A high-frequency fixed-angle smooth compensation cam structure, design method and rotating mechanism

Abstract

The present invention discloses a high-frequency fixed-angle smooth compensation cam structure, a design method and a rotating mechanism. The present invention adopts eight identical cam mechanisms to reduce the input rotational speed by eight times. Aiming at the transition process of high-frequency stops, the purpose of reducing the acceleration of the entire device's repeated stops is achieved. For the compensation method of vibration jitter of high-frequency stop devices, in the linear rising section curve of the intermittent motion cam curve, a cam curve design of composite sine + fixed linear slope is adopted, and its linear slope is equal to the interpolation rotational speed to achieve the stop purpose of video imaging; for the descending section of the cam curve, a cam curve design of reducing acceleration and deceleration is adopted to reduce the acceleration peak value of the entire device's repeated stops and achieve vibration compensation for interpolation rotation.

Description

Technical Field

[0001] The present invention belongs to the technical field of low-speed and high-frequency dwell, and relates to a high-frequency fixed-angle smooth compensation cam structure, a design method and a rotating mechanism. Background Art

[0002] As an automated technical equipment, the intermittent motion mechanism has been widely used in various fields of product processing, assembly and visual inspection automation, realizing the improvement of quality and efficiency of manufacturing enterprises and the improvement of automation degree. Common types of intermittent motion mechanisms include ratchets, Geneva wheels, incomplete gear mechanisms, cylindrical cam mechanisms and globoidal cam mechanisms, etc. Although they have simple structures and mature manufacturing technologies and have been widely used in various mechanical automation production equipment and production lines and other occasions. However, ratchets, Geneva wheels, etc. have relatively large clearances, resulting in deficiencies such as large noise and impact, and are not suitable for high-frequency dwell occasions; cylindrical cam mechanisms and globoidal cam mechanisms are theoretically kinematic mechanisms with high pair contacts, resulting in defects such as easy wear and serious heating, and are not suitable for occasions with relatively high speeds either.

[0003] Therefore, it is of great practical significance to seek a new type of intermittent motion mechanism with relatively high speed and less vibration on the basis of the existing structure of the cylindrical cam mechanism.

[0004] From the wide application of the multi-station dwell motion mechanism, the vibration and impact during the dwell process are important indicators to measure the smoothness of a dwell mechanism. At present, the design of the dwell cam curve that meets the high-frequency fixed-angle is still a technical and market gap. In the existing interpolation rotational speed curve design technology of the multi-dwell cam mechanism, the instantaneous accelerations of motion curves such as square waves, triangular waves, sawtooth waves, etc. are very large, resulting in very large vibrations during high-speed rotation in the case of relatively high dwell frequencies, restricting the application of these dwell mechanisms.

[0005] Although the sine motion curve has continuous acceleration, there is no straight line segment of uniform motion, which cannot meet the interpolation dwell time constraint, resulting in insufficient absolute rest time after interpolation, and also restricting the application of this dwell mechanism. Therefore, there is room for improvement in both the design method improvement of the interpolation cam curve for low-speed and high-frequency dwell and the equipment application. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems of low dwell frequency and vibration of the existing dwell mechanism, and provide a high-frequency fixed-angle smooth compensation cam structure, a design method and a rotating mechanism.

[0007] In a first aspect, the present invention provides a high-frequency fixed-angle smooth compensation cam structure, including an output shaft, an interpolation mechanism sleeved on the output shaft, and the interpolation mechanism includes a complete gear on the upper layer and a cam mechanism on the lower layer; the cam mechanism includes a plurality of interpolation cams arranged uniformly along the circumference; the interpolation cam includes a rising section and a falling section; the rising section includes a curve starting section, a linear rising section, and a curve rising section that are smoothly connected in sequence; the falling section includes a curve falling section, a linear falling section, and a curve ending section that are smoothly connected in sequence; the curve rising section and the curve falling section are smoothly connected.

[0008] Further, in the present invention, the curve starting section, the curve rising section, the curve falling section, and the curve ending section are all sine curves.

