An interpolation mechanism and a low-speed, high-frequency, fixed-angle stop device

Abstract

The present invention discloses an interpolation mechanism and a low-speed, high-frequency, fixed-angle stop device, including an interpolation differential unit and a stop mechanism. The input end of the interpolation differential unit is connected to an input shaft, and the output end is connected to an output shaft; the input shaft gear, the input shaft gear is fixedly connected to the input shaft. The stop mechanism is connected to the interpolation differential unit, and is used to input an interpolation speed to the interpolation differential unit. The present invention can be widely used in various fields under the condition of relatively low speed input, and can be used for switching between multiple workstations, such as completing assembly tasks at different angles during static state; obtaining stable data collection of dynamic targets in detection areas at different angles; completing photolithography, labeling, etc. at different angles. Compared with traditional stop devices, the stop frequency can be increased under the same speed condition while ensuring the requirements of uniform fixed-angle rotation and short stops, thereby saving energy consumption, avoiding the influence of heat on equipment performance, and extending the service life of the equipment.

Description

Technical Field

[0001] The invention belongs to the technical field of low-speed and high-frequency stopping, and relates to an interpolation mechanism and a low-speed and high-frequency fixed-angle stopping device. Background Art

[0002] As an automation technology equipment, intermittent motion mechanism has been widely used in various fields of product processing, assembly and inspection automation, realizing the transformation and upgrading of manufacturing enterprises and improving quality and efficiency. Common intermittent motion mechanism types include ratchet, groove wheel, incomplete gear mechanism, cylindrical cam mechanism and arc cam mechanism. They have simple structure and mature manufacturing technology, and have been widely used in various mechanical automation production equipment and production lines.

[0003] However, ratchets and groove wheels are not suitable for high-speed applications due to the noise and impact caused by the gap; cylindrical cam mechanisms and arc cam mechanisms have high theoretical speeds, but they are high-pair contact mechanisms, which lead to the defects of easy wear and serious heat generation, so they are not suitable for long-term high-speed applications. Therefore, it is of great practical significance to seek a new intermittent motion mechanism with higher speed and less vibration.

[0004] Although the existing stop mechanism has been widely used in various industries, the stop frequency is an important indicator to measure a stop mechanism. Under the condition of the existing stop mechanism technology and high stop frequency, the existing cam stop mechanism belongs to a high-pair motion mechanism, and the friction generates a lot of heat during high-speed rotation, which limits the application of the cam stop mechanism in high-frequency stop occasions; for the existing ratchet, groove wheel and incomplete gear mechanisms, due to the existence of gaps, the vibration caused by high-speed rotation is large, which also limits the application of these stop mechanisms. Therefore, there is still room for improvement in the improvement of low-speed and high-frequency stop mechanisms. Summary of the invention

[0005] The object of the present invention is to solve the problems in the prior art and to provide an interpolation mechanism and a low-speed, high-frequency, fixed-angle stop device.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides an interpolation mechanism, comprising:

[0008] An interpolation differential unit, wherein the input end of the interpolation differential unit is connected to the input shaft, and the output end of the interpolation differential unit is connected to the output shaft;

[0009] A stop mechanism, the stop mechanism is connected to the interpolation differential unit and is used to input an interpolation speed to the interpolation differential unit; when there is no interpolation speed input, the output speed of the output shaft is equal to the input speed of the input shaft; when there is an interpolation speed input, the speed of the output shaft is the sum of the interpolation speed and the speed of the input shaft;

[0010] An input shaft gear is fixedly connected to the input shaft and is used for inputting a rotational speed.

[0011] In the second aspect, the present invention provides a low-speed, high-frequency, fixed-angle stop device, comprising an interpolation mechanism, a power source input gear and a transition gear; the power source input gear is meshed with the input shaft gear; the transition gear is a double gear, the lower gear of which is meshed with the power source input gear, and the upper gear is meshed with the interpolation gear.

[0012] In a third aspect, the present invention provides a multi-layer interpolation mechanism, comprising a plurality of the interpolation mechanisms described above, wherein the output shaft of each layer of the interpolation mechanism is fixedly connected to the input shaft of the next layer of the interpolation mechanism; the input shaft of the first layer of the interpolation mechanism inputs a rotational speed, and the output shaft of the last layer of the interpolation mechanism outputs a rotational speed; and the rest mechanism of each layer of the interpolation mechanism can input an interpolation rotational speed.

