CN106763577A - A kind of changement - Google Patents
A kind of changement Download PDFInfo
- Publication number
- CN106763577A CN106763577A CN201611092723.4A CN201611092723A CN106763577A CN 106763577 A CN106763577 A CN 106763577A CN 201611092723 A CN201611092723 A CN 201611092723A CN 106763577 A CN106763577 A CN 106763577A
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- wheel
- reverse
- inputting
- output
- reverse wheel
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- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 238000010030 laminating Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000003068 static effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/04—Gearings for conveying rotary motion by endless flexible members with ropes
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
Abstract
The invention provides a kind of changement, including：Wheel for inputting；Output wheel, the plane where wheel for inputting intersects with the plane where output wheel；First reverse wheel；Second reverse wheel；The part-circular periphery of transmission becket bridle, the part-circular periphery of the transmission becket bridle laminating output wheel, and laminating wheel for inputting, the transmission becket bridle is commutated by the first reverse wheel and the second reverse wheel.The present invention provide changement it is simpler, easily realize, and realize it is with low cost.
Description
Technical field
The present invention relates to mechanical commutation field, a kind of changement is related specifically to.
Background technology
Changement is output wheel is commutated with respect to the mechanism that wheel for inputting changes the direction of motion using different theories of mechanics
Mechanism is output wheel is changed the mechanism of the direction of motion using different control methods, is often used in combination with other mechanisms.This machine
The concrete form of structure is a lot, is such as commutated using belt, gear, friction pulley, spine using gear drive, frictional wheel drive mode
The commutation such as wheel, spiral or clutch.
The current existing changement of ripe mechanical reversing mechanism existing at present, is mostly gear driven type reversing machine
Structure, such as bevel gear reversing mechanism, worm and gear changement.
Though gear driven type changement precision is higher, manufacturing procedure is complicated, causes relatively costly.So existing change
In to mechanism, lack a kind of simple processing, easy realization and lower-cost changement.
The content of the invention
The problem that the present invention is solved is that changement complex structure, difficulty of processing are big in the prior art, relatively costly.
To solve the above problems, the present invention provides a kind of changement, including：
Wheel for inputting；
Output wheel, the plane where wheel for inputting intersects with the plane where output wheel；
First reverse wheel；
Second reverse wheel；
The part-circular periphery of transmission becket bridle, the part-circular periphery of the transmission becket bridle laminating output wheel, and laminating wheel for inputting, it is described
Transmission becket bridle is commutated by the first reverse wheel and the second reverse wheel, the transmission becket bridle between the first reverse wheel and output wheel with
First reverse wheel and output wheel are tangent；Transmission becket bridle between the first reverse wheel and wheel for inputting and the first reverse wheel and defeated
Enter wheel tangent；Transmission becket bridle between the second reverse wheel and output wheel is tangent with the second reverse wheel and output wheel；Position
Transmission becket bridle between the second reverse wheel and wheel for inputting is tangent with the second reverse wheel and wheel for inputting.
Further, the equal diameters of the diameter of the first reverse wheel and the second reverse wheel.
Further, the diameter of the first reverse wheel and the second reverse wheel is less than wheel for inputting and the diameter of 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 symmetrical in minute surface.
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, transmission
Becket bridle is placed in the groove.
Further, the bottom of the groove has rough surface.
Further, the side wall of the groove has rough surface.
Compared with prior art, technical scheme has advantages below：
The changement simple structure of present invention offer, installation are easy, with low cost, have expanded the neck of mechanical reversing mechanism
Domain, increases the range of application of mechanical reversing mechanism；The present invention is more suitable for humanoid robot joint because of simple structure, realizes machine
The function that person joint's commutation is rotated.
Brief description of the drawings
Fig. 1 is the schematic diagram of the first reverse wheel and the parallel changement of the second reverse wheel in first embodiment of the invention；
Fig. 2 is that the first reverse wheel and the second reverse wheel are symmetrical on minute surface in second embodiment of the invention, and is leaned on to inner side
The schematic diagram of the changement for holding together；
Fig. 3 is that the first reverse wheel and the second reverse wheel are symmetrical on minute surface in second embodiment of the invention, and is opened up laterally
The schematic diagram of the changement opened：
Fig. 4 is that the first reverse wheel and the second reverse wheel are not in relation to the symmetrical changement of minute surface in third embodiment of the invention
Schematic diagram；
Fig. 5 is the schematic diagram of wheel for inputting and the output unequal changement of wheel diameter in fourth embodiment of the invention；
Fig. 6 is that the rotary shaft of output wheel in fifth embodiment of the invention can move to be tensioned the schematic diagram of transmission becket bridle.
