Nonlinear torsion bar power assisting device and design method thereof

Abstract

The nonlinear torsion bar power assisting device comprises a rotating shaft, a left base and a right base are installed at the two ends of the rotating shaft respectively, the left base and the right base are positioned through an axial step of the rotating shaft, and sealing rings are installed on the contact face of the left base and the rotating shaft and the contact face of the right base and the rotating shaft respectively. The left base and the right base are fixedly connected to the structure of the underwater platform through bolts, and the rotating shaft can freely rotate in the left base and the right base; a box body is arranged outside the left base, a box cover is installed outside the box body in a matched mode, and a flange end cover is installed outside the right base in a matched mode. A driving gear and a guide rod are installed on the rotating shaft located in the box body in a matched mode, the driving gear is meshed with a sector gear, and the sector gear is installed on a crankshaft. The outer surface of the rotating shaft is sleeved with swing arms at intervals, and the two swing arms are hinged to the hatch cover at the same time. The non-linear change gravitational torque of the hatch cover in the opening and closing process can be effectively balanced, and the purpose of facilitating personnel operation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of marine equipment, in particular to a nonlinear torsion bar booster device and a design method thereof. Background Art

[0002] In order to adapt to the huge seawater pressure in the deep sea environment, the access hatch covers of underwater platforms such as manned submersibles are relatively thick and heavy. In order to facilitate the opening and closing of the hatch covers by personnel, a torsion bar spring device is usually configured to balance the gravity torque of the hatch cover. However, during the opening and closing process of the hatch cover, its gravity torque changes nonlinearly, while the torque generated by the torsion bar spring changes linearly. Therefore, the spring torque and the gravity torque cannot be well matched, resulting in the need for personnel to provide a large push and pull force when opening and closing the hatch cover. Especially for hatch covers used at great depths, the heavier the weight, the worse the matching effect of the two, and the more difficult it is for personnel to open and close the hatch cover. Summary of the invention

[0003] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a nonlinear torsion bar assist device and a design method thereof, which can effectively balance the nonlinearly changing gravity moment of the hatch cover during the opening and closing process, thereby achieving the purpose of facilitating personnel operation.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A nonlinear torsion bar assist device comprises a rotating shaft, a left base and a right base are respectively installed at both ends of the rotating shaft, the left base and the right base are positioned by an axial step of the rotating shaft, sealing rings are installed on the contact surfaces between the left base and the rotating shaft, and between the right base and the rotating shaft, the left base and the right base are respectively fixed to the structure of an underwater platform by bolt connection, and the rotating shaft can rotate freely in the left base and the right base;

[0006] A box body is arranged outside the left base, a box cover is installed on the outside of the box body, and a flange end cover is installed on the outside of the right base;

[0007] A torsion bar spring is installed at a coaxial position at the center of the rotating shaft. The right end of the torsion bar spring is a polygonal structure and is fixed inside the flange end cover so that the right end of the torsion bar spring remains stationary.

[0008] A driving gear and a guide rod are mounted on the rotating shaft inside the housing, the driving gear meshes with the sector gear, and the sector gear is mounted on the crankshaft;

[0009] The outer surface of the rotating shaft is sleeved with swing arms at intervals, and the two swing arms are hinged to the hatch cover at the same time.

[0010] Its further technical solution is:

[0011] The left base and the right base have the same structure, and both have convex U-shaped cross-sections.

[0012] The driving gear, sector gear, crankshaft and guide rod constitute a nonlinear transmission mechanism for realizing nonlinear conversion of the rotational angular displacement of the rotating shaft into the angular displacement of the torsion bar spring, thereby achieving a good match between the gravity moment of the hatch cover and the torque of the torsion bar spring.

[0013] A sealed cavity is formed inside the box cover, the box body, the rotating shaft, the flange end cover, the left base and the right base.

[0014] The box body and the left base, the box cover and the box body, and the flange end cover and the right base are fastened together in a flange connection manner, and sealing rings are installed on the contact surfaces.

[0015] The structure of the crankshaft is: it includes a rotating rod, a rotating left shaft, a rotating right shaft and a guide shaft fixed together, the rotating left shaft and the rotating right shaft are respectively installed in the corresponding shaft holes of the box cover and the box body, and the crankshaft can rotate around the shaft holes.

[0016] The sector gear is fixedly mounted on the rotating right shaft so that the sector gear and the rotating rod maintain the same rotational angular displacement.

[0017] The driving gear and the sector gear form a gear reduction mechanism, which converts the large angular displacement of the hatch cover into the small angular displacement of the rotating rod.

[0018] The left end of the torsion bar spring is a spline shaft, and is connected to the guide rod through a spline pair, so that the left end of the torsion bar spring rotates with the rotation of the guide rod, and the rotating rod and the guide rod are connected to the waist-shaped hole through the guide shaft.

