CN111120602A - Swing mechanism and robot - Google Patents
Swing mechanism and robot Download PDFInfo
- Publication number
- CN111120602A CN111120602A CN201811279978.0A CN201811279978A CN111120602A CN 111120602 A CN111120602 A CN 111120602A CN 201811279978 A CN201811279978 A CN 201811279978A CN 111120602 A CN111120602 A CN 111120602A
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- China
- Prior art keywords
- rod
- connecting rod
- driving
- hinged
- swinging
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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
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/44—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The invention discloses a swing mechanism and a robot, and relates to the field of robots. The method comprises the following steps: the device comprises a fixed support, a driving assembly, a driving rod, a connecting rod, a swinging rod and a limiting assembly; the connecting rod is hinged to the fixed support, one end of the driving rod is hinged to the driving assembly, the other end of the driving rod is hinged to one end, away from the fixed support, of the connecting rod, and the movement plane of the connecting rod is parallel to the movement plane of the driving rod; the driving assembly is used for driving one end of the driving rod, which is far away from the connecting rod, to move along the direction close to or far away from the connecting rod; the swinging rod is hinged to the connecting rod, and the motion plane of the swinging rod is parallel to the motion plane of the connecting rod; one end of the limiting component is arranged on the oscillating rod, the other end of the limiting component is arranged on the fixed support, and the limiting component is used for adjusting an included angle between the oscillating rod and the connecting rod. The position of the swing rod can be adjusted together according to a plurality of factors, and the movement process of the swing rod is enriched.
Description
Technical Field
The invention relates to the field of robots, in particular to a swing mechanism and a robot.
Background
With the continuous perfection of the performance of the robot, the application range of the robot is more and more extensive, and the robot is not only widely applied to industries such as industry, agriculture, medical treatment and service, but also well applied to occasions such as the fields of urban safety, national defense and space detection.
At present, the existing wing-vibrating function of the robot needs to be realized by a four-axis manipulator or a six-axis manipulator, the manufacturing cost is high, and the wing-vibrating function of the robot is difficult to use in batches; or the wings of the robot are directly lifted through linear driving devices such as the air cylinder or the push rod motor, but in the lifting process of the wings of the robot, the motion form of the wings is single, the motion process of the wings is difficult to adjust, and the experience degree of a user is reduced.
Disclosure of Invention
The invention aims to provide a swing mechanism and a robot, wherein the position of a swing rod can be adjusted together according to a plurality of factors, and the motion process of the swing rod is enriched.
The technical scheme provided by the invention is as follows:
a swing mechanism comprising: the device comprises a fixed support, a driving assembly, a driving rod, a connecting rod, a swinging rod and a limiting assembly; the connecting rod is hinged to the fixed support, one end of the driving rod is hinged to the driving assembly, the other end of the driving rod is hinged to one end, far away from the fixed support, of the connecting rod, and the movement plane of the connecting rod is parallel to the movement plane of the driving rod; the driving assembly is used for driving one end of the driving rod, which is far away from the connecting rod, to move along the direction close to or far away from the connecting rod; the swinging rod is hinged to the connecting rod, and the motion plane of the swinging rod is parallel to the motion plane of the connecting rod; the one end of spacing subassembly set up in the swinging arms, the other end of spacing subassembly set up in fixed bolster, spacing subassembly is used for adjusting the swinging arms with the contained angle of connecting rod.
In the technical scheme, the swing rod is arranged on the connecting rod, so that the swing rod can move along with the connecting rod, and the swing rod can firstly rotate around the connecting shaft between the connecting rod and the fixing component; through the setting of spacing subassembly, at swing arm pivoted in-process, the contained angle of swing arm and connecting rod can constantly be adjusted to spacing subassembly, has further adjusted the position of swing arm, and the position of swing arm can be adjusted jointly according to a plurality of factors, has richened the motion process of swing arm.
Further, spacing subassembly includes: one end of the fixed long rod is hinged to the swinging rod, and the other end of the fixed long rod is hinged to the fixed support; the movement plane of the fixed length rod is parallel to the movement plane of the swinging rod.