Specific embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
First embodiment
With reference to Fig. 1, a kind of changement, including wheel for inputting 10, output wheel 20, the first reverse wheel are present embodiments provided
30th, transmission becket bridle 40, the second reverse wheel 50.
The wheel for inputting 10 has rotary shaft 11, and the wheel for inputting 10 can be circled around the rotary shaft 11, i.e.,
Rotate, the rotary shaft 11 is perpendicular to the plane where the wheel for inputting 10.The rotary shaft 11 is maintained static, the wheel for inputting
10 can not move, i.e., the center of circle of described wheel for inputting 10 is unable to changing position.
The external connection power device of the wheel for inputting 10, to drive the wheel for inputting 10 to rotate.
Output wheel 20 has rotary shaft 21, and the output wheel 20 can be circled around the rotary shaft 21, that is, rotated,
Rotary shaft 21 is perpendicular to the plane where the output wheel 20.The rotary shaft 21 is maintained static, and the output wheel 20 can not enter
Row movement, i.e., the center of circle of described output wheel 20 can not changing position.
Plane where wheel for inputting 10 intersects with the plane at the place of output wheel 20, i.e., described rotary shaft 11 and the rotary shaft
21 is not parallel, also misaligned.
First reverse wheel 30 has rotary shaft 31, and first reverse wheel 30 can make circumference around the rotary shaft 31
Motion, that is, rotate, and rotary shaft 31 is perpendicular to the plane where first reverse wheel 30.The rotary shaft 31 is maintained static, the
One reverse wheel 30 can not be moved, i.e., the center of circle of described first reverse wheel 30 can not changing position.
Second reverse wheel 50 has rotary shaft 51, and second reverse wheel 50 can make circumference around the rotary shaft 51
Motion, that is, rotate, and rotary shaft 51 is perpendicular to the plane where the second reverse wheel 50.The rotary shaft 51 is maintained static, and second changes
Can not be moved to wheel 50, i.e., the center of circle of described second reverse wheel 50 can not changing position.
It is described transmission becket bridle 40 fit output wheel 20 part-circular periphery, and laminating wheel for inputting 10 part-circular periphery, the biography
Running rope ring 40 is commutated by the first reverse wheel 30 and the second reverse wheel 50, the biography between the first reverse wheel 30 and output wheel 20
Running rope ring 41 is tangent with the first reverse wheel 30 and output wheel 20；Transmission rope between the first reverse wheel 30 and wheel for inputting 10
Ring 42 is tangent with the first reverse wheel 30 and wheel for inputting 10；Transmission becket bridle 43 between the second reverse wheel 50 and output wheel 20
It is tangent with the second reverse wheel 50 and output wheel 20；Transmission becket bridle 44 between the second reverse wheel 50 and wheel for inputting 10 and
Two reverse wheels 50 and wheel for inputting 10 are tangent.
The reverse wheel 30 of transmission becket bridle 41 and first between the first reverse wheel 30 and output wheel 20 is tangential on point E, with
Output wheel 20 is tangential on point M '.
The reverse wheel 30 of transmission becket bridle 42 and first between the first reverse wheel 30 and wheel for inputting 10 is tangential on point F, with
Wheel for inputting 10 is tangential on point A.
The reverse wheel 50 of transmission becket bridle 43 and second between the second reverse wheel 50 and output wheel 20 is tangential on point G, with
Output wheel 20 is tangential on point A '.
The reverse wheel 50 of transmission becket bridle 44 and second between the second reverse wheel 50 and wheel for inputting 10 is tangential on point H, with
Wheel for inputting 10 is tangential on point M.
First reverse wheel 30, the transmission becket bridle 41 between the first reverse wheel 30 and output wheel 20 and changed positioned at first
It is generally aligned in the same plane to the transmission becket bridle 42 between wheel 30 and wheel for inputting 10 interior.
Second reverse wheel 50, the transmission becket bridle 43 between the second reverse wheel 50 and output wheel 20 and changed positioned at second
It is generally aligned in the same plane to the transmission becket bridle 44 between wheel 50 and wheel for inputting 10 interior.
