Mechanical circulating turning output torque device
By designing a mechanical cyclic directional change output torque device including a positive half-arc gear, a negative half-arc gear and an idler gear, the problems of complex structure and poor stability in the robot's moving parts are solved, and simple and reliable positive and negative rotation output is achieved.
Patent Information
- Application Number
- CN202510848843.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-24
- Publication Date
- 2025-09-05
AI Technical Summary
The existing mechanical output mechanisms for the cyclic motion of the robot's moving parts have problems such as complex structure and poor stability. The hydraulic type is prone to contamination and leakage, while the electrical type is prone to overload and damage.
A mechanical cyclic variable direction output torque device is designed, which includes a positive half-arc gear, a negative half-arc gear, an output gear and an idler gear. Intermittent positive and negative meshing is achieved by coupling the half-arc gears, and the idler gear is used to change the rotation direction, forming a cyclic action of positive and negative rotation of 180°.
The invention realizes a mechanical output with simple structure and reliable operation, and can realize torque output in forward and reverse directions under unidirectional rotation input, thereby improving the stability and reliability of the mechanism.
Smart Images
Figure CN120593022A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a mechanical cyclic direction-changing output torque device. Background Art
[0002] Among the robot's moving parts, the mechanical output mechanism for the forward and reverse rotation of the bionic walking legs is a core component. The key technology for this cyclical mechanical output mechanism is also a challenge facing the industry. Hydraulic systems are overly complex and prone to contamination and leakage; electrical systems can experience instantaneous overloads and burnout of electrical components; and mechanical systems offer better structural stability but are too complex and difficult to manufacture. Summary of the Invention
[0003] In order to solve the above technical problems, the present invention provides a mechanical cyclic direction-changing output torque device with simple structure and reliable operation.
[0004] The technical solution of the present invention to solve the above technical problems is: a mechanical cyclic reversing output torque device, including a positive half-arc gear, a negative half-arc gear, an output gear, and an idler gear. The power motor is connected to the input gear shaft, and the first driving gear and the second driving gear are fixedly arranged on the input gear shaft. The first driving gear is meshed with the first passive gear. The first passive gear is fixed on the positive half-arc gear shaft. The positive half-arc gear is arranged on the positive half-arc gear shaft. The second driving gear is meshed with the second passive gear through the idler gear. The second passive gear is fixed on the negative half-arc gear shaft. The negative half-arc gear is arranged on the negative half-arc gear shaft; the tooth arc segments of the positive half-arc gear and the tooth arc segments of the negative half-arc gear cross and mesh with the output gear.
[0005] In the above-mentioned mechanical cyclic directional output torque device, when the tooth arc segment of the positive half-arc gear is disengaged from the output gear, the tooth arc segment of the negative half-arc gear just enters into engagement with the output gear.
[0006] In the above-mentioned mechanical cyclic direction-changing output torque device, the input gear shaft, the positive half-arc gear shaft, and the negative half-arc gear shaft are all mounted on the bracket through bearings.
[0007] In the above-mentioned mechanical cyclic direction-changing output torque device, the first driving gear, the second driving gear and the input gear shaft are connected by splines or parallel keys.
[0008] In the above-mentioned mechanical cyclic reversing output torque device, the first driven gear, the spur arc gear and the spur arc gear shaft are connected by splines or flat keys.
[0009] In the above-mentioned mechanical cyclic reversing output torque device, the second driven gear, the negative half-arc gear and the negative half-arc gear shaft are connected by splines or flat keys.
[0010] In the above-mentioned mechanical cyclic direction-changing output torque device, the idler wheel is mounted on the idler wheel shaft, and the idler wheel shaft is mounted on the bracket using a needle bearing.
[0011] The beneficial effect of the present invention is that: the present invention utilizes a pair of coupled half-arc gears to intermittently mesh forward and reverse on the same output gear, input unidirectional rotational torque, and change the rotation direction of the pair of half-arc gears through the idler gear, forming a cyclic mechanical output of 180° rotation forward and backward. When the output gear is engaged with the positive half-arc gear, the output gear outputs clockwise rotational torque. After the positive half-arc gear rotates 180°, it disengages from the output gear. The negative half-arc gear just meshes with the output gear, and the output gear outputs counterclockwise rotational torque. After rotating 180°, it disengages from the output gear. The positive half-arc gear meshes with the output gear again. Repeating this process allows the output gear to output clockwise and reverse rotational torque output, while input only requires unidirectional rotation input. It has the advantages of simple structure and reliable operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 It is a structural schematic diagram of the present invention.
[0013] Figure 2 It is a component assembly diagram of the present invention.