[0019] A design method for a nonlinear torsion bar booster device includes the following steps:

[0020] First, set the parameters:

[0021] Assume that the rotation angle of the hatch cover, rotating shaft and driving gear is θ, the rotation angle of the sector gear and rotating rod is α, the rotation angle of the guide rod and the spline end of the torsion bar spring is β, the gravity moment of the hatch cover is M, and the torque of the torsion bar spring 4 is T;

[0022] The sector gear, rotating rod and guide rod are in a vertical state, and the hatch cover gravity moment and spring torque are both 0.

[0023] That is, when α2 = 0°, β2 = 0°, T2 = 0 Nm, M2 = 0 Nm, and the hatch cover rotation angle is θ2;

[0024] The hatch cover gravity moment M1 takes the maximum value, at which time the parameters are θ1, α1, β1, and T1;

[0025] Assume that the pitch circle radius of the driving gear is r1, the pitch circle radius of the sector gear is r2, the center distance between the two gears is l1=r1+r2; the center distance between the rotating rod and the guide shaft is l2;

[0026] Then the relationship between β and θ can be expressed as:

[0027]

[0028] Based on the characteristics of the "rotating guide rod", the maximum rotation angle of the rotating rod αmax is:

[0029]

[0030] Reasonably select the reduction ratio r1 / r2 of the gear pair to ensure that the rotation angle α of the rotating rod does not exceed αmax within the range of the hatch cover rotation angle θ;

[0031] Assume the mass of the hatch cover is m, the lever arm is lc, and the torsion coefficient of the torsion bar spring is Ks;

[0032] The hatch cover gravity moment is M:

[0033] M=mgl c cosθ

[0034] The torsion bar spring torque is T:

[0035] in

[0036] Where:

[0037] in

[0038] The gravity moment M is a cosine function of the rotation angle θ, and the torque T is a nonlinear function of the rotation angle θ. Based on the constraint relationship between r1, r2, and α, the initial values ​​of r1, r2, and l2 are determined, and the change curves of the torque T and gravity moment M with respect to the rotation angle θ are calculated.

[0039] The beneficial effects of the present invention are as follows:

[0040] The present invention has a compact and reasonable structure and is easy to operate. By adopting a nonlinear transmission mechanism formed by a combination of a gear pair and a rotating guide rod, a reduction ratio and nonlinear correspondence between the rotation angle of the hatch cover and the rotation angle of the torsion bar spring is formed. A method for determining a value of a torsion coefficient of the torsion bar spring, as well as a method for determining and optimizing the initial value of the gear transmission ratio and the length of the rotating guide rod are proposed, so as to achieve a purpose of good matching between the spring torque curve and the hatch cover gravity moment curve, thereby reducing the operating force of personnel in opening and closing the hatch cover.

[0041] The present invention can be applied to the access hatch covers of underwater platforms such as manned submersibles. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic structural diagram of the nonlinear torsion bar assist device of the present invention.

[0043] Figure 2 This is a diagram of the connection between the nonlinear torsion bar assist device and the hatch cover of the present invention.

[0044] Figure 3 It is a cross-sectional view of the nonlinear transmission mechanism of the present invention.

[0045] Figure 4 This is the motion state of the nonlinear transmission mechanism of the present invention when the gravity moment of the hatch cover is 0 (viewed along AA section).

[0046] Figure 5 This is the motion state of the nonlinear transmission mechanism of the present invention when the gravity moment of the hatch cover is 0 (viewed along BB).

[0047] Figure 6 This is the motion state of the nonlinear transmission mechanism when the gravity moment of the hatch cover of the present invention is maximum (viewed along the AA section).

[0048] Figure 7 This is the motion state of the nonlinear transmission mechanism when the gravity moment of the hatch cover of the present invention is maximum (viewed along the BB section).

[0049] Figure 8 This is a scaled and nonlinear corresponding relationship diagram of β and θ of the present invention.

[0050] Fig. 9 It is a curve diagram of the torque T and gravity moment M of the present invention with respect to the rotation angle θ.

[0051] Among them: 1. Left base; 2. Right base; 3. Rotating shaft; 4. Torsion bar spring; 5. Flange end cover; 6. Box body; 7. Box cover; 8. Driving gear; 9. Fan gear; 10. Crankshaft; 11. Guide rod; 12. Sealing ring;

[0052] 21. Swing arm; 22. Hatch cover;

[0053] 10-1, rotating rod; 10-2, rotating left axis; 10-3, rotating right axis; 10-4, guide axis; DETAILED DESCRIPTION