Among this technical scheme, in the drive assembly motion process, can drive the actuating lever motion, drive the connecting rod motion then, through the setting of fixed-length pole, increased the restraint between fixed-length pole, connecting rod and the swinging arms simultaneously, the connecting rod can drive the swinging arms motion, and drive assembly can obtain the swinging arms of particular condition in the motion process, has realized the swing of swinging arms.
Further, the fixed long rods and the connecting rods are arranged in a staggered mode; one end of the swinging rod is hinged to one end, far away from the fixed support, of the fixed long rod, and the other end of the swinging rod is hinged to one end, far away from the fixed support, of the connecting rod.
Among this technical scheme, after the fixed-length pole sets up with the connecting rod is crisscross, the both ends of swinging arms can set up the one end of keeping away from the fixed bolster at the fixed-length pole respectively, and when the one end of fixed bolster was kept away from to the connecting rod, the swinging arms can be located the both sides of fixed-length pole and connecting rod with the fixed bolster, reduced the distance between two pin joints of fixed-length pole and connecting rod on the swinging arms, fixed-length pole and connecting rod when position and/or angle change, increase the amplitude of oscillation of swinging arms, increased swing mechanism's swing effect.
Further, spacing subassembly includes: a first hinge lever, one end of which is hinged to the swing lever; one end of the second hinge rod is hinged to the fixed support; the other end of the first hinge rod is hinged to the other end of the second hinge rod, and the motion plane of the first hinge rod and the motion plane of the second hinge rod are parallel to the motion plane of the swing rod.
In the technical scheme, the first hinge rod, the second hinge rod and the swing rod can form a double-rocker mechanism, the second hinge rod and the swing rod can be used as two rockers of the double-rocker mechanism, and the first hinge rod can be used as a connecting rod in the double-rocker mechanism; first articulated rod, second articulated rod and swinging arms are under the effect of gravity, and automatically regulated forms the state that corresponds, and the user can select the first articulated rod and the second articulated rod of different length, and the user of being convenient for adjusts the position and the angle of swinging arms under the different states, has increased swing mechanism's application scope.
Further, the second hinge rods and the connecting rods are arranged in a staggered mode; one end of the swinging rod, which is far away from the first hinged rod, is hinged to one end of the connecting rod, which is far away from the fixed support.
Among this technical scheme, after second articulated rod and connecting rod crisscross setting, the swinging arms can be located the both sides of second articulated rod and connecting rod with fixed bolster, has reduced the distance between two pin joints of first articulated rod and connecting rod on the swinging arms, and first articulated rod and connecting rod are when position and/or angle change, increase the amplitude of oscillation of swinging arms, have increased swing mechanism's swing effect.
Further, a first limiting table used for abutting against the second hinge rod is arranged on the connecting rod; and/or; the second hinge rod is provided with a second limiting table used for abutting against the connecting rod.
Among this technical scheme, when connecting rod and second articulated mast rotate relatively, the setting of first spacing platform and the spacing platform of second can be used for second butt joint pole and connecting rod butt, and when the second articulated mast butt was at first spacing bench, and/or when the connecting rod butt was at the spacing bench of second, connecting rod and second articulated mast can stall, then control the swinging arms stop the swing, reduced the swinging arms and continued wobbling possibility, increased the stability of swinging arms.
Further, the driving lever is hinged to the second hinge lever; the driving assembly is hinged to the fixed support, and the movement plane of the driving assembly is parallel to the movement plane of the driving rod.
In the technical scheme, the positions of the oscillating rod, the first hinged rod and the second hinged rod still need to be automatically adjusted under the action of gravity, and the oscillating rod has large shaking amplitude and is unstable in the adjusting process; through articulating the actuating lever in the second articulated rod, at the in-process of actuating lever drive connecting rod motion, can drive the motion of second articulated rod simultaneously, increased the restraint between actuating lever and the second articulated rod, the actuating lever can directly drive the motion of second articulated rod when the motion.
Furthermore, a rotating shaft is arranged on the connecting rod, and the axial direction of the rotating shaft is vertical to the moving plane of the connecting rod; the swinging rod and the driving rod are hinged to the connecting rod through the rotating shaft.