[0009] Further, in the present invention, the slope of the linear rising section is determined according to the interpolation rotation speed calculation method.

[0010] Further, in the present invention, 8 interpolation cams are provided.

[0011] In a second aspect, the present invention provides a design method for an interpolation cam in a high-frequency fixed-angle smooth compensation cam structure, including the following steps:

[0012] According to the requirement of the short pause time for a fixed angle, design eight completely identical cam curves, and each cam curve completes one pause interpolation;

[0013] Each cam curve is divided into six sections, including nodes O, A, B, C, D, E, F, G. The OA section is the starting section of the sine curve, the AB section is the linear rising section, the BC section is the rising section of the sine curve, the CD section is the falling section of the sine curve, the DE section is the linear falling section, and the EF section is the ending section of the sine curve; the interpolation movement displacement T CB and the fixed angle are as follows:

[0014] T CB =[θ O ,θ A ,θ B ,θ C ,θ D ,θ E ,θ F ,θ G

[0015]

[0016] Among them, θ O represents the fixed angle corresponding to each cam, taking 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°, and 360°, θ A ​Indicates the angle corresponding to point A at the starting segment of the sine curve for OA segment, θ B Indicates the angle corresponding to point B at the end of the linearly rising segment, θ C Indicates the angle corresponding to point C at the end of the rising segment of the sine curve for BC segment, θ D Indicates the angle corresponding to point D at the end of the descending segment of the sine curve, θ E Indicates the angle corresponding to point E at the end of the linearly descending segment, θ F Indicates the angle corresponding to point F at the end of the descending segment of the sine curve, θ G Indicates the angle corresponding to the cam curve stop margin. I represents the sequence number of the eight-segment cam curve Indicates the value in the middle of the range from 0 to 2° Indicates the value in the middle of the range from 0 to 7

[0017] The interpolation lift S of the linearly rising segment CB 、The interpolation starting point interpolation radius R A 、The interpolation displacement y CB And the interpolation time T CB Are as follows:

[0018] S CB =R B -R A

[0019] R A =R J +k r *r CB

[0020]

[0021]

[0022] Among them, R B Indicates the interpolation end point interpolation radius, R J Indicates the cam base circle radius, k r Indicates the interpolation starting point coefficient, r CB Indicates the interpolation roller radius Indicates the square of the interpolation displacement in the interpolation direction, θ CB Indicates the interpolation rotation angle, α CB Indicates the interpolation direction deviation angle, k CB Indicates the interpolation gear transmission ratio coefficient, D J Indicates the cam base circle diameter, ω o Indicates the cam base circle rotational speed

[0023] In a third aspect, the present invention provides a smooth compensation rotating mechanism, including an interpolation gear, an interpolation roller and an interpolation transition gear; the interpolation roller is installed on the outer surface of the interpolation slider and is always in rolling contact with the cam mechanism; the interpolation slider is installed on the linear guide rail, and an interpolation rack fixedly connected thereto is arranged on the side surface of the interpolation slider; the interpolation rack meshes with the interpolation gear, and the interpolation gear meshes with the complete gear of the interpolation mechanism.

[0024] Further, the linear guide rail of the present invention is fixed on the mounting seat.

[0025] Further, one end of a return spring is connected to the interpolation slider, and the other end of the return spring is connected to the mounting seat.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention adopts eight identical cam mechanisms to reduce the input rotational speed by eight times. For the transition process of high-frequency stops, the purpose of reducing the acceleration of the entire device's repeated stops is achieved. For the compensation method of the vibration and jitter of the high-frequency stop device, in the linear rising section curve of the intermittent motion cam curve, a cam curve design of composite sine + fixed linear slope is adopted, and its linear slope is equal to the interpolation rotational speed to achieve the stop purpose convenient for video imaging; for the descending section of the cam curve, a cam curve design to reduce acceleration and deceleration is adopted to reduce the acceleration peak value of the entire device's repeated stops and achieve the vibration compensation of interpolation rotation.

