circle e is located in the plane of SD, GR co-determination, and it is common that circle f is located at AC, HU
In the plane of decision；BSDGR is the first wirerope, and KUHCA is the second wirerope；The tail portion R of first wirerope is fixed on round b's
On circular arc, it can move in a circle with circle b；The head B of first wirerope is fixed on the circular arc of round a, can do circumference fortune with circle a
It is dynamic；The head K of second wirerope is fixed on the circular arc of round b, can be moved in a circle with circle b；The tail portion A of second wirerope is fixed
On the circular arc of circle a, it can move in a circle with circle a；M is the center of circle of circle a, and N is the center of circle of circle b, crosses M and does hanging down perpendicular to the face a
Line crosses N and does the vertical line perpendicular to the face b, intersects at O point, ∠ MON=90 °；E is the center of circle of circle e, and F is the center of circle of circle f；P,V,Q,
T is fixed support, and circle can move in a circle in the plane being fixedly supported on where respectively circle, without other freedom degrees.
When circle a moves in a circle according to the direction of arrow 1 around P, the first wirerope, the second wirerope paste on circle 1,2
The length of conjunction changes, and the variable quantity that the first wirerope is bonded length on circle a is bonded length on circle a with the second wirerope
Variable quantity it is identical, the first wirerope circle a, circle b on be bonded length variable quantity it is equal, the second wirerope circle a, circle b on
The variable quantity for being bonded length is equal.
When circle a movement makes the tail of rope of the second wirerope move to A ' by A, the second wirerope is bonded length on circle a
Variation makes round f move in a circle along the direction of arrow 4, while round b being driven to rotate, and moves to the rope end of the second wirerope by K
K'；The movement of circle b makes the tail of rope of the first wirerope move to R ' by R, and the variation that the first wirerope is bonded length on circle b makes to justify
E moves in a circle along arrow 3, while the rope end of the first wirerope moves to A ' by A, so far completes certain flashy commutation fortune
It is dynamic.
It follows that the angle of commutation movement is 90 °；Transmission ratio is to justify a, circle b diameter ratio, i.e. 1:1；Driving angle range
For ∠ BMS.
The tensioning function that commutator of the present invention has, principle approximately as:
Referring to Fig. 6,11, rotating longitudinal bracing seat 11 can be such that rotation longitudinal bracing seat 11 axially moves on longitudinal axis 7b
It is dynamic, it can also make the axis 7b axial movement along longitudinal direction of body 13 that commutates；The axial movement of longitudinal bracing seat 11 can make longitudinal pulley spindle 15,
The whole relatively transverse pulley spindle 6 of first angle pulley 17, the second angle pulley 19 moves axially on longitudinal axis 7b, Ji Keqi
To the effect of tensioning wirerope；After the completion of tensioning is adjusted, rotary support seat fastening nut 12 can be fixed by longitudinal bracing seat 11
On cabinet 7, longitudinal pulley spindle 15, the first angle pulley 17, the relatively transverse pulley spindle 6 of the second angle pulley 19 can be consolidated
It is fixed；Since alignment pin bolt 14 is by body 13 and 7 relative positioning of cabinet of commutating, therefore during being tensioned adjusting, commutate body 13
Only axis 7b moves axially this one degree of freedom along longitudinal direction；Screwed in place pin bolt 14, connection bolt 21, can fix and change
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 cabinet 7
Effect, also function to the effect for connecting external mechanical structure, mechanical device.
Commutator of the invention has following parameter: transmission ratio 1:1；90 ° of angle of commutation；160 ° of driving angle；Transmitting is dynamic
Power can match in excellence or beauty the gear tumbler of comparable size.
Claims (12)
1. a kind of pulley wire rope T-type commutator, which is characterized in that the commutation including cabinet and immediately below the cabinet
Body is indirectly connected between commutation body and the cabinet by longitudinal bracing seat；
Lateral connection hole and longitudinally connected hole are respectively equipped on the cabinet；The lateral connection hole of the cabinet with include be placed in case
Lateral pulley shaft assembly including external lateral pulley is movably connected；
The longitudinal direction of the commutation body is equipped with commutation body and positions inner headed face, and the longitudinal direction that the longitudinal bracing seat activity is threaded through cabinet connects
It connects between hole and commutation body positioning inner headed face, the longitudinal bracing seat exists with longitudinal pulley including being placed in outside longitudinal bracing seat
Interior longitudinal pulley shaft assembly is movably connected；
Horizontal be equipped with is slided with the commutation supported hole of the axis perpendicular of commutation body positioning inner headed face, two commutations on the commutation body
Take turns it is spaced and parallel be arranged in on the perpendicular commutation body of the commutation supported hole, in the commutation supported hole equipped with also cross
The commutation of described two angle pulleys supports shaft assembly；
The longitudinal direction pulley shaft assembly and lateral pulley shaft assembly pass through two by way of described two angle pulleys and winding respectively
It is movably connected in longitudinal pulley with the isometric wirerope on lateral pulley.
2. pulley wire rope T-type commutator according to claim 1, which is characterized in that two wirerope are respectively
One wirerope and the second wirerope are successively arranged the first steel wire rope head on first wirerope, first longitudinal direction circular arc, first change
To circular arc and the first steel wire tail of rope；It is successively arranged the second steel wire rope head on second wirerope, the second lateral circular arc, second changes
To circular arc and the second steel wire tail of rope.