In the technical scheme, the swing rod, the driving rod and the connecting rod can be hinged with the rotating shaft at the same time, so that a user can conveniently adjust the positions of the swing rod in different states, and the connecting rod can be conveniently machined.
Further, the second hinge lever is parallel to the swing lever, and the first hinge lever is parallel to the driving lever.
In the technical scheme, in the motion process of the swing rod, the swing rod can be always parallel to the second hinged rod, so that the possibility of interference between the swing rod and the second hinged rod is reduced, and the swing stability of the swing rod is improved.
It is also an object of the present invention to provide a robot comprising: the robot comprises a robot body, a swinging mechanism and wings; the swinging mechanism is arranged on the robot body; the swing mechanism includes: the device comprises a fixed support, a driving assembly, a driving rod, a connecting rod, a swinging rod and a limiting assembly; the connecting rod is hinged to the fixed support, one end of the driving rod is hinged to the driving assembly, the other end of the driving rod is hinged to one end, far away from the fixed support, of the connecting rod, and the movement plane of the connecting rod is parallel to the movement plane of the driving rod; the driving assembly is used for driving one end of the driving rod, which is far away from the connecting rod, to move along the direction close to or far away from the connecting rod; the swinging rod is hinged to the connecting rod, and the motion plane of the swinging rod is parallel to the motion plane of the connecting rod; one end of the limiting component is arranged on the swinging rod, the other end of the limiting component is arranged on the fixed support, and the limiting component is used for adjusting an included angle between the swinging rod and the connecting rod; the wings are mounted to the sway bar.
In the technical scheme, the swinging rod is arranged on the connecting rod, so that the swinging rod can move along with the connecting rod, and the wings are arranged on the swinging rod, so that the wings can rotate around the connecting shaft between the connecting rod and the first support; through the setting of spacing subassembly, at wing pivoted in-process, the contained angle of swinging arms and connecting rod can constantly be adjusted to spacing subassembly, further adjusts in the position of wing, and the position of wing can be adjusted jointly according to a plurality of factors, has richened the motion process of wing.
Compared with the prior art, the swing mechanism and the robot provided by the invention have the following beneficial effects:
1. through the setting of spacing subassembly, at swing arm pivoted in-process, the contained angle of swing arm and connecting rod can constantly be adjusted to spacing subassembly, has further adjusted the position of swing arm, and the position of swing arm can be adjusted jointly according to a plurality of factors, has richened the motion process of swing arm.
2. In the drive assembly motion process, can drive the actuating lever motion, drive the connecting rod motion then, through the setting of fixed-length pole, increased the restraint between fixed-length pole, connecting rod and the swinging arms simultaneously, the connecting rod can drive the swinging arms motion, and drive assembly can obtain the swinging arms of specific state in the motion process, has realized the swing of swinging arms.
3. First articulated rod, second articulated rod and swinging arms are under the effect of gravity, and automatically regulated forms the state that corresponds, and the user can select the first articulated rod and the second articulated rod of different length, and the user of being convenient for adjusts the position and the angle of swinging arms under the different states, has increased swing mechanism's application scope.
4. The positions of the swing rod, the first hinge rod and the second hinge rod still need to be automatically adjusted under the action of gravity, and the swing rod has large shaking amplitude and is unstable in the adjusting process; through articulating the actuating lever in the second articulated rod, at the in-process of actuating lever drive connecting rod motion, can drive the motion of second articulated rod simultaneously, increased the restraint between actuating lever and the second articulated rod, actuating lever during the motion can directly drive the motion of second articulated rod.
Drawings
The above features, technical characteristics, advantages and implementation of a swing mechanism and a robot will be further explained in a clear and understandable manner by referring to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a swing mechanism of the present invention;
FIG. 2 is a schematic structural view of an extended state of another swing mechanism according to the present invention;
FIG. 3 is a schematic structural view of a retracted state of another swing mechanism according to the present invention;
fig. 4 is an exploded view of a robot of the present invention.