[0028] Under the condition of the same rotational speed, the present invention can complete a certain angle of rotation and at the same time complete multiple stops, thereby increasing the stop frequency.

[0029] The present invention can be widely applied in various fields for the switching of multiple workstations. For example, high-precision tasks such as assembly, image acquisition, lithography, labeling, and coating are completed at different angles during the stationary period; stable and smooth visual data acquisition, tracking, prediction and recognition of dynamic targets are obtained within the detection areas at different angles; compared with the traditional stop device, under the requirement of ensuring uniform rotation and short stops, the stop frequency can be increased under the same rotational speed condition, thereby avoiding the influence of vibration and heat on the performance of the stop equipment, saving energy consumption at the same time, and prolonging the service life of the equipment. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic diagram of the interpolation rotational speed smoothing compensation method and equipment of the present invention.

[0032] Figure 2 It is a schematic diagram of the high-frequency fixed-angle smoothing compensation cam structure of the present invention.

[0033] Figure 3 It is a schematic diagram of the segmented design method of the interpolation cam rotational speed compensation curve of the present invention.

[0034] Figure 4 It is a schematic diagram of the design of the sine smoothing compensation cam curve of the present invention.

[0035] Figure 5 It is a schematic diagram of the vibration and shock analysis caused by the change of the interpolation rotational acceleration of the present invention.

[0036] Figure 6 It is a schematic diagram of the implementation case of the smoothing compensation rotating mechanism of the present invention.

[0037] Wherein: 1-output shaft, 2-rise section, 3-fall section, 100-interpolation mechanism, 101-interpolation cam, 200-interpolation gear, 201-interpolation roller, 202-reset spring, 203-linear guide rail, 204-mounting seat, 205-interpolation slider, 206-interpolation rack, 207-interpolation intermediate gear, 300-interpolation linear direction, 301-interpolation rotation direction. Specific implementation manners

[0038] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0041] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed during use, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0042] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0043] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0044] The following further describes the present invention in detail with reference to the drawings:

[0045] See Figure 1 , an embodiment of the present invention discloses a high-frequency fixed-angle smooth compensation cam structure, including an output shaft 1, an interpolation mechanism 100 sleeved on the output shaft 1. The interpolation mechanism 100 includes a complete gear on the upper layer and a cam mechanism on the lower layer; the cam mechanism includes a plurality of interpolation cams 101 arranged circumferentially and evenly; the interpolation cam 101 includes a rising section 2 and a falling section 3; the rising section includes a curve starting section, a linear rising section, and a curve rising section that are smoothly connected in sequence; the falling section includes a curve falling section, a linear falling section, and a curve ending section that are smoothly connected in sequence; the curve rising section and the curve falling section are smoothly connected. The curve starting section, the curve rising section, the curve falling section, and the curve ending section are all sine curves. The slope of the linear rising section is determined according to the interpolation rotation speed calculation method. There are 8 interpolation cams 101. On each of the eight interpolation cams, the cam curve is designed with a cam rising section and a cam falling section. According to the calculation method, the cam rising section curve and the cam falling section curve are designed to achieve smooth compensation for the high-frequency fixed-angle motion conversion of the high-frequency interpolation mechanism.

[0046] An embodiment of the present invention discloses a design method for an interpolation cam, including the following steps:

[0047] Step 1, according to the requirement of a short pause time at a fixed angle, design eight completely identical cam curves. Each cam curve completes one pause interpolation, so as to achieve optical imaging during the pause.

[0048] Step 2, each cam curve is divided into six segments, and its node codes are O, A, B, C, D, E, F, G, namely the starting segment of the sine curve, the linear rising segment, the rising segment of the sine curve, the falling segment of the sine curve, the linear falling segment, and the ending segment of the sine curve. The starting segment of the sine curve completes the smooth start of the interpolation movement; the linear rising segment is a straight line segment with a specified slope. The cam mechanism can obtain a linear specified interpolation rotation speed on this straight line segment, and its magnitude is equal to the rotation speed of the input shaft and the direction is opposite; the rising segment of the sine curve completes the deceleration of the interpolation speed; the falling segment of the sine curve, the linear falling segment, and the ending segment of the sine curve complete the reverse of the interpolation speed, return to the rotation origin of the cam, and wait for the next cam curve.