[0013] In a fourth aspect, the present invention provides a low-speed, high-frequency, fixed-angle stop device, comprising a multi-layer interpolation mechanism, a power source input gear and a plurality of transition gears; the power source input gear is meshed with the input shaft gear; the plurality of transition gears are double gears, the lower gears of which are meshed with the power source input gear, and the upper gears are meshed with the interpolation gears of the corresponding layer of interpolation mechanism.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention adopts a hierarchical design of N layers of multiple cascaded interpolation mechanisms. Each layer of interpolation mechanisms can realize the interpolation of two input rotational speeds. When the two rotational speeds are equal in magnitude and opposite in direction, the output rotational speed of the interpolation mechanism can be made zero, completing a short pause of the interpolation mechanism. Under the same rotation speed condition, the present invention can complete N times of equal and opposite rotational speed interpolation by N layers of interpolation mechanisms, achieving N pauses, thereby achieving high-frequency pause frequency and rotation under low-speed input conditions. Compared with only one layer of interpolation mechanisms, the pause frequency is increased by N times, thereby achieving high-frequency pause rotation under low-speed input conditions. The scheme of the present invention is reasonable, the structure is simple, and it is easy to implement, and it can give full play to the advantages of short pauses at low speeds and high frequencies.

[0016] Furthermore, the incomplete gears used in the present invention are divided into eight equal parts, and the gears in each part are divided into moving teeth and rest teeth. The moving teeth complete the angular rotation of the interpolation mechanism, and the rest teeth complete the speed input of equal size and opposite direction, thereby achieving that in each rotation cycle, the speed input of the same interpolation mechanism is divided into two transmissions, completing eight rotations at different angles and eight short pauses respectively.

[0017] Furthermore, the present invention adopts a layered design of N layers of interpolation mechanisms and M layers of incomplete gears. When each layer of incomplete gears meshes to generate an interpolation speed of a certain layer of the interpolation mechanism, the interpolation speed is input into the interpolation mechanism of this layer, completing one stop of the interpolation mechanism. With N layers of interpolation mechanisms and M incomplete gears, there are N×M different interpolation speed inputs, thereby achieving multiple stops of the same interpolation mechanism at a lower speed, thereby increasing the stop frequency. The number of stops of the multi-layer interpolation mechanism of the device is equal to the product of the number of layers of the interpolation mechanism and the number of equal portions of the incomplete gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of a single-layer interpolation mechanism without interpolation speed input of the present invention.

[0020] Figure 2 It is a schematic diagram of the single-layer interpolation mechanism of the present invention having an interpolation speed input.

[0021] Figure 3 It is a schematic diagram of the three-layer interpolation mechanism of the present invention.

[0022] Figure 4 It is a structural schematic diagram of a single-layer low-speed and high-frequency fixed-angle stopping device of the present invention.

[0023] Figure 5 It is a structural schematic diagram of a double-layer low-speed and high-frequency fixed-angle stopping device of the present invention.

[0024] Figure 6 It is a schematic diagram of the multi-layer interpolation mechanism of the present invention.

[0025] Among them: 100-input shaft, 101-interpolation gear, 102-planetary gear, 103-intermediate bevel gear, 104-connecting shaft, 105-rotation bearing, 106-bottom bevel gear, 107-top bevel gear, 110-output shaft; 200-input shaft, 201-interpolation gear, 202-planetary gear, 203-intermediate bevel gear, 204-connecting shaft, 205-rotation bearing, 206-bottom bevel gear, 207-top bevel gear, 210-output shaft; 3 00-input shaft, 301-interpolation gear, 302-planetary gear, 303-intermediate bevel gear, 304-connecting shaft, 305-rotation bearing, 306-bottom bevel gear, 307-top bevel gear, 310-output shaft, N10-output shaft of the Nth layer interpolation mechanism, 170-power source input gear, 171-transition gear, 271-transition gear, 180-rest mechanism, 280-rest mechanism, 190-interpolation differential unit, 290-interpolation differential unit. DETAILED DESCRIPTION

[0026] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0030] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0031] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0033] See also Figure 1 The embodiment of the present invention discloses an interpolation mechanism, including an interpolation differential unit 190, a stop mechanism 180 and an input shaft gear. The input shaft gear is fixedly connected to the input shaft 100 for inputting a rotation speed.

