Rail type transmission mechanism and transmission method thereof

Abstract

The invention belongs to the technical field of mechatronics, and discloses a rail type transmission mechanism and a transmission method thereof. The transmission mechanism comprises a rotating workpiece and a supporting workpiece which are sequentially connected through a rotating shaft, and the rotating workpiece and the supporting workpiece are in cambered surface fit; a linear rail workpiece is arranged on the side face of the supporting workpiece. A linear rail I is arranged on the linear rail workpiece. A linear track II is arranged in the rotary workpiece; an actuating rod is inserted into the intersection of the linear track I and the linear track II; and a driving rod of the linear stepping motor is fixedly connected with the actuating rod. According to the transmission method, a driving rod of a linear stepping motor drives a moving rod to linearly move along a linear rail I, a rotating workpiece is forced to deflect around a rotating shaft, and linear motion of the linear stepping motor is converted into rotating motion of the rotating workpiece. According to the rail type transmission mechanism and the transmission method thereof, the mechanical transmission efficiency and precision are improved, the machining and manufacturing difficulty is lowered, the requirement of transmission for installation space is lowered, and the rail type transmission mechanism and the transmission method have engineering practical value.

Description

Technical Field

[0001] The invention belongs to the technical field of mechatronics, and in particular relates to a track-type transmission mechanism and a transmission method thereof. Background Art

[0002] Mechanical transmission is common in daily life and production, and is also widely used in high-precision mechanical engineering.

[0003] Mechanical transmission mainly refers to the method of transmitting power and motion by mechanical means. There are many forms of mechanical transmission. At present, it is mainly divided into two categories. The first category is friction transmission that transmits power and motion by friction between mechanical parts, such as track transmission and friction wheel transmission; friction transmission is mainly suitable for long-distance transmission with large axle spacing, and the transmission efficiency and accuracy are relatively low, and overload slippage is prone to occur when the load is large. The second category is meshing transmission that transmits power or motion by meshing between the active part and the driven part or with the help of the meshing of the intermediate part, mainly including gear transmission, chain transmission, worm gear transmission and connecting rod transmission. Meshing transmission can be used in high-power scenarios, such as the transmission of large mechanisms; it can also be used in low-power scenarios, such as the design and manufacture of mechanical watches. Compared with friction transmission, meshing transmission has relatively high transmission efficiency and control accuracy: for example, the efficiency of cylindrical spur gear transmission is generally around 0.9 to 0.99, the efficiency of bevel gear transmission is only around 0.88 to 0.98, the accuracy of worm gear reducer can reach around 0.05°, while the accuracy of horizontal reducer is slightly lower, about 0.17°. In meshing transmission, the active part and the driven part must be meshed, and a certain gap must be maintained at the meshing part, which is the key to affecting the accuracy of meshing transmission; the mechanical structure of meshing transmission is relatively complex, and the processing and manufacturing accuracy and installation positioning accuracy of related parts are required to be high; in addition, the installation space requirements of related parts are also relatively high.

[0004] At present, in many mechanical engineering fields with high requirements for transmission efficiency and control accuracy, meshing transmission is difficult to meet relevant design requirements due to limitations in structural strength, manufacturing processing and installation space. Especially in some non-periodic mechanical transmission fields, there is an urgent need to develop new transmission methods based on functional requirements.

[0005] Currently, there is an urgent need to develop a rail-type transmission mechanism and a transmission method thereof. Summary of the invention

[0006] One technical problem to be solved by the present invention is to provide a track-type transmission mechanism, and another technical problem to be solved by the present invention is to provide a track-type transmission method to overcome the shortcomings of the prior art.

[0007] The track-type transmission mechanism of the present invention comprises a rotating workpiece and a supporting workpiece which are sequentially connected from front to back through a rotating shaft, and the rotating workpiece and the supporting workpiece are matched with arc surfaces along the central axis direction of the rotating shaft according to the right-hand rule; A linear track workpiece is arranged on the left side of the supporting workpiece, and a waist-shaped hole I with an inner diameter of R and parallel to the central axis of the supporting workpiece is arranged on the linear track workpiece, and the waist-shaped hole I serves as the linear track I; A waist-shaped hole II with an inner diameter of R is arranged inside the rotating workpiece, the angle between the center line of the waist-shaped hole II and the center line of the waist-shaped hole I is α, and the waist-shaped hole II is the linear track II; The linear track I and the linear track II intersect, and the intersection is an inscribed cylindrical cavity with an inner diameter of R and parallel to the central axis of the rotating shaft. A cylindrical actuating rod with an outer diameter of R is inserted into the inscribed cylindrical cavity, and the actuating rod and the linear track I and the linear track II are all linearly matched; A linear stepping motor fixed by a motor fixing support is also arranged on the left side surface of the supporting workpiece, and a driving rod of the linear stepping motor is fixedly connected with an actuating rod.