[0049] Step 3, the cam mechanism drives the intermediate mounting sleeve shaft and the coaxially connected cam to drive eight identical cams distributed circumferentially to rotate together; every time the cam mechanism rotates one week, the eight cams transform their undulating curves into interpolation movement displacements.

[0050] Step 4, the rotation speed of the interpolation movement is opposite to the total input shaft rotation speed in direction and equal in magnitude. After the interpolation rotation, they cancel each other out and the rotation speed is zero. The interpolation mechanism realizes the rotation speed output after interpolation, realizes a short pause at a given angle, and thus completes the high-frequency pause rotation under the condition of low-speed input.

[0051] Step 5, the rotation angle refers to the angle that divides each rotation of the interpolation mechanism into eight equal parts; the interpolation mechanism can complete the interpolation movement during the rotation process; the interpolation movement refers to the movement generated by the high-frequency smooth compensation cam mechanism. The definition methods of its interpolation movement displacement and fixed angle are as follows:

[0052] T CB =[θ O ,θ A ,θ B ,θ C ,θ D ,θ E ,θ F ,θ G

[0053]

[0054] Step 6, the motion interpolation design method refers to, according to the magnitude of the interpolation rotation speed and the structural parameters, including: point A is the starting point of the straight line segment, point B is the ending point of the straight line segment, and the cam base circle rotation speed ω​o = 375 rpm, interpolation rotation angle θ CB , interpolation roller radius r CB , interpolation starting point coefficient k r , interpolation smoothing coefficient k mm , interpolation gear transmission ratio coefficient k CB , interpolation direction deviation angle α CB , interpolation displacement y CB , interpolation lift S CB , cam rotational speed ω o , cam base circle radius R J , cam base circle diameter, D J , interpolation gear diameter D CB , interpolation time T CB , interpolation rotational speed ω CB , equal to the slope of the rising straight line segment of the cam curve. Therefore, the parameter calculation method for the rising straight line segment is:

[0055] Interpolation lift:

[0056] S CB = R B - R A

[0057] Interpolation starting point interpolation radius:

[0058] R A = R J + k r * r CB

[0059] Interpolation displacement:

[0060]

[0061] Interpolation time:

[0062]

[0063] Step 7, the high-frequency dwell design method refers to optimizing and designing eight identical cam curves on the base circle arc of the cam, providing a specified linear interpolation rotational speed for interpolation dwell. The acceleration calculation method during interpolation movement:

[0064] Cam ω mp is related to all structures and dimensions of the interpolation drive chain, and its calculation method is:

[0065]

[0066] where ω mp represents the average rotational speed of the cam.

[0067] Cam a mpIt is related to all the structures and dimensions of the interpolation drive chain, and its calculation method is as follows:

[0068]

[0069] Among them, a mp represents the average acceleration of the cam rotation.

[0070] Step 8, the design method of the high-frequency smoothing compensation cam curve of this device means that during the motion process before and after interpolation, a sine curve is used for curve fitting to avoid excessive acceleration, thereby reducing vibration and shock. Therefore, the calculation method for each section of the cam curve combined with the intersection point is as follows:

[0071] The calculation methods for the acceleration and velocity in each of its intervals are as follows:

[0072] Interval OA:

[0073] a = a mp sin[π(θ - θ o ) / 2(θ A - θ O ), θ ∈ [θ O ~θ A

[0074] v = a mp (1 - cos[π(θ - θ O ) / 2(θ A - θ O ), θ ∈ [θ O ~θ A )]

[0075] v O = 0, v A = a mp , θ ∈ [θ O ~θ A )]

[0076] Interval AB:

[0077] a = a mp , θ ∈ [θ A ~θ B )]

[0078] v = a mp = ω CB , θ ∈ [θ A ~θ B )]