[0034] The input end of the interpolation differential unit 190 is connected to the input shaft 100, and the output end is connected to the output shaft 110; the interpolation differential unit 190 includes a bottom bevel gear 106, a top bevel gear 107 and two intermediate bevel gears 103; the two intermediate bevel gears 103 are arranged between the bottom bevel gear 106 and the top bevel gear 107, and are respectively meshed with the two; the bottom bevel gear 106 is fixedly connected to the input shaft 100, and the top bevel gear 110 is fixedly connected to the output shaft 110; the two intermediate bevel gears 103 are respectively fixedly connected to a connecting shaft 104; the stop mechanism 180 is arranged on both sides of the two intermediate bevel gears 103.

[0035] The stop mechanism 180 is connected to the interpolation differential unit 190 and is used to input the interpolation speed to the interpolation differential unit 190; when there is no interpolation speed input, the output speed of the output shaft 110 is equal to the input speed of the input shaft 100; when there is an interpolation speed input, the speed of the output shaft 110 is the sum of the interpolation speed and the speed of the input shaft 100; the stop mechanism 180 includes a planetary gear 102, and an interpolation gear 101 is fixedly connected to the outer side of the planetary gear 102, and the interpolation gear 101 is an incomplete gear; the two sides of the planetary gear 102 are sleeved on the connecting shaft 104 through a rotating bearing 105, and the bottom is sleeved on the input shaft 100. The interpolation gear 101 is an incomplete gear with eight equal parts, and the relative angle between the two incomplete gears is 22.5°; the input shaft gear is located below the incomplete gear. The input shaft gear is a complete gear with 96 teeth, and one eighth of the incomplete gear is 12 teeth; the ratio of the number of teeth of the complete gear to the incomplete gear is k=9:3, 9 teeth are for moving, and 3 teeth are for resting motion.

[0036] like Figure 1 As shown, Figure 1 A single-layer interpolation mechanism provided in an embodiment of the present invention is composed of an interpolation differential unit 190 and a stop mechanism 180. The interpolation differential unit 190 is composed of an input shaft 100, an output shaft 110, a rotary bearing 105, a connecting shaft 104, an intermediate bevel gear 103 and a planetary gear 102. The interpolation gear 101 in the stop mechanism 180 is mechanically fixedly connected to the outer shell connecting sleeve of the planetary gear 102 of the interpolation differential unit 190. The input shaft 100 is mechanically fixedly connected to the bottom bevel gear 106 of the interpolation differential unit 190.

[0037] When the input speed of the interpolation mechanism is zero, the interpolation gear 101 in the interpolation mechanism has no interpolation speed input, and the speed of the bottom bevel gear 106 of the interpolation differential unit 190 is directly transmitted to the top bevel gear 107 through the intermediate bevel gear 103; therefore, after interpolation by the interpolation mechanism, the speed of the top output is still equal to the input speed of the input shaft 100, thereby achieving uniform rotation of a fixed angle in equal parts within a fixed angle rotation cycle.

[0038] like Figure 2 As shown, when the input speed of the input shaft 100 of the interpolation mechanism is not zero, the interpolation gear 101 in the interpolation mechanism has an interpolation speed input, and the speed of the top bevel gear 107 of the interpolation differential unit 190 is equal to the speed of the bottom bevel gear 106 plus the additional speed of the two intermediate bevel gears 103 fixed to the intermediate planetary gear 102. When the additional speed of the interpolation gear 101 fixedly connected to the planetary gear 102 is equal to the speed of the bottom bevel gear 106 and opposite in direction, the speed of the top bevel gear 107 is equal to zero, indicating that the interpolation mechanism has achieved a stop.

[0039] The embodiment of the present invention discloses a multi-layer interpolation mechanism, comprising a plurality of the above-mentioned single-layer interpolation mechanisms, wherein the output shaft of each interpolation mechanism is fixedly connected to the input shaft of the next interpolation mechanism; the input shaft of the first interpolation mechanism inputs a rotation speed, and the output shaft of the last interpolation mechanism outputs a rotation speed; the stop mechanism 180 of each interpolation mechanism can input an interpolation rotation speed. A multi-layer interpolation mechanism refers to a multi-layer interpolation mechanism formed by mechanically fixing the input shaft of the upper interpolation mechanism and the output shaft of the lower interpolation mechanism in multiple single-layer interpolation mechanisms.