The reference numbers illustrate: 10. the robot comprises a swinging mechanism, 11 parts of a fixed support, 12 parts of a connecting rod, 121 parts of a first limiting table, 122 parts of a placing groove, 13 parts of a driving rod, 14 parts of a limiting component, 141 parts of a fixed length rod, 142 parts of a first hinge rod, 143 parts of a second hinge rod, 1431 parts of a second limiting table, 15 parts of a swinging rod, 151 parts of an abutting groove, 16 parts of a driving component, 20 parts of a robot body and 30 parts of wings.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, only the parts relevant to the invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
According to an embodiment provided by the invention, as shown in fig. 1, a swing mechanism 10 includes a fixed bracket 11, the fixed bracket 11 is vertically arranged, a connecting rod 12 is arranged on the fixed bracket 11, the connecting rod 12 is hinged to the fixed bracket 11, and the connecting rod 12 can rotate in a vertical plane; fixed bolster 11 is still equipped with actuating lever 13 and drive assembly 16, and the one end of actuating lever 13 can articulate on drive assembly 16, and the other end of actuating lever 13 can articulate on fixed bolster 11, and the plane of motion of connecting rod 12 is parallel to the plane of motion of actuating lever 13, and actuating lever 13 can move in the vertical plane promptly.
A driving assembly 16 can be directly arranged on the fixed bracket 11, and the driving assembly 16 can be used for driving one end of the driving rod 13 far away from the connecting rod 12 to move in a direction close to or far away from the connecting rod 12; in this embodiment, the driving assembly 16 mainly refers to a linear driving device such as an air cylinder, an oil cylinder, or a push rod motor, the connecting rod 12 can be hinged to the fixing bracket 11 through a connecting shaft (not shown in the figure), the connecting rod 12 can rotate around the connecting shaft between the connecting rod 12 and the fixing bracket 11, and similarly, the driving rod 13 can rotate around the connecting shaft between the driving rod 13 and the connecting rod 12.
In the embodiment, the driving assembly 16, the driving rod 13 and the connecting rod 12 form a crank-slider structure, and the driving assembly 16 serves as a slider in the crank-slider and can provide power for the slider by itself; the connecting rod 12 is the original rod member in the slider-crank structure, and the driving rod 13 is the connecting rod in the differential slider, and the slider-crank structure is formed because the original rod member provides the power source in the slider-crank structure, while the driving assembly 16 provides the power source in the present embodiment.
The swing rod 15 is hinged to the connecting rod 12, and the movement plane of the swing rod 15 is parallel to the movement plane of the connecting rod 12, namely the swing rod 15 can rotate in a vertical plane; the fixed support 11 is further provided with a limiting component 14, two ends of the limiting component 14 can be respectively arranged on the fixed support 11 and the connecting rod 12, and in the movement process of the oscillating rod 15, the limiting component 14 can adjust an included angle between the oscillating rod 15 and the connecting rod 12.
In the present embodiment, since the swing lever 15 is provided on the connecting rod 12, the swing lever 15 can move following the connecting rod 12, and therefore, the swing lever 15 can first rotate about the connecting shaft between the connecting rod 12 and the fixed component; through the setting of spacing subassembly 14, at swing lever 15 pivoted in-process, spacing subassembly 14 can constantly adjust the contained angle of swing lever 15 and connecting rod 12, further adjusts in the position of swing lever 15, and the position of swing lever 15 can be adjusted jointly according to a plurality of factors, has richened the motion process of swing lever 15.
According to another embodiment of the present invention, as shown in fig. 1, a swing mechanism 10, which is different from the first embodiment in the specific structure of the position limiting assembly 14.
On the basis of the first embodiment, in this embodiment, the limiting component 14 includes the fixed long rod 141, one end of the fixed long rod 141 can be hinged to the swinging rod 15, the other end of the fixed long rod 141 can be hinged to the fixing bracket 11, in this embodiment, the hinged point of the fixed long rod 141 and the fixing bracket 11 is located at the upper end of the fixing bracket 11, the fixed long rod 141 can rotate around the connecting shaft between the fixed long rod 141 and the fixing bracket 11, and the moving plane of the fixed long rod 141 is parallel to the moving plane of the swinging rod 15.