[0079] v A = a mp , v B = a mp , θ ∈ [θ A ~θ​B

[0080] Interval BC:

[0081] a = a mp cos[π(θ - θ B ) / 2(θ C - θ B ), θ ∈ [θ B ~θ C

[0082] v = v B + a mp sin[π(θ - θ B ) / 2(θ C - θ B ), θ ∈ [θ B ~θ C

[0083] v B = a mp , v C = 2a mp , θ ∈ [θ B ~θ C

[0084] Interval CD:

[0085] a = - a mm sin[π(θ - θ C ) / 2(θ D - θ C ), θ ∈ [θ C ~θ D

[0086] v = v c - a mp (1 - cos[π(θ - θ C ) / 2(θ D - θ C )]), θ ∈ [θ C ~θ D

[0087] v C = 2a mp , v D = a mp , θ ∈ [θ C ~θ D

[0088] Interval DE:

[0089] a = - a mm , θ ∈ [θ D ~θ E ​​​​​​​​

[0090] v = a mp -(θ - θ D )(a mp - a mm ) / (θ E - θ D ), θ ∈ [θ D ~θ E

[0091] v D = a mp , v E = a mm , θ ∈ [θ D ~θ E

[0092] Interval EF:

[0093] a = - a mm cos[π(θ - θ F ) / 2(θ D - θ F ), θ ∈ [θ E ~θ F

[0094] v = v E - a mm sin[π(θ - θ B ) / 2(θ C - θ B ), θ ∈ [θ B ~θ C

[0095] v E = - a mm , v F = 0, θ ∈ [θ E ~θ F

[0096] Interval FG:

[0097] a = 0, v = 0, θ ∈ [θ F ~θ G

[0098] Step 8, the design method of the fixed - angle rotational smooth compensation of the device means that on the basis of ensuring a small acceleration and dwell time, avoiding the problems of excessive or too small base - circle radius causing insufficient volume and reset time, after determining the static - to - dynamic ratio M J = 0.95, determining the optimal base - circle radius, the motion length of the cam curve, and the dwell angle θ corresponding to each cam motion cycle. Therefore, determining the calculation methods of the speed, angular displacement, acceleration, and deceleration processes for each cam motion cycle I: ​​​​​​

[0099] θ O = 0°

[0100] θ A = (1 - M J ) * 45° = 2.25°

[0101] θ B = θ A + θ CB

[0102] θ C = 2θ A + θ CB

[0103] θ D = θ C + θ A

[0104] θ E = θ F - θ A

[0105] θ F = M J * 45° = 42.75°

[0106] θ G = 45°

[0107] Calculation of the reset acceleration of the interpolation cam of the device:

[0108]

[0109] As Figure 2 shown, an embodiment of the present invention discloses a smooth compensation rotation mechanism, including an interpolation gear 200, an interpolation roller 201, and an interpolation idler gear 207; the interpolation roller 201 is installed at the end of the interpolation slider 205 and abuts against the cam mechanism; the interpolation slider 205 is installed on the linear guide 203, and an interpolation rack 206 fixedly connected thereto is arranged on the side of the interpolation slider 205; the interpolation rack 206 meshes with the interpolation gear 200, and the interpolation gear 200 meshes with the complete gear of the interpolation mechanism 100. The linear guide 203 is fixed on the mounting base 204. One end of the reset spring 202 is connected to the interpolation slider 205, and the other end of the reset spring 202 is connected to the mounting base 204.