[0040] Adjacent interpolation mechanisms are connected through the output shaft at the top of the lower interpolation mechanism and the input shaft at the bottom of the upper interpolation mechanism. The output speed of the output shaft of each interpolation mechanism is equal to the sum of the input speed of the output shaft of the lower interpolation mechanism and the interpolation speed input by the stop mechanism, and the top output shaft outputs the interpolated speed; when the interpolated speed is zero, the stop is achieved, and when the interpolated speed is not equal to zero, the rotation angle is achieved.

[0041] like Figure 3 As shown, Figure 3 A three-layer interpolation mechanism is provided in an embodiment of the present invention, wherein the input shaft 200 of the second-layer interpolation mechanism is mechanically fixedly connected to the output shaft 110 of the first-layer interpolation mechanism, and the input shaft 300 of the third-layer interpolation mechanism is mechanically fixedly connected to the output shaft 210 of the second-layer interpolation mechanism.

[0042] like Figure 4 As shown, the embodiment of the present invention discloses a low-speed high-frequency fixed-angle stop device, including a single-layer interpolation mechanism, a power source input gear 170 and a transition gear 171; the power source input gear 170 is meshed with the input shaft gear; the transition gear 171 is a double gear, the lower gear of which is meshed with the power source input gear 170, and the upper gear is meshed with the interpolation gear 101. The power source input gear 170 completes the speed input; the transition gear 171 completes the reduction transmission of a certain transmission ratio; the output shaft 110 completes the speed output after interpolation; the stop mechanism 180 completes the generation of interpolation speeds of equal size and opposite direction by incomplete teeth; the interpolation mechanism 190 completes the interpolation of the interpolation speed input by the stop mechanism 180 and the input speed of the power source input gear 170.

[0043] like Figure 5As shown, an embodiment of the present invention discloses a low-speed and high-frequency fixed-angle stop device, including a double-layer interpolation mechanism, a power source input gear 170 and a plurality of transition gears 171; the power source input gear 170 is meshed with the input shaft gear; the plurality of transition gears 171 are all double gears, the lower gears thereof are all meshed with the power source input gear 170, and the upper gears are meshed with the interpolation gears 101 of the corresponding layer of interpolation mechanism. The power source input gear 170 completes the speed input; the transition gear 171 completes the reduction transmission of a certain transmission ratio in the first-level interpolation mechanism 190; the transition gear 271 completes the reduction transmission of a certain transmission ratio in the second-level interpolation mechanism 290; the output shaft 110 completes the speed output after interpolation; the rest mechanism 180 uses incomplete teeth to complete the generation of interpolation speeds of equal size and opposite direction; the first-level interpolation mechanism 190 completes the interpolation of the interpolation speed input by the rest mechanism 180 and the input speed of the power source input gear 170; the second-level interpolation mechanism 290 completes the interpolation of the interpolation speed input by the rest mechanism 280 and the input speed of the power source input gear 170.

[0044] Principle of the present invention:

[0045] like Figure 6 As shown, according to the short pause requirement of the rotating mechanism worktable at a uniform fixed angle, multiple single-layer interpolation mechanisms can be assembled into a multi-layer interpolation mechanism. Adjacent interpolation mechanisms are mechanically fixedly connected through the output shaft at the top of the lower interpolation mechanism and the input shaft at the bottom of the upper interpolation mechanism. The fixed-angle rotational motion of the interpolation mechanism is input from the bottom input shaft of each layer, and the interpolation speed is input through the outer ring of the planetary gear of the interpolation mechanism. After interpolation, the interpolation speed is output from the top output shaft.

[0046] Each interpolation mechanism consists of an interpolation differential unit 190 and a stop mechanism 180 for generating and transmitting interpolation speed. The planetary gear housing of the interpolation differential unit 190 is fixed as one with the stop mechanism 180. The stop mechanism 180 generates interpolation speeds of equal speed and opposite direction through incomplete gears.