[0014] Figure 3 Schematic diagram of the cyclic action mechanical output of the present invention. DETAILED DESCRIPTION
[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0016] The principle of the present invention is to use a pair of coupled half-arc gears to intermittently mesh forward and reverse on the same output gear, input unidirectional rotational torque, and change the rotation direction of the pair of half-arc gears through the idler gear, forming a cyclic action mechanical output of 180° forward and reverse rotation.
[0017] like Figure 1 、 Figure 2 As shown, a mechanical cyclic reversing output torque device includes a positive half-arc gear 1, a negative half-arc gear 2, an output gear 3, and an idler gear 4. The power motor is connected to the input gear shaft 5. The first driving gear 6 and the second driving gear 7 are fixedly provided on the input gear shaft 5. The first driving gear 6 is meshed with the first passive gear 8. The first passive gear 8 is fixedly provided on the positive half-arc gear shaft 9. The positive half-arc gear 1 is provided on the positive half-arc gear shaft 9. The second driving gear 7 is meshed with the second passive gear 10 through the idler gear 4. The second passive gear 10 is fixedly provided on the negative half-arc gear shaft 11. The negative half-arc gear 2 is provided on the negative half-arc gear shaft 11. The tooth arc segments of the positive half-arc gear 1 and the tooth arc segments of the negative half-arc gear 2 cross and mesh with the output gear 3.
[0018] During assembly, the meshing relationship between the positive half-arc gear 1, the negative half-arc gear 2 and the output gear 3 should be adjusted, that is, when the tooth arc segment of the positive half-arc gear 1 is disengaged from the output gear 3, the tooth arc segment of the negative half-arc gear 2 is just engaged with the output gear 3.
[0019] The input gear shaft 5 , the positive half-arc gear shaft 9 , and the negative half-arc gear shaft 11 are all mounted on the bracket 12 via bearings.
[0020] The first driving gear 6 and the second driving gear 7 are connected to the input gear shaft 5 via a spline or parallel key. The first driven gear 8 and the spur gear 1 are connected to the spur gear shaft 9 via a spline or parallel key. The second driven gear 10 and the negative gear 2 are connected to the negative gear shaft 11 via a spline or parallel key. The idler gear 4 is mounted on the idler shaft, which is mounted on the bracket using a needle roller bearing.
[0021] The working process of the present invention is as follows: Figure 3 As shown, when the output gear 3 is engaged with the positive half-arc gear 1, the output gear 3 outputs a clockwise rotational torque. After the positive half-arc gear 1 rotates 180° and disengages from the output gear 3, the negative half-arc gear 2 just meshes with the output gear 3, and the output gear 3 outputs a counterclockwise rotational torque. After the negative half-arc gear 2 rotates 180° and disengages from the output gear 3, the positive half-arc gear 1 meshes with the output gear 3 again. Repeating this process allows the output gear 3 to output a clockwise and counterclockwise rotational torque output, while the input only requires a unidirectional rotation input.
Claims
1. A mechanical cyclic directional output torque device, characterized in that: It includes a positive half-arc gear, a negative half-arc gear, an output gear, and an idler gear. The power motor is connected to the input gear shaft. The first driving gear and the second driving gear are fixedly arranged on the input gear shaft. The first driving gear is meshed with the first passive gear. The first passive gear is fixed on the positive half-arc gear shaft. The positive half-arc gear is arranged on the positive half-arc gear shaft. The second driving gear is meshed with the second passive gear through the idler gear. The second passive gear is fixed on the negative half-arc gear shaft. The negative half-arc gear is arranged on the negative half-arc gear shaft. The tooth arc segments of the positive half-arc gear and the tooth arc segments of the negative half-arc gear cross and mesh with the output gear.
2. The mechanical cyclic directional control output torque device according to claim 1, characterized in that: When the tooth arc segment of the positive half-arc gear is out of mesh with the output gear, the tooth arc segment of the negative half-arc gear just enters into mesh with the output gear.
3. The mechanical cyclic directional control output torque device according to claim 1, characterized in that: The input gear shaft, the positive half-arc gear shaft, and the negative half-arc gear shaft are all mounted on the bracket through bearings.
4. The mechanical cyclic directional control output torque device according to claim 1, characterized in that: The first driving gear, the second driving gear and the input gear shaft are connected by splines or parallel keys.
5. The mechanical cyclic directional control output torque device according to claim 1, characterized in that: The first driven gear, the spur half-arc gear and the spur half-arc gear shaft are connected by splines or flat keys.
6. The mechanical cyclic directional control output torque device according to claim 1, characterized in that: The second driven gear, the negative half-arc gear and the negative half-arc gear shaft are connected by splines or flat keys.
7. The mechanical cyclic directional control output torque device according to claim 1, characterized in that: The idler wheel is mounted on an idler wheel shaft, and the idler wheel shaft is mounted on a bracket by using a needle bearing.