Output wheel 20, the transmission becket bridle 43 between the second reverse wheel 50 and output wheel 20 and positioned at the first reverse wheel
In transmission becket bridle 41 between 30 and output wheel 20 is generally aligned in the same plane.
Wheel for inputting 10, the transmission becket bridle 44 between the second reverse wheel 50 and wheel for inputting 10 and positioned at the first reverse wheel
In transmission becket bridle 42 between 30 and wheel for inputting 10 is generally aligned in the same plane.
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 wheel for inputting 10 and the diameter of 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 first reverse wheel 30 diameter
Diameter with the second reverse wheel 50 can be more than the diameter of wheel for inputting 10 and output wheel 20.
In the rotary shaft 11 of wheel for inputting 10 and the rotary shaft 21 of output wheel 20 are generally aligned in the same plane.
In the present embodiment, the first reverse wheel 30 and the second reverse wheel 50 are symmetrical in minute surface.
In the present embodiment, the first reverse wheel 30 is parallel with the second reverse wheel 50.
In the present embodiment, the equal diameters of wheel for inputting 10 and output wheel 20.So, wheel for inputting 10 rotate angle with it is defeated
The angle for going out the rotation of wheel 20 is equal, i.e., wheel for inputting 10 rotates how many angle, will drive output wheel 20 rotates how many angle.
In the present embodiment, wheel for inputting 10, output wheel 20, the first reverse wheel 30 and the second reverse wheel 50 is provided circumferentially about
Fluted, transmission becket bridle 40 is placed in the groove.So it is easy to transmission becket bridle 40 and wheel for inputting 10, output wheel 20, first
The laminating of the reverse wheel 50 of reverse wheel 30 and second.
More specifically, the bottom of the groove and side wall have rough surface, can so increase transmission becket bridle 40 with
Frictional force between wheel for inputting 10, output wheel 20, the first reverse wheel 30 and the second reverse wheel 50, is favorably improved output loads.
In other embodiments, wheel for inputting 10, output wheel 20, the first reverse wheel 30 and the second reverse wheel 50 one of them,
Two or three provided circumferentially about fluted.
In other embodiments, the groove only can have rough surface in its bottom or side wall.
The specific operation principle of changement is as follows：
Wheel for inputting 10 is rotated along direction 2, drives transmission becket bridle 40 to move in the presence of frictional force, and for example point A is along direction 2
Rotate, passing point B and point C point of arrival D, that is, the length for being driven the movement of becket bridle 40 is the length of minor arc AD.
Due to being driven the movement of becket bridle 40, the fitting part of transmission becket bridle 40 and first reverse wheel 30 produces frictional force drive the
One reverse wheel 30 is rotated along direction 3, and then drives output wheel 20 to be rotated along direction 1, likewise, for example point A ' is rotated along direction 1,
Passing point B ' and point C ' point of arrival D ', that is, the length for being driven the movement of becket bridle 40 is the length of minor arc A ' D '.Due to transmission becket bridle 40
It is non-stretchable, therefore the length with minor arc A ' D ' such as the length of minor arc AD.
Due to being driven the movement of becket bridle 40, transmission becket bridle 40 produces frictional force also to drive with the fitting part of the second reverse wheel 50
Second reverse wheel 50 is rotated along direction 5.
When wheel for inputting 10 is rotated towards the opposite direction in direction 2, principle is same as described above, is not repeated.
It follows that the commutation gearratio of mechanism is wheel for inputting 10, the diameter ratio of output wheel 20；Commutation angle is input
Take turns the angle of 10 place planes and the place plane of output wheel 20；Driving angle is not limited, and wheel for inputting 10 can be rotated unrestrictedly.
It is to be capable of achieving commutation function by above-mentioned changement.
The changement simple structure of the present embodiment offer, installation are easy, with low cost, have expanded mechanical reversing mechanism
Field, increases the range of application of mechanical reversing mechanism；The present embodiment is more suitable for humanoid robot joint because of simple structure, realizes
The function that joint of robot commutation is rotated.
Second embodiment
The present embodiment is that first reverse wheel of the present embodiment and the second reverse wheel are uneven with the difference of first embodiment
OK, it is but symmetrical on minute surface.