3. pulley wire rope T-type commutator according to claim 2, which is characterized in that the transverse direction pulley and longitudinal pulley
On be respectively equipped with the first steel wire rope head slot, the second steel wire rope head slot and wirerope wire casing；On first, second wirerope
One, the second steel wire rope head corresponding matching is overlapped on the first steel wire rope head slot on lateral pulley, in the second steel wire rope head slot；The
One, the first, second steel wire tail of rope corresponding matching on the second wirerope is overlapped on the first steel wire rope head slot on longitudinal pulley,
In two steel wire rope head slots.
4. the according to claim 1 or 2 or 3 pulley wire rope T-type commutators, which is characterized in that the longitudinal bracing seat
Outer wall is successively arranged support base positioning periphery, support base fastening thread, commutation body positioning periphery from top to bottom；
The commutation body is equipped with the commutation body being cooperatively connected with the commutation body positioning periphery on longitudinal bracing seat and positions inner circle
The lower end surface in face, support base fastening thread is the body positioning surface that commutates, and the lower part radial symmetric of support base fastening thread is evenly equipped with
Two pairs of spanner clamping faces.
5. pulley wire rope T-type commutator according to claim 4, which is characterized in that it is described transverse direction pulley shaft assembly include
Two transverse directions that the lateral pulley spindle and interval being integrally made of the lateral pulley and transverse shaft are set in transverse shaft
Spring bearing and the lateral fastening nut being connected on lateral pulley spindle external screw thread；
The longitudinal direction pulley shaft assembly includes the longitudinal pulley spindle being integrally made of longitudinal pulley and longitudinal shaft and interval
Two longitudinal bracing bearings being set on longitudinal shaft and the longitudinally secured nut being connected on longitudinal shaft external screw thread.
6. pulley wire rope T-type commutator according to claim 5, which is characterized in that commutation support shaft assembly includes
The commutation support shaft being threaded through in two commutation supported holes and two work being cooperatively connected between the support shaft and angle pulley
Dynamic bearing and the circlip for shaft being fastened on commutation support shaft extension end.
7. pulley wire rope T-type commutator according to claim 6, which is characterized in that be located at lateral pulley on the cabinet
Top be equipped with the position-limit mechanism for controlling lateral pulley spindle rotation angle.
8. pulley wire rope T-type commutator according to claim 7, which is characterized in that the rotation of the transverse direction pulley shaft assembly
Gyration position-limit mechanism includes several screw holes and be connected by screw to that arc is distributed in above cabinet lateral connection hole
Arc-shaped limit block on screw hole；
The transverse direction pulley spindle is equipped with the confined planes being closely sticked with the lower end surface of the limited block.
9. pulley wire rope T-type commutator according to claim 6, which is characterized in that set between the cabinet and commutation body
There is positioning mechanism of the commutation body relative to longitudinal bracing seat.
10. pulley wire rope T-type commutator according to claim 9, which is characterized in that the positioning mechanism on the commutation body
Include:
Be symmetrically distributed in the longitudinally connected hole periphery of the cabinet and from top of the box vertically through a location hole and several
A bolt hole is symmetrically distributed in the location hole and several connection screw thread holes of the commutation body positioning inner headed face periphery, with
And be arranged in simultaneously the cabinet and commutate body on location hole and connecting hole and connection screw thread hole in alignment pin bolt and
Connect bolt.
11. pulley wire rope T-type commutator according to claim 10, which is characterized in that the alignment pin bolt and company
The bottom of connecting bolt to it is described commutation body about half hole depth of location hole and connection screw thread hole position, remaining hole location be and outside
The interface that mechanical device is connected.
12. pulley wire rope T-type commutator according to claim 6, which is characterized in that the axis with the commutation supported hole
It is set on perpendicular commutation body there are two angle pulley slot, described two angle pulley correspondences are movably arranged on angle pulley slot
It is interior；
Described two pulley groove difference first pulley slots and second pulley slot, the first pulley slot and changing in second pulley slot
It is respectively the first angle pulley and the second angle pulley to pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611121770.7A CN106438888B (en) | 2016-12-08 | 2016-12-08 | A kind of pulley wire rope T-type commutator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611121770.7A CN106438888B (en) | 2016-12-08 | 2016-12-08 | A kind of pulley wire rope T-type commutator |
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| Publication Number | Publication Date |
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| CN106438888A CN106438888A (en) | 2017-02-22 |
| CN106438888B true CN106438888B (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611121770.7A Active CN106438888B (en) | 2016-12-08 | 2016-12-08 | A kind of pulley wire rope T-type commutator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108869674B (en) * | 2018-07-30 | 2019-12-24 | 燕山大学 | Differential speed reducer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR324833A (en) * | 1902-09-01 | 1903-04-11 | Garnier Edouard | Movement transmission mechanism |
| CN2854575Y (en) * | 2005-12-19 | 2007-01-03 | 中国矿业大学 | High-speed friction tester for wire rope and washer |
| CN200988920Y (en) * | 2006-11-21 | 2007-12-12 | 刘德旺 | Automatic rain-proof clothes airing frame |
| CN102040173B (en) * | 2011-01-20 | 2013-01-23 | 中联重科股份有限公司 | Wire rope pretightening device |
| CN203639041U (en) * | 2013-11-14 | 2014-06-11 | 上海理工大学 | Small-sized crane |
| CN105465304B (en) * | 2015-12-30 | 2018-06-26 | 中国矿业大学 | The mechanism and method of a kind of reciprocating running speed and displacement equations |
| CN206409587U (en) * | 2016-12-08 | 2017-08-15 | 哈工大机器人集团上海有限公司 | A kind of T-shaped commutator of pulley wire rope |
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