In this embodiment, in the process that the driving rod 13 drives the swing rod 15 to rotate, through the setting of the fixed long rod 141, the distance between one end of the fixed long rod 141 and one point on the fixing bracket 11 is always determined, therefore, the fixed long rod 141, the connecting rod 12 and the swing rod 15 form a double-rocker mechanism, the fixed long rod 141 and the connecting rod 12 can be used as the rocker in the double-rocker mechanism, the swing rod 15 is used as the connecting rod in the double-rocker mechanism, and the double-rocker can control the connecting rod to be in different states at different positions.
Therefore, drive assembly 16 motion in-process can drive actuating lever 13 motion, drives connecting rod 12 motion then, and through the setting of fixed-length pole 141, the restraint between fixed-length pole 141, connecting rod 12 and swinging arms 15 has been increased simultaneously, and connecting rod 12 can drive swinging arms 15 motion, and drive assembly 16 can obtain specific state's swinging arms 15 in the motion in-process, has realized swinging arms 15's swing.
Preferably, the fixed length rod 141 is staggered with the connecting rod 12; one end of the swing rod 15 is hinged to one end of the fixed length rod 141 far away from the fixed support 11, and the other end of the swing rod 15 is hinged to one end of the connecting rod 12 far away from the fixed support 11.
After the fixed long rod 141 sets up with connecting rod 12 is crisscross, the both ends of swinging arms 15 can set up the one end of keeping away from fixed bolster 11 at fixed long rod 141 respectively, and when the one end of fixed bolster 11 was kept away from to connecting rod 12, swinging arms 15 and fixed bolster 11 can be located the both sides of fixed long rod 141 and connecting rod 12, the distance between two pin joints of fixed long rod 141 and connecting rod 12 on swinging arms 15 has been reduced, when fixed long rod 141 and connecting rod 12 change in position and/or angle, increase swinging arms 15's amplitude of oscillation, the swing effect of swing mechanism 10 has been increased.
According to another embodiment of the present invention, as shown in fig. 2, a swing mechanism 10 is provided, which is different from the first embodiment in the specific structure of the position limiting assembly 14.
On the basis of the first embodiment, in the present embodiment, the limiting assembly 14 includes a first hinge rod 142 and a second hinge rod 143, one end of the first hinge rod 142 is hinged to the swing rod 15, and one end of the second hinge rod 143 is hinged to the fixed bracket 11; the other end of the first hinge lever 142 is hinged to the other end of the second hinge lever 143, and the movement plane of the first hinge lever 142 and the movement plane of the second hinge lever 143 are both parallel to the movement plane of the swing lever 15.
In the present embodiment, the first hinge lever 142, the second hinge lever 143, and the swing lever 15 can form a double-rocker mechanism, the second hinge lever 143 and the swing lever 15 can serve as two rockers of the double-rocker mechanism, and the first hinge lever 142 can serve as a link in the double-rocker mechanism. Under the action of gravity, the first hinge rod 142, the second hinge rod 143 and the swing rod 15 are automatically adjusted to form corresponding states, and a user can select the first hinge rod 142 and the second hinge rod 143 with different lengths, so that the user can adjust the position and the angle of the swing rod 15 in different states, and the application range of the swing mechanism 10 is enlarged.
Preferably, the second hinge lever 143 is disposed to be staggered with the connecting rod 12, and an end of the swing lever 15 remote from the first hinge lever 142 is hinged to an end of the connecting rod 12 remote from the fixed bracket 11.
After the second hinge rod 143 and the connecting rod 12 are arranged in an interlaced manner, the swing rod 15 and the fixed bracket 11 can be located on both sides of the second hinge rod 143 and the connecting rod 12, so that the distance between two hinge points of the first hinge rod 142 and the connecting rod 12 on the swing rod 15 is reduced, and when the position and/or the angle of the first hinge rod 142 and the connecting rod 12 are changed, the swing amplitude of the swing rod 15 is increased, and the swing effect of the swing mechanism 10 is increased.