[0110] The interpolation mechanism 100 performs interpolation of the input motion and the interpolation motion, such that the output rotational speed of the interpolation mechanism is equal to zero; the interpolation cam 101 performs the smooth switching function between the short stops at high frequencies and fixed angles and the rotation at fixed angles; there are 8 interpolation cams 101 in the interpolation mechanism 100, reducing the rotational speed of the interpolation mechanism 100 and reducing the vibration of the interpolation mechanism 100; the interpolation roller 201 converts the cam curve of the interpolation cam 101 into a linear displacement in the linear interpolation direction 300, completing the repeated motion of converting the circular rotational motion of the interpolation mechanism 100 into a linear displacement through 8 interpolation cams; the return spring 202 maintains a certain spring force in the linear interpolation direction 300 all the time, making the interpolation roller 201 in close contact with the interpolation cam 101; the interpolation roller 201 is mechanically connected to the interpolation slider 205; the interpolation slider 205 completes the repeated motion along the linear guide rail 203; the interpolation rack 206 is mechanically fixedly connected to the interpolation slider 205, converting the repeated motion of the interpolation slider 205 into the repeated swing of the interpolation gear 200 for interpolation; the interpolation gear 200 inputs the repeated swing to the interpolation mechanism 100 through the interpolation intermediate gear 207 to achieve interpolation.

[0111] Principle of the present invention:

[0112] As Figure 3 shown, the present invention relates to an optical imaging smoothing compensation method and an optical imaging stop mechanism in the high-frequency fixed-angle optical imaging process. The optical imaging stop mechanism provides a certain stop integration time required by the optical device for optical imaging, thereby obtaining stable and clear image data and avoiding image blurring caused by image jitter due to high-frequency stops; the optical imaging smoothing compensation method includes a smooth interpolation cam curve design method, and the high-frequency stop design method adopts the same interpolation cam curve of an eight-equal-part cam to achieve the function of increasing frequency and reducing speed; the motion interpolation design method adopts a differential and a planetary reducer structure to complete the interpolation function of equal magnitude and opposite directions of rotation and stop motions; the acceleration and deceleration compensation method adopts the smooth connection of the curve segments of the interpolation cam, and triggers the optical imaging system to perform image acquisition at point A on the rising linear curve of the interpolation cam.

[0113] The present invention relates to technical fields such as vibration shock and smooth compensation cam curve design method in the high-frequency stop process and compensation for image acquisition jitter, etc. Under the condition of the same rotational speed, that is, after a certain angle of rotation is completed, eight stops are simultaneously achieved, thereby solving the problem of the influence of the stop vibration shock of the existing stop mechanism on optical imaging.

[0114] The smooth compensation method of the present invention includes a smooth compensation cam curve design method, a high-frequency dwell cam structure design method, a dwell motion interpolation design method, and a fixed-angle acceleration and deceleration compensation method. The high-frequency fixed-angle equipment includes an input shaft, eight high-frequency dwell smooth compensation cams, a cam rotation mechanism and an interpolation mechanism, and an output shaft. This method and equipment can achieve eight rotations at determined angles and short-time dwells under the condition of a relatively low rotation speed, thereby reducing the mechanism rotation speed, increasing the dwell frequency, and reducing vibration impact.

[0115] Eight identical high-frequency smooth compensation cams are designed on the surface of the rotation mechanism of the present invention. This cam mechanism drives the intermediate mounting sleeve shaft and the coaxially connected cam to drive eight identical cams distributed in a circle to rotate together; every time this cam mechanism rotates one week, the eight cams transform their undulating curves into interpolation motion displacements. Therefore, under the condition of the same rotation speed of the rotation mechanism, eight identical dwell processes can be completed, thereby increasing the dwell frequency under the condition of the same rotation speed.

[0116] The cam curve of the present invention is divided into six segments: a sine curve starting segment, a linear rising segment, a sine curve rising segment, a sine curve falling segment, a linear falling segment, and a sine curve ending segment. Among them, the sine curve starting segment completes the smooth start of the interpolation motion; the linear rising segment is a straight line with a specific slope, generating a linear interpolation rotation speed, whose magnitude is equal to and direction is opposite to that of the rotation speed of the input shaft; after the sine curve rising segment completes the interpolation, the speed is decelerated; the sine curve falling segment, the linear falling segment, and the sine curve ending segment complete the deceleration and return to the origin of the cam rotation. Therefore, the interpolation speed of the linear rising segment of the cam determines that the accelerations of the rotation mechanism all use sine and cosine curves for smooth connection, reducing the vibration caused by the acceleration change of the rotation mechanism.