[0008] Furthermore, the angle α is an acute angle or an obtuse angle according to the right-hand rule.

[0009] Furthermore, the straight track II is replaced by a curved track.

[0010] Furthermore, the linear stepper motor is replaced by a power source for linear motion including an electric cylinder.

[0011] The track type transmission method of the present invention comprises the following steps: The driving rod of the linear stepper motor drives the actuator rod to move linearly along the linear track I, forcing the rotating workpiece to deflect around the rotation axis, thereby converting the linear motion of the linear stepper motor into the rotational motion of the rotating workpiece.

[0012] The track type transmission mechanism and the transmission method thereof of the present invention have the following characteristics: 1. Using the "intersection" principle at the intersection of linear track I and linear track II, the driving rod of the linear stepper motor drives the actuator rod to move linearly in the linear track I, forcing the rotating workpiece to deflect around the rotating axis, reducing the meshing link; 2. The "combined force" generated by the thrust of the linear stepper motor on the actuator rod and the track reaction force of the linear track I generates a combined force on the rotating workpiece that is greater than the thrust of the linear stepper motor. Through the "combined force" method, the transmission efficiency is effectively improved; 3. The structure is simple and the processing accuracy is easy to ensure; there are few transmission links and the linear drive control accuracy is high, which is conducive to improving the transmission accuracy; 4. Compared with the rotating workpiece and the supporting workpiece, the linear stepper motor has a small size and low installation space requirement; the various components are mainly connected by screws and pins, and the installation is convenient and quick.

[0013] In short, the track-type transmission mechanism and the transmission method thereof of the present invention utilize the "intersection" principle and the "combined force" method. The driving rod of the linear stepper motor drives the driving rod to move linearly along the linear track direction of the linear track workpiece, forcing the rotating workpiece to deflect around the rotation axis, thereby efficiently realizing the transmission from linear motion to rotational motion, solving the problems of complex structure, large transmission loss and high installation space requirements of meshing transmission mechanisms such as gear transmission, chain transmission and worm gear transmission, improving the efficiency and accuracy of mechanical transmission, reducing the difficulty of processing and manufacturing as well as the requirements of transmission for installation space, and having practical engineering value. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the track type transmission mechanism of the present invention; Figure 2 It is a schematic diagram of the "combined force" method adopted by the track-type transmission mechanism of the present invention; Figure 3 It is a schematic diagram of the deflection angle control accuracy of the track-type transmission mechanism of the present invention.

[0015] In the figure, 1. rotating workpiece; 2. linear track workpiece; 3. actuator rod; 4. driving rod; 5. linear stepper motor; 6. motor fixing support; 7. supporting workpiece; 8. rotating axis. DETAILED DESCRIPTION

[0016] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0017] Example: Figure 1 As shown, the track-type transmission mechanism of this embodiment includes a rotating workpiece 1 and a supporting workpiece 7 connected sequentially from front to back through a rotating shaft 8, and the rotating workpiece 1 and the supporting workpiece 7 are matched with arc surfaces along the central axis direction of the rotating shaft 8 according to the right-hand rule; A linear track workpiece 2 is arranged on the left side of the support workpiece 7, and a waist-shaped hole I with an inner diameter of R and parallel to the central axis of the support workpiece 7 is arranged on the linear track workpiece 2, and the waist-shaped hole I is used as the linear track I; A waist-shaped hole II with an inner diameter of R is arranged inside the rotating workpiece 1, the angle between the center line of the waist-shaped hole II and the center line of the waist-shaped hole I is α, and the waist-shaped hole II is a linear track II; The linear track I and the linear track II intersect, and the intersection is an inscribed cylindrical cavity with an inner diameter R which is parallel to the central axis of the rotating shaft 8. A cylindrical actuating rod 3 with an outer diameter R is inserted into the inscribed cylindrical cavity. The actuating rod 3 is linearly matched with the linear track I and the linear track II. A linear stepping motor 5 fixed by a motor fixing support 6 is also arranged on the left side surface of the supporting workpiece 7 , and a driving rod 4 of the linear stepping motor 5 is fixedly connected to the actuating rod 3 .

[0018] Furthermore, the angle α is an acute angle or an obtuse angle according to the right-hand rule.

[0019] Furthermore, the straight track II is replaced by a curved track.