In this embodiment, the connecting rod 12, the driving rod 13, the first hinge rod 142, the second hinge rod 143, and the swing rod 15 are plates, and when the second hinge rod 143 is disposed in an interlaced manner with the connecting rod 12, a communicating groove for the connecting rod 12 to pass through is opened on the second hinge rod 143 or a communicating groove for the second hinge rod 143 to pass through is opened on the connecting rod 12. The plate member structure described in the present embodiment is also applicable to the first embodiment and the second embodiment.
According to the improvement of the above embodiment, in this embodiment, the connecting rod 12 is provided with a first limiting table 121 for abutting against the second hinge rod 143; and/or the second hinge lever 143 is provided with a second stop 1431 for abutment of the connecting rod 12.
When the connecting rod 12 rotates relative to the second hinge rod 143, the first limit station 121 and the second limit station 1431 are arranged, so that the second abutting rod and the connecting rod 12 can abut against each other, when the second hinge rod 143 abuts against the first limit station 121, and/or when the connecting rod 12 abuts against the second limit station 1431, the connecting rod 12 and the second hinge rod 143 can stop rotating, and then the swing rod 15 is controlled to stop swinging, the possibility that the swing rod 15 continues to swing is reduced, and the stability of the swing rod 15 is increased.
Preferably, the driving lever 13 is hinged to the second hinge lever 143; drive assembly 16 is hinged to fixed support 11, the plane of movement of drive assembly 16 being parallel to the plane of movement of drive rod 13.
The positions of the swing rod 15, the first hinge rod 142 and the second hinge rod 143 still need to be automatically adjusted under the action of gravity, and the swing rod 15 has large shaking amplitude and is unstable in the adjusting process; through articulating actuating lever 13 in second articulated pole 143, in the in-process of actuating lever 13 drive connecting rod 12 motion, can drive second articulated pole 143 motion simultaneously, increased the restraint between actuating lever 13 and the second articulated pole 143, actuating lever 13 when the motion, can directly drive the motion of second articulated pole 143.
According to a modification of the above embodiment, in the present embodiment, the connecting rod 12 is provided with a rotating shaft (not shown), and the axial direction of the rotating shaft is perpendicular to the moving plane of the connecting rod 12; the swing lever 15 and the drive lever 13 are both hinged to the connecting rod 12 via a rotating shaft.
In this embodiment, the swing rod 15, the driving rod 13 and the connecting rod 12 can be hinged to the rotating shaft at the same time, so that the user can adjust the position of the swing rod 15 in different states, and the processing of the connecting rod 12 is facilitated.
Preferably, the second hinge lever 143 is parallel to the swing lever 15, and the first hinge lever 142 is parallel to the driving lever 13.
During the movement of the swing lever 15, the swing lever 15 can be always parallel to the second hinge lever 143, reducing the possibility of interference between the swing lever 15 and the second hinge lever 143, and increasing the stability of the swing lever 15.
According to a modification of any of the above embodiments, in this embodiment, the connecting rod 12 is further provided with a placement groove 122 for placing the driving assembly 16, and the placement groove 122 can be opened on the side of the connecting rod 12 close to the driving assembly 16. The swing lever 15 is further provided with an abutment groove 151 for abutment of the first hinge lever 142.
As described with reference to fig. 3, when the swing lever 15 is in the contracted state or close to the contracted state, the first hinge lever 142 can abut against the abutting groove 151, the driving unit 16 can abut against the placement groove 122, and the upper end of the driving unit 16 can be inclined to the side away from the fixed bracket 11.
When the swing rod 15 needs to swing outwards, the driving assembly 16 acts and lifts upwards, the driving assembly 16 can drive the lower end of the driving rod 13 to move upwards, and due to a crank slider structure formed by the connecting rod 12, the driving rod 13 and the driving assembly 16, the upper end of the connecting rod 12 can rotate anticlockwise around the connecting shaft of the connecting rod 12 and the fixing support 11, and therefore the upper end of the driving rod 13 can also move synchronously along with the upper end of the connecting rod 12.