[0117] The present invention divides the rotation of the cam mechanism into two paths. One path rotates at a certain rotation speed ω o and turns a determined angle after a certain time. The other path performs interpolation according to the interpolation rotation speed ω 1 generated by the cam curve. The interpolation rotation speed in the upper half is a reverse rotation speed, whose magnitude and direction are opposite to those of the rotation speed of the input shaft. In this way, the synthesized interpolation rotation speed is a decelerated rotation; the interpolation rotation speed in the lower half is a forward rotation speed, whose magnitude and direction are the same as those of the rotation speed of the input shaft. In this way, the synthesized interpolation rotation speed is an accelerated rotation; within one interpolation rotation cycle, the entire synthesized interpolation rotation speed makes the cam mechanism rotate a determined angle.

[0118] Such as Figure 4As shown in the figure, the interpolation curve of the present invention includes a cam rising section curve and a cam falling section curve. In the rising section curve, the OA and BC sections are sine curves, and the AB section is a linear section whose slope is determined according to the interpolation rotation speed calculation method. The AB section realizes the dwell function in high-frequency fixed-angle optical imaging; for the cam falling section curve, the CD and EF sections are sine curves, and the ED section is a linear section with a smaller slope.

[0119] As Figure 5 shown, according to the design method of smooth interpolation of the interpolation cam curve, where the dashed line is the smooth design curve of the present invention, and the solid line is the impact caused by the uneven turning point of the radial change amount, realizing the smooth compensation of the high-frequency fixed-angle motion conversion of the high-frequency interpolation mechanism.

[0120] As Figure 6 shown, the AB linear section of the cam rising section curve is the linear section that realizes a short dwell. In the radial direction of the interpolation cam, the radial change amount S CB and the displacement y CB of the interpolation roller in the interpolation direction maintain a geometric relationship. When the forward rotation speed and the reverse rotation speed corresponding to the AB linear section of the cam are equal in magnitude and opposite in direction, the combined interpolation rotation speed of the entire mechanism is equal to zero, realizing a short dwell.

[0121] The present invention adopts the same interpolation cam curve as the eight-equal-part cam to realize the function of increasing frequency and reducing speed; adopts the motion interpolation design structure of a differential or planetary reducer to complete the interpolation function with equal magnitude and opposite direction of rotation and dwell motion; adopts the acceleration and deceleration compensation method to realize the smooth connection of the curve of each section of the interpolation cam, and triggers the optical imaging system to collect images at point A on the rising linear curve of the interpolation cam; adopts a gear-rack conversion mechanism to realize the dwell of optical imaging after interpolation. The optical imaging dwell mechanism provides a certain dwell integration time required for the optical device of optical imaging, thereby obtaining stable and clear image data, and avoiding image blurring caused by image jitter brought by high-frequency dwell.

[0122] The cam curve of the cam mechanism is divided into six sections: a sine curve starting section, a straight-line rising section, a sine curve rising section, a sine curve falling section, a straight-line falling section, and a sine curve ending section. The sine curve starting section completes the smooth start of the interpolation motion; the straight-line rising section completes the linear interpolation rotation speed, whose magnitude is equal to and direction is opposite to that of the input shaft; the sine curve rising section completes the deceleration of the interpolation speed; the sine curve falling section, the straight-line falling section, and the sine curve ending section complete the reverse of the interpolation speed and return to the origin of the cam rotation. The cam mechanism drives the intermediate mounting sleeve shaft and the coaxially connected cam to drive eight identical cams distributed circumferentially to rotate together.