In the present embodiment, with reference to Fig. 2, the first reverse wheel 30 and the second reverse wheel 50 are not parallel, but symmetrical on minute surface,
And drawn close to inner side.When first reverse wheel 30 and the second reverse wheel 50 are drawn close to inner side, the first reverse wheel 30 and the second reverse wheel
The space relative decrease that 50 rotary shaft is installed.
In other embodiments, with reference to Fig. 3, the first reverse wheel 30 and the second reverse wheel 50 are not parallel, but on minute surface pair
Claim, and launch laterally.The space that the rotary shaft of the first reverse wheel 30 and the second reverse wheel 50 is installed relatively increases.
3rd embodiment
With reference to Fig. 4, the present embodiment is that the first of the present embodiment commutates with the difference of first embodiment and second embodiment
The reverse wheel 50 of wheel 30 and second is not parallel, is also not in relation to minute surface symmetrical.
Fourth embodiment
With reference to Fig. 5, this implementation is that the diameter of the wheel for inputting 10 of the present embodiment is less than output with the difference of first embodiment
The diameter of wheel 20.
At this moment, relative to wheel for inputting 10 diameter and output wheel 20 equal diameters design, if load it is identical, it is necessary to
Smaller driving torque, required input speed becomes big.
In other embodiments, the diameter of wheel for inputting 10 can be more than the diameter of output wheel 20.Likewise, relative to input
The design of the equal diameters of diameter and the output wheel 20 of wheel 10, if load is identical, it is necessary to bigger driving torque, required is defeated
Enter rotating speed to diminish.
5th embodiment
The present embodiment is that output wheel 10 turns in the present embodiment with the difference of first, second, third and fourth embodiment
Moving axis can move to be tensioned transmission becket bridle.
With reference to Fig. 6, because the present invention uses transmission becket bridle, output wheel 10 fully relies on frictional force and drives output wheel 20
Rotate, therefore, transmission becket bridle needs to be in close contact with output wheel 10, output wheel 20, the first reverse wheel and the second reverse wheel, improves
Frictional force, transmission becket bridle needs a tensioning apparatus to be tensioned.
In the present embodiment, the rotary shaft 21 of the output wheel 20 is inserted in supporter 22, and the supporter 22 is rotary shaft
21 support forces, the rotary shaft 21 can be rotated, but can not be moved axially along rotary shaft 21.
The supporter 22 can be moved axially along straight line O ' I, and the plane of the movement of the supporter 22 is parallel to output wheel
Plane where 20, and drive rotary shaft 21 and output wheel 20 also to be moved axially along the straight line where O ' I.
Point O ' is the center of circle of output wheel 20, and straight line JK is the plane where output wheel 20 and the plane where wheel for inputting 10
Intersection, straight line O ' I perpendicular to straight line JK, and compared to point I.
In other embodiments, or the rotary shaft of wheel for inputting 10 can move to be tensioned transmission becket bridle.
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, are not departing from this
In the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope of restriction is defined.
Claims (10)
1. a kind of changement, it is characterised in that including：
Wheel for inputting；
Output wheel, the plane where wheel for inputting intersects with the plane where output wheel；
First reverse wheel；
Second reverse wheel；
The part-circular periphery of transmission becket bridle, the part-circular periphery of the transmission becket bridle laminating output wheel, and laminating wheel for inputting, the transmission
Becket bridle is commutated by the first reverse wheel and the second reverse wheel, the transmission becket bridle and first between the first reverse wheel and output wheel
Reverse wheel and output wheel are tangent；Transmission becket bridle and the first reverse wheel and wheel for inputting between the first reverse wheel and wheel for inputting
It is tangent；Transmission becket bridle between the second reverse wheel and output wheel is tangent with the second reverse wheel and output wheel：Positioned at
Transmission becket bridle between two reverse wheels and wheel for inputting is tangent with the second reverse wheel and wheel for inputting.
2. changement as claimed in claim 1, it is characterised in that the diameter of the diameter of the first reverse wheel and the second reverse wheel
It is equal.
3. changement as claimed in claim 2, 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. changement as claimed in claim 1, it is characterised in that the rotary shaft of wheel for inputting and the rotary shaft of output wheel are located at
In same plane.
5. changement as claimed in claim 4, it is characterised in that the first reverse wheel and the second reverse wheel are symmetrical in minute surface.