Since the movement state of both upper and lower ends of the driving lever 13 has been determined and the middle portion of the driving lever 13 is hinged to the second hinge lever 143, the movement of the point of the second driving lever 13 hinged to the driving lever 13 has also been determined, and since the second hinge lever 143 is hinged to the driving assembly 16, the movement of the second hinge lever 143 is also determined, that is, the second hinge lever 143 is rotating clockwise about the connection axis between it and the fixed bracket 11.
Since the second hinge rod 143, the first hinge rod 142 and the swing rod 15 form a double-rocker mechanism, the movement of the swing rod 15 and the first hinge rod 142 can be determined; after the driving assembly 16 is activated, the swing lever 15 can swing outward to the swing lever 15 in the state of fig. 2, and the swing of the swing lever 15 is realized.
According to an embodiment of the present invention, as shown in fig. 2 and 4, a robot includes:
a robot body 20, a swing mechanism 10, and wings 30;
the swing mechanism 10 is mounted on the robot body 20;
the swing mechanism 10 comprises a fixed support 11, the fixed support 11 is vertically arranged, a connecting rod 12 is arranged on the fixed support 11, the connecting rod 12 is hinged to the fixed support 11, and the connecting rod 12 can rotate in a vertical plane; fixed bolster 11 is still equipped with actuating lever 13 and drive assembly 16, and the one end of actuating lever 13 can articulate on drive assembly 16, and the other end of actuating lever 13 can articulate on fixed bolster 11, and the plane of motion of connecting rod 12 is parallel to the plane of motion of actuating lever 13, and actuating lever 13 can move in the vertical plane promptly.
A driving assembly 16 can be directly arranged on the fixed bracket 11, and the driving assembly 16 can be used for driving one end of the driving rod 13 far away from the connecting rod 12 to move in a direction close to or far away from the connecting rod 12; in this embodiment, the driving assembly 16 mainly refers to a linear driving device such as an air cylinder, an oil cylinder, or a push rod motor, the connecting rod 12 can be hinged to the fixing bracket 11 through a connecting shaft (not shown in the figure), the connecting rod 12 can rotate around the connecting shaft between the connecting rod 12 and the fixing bracket 11, and similarly, the driving rod 13 can rotate around the connecting shaft between the driving rod 13 and the connecting rod 12.
In the embodiment, the driving assembly 16, the driving rod 13 and the connecting rod 12 form a crank-slider structure, and the driving assembly 16 serves as a slider in the crank-slider and can provide power for the slider by itself; the connecting rod 12 is the original rod member in the slider-crank structure, and the driving rod 13 is the connecting rod in the differential slider, and since the power source is provided by the original rod member in the slider-crank structure, while the power source is provided by the driving assembly 16 in the present embodiment, an opposite slider-crank structure is formed.
The swing rod 15 is hinged to the connecting rod 12, and the movement plane of the swing rod 15 is parallel to the movement plane of the connecting rod 12, namely the swing rod 15 can rotate in a vertical plane; wings 30 can be mounted on a swing lever 15 in swing mechanism 10 and swing following swing lever 15. The fixed support 11 is further provided with a limiting component 14, two ends of the limiting component 14 can be respectively arranged on the fixed support 11 and the connecting rod 12, and in the movement process of the oscillating rod 15, the limiting component 14 can adjust an included angle between the oscillating rod 15 and the connecting rod 12.
In the present embodiment, since the swing lever 15 is provided on the connecting rod 12, the swing lever 15 can move following the connecting rod 12, and therefore, the swing lever 15 can first rotate about the connecting shaft between the connecting rod 12 and the fixed component; through the setting of spacing subassembly 14, at wing 30 pivoted in-process, spacing subassembly 14 can constantly adjust the contained angle of swinging arms 15 and connecting rod 12, further adjusts in wing 30's position, and wing 30's position can be adjusted jointly according to a plurality of factors, has richened wing 30's motion process.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An oscillating mechanism, comprising:
the device comprises a fixed support, a driving assembly, a driving rod, a connecting rod, a swinging rod and a limiting assembly;
the connecting rod is hinged to the fixed support, one end of the driving rod is hinged to the driving assembly, the other end of the driving rod is hinged to one end, far away from the fixed support, of the connecting rod, and the movement plane of the connecting rod is parallel to the movement plane of the driving rod;
the driving assembly is used for driving one end of the driving rod, which is far away from the connecting rod, to move along the direction close to or far away from the connecting rod;
the swinging rod is hinged to the connecting rod, and the motion plane of the swinging rod is parallel to the motion plane of the connecting rod;
the one end of spacing subassembly set up in the swinging arms, the other end of spacing subassembly set up in fixed bolster, spacing subassembly is used for adjusting the swinging arms with the contained angle of connecting rod.