[0123] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A design method for an interpolation cam in a high-frequency fixed-angle smooth compensation cam structure. The high-frequency fixed-angle smooth compensation cam structure includes an output shaft (1), on which an interpolation mechanism (100) is sleeved. The interpolation mechanism (100) includes a complete gear in the upper layer and a cam mechanism in the lower layer. The cam mechanism includes a plurality of interpolation cams (101) arranged circumferentially and uniformly. The interpolation cam (101) includes a rising section (2) and a falling section (3). The rising section includes a curve starting section, a linear rising section, and a curve rising section that are smoothly connected in sequence. The falling section includes a curve falling section, a linear falling section, and a curve ending section that are smoothly connected in sequence. The curve rising section and the curve falling section are smoothly connected. The curve starting section, the curve rising section, the curve falling section, and the curve ending section are all sine curves. The slope of the linear rising section is determined according to the interpolation rotation speed calculation method. There are 8 interpolation cams (101). Characterized in that, The design method includes the following steps: According to the requirement of the short pause time at a fixed angle, design eight completely identical cam curves, and each cam curve completes one pause interpolation. Each cam curve is divided into six segments, including nodes O, A, B, C, D, E, and F. The OA segment is the starting segment of the sine curve, the AB segment is the linearly rising segment, the BC segment is the rising segment of the sine curve, the CD segment is the falling segment of the sine curve, the DE segment is the linearly falling segment, and the EF segment is the ending segment of the sine curve; the interpolation motion displacement and the fixed angle are as follows: Among them, represents the fixed angle corresponding to each section of the cam, taking 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315° and 360°. represents the angle corresponding to point A at the starting section of the sine curve of section OA. represents the angle corresponding to point B at the end of the linear rising section. represents the angle corresponding to point C at the end of the rising section of the sine curve of section BC. represents the angle corresponding to point D at the end of the descending section of the sine curve. represents the angle corresponding to point E at the end of the linear descending section. represents the angle corresponding to point F at the end of the descending section of the sine curve. represents the angle corresponding to the stop margin of the cam curve. represents the serial number of the eight-section cam curve. represents a value in the middle of the range from 0 to 2°. represents a value in the middle of the range from 0 to 7. Interpolation lift of the straight ascending segment , interpolation starting point interpolation radius , interpolation displacement and interpolation time are as follows: Among them, represents the interpolation radius at the interpolation end point, represents the cam base circle radius, represents the interpolation starting point coefficient, represents the interpolation roller radius, represents the square of the interpolation displacement in the interpolation direction, represents the interpolation rotation angle, represents the interpolation direction deviation angle, represents the interpolation gear transmission ratio coefficient, represents the cam base circle diameter, represents the cam base circle rotational speed.

2. A smooth compensation rotating mechanism for a high-frequency fixed-angle smooth compensation cam structure. The high-frequency fixed-angle smooth compensation cam structure includes an output shaft (1), on which an interpolation mechanism (100) is sleeved. The interpolation mechanism (100) includes a complete gear in the upper layer and a cam mechanism in the lower layer. The cam mechanism includes a plurality of interpolation cams (101) arranged circumferentially and uniformly. The interpolation cam (101) includes a rising section (2) and a falling section (3). The rising section includes a curve starting section, a linear rising section, and a curve rising section that are smoothly connected in sequence. The falling section includes a curve falling section, a linear falling section, and a curve ending section that are smoothly connected in sequence. The curve rising section and the curve falling section are smoothly connected. The curve starting section, the curve rising section, the curve falling section, and the curve ending section are all sine curves. The slope of the linear rising section is determined according to the interpolation rotation speed calculation method. There are 8 interpolation cams (101). Characterized in that, The smooth compensation rotating mechanism includes an interpolation gear (200), an interpolation roller (201), and an interpolation intermediate gear (207). The interpolation roller (201) is installed on the outer surface of the interpolation slider (205) and is always in rolling contact with the cam mechanism. The interpolation slider (205) is installed on the linear guide rail (203), and an interpolation rack (206) fixedly connected thereto is provided on the side surface of the interpolation slider (205). The interpolation rack (206) meshes with the interpolation gear (200), and the interpolation gear (200) meshes with the complete gear of the interpolation mechanism (100).

3. The smooth compensation rotating mechanism according to claim 2, Characterized in that, The linear guide rail (203) is fixed on the mounting seat (204).

4. The smooth compensation rotating mechanism according to claim 3, Characterized in that, The interpolation slider (205) is connected to one end of a return spring (202), and the other end of the return spring (202) is connected to the mounting base (204).

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