[0020] Furthermore, the linear stepping motor 5 is replaced by a power source for linear motion including an electric cylinder.

[0021] The track-type transmission method of this embodiment includes the following steps: The driving rod 4 of the linear stepper motor 5 drives the driving rod 3 to move linearly along the linear track I, forcing the rotating workpiece 1 to deflect around the rotating axis 8, thereby realizing the conversion of the linear motion of the linear stepper motor 5 into the rotational motion of the rotating workpiece 1.

[0022] The "combined force" method adopted by the track-type transmission mechanism of this embodiment is as follows: Figure 2 As shown. The angle α between the center line of the waist-shaped hole II and the center line of the waist-shaped hole I is 60°; the actuator 3 is subjected to three forces: one is the motor thrust of the linear stepper motor 5, the second is the rotating workpiece force of the rotating workpiece 1, and the third is the track reaction force of the linear track workpiece 2. The resultant force of the motor thrust of the linear stepper motor 5 and the track reaction force of the linear track workpiece 2 is equal to the rotating workpiece force of the rotating workpiece 1 and opposite in direction, that is, the rotating workpiece force of the rotating workpiece 1 is the resultant force of the motor thrust of the linear stepper motor 5 and the track reaction force of the linear track workpiece 2. It can be deduced that the magnitude of the rotating workpiece force of the rotating workpiece 1 is about 1.15 times the motor thrust of the linear stepper motor 5; the smaller the angle α, the greater the multiple, and the higher the efficiency of the two types of mechanical transmissions, namely, the traditional friction transmission and meshing transmission.

[0023] The deflection angle control accuracy of the track-type transmission mechanism of this embodiment is as follows: Figure 3 As shown. The control accuracy of the existing linear stepper motor 5 or electric cylinder can reach about 0.02mm, the mechanical manufacturing error can reach about 0.03mm, and the total error ΔX is up to 0.05mm. Assuming that the distance from the central axis of the rotating shaft 8 to the central axis of the waist hole Ⅰ of the linear track Ⅰ is 100mm, the deflection angle control accuracy of the rotating workpiece 1 can reach about 0.03°, which is higher than the traditional mechanical transmission accuracy. The larger the distance, the higher the transmission accuracy.

[0024] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and the embodiments, and can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional improvements and modifications can be easily realized without departing from the principles of the present invention. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A rail-type transmission mechanism, characterized in that: The track-type transmission mechanism comprises a rotating workpiece (1) and a supporting workpiece (7) which are sequentially connected from front to back via a rotating shaft (8); the rotating workpiece (1) and the supporting workpiece (7) are matched with arc surfaces along the central axis direction of the rotating shaft (8) according to the right-hand rule; A linear track workpiece (2) is arranged on the left side of the supporting workpiece (7), and a waist-shaped hole I with an inner diameter R and parallel to the central axis of the supporting workpiece (7) is arranged on the linear track workpiece (2), and the waist-shaped hole I serves as the linear track I; A waist-shaped hole II with an inner diameter of R is arranged inside the rotating workpiece (1), the angle between the center line of the waist-shaped hole II and the center line of the waist-shaped hole I is α, and the waist-shaped hole II is a linear track II; The linear track I and the linear track II intersect, and the intersection is an inscribed cylindrical cavity with an inner diameter R and parallel to the central axis of the rotating shaft (8). A cylindrical actuating rod (3) with an outer diameter R is inserted into the inscribed cylindrical cavity, and the actuating rod (3) and the linear track I and the linear track II are all linearly matched; A linear stepping motor (5) fixed by a motor fixing support (6) is also provided on the left side of the supporting workpiece (7), and a driving rod (4) of the linear stepping motor (5) is fixedly connected to an actuating rod (3).

2. The rail-type transmission mechanism according to claim 1, characterized in that: The angle α is an acute angle or an obtuse angle according to the right-hand rule.

3. The rail-type transmission mechanism according to claim 1, characterized in that: The linear track II is replaced by a curved track.

4. The rail-type transmission mechanism according to claim 1, characterized in that: The linear stepper motor (5) is replaced by a power source for linear motion including an electric cylinder.

5. A rail-type transmission method, used for the rail-type transmission mechanism according to any one of claims 1 to 4, characterized in that: The following steps are involved: The driving rod (4) of the linear stepper motor (5) drives the driving rod (3) to move linearly along the linear track I, forcing the rotating workpiece (1) to deflect around the rotating axis (8), thereby realizing the conversion of the linear motion of the linear stepper motor (5) into the rotational motion of the rotating workpiece (1).

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