[0047] The speed of the top bevel gear of the interpolation differential unit 190 is equal to the speed of the bottom bevel gear plus the additional speed of the two intermediate bevel gears fixed to the planetary gear. When the additional speed of the planetary gear is equal to the speed of the bottom bevel gear and opposite in direction, the speed of the top bevel gear is equal to zero, indicating that the interpolation mechanism has achieved a stop.

[0048] When the input rotation speeds of multiple interpolation mechanisms are all zero, after interpolation by multiple interpolation mechanisms, the rotation speed output by the top end is still equal to the input rotation speed, thereby achieving uniform rotation of fixed angles in equal parts within a fixed angle rotation cycle.

[0049] The present invention can be widely applied to high-quality image acquisition occasions of multiple image scanning devices in various fields, such as completing size recognition, edge extraction, text and crack recognition and assembly tasks at different angles during static period, obtaining stable data acquisition of dynamic targets in the detection area at different angles; completing high-quality image acquisition, photolithography, labeling, etc. at different angles. Compared with the traditional scanning imaging system, the present invention can use a high-resolution camera to achieve high-quality acquisition of 360° panoramic images, solve the jitter problem of existing image scanning, and thus avoid the influence of vibration on image imaging performance.

[0050] The present invention achieves N stops after interpolation of N layers of interpolation mechanisms. Compared with only one layer of interpolation mechanisms, the stop frequency is increased by N times, thereby achieving high-frequency stop rotation under low-speed input conditions. The interpolation transmission mechanism is composed of incomplete gear transmission. After interpolation, M stops are achieved. Compared with only one layer of interpolation mechanisms, the stop frequency is increased by M times, thereby achieving high-frequency stop rotation under low-speed input conditions.

[0051] Embodiment 1:

[0052] The total input speed of the interpolation mechanism in this embodiment is 500 rpm, and it stops every 45°, as follows:

[0053] The outer ring of the interpolation mechanism is designed to consist of an incomplete gear of 8 equal parts and a complete gear. In this way, the interpolation mechanism has an incomplete gear of one eighth equal part every 45°; the interpolation mechanism must stop once when each fixed angle is a multiple of 45°.

[0054] The rotation time and rest time of each short pause depend on the ratio of the number of teeth in meshing and non-meshing in each eighth. The number of teeth of the designed full-tooth gear is 96, and the eighth is 12 teeth. The ratio of the number of teeth is k = 9:3, that is, 9 teeth are in motion and 3 teeth are in rest motion. The calculation method is as follows:

[0055] (1) Rotation time t for each fixed angle M for:

[0056] t M =1000×60 / 500rpm / 8=15ms

[0057] (2) 8 equal parts of the period rotation time t A for:

[0058] t A =15ms×((9+3) / 9)=20ms

[0059] (3) 8-period rest time t s for:

[0060] t s =20ms×(3 / (9+3))=5ms

[0061] (4) The resting angle α of each eighth M for:

[0062] α M =15ms×(500rpm / 60 / 1000)×360°=45°

[0063] When the angle of the interpolation mechanism output shaft is 0°, and the incomplete gear and the complete gear are meshed for the first time, the complete gear transmits the rotation speed to the incomplete gear, and the incomplete gear drives the interpolation mechanism of a certain layer to interpolate; since the rotation speeds of the incomplete gear and the complete gear are the same and equal in magnitude but opposite in direction, the output shaft speed of the interpolation mechanism in the interpolation mechanism is equal to zero after interpolation, thus realizing the first short pause, during which 3 teeth are meshed and the pause time is 5ms;

[0064] When the incomplete gear and the complete gear are not meshing, the incomplete gear is stationary, and the interpolation mechanisms of all layers do not perform interpolation. The output speed of the interpolation mechanism is 500rpm, the rotation time is 15ms, and 9 teeth rotate. In this way, the rotation angle is equal to 15ms×(500rpm / 60 / 1000)×360°=45°.

[0065] When the incomplete gear and the complete gear mesh for the second time, when the angle of the output shaft of the interpolation mechanism is 45°, the incomplete gear drives the interpolation mechanism of a certain layer to interpolate, thereby realizing the second short pause. During the pause, 3 teeth are meshed and the pause time is 5ms. After the interpolation is completed, when the incomplete gear and the complete gear are not meshed, the interpolation mechanism continues to rotate, the rotation time is 15ms, and it rotates 9 teeth again, so that the accumulated angle after the rotation is equal to 90°, and so on.