[0054] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0055] like Figure 1-Figure 9As shown, the nonlinear torsion bar assist device of this embodiment includes a rotating shaft 3, and a left base 1 and a right base 2 are respectively installed at both ends of the rotating shaft 3. The left base 1 and the right base 2 are positioned by the axial step of the rotating shaft 3. A sealing ring 12 is installed on the contact surface between the left base 1 and the rotating shaft 3, and the right base 2 and the rotating shaft 3. The left base 1 and the right base 2 are respectively fixed to the structure of the underwater platform by bolt connection, and the rotating shaft 3 can rotate freely in the left base 1 and the right base 2;

[0056] A box body 6 is arranged outside the left base 1, a box cover 7 is installed on the outside of the box body 6, and a flange end cover 5 is installed on the outside of the right base 2;

[0057] A torsion bar spring 4 is installed at the coaxial position of the center of the rotating shaft 3. The right end of the torsion bar spring 4 is a polygonal structure and is fixed inside the flange end cover 5 so that the right end of the torsion bar spring 4 remains stationary.

[0058] A driving gear 8 and a guide rod 11 are mounted on the rotating shaft 3 located inside the housing 6. The driving gear 8 is meshed with a sector gear 9, and the sector gear 9 is mounted on a crankshaft 10.

[0059] Swing arms 21 are spaced apart on the outer surface of the rotating shaft 3 , and two swing arms 21 are hingedly connected to the hatch cover 22 at the same time.

[0060] The left base 1 and the right base 2 have the same structure, and both have a convex U-shaped cross section.

[0061] The driving gear 8, the sector gear 9, the crankshaft 10 and the guide rod 11 constitute a nonlinear transmission mechanism for realizing nonlinear conversion of the rotational angular displacement of the rotating shaft 3 into the angular displacement of the torsion bar spring 4, thereby achieving a good match between the gravity moment of the hatch cover and the torque of the torsion bar spring.

[0062] The box cover 7, the box body 6, the rotating shaft 3, the flange end cover 5, the left base 1 and the right base 2 form a sealed cavity.

[0063] The box body 6 and the left base 1, the box cover 7 and the box body 6, and the flange end cover 5 and the right base 2 are fastened together by flange connection, and sealing rings 12 are installed on the contact surfaces.

[0064] The structure of the crankshaft 10 is: it includes a rotating rod 10-1, a rotating left shaft 10-2, a rotating right shaft 10-3 and a guide shaft 10-4 fixed together, the rotating left shaft 10-2 and the rotating right shaft 10-3 are respectively installed in the corresponding axial holes of the box cover 7 and the box body 6, and the crankshaft 10 can rotate around the axial holes.

[0065] The sector gear 9 is fixedly mounted on the rotating right shaft 10 - 3 so that the sector gear 9 and the rotating rod 10 - 1 maintain the same rotational angular displacement.

[0066] The driving gear 8 and the sector gear 9 form a gear reduction mechanism, which converts the large angular displacement of the hatch cover 22 into the small angular displacement of the rotating rod 10-1.

[0067] The left end of the torsion bar spring 4 is a spline shaft, and is connected to the guide rod 11 through a spline pair 11-2, so that the left end of the torsion bar spring 4 rotates with the rotation of the guide rod 11, and the rotating rod 10-1 and the guide rod 11 are connected to the waist-shaped hole 11-1 through the guide shaft 10-4.

[0068] The specific structure and function of the nonlinear torsion bar booster device described in the present invention are as follows:

[0069] It mainly includes a left base 1, a right base 2, a rotating shaft 3, a torsion bar spring 4, a flange end cover 5, a box body 6, a box cover 7, a driving gear 8, a sector gear 9, a crankshaft 10, a guide rod 11, and a sealing ring 12.

[0070] Among them, the driving gear 8, the sector gear 9, the crankshaft 10, and the guide rod 11 constitute a nonlinear transmission mechanism for realizing the nonlinear conversion of the rotational angular displacement of the rotating shaft 3 into the angular displacement of the torsion bar spring 4, thereby achieving a good match between the hatch cover gravity moment and the torsion bar spring torque.

[0071] like Figure 1 As shown, the left base 1 and the right base 2 are respectively installed at the two ends of the rotating shaft 3 and positioned by the axial step of the rotating shaft 3. The sealing ring 12 is installed on the contact surface between the left base 1, the right base 2 and the rotating shaft 3. The left base 1 and the right base 2 are fixed to the structure of the underwater platform by bolt connection, and the rotating shaft 3 can rotate freely in the left base 1 and the right base 2.

[0072] The box body 6 and the left base 1, the box cover 7 and the box body 6, and the flange end cover 5 and the right base 2 are fastened together by flange connection, and sealing rings 12 are installed on the contact surfaces.

[0073] The box cover 7, the box body 6, the rotating shaft 3, the flange end cover 5, the left base 1 and the right base 2 form a sealed cavity.

[0074] The torsion bar spring 4 is installed inside the sealed cavity and isolated from the external seawater, thereby preventing the torsion bar spring 4 from being corroded by seawater. The right end of the torsion bar spring 