6. changement as claimed in claim 5, it is characterised in that the first reverse wheel and the second reverse wheel are parallel.
7. changement as claimed in claim 1, 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. changement as claimed in claim 1, it is characterised in that wheel for inputting, output wheel, the first reverse wheel and/or second
Reverse wheel it is provided circumferentially about fluted, transmission becket bridle be placed in the groove.
9. changement as claimed in claim 8, it is characterised in that the bottom of the groove has rough surface.
10. changement as claimed in claim 8, it is characterised in that the side wall of the groove has rough surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611092723.4A CN106763577A (en) | 2016-12-01 | 2016-12-01 | A kind of changement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611092723.4A CN106763577A (en) | 2016-12-01 | 2016-12-01 | A kind of changement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106763577A true CN106763577A (en) | 2017-05-31 |
Family
ID=58915804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611092723.4A Pending CN106763577A (en) | 2016-12-01 | 2016-12-01 | A kind of changement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106763577A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR324833A (en) * | 1902-09-01 | 1903-04-11 | Garnier Edouard | Movement transmission mechanism |
| JPS52110373A (en) * | 1976-03-15 | 1977-09-16 | Yoshikawa Kazuyuki | Device for converting direction of plain belt |
| GB2007614A (en) * | 1977-10-15 | 1979-05-23 | Hurth Verwaltungs Gmbh | Driving System for Ships or the Like |
| JP2005288590A (en) * | 2004-03-31 | 2005-10-20 | Hiroshi Kinoshita | Multi-joint manipulator |
| KR20080041790A (en) * | 2006-11-08 | 2008-05-14 | 한국과학기술연구원 | Compact cable transmission system |
| CN101858414A (en) * | 2010-06-10 | 2010-10-13 | 李正桐 | Large-torque sparse chain type proportioning/continuously variable transmission |
| CN202545712U (en) * | 2012-04-01 | 2012-11-21 | 苏州农业职业技术学院 | Rope transmission device |
| CN204175255U (en) * | 2014-10-21 | 2015-02-25 | 胜利油田新大管业科技发展有限责任公司 | A kind of Timing Belt reversing pumping unit |
| CN204592177U (en) * | 2015-03-24 | 2015-08-26 | 浙江大学 | A kind of spinning transmission changement |
| CN105465304A (en) * | 2015-12-30 | 2016-04-06 | 中国矿业大学 | Reciprocating running speed and displacement amplifying mechanism and method |
| CN206539662U (en) * | 2016-12-01 | 2017-10-03 | 哈工大机器人集团上海有限公司 | A kind of changement |
-
2016
- 2016-12-01 CN CN201611092723.4A patent/CN106763577A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR324833A (en) * | 1902-09-01 | 1903-04-11 | Garnier Edouard | Movement transmission mechanism |
| JPS52110373A (en) * | 1976-03-15 | 1977-09-16 | Yoshikawa Kazuyuki | Device for converting direction of plain belt |
| GB2007614A (en) * | 1977-10-15 | 1979-05-23 | Hurth Verwaltungs Gmbh | Driving System for Ships or the Like |
| JP2005288590A (en) * | 2004-03-31 | 2005-10-20 | Hiroshi Kinoshita | Multi-joint manipulator |
| KR20080041790A (en) * | 2006-11-08 | 2008-05-14 | 한국과학기술연구원 | Compact cable transmission system |
| CN101858414A (en) * | 2010-06-10 | 2010-10-13 | 李正桐 | Large-torque sparse chain type proportioning/continuously variable transmission |
| CN202545712U (en) * | 2012-04-01 | 2012-11-21 | 苏州农业职业技术学院 | Rope transmission device |
| CN204175255U (en) * | 2014-10-21 | 2015-02-25 | 胜利油田新大管业科技发展有限责任公司 | A kind of Timing Belt reversing pumping unit |
| CN204592177U (en) * | 2015-03-24 | 2015-08-26 | 浙江大学 | A kind of spinning transmission changement |
| CN105465304A (en) * | 2015-12-30 | 2016-04-06 | 中国矿业大学 | Reciprocating running speed and displacement amplifying mechanism and method |
| CN206539662U (en) * | 2016-12-01 | 2017-10-03 | 哈工大机器人集团上海有限公司 | A kind of changement |
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Application publication date: 20170531 |
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