[0066] When the input gear rotates one circle, the output of the interpolation mechanism pauses 8 times; after each short pause, the increased angle interval is 45°, so that the angle output of the interpolation mechanism is 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°, and 360°, rotating in circles, thus achieving low-speed and high-frequency fixed-angle pauses.

[0067] Embodiment 2:

[0068] The total input speed of the interpolation mechanism in this embodiment is 500 rpm. After the frequency increase design, it stops once every 22.5°, and stops 16 times, as follows:

[0069] The outer ring of the interpolation mechanism is designed to consist of two incomplete gears of 8 equal parts and one complete gear, with the complete gear at the bottom and two incomplete gears arranged side by side above. The relative angle between the two incomplete gears is 22.5°.

[0070] The rotation time and rest time of each short pause depend on the ratio of the number of teeth in meshing and non-meshing in each eighth of the two incomplete gears. The number of teeth of the designed full-tooth gear is 96, and the eighth is 12 teeth. The ratio of the number of teeth is k = 9:3, that is, 9 teeth are in motion and 3 teeth are in rest motion. The calculation method is as follows:

[0071] (1) Total rotation time t for each fixed angle M for:

[0072] t M =1000×60 / 500rpm / 8 / 2=7.5ms

[0073] (2) 8 equal parts of the period rotation time t A for:

[0074] t A =7.5ms×((9+3) / 9)=10ms

[0075] (3) Each rest time t s for:

[0076] t s =10ms×(3 / (9+3))=2.5ms

[0077] (4) Interpolation mechanism rotation time per time t ∑ for:

[0078] t ∑ =22.5° / ((500rpm / 60 / 1000)×360°)=7.5ms

[0079] (5) The rest angle α of each eighth M for:

[0080] α M =7.5ms×(500rpm / 60 / 1000)×360°=22.5°

[0081] When the incomplete gear and the complete gear of the first layer are meshed for the first time, the angle of the output shaft of the interpolation mechanism is 0°, and the complete gear transmits the rotation speed to the incomplete gear, and the incomplete gear drives the interpolation mechanism of the first layer to interpolate; because the rotation speeds of the incomplete gear and the complete gear are the same and equal in magnitude but opposite in direction, the output rotation speed of the interpolation mechanism in the interpolation mechanism is equal to zero after interpolation, thus achieving the first short pause, during which 3 teeth are meshed, and the pause time is 2.5ms;

[0082] When the incomplete gears and the complete gears of the first layer are not meshing, the incomplete gears are stationary, and the interpolation mechanism of a certain layer does not perform interpolation. The output speed of the interpolation mechanism of this layer is 500rpm, the rotation time is 7.5ms, and 9 teeth rotate. In this way, the rotation angle is equal to 7.5ms×(500rpm / 60 / 1000)×360°=22.5°. It can be seen that the interpolation period is 10ms.

[0083] When the incomplete gear and the complete gear of the second layer are meshed for the first time, the angle of the output shaft of the interpolation mechanism is 22.5°, and the complete gear transmits the rotation speed to the incomplete gear, and the incomplete gear drives the interpolation mechanism of a certain layer to interpolate; because the rotation speeds of the incomplete gear and the complete gear are the same and equal in magnitude but opposite in direction, the output rotation speed of the interpolation mechanism in the interpolation mechanism is equal to zero after interpolation, thus realizing the first short pause of the interpolation mechanism of the second layer, during which 3 teeth are meshed and the pause time is 2.5ms;

[0084] When the incomplete gear and the complete gear of the second layer are not meshing, the incomplete gear is stationary, the interpolation mechanism of the second layer does not interpolate, the output speed of the interpolation mechanism is 500rpm, the continuous rotation time is 7.5ms, and then rotates 9 teeth, so that the rotation angle increases by 22.5°+22.5°=45°. Similarly, the interpolation period of the second layer interpolation mechanism is also 10ms.