2. A rocking mechanism as claimed in claim 1, wherein the stop assembly comprises:
one end of the fixed long rod is hinged to the swinging rod, and the other end of the fixed long rod is hinged to the fixed support;
the movement plane of the fixed length rod is parallel to the movement plane of the swinging rod.
3. A rocking mechanism as claimed in claim 2, wherein:
the fixed long rods and the connecting rods are arranged in a staggered manner;
one end of the swinging rod is hinged to one end, far away from the fixed support, of the fixed long rod, and the other end of the swinging rod is hinged to one end, far away from the fixed support, of the connecting rod.
4. A rocking mechanism as claimed in claim 1, wherein the stop assembly comprises:
a first hinge lever, one end of which is hinged to the swing lever;
one end of the second hinge rod is hinged to the fixed support;
the other end of the first hinge rod is hinged to the other end of the second hinge rod, and the motion plane of the first hinge rod and the motion plane of the second hinge rod are parallel to the motion plane of the swing rod.
5. An oscillating mechanism according to claim 4, wherein:
the second hinge rods and the connecting rods are arranged in a staggered manner;
one end of the swinging rod, which is far away from the first hinged rod, is hinged to one end of the connecting rod, which is far away from the fixed support.
6. An oscillating mechanism according to claim 5, wherein:
the connecting rod is provided with a first limiting table used for abutting against the second hinge rod;
and/or;
the second hinge rod is provided with a second limiting table used for abutting against the connecting rod.
7. An oscillating mechanism according to claim 5, wherein:
the driving rod is hinged to the second hinge rod;
the driving assembly is hinged to the fixed support, and the movement plane of the driving assembly is parallel to the movement plane of the driving rod.
8. An oscillating mechanism according to claim 7, wherein:
the connecting rod is provided with a rotating shaft, and the axis direction of the rotating shaft is vertical to the moving plane of the connecting rod;
the swinging rod and the driving rod are hinged to the connecting rod through the rotating shaft.
9. An oscillating mechanism according to claim 8, wherein:
the second hinge lever is parallel to the swing lever, and the first hinge lever is parallel to the driving lever.
10. A robot, comprising:
the robot comprises a robot body, a swinging mechanism and wings;
the swinging mechanism is arranged on the robot body;
the swing mechanism includes:
the device comprises a fixed support, a driving assembly, a driving rod, a connecting rod, a swinging rod and a limiting assembly;
the connecting rod is hinged to the fixed support, one end of the driving rod is hinged to the driving assembly, the other end of the driving rod is hinged to one end, far away from the fixed support, of the connecting rod, and the movement plane of the connecting rod is parallel to the movement plane of the driving rod;
the driving assembly is used for driving one end of the driving rod, which is far away from the connecting rod, to move along the direction close to or far away from the connecting rod;
the swinging rod is hinged to the connecting rod, and the motion plane of the swinging rod is parallel to the motion plane of the connecting rod;
one end of the limiting component is arranged on the swinging rod, the other end of the limiting component is arranged on the fixed support, and the limiting component is used for adjusting an included angle between the swinging rod and the connecting rod;
the wings are mounted to the sway bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811279978.0A CN111120602A (en) | 2018-10-30 | 2018-10-30 | Swing mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811279978.0A CN111120602A (en) | 2018-10-30 | 2018-10-30 | Swing mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111120602A true CN111120602A (en) | 2020-05-08 |
Family
ID=70484809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811279978.0A Pending CN111120602A (en) | 2018-10-30 | 2018-10-30 | Swing mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111120602A (en) |
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| CN112692708A (en) * | 2020-12-24 | 2021-04-23 | 方冬荣 | Elevator car door panel surface polishing device |
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