[0085] When the incomplete gear and the complete gear of the first layer mesh for the second time, the angle of the output shaft of the interpolation mechanism is 45°, and the interpolation mechanism has rotated twice for 7.5ms and an angle of 22.5°, with a total time of 15ms and an angle of 45°; during this period, the interpolation mechanism has stopped twice for 2.5ms, with a total stop time of 5ms. It is also 20ms, and different incomplete gears complete two rotations and two stops respectively.

[0086] When the input gear rotates one circle, the output of the interpolation mechanism pauses 16 times; after each short pause, the increased angle interval is 45°, so that the angle output of the interpolation mechanism is 0°, 22.5°, 45°, 67.5°, 90°, 112.5°, 135°, 157.5°, 180°, 202.5°, 225°, 247.5°, 270°, 292.5°, 315°, 337.5°, 360°, rotating in a circle, and so on.

[0087] It can be seen that under the same speed input condition of 500rpm, the pause frequency of the interpolation mechanism is increased.

[0088] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An interpolation mechanism, It is characterized in that include: An interpolation differential unit (190), wherein the input end of the interpolation differential unit (190) is connected to an input shaft (100), and the output end is connected to an output shaft (110); the interpolation differential unit (190) comprises a bottom bevel gear (106), a top bevel gear (107), and two intermediate bevel gears (103); the two intermediate bevel gears (103) are arranged between the bottom bevel gear (106) and the top bevel gear (107), and are respectively meshed with the two; the bottom bevel gear (106) is fixedly connected to the input shaft (100), and the top bevel gear (107) is fixedly connected to the output shaft (110); the two intermediate bevel gears (103) are respectively fixedly connected to a connecting shaft (104); and a stop mechanism (180) is arranged on both sides of the two intermediate bevel gears (103); A stop mechanism (180), the stop mechanism (180) being connected to the interpolation differential unit (190) and used for inputting an interpolation speed into the interpolation differential unit (190); when there is no interpolation speed input, the output speed of the output shaft (110) is equal to the input speed of the input shaft (100); when there is an interpolation speed input, the speed of the output shaft (110) is the sum of the interpolation speed and the speed of the input shaft (100); the stop mechanism (180) comprises a planetary gear (102), an interpolation gear (101) being fixedly connected to the outer side of the planetary gear (102), the interpolation gear (101) being an incomplete gear; both sides of the planetary gear (102) are sleeved on the connecting shaft (104) via a rotary bearing (105), and the bottom is sleeved on the input shaft (100); An input shaft gear is fixedly connected to the input shaft (100) and is used for inputting a rotational speed; the interpolation gear (101) is an incomplete gear having eight equal parts, and the relative angle between two incomplete gears is 22.5°; the input shaft gear is located below the incomplete gear.

2. The interpolation mechanism according to claim 1, It is characterized in that The input shaft gear is a complete gear with 96 teeth, and one eighth of the incomplete gear is 12 teeth; the ratio of the number of teeth of the complete gear to the incomplete gear is k=9:3, 9 teeth are for motion, and 3 teeth are for rest motion.

3. A low speed, high frequency, fixed angle stop device, It is characterized in that It comprises the interpolation mechanism as claimed in claim 1 or 2, a power source input gear (170) and a transition gear (171); the power source input gear (170) is meshed with the input shaft gear; the transition gear (171) is a double gear, the lower gear of which is meshed with the power source input gear (170) and the upper gear is meshed with the interpolation gear (101).

4. A multi-layer interpolation mechanism, It is characterized in that The invention comprises a plurality of interpolation mechanisms as claimed in claim 1 or 2, wherein the output shaft of each interpolation mechanism is fixedly connected to the input shaft of the next interpolation mechanism; the input shaft of the first interpolation mechanism inputs a rotational speed, and the output shaft of the last interpolation mechanism outputs a rotational speed; and the rest mechanism (180) of each interpolation mechanism can input an interpolation rotational speed.

5. A low speed, high frequency, fixed angle stop device, It is characterized in that It comprises the multi-layer interpolation mechanism as claimed in claim 4, a power source input gear (170) and a plurality of transition gears (171); the power source input gear (170) is meshed with the input shaft gear; the plurality of transition gears (171) are all double gears, the lower gears thereof are all meshed with the power source input gear (170), and the upper gears are meshed with the interpolation gears (101) of the corresponding layer of the interpolation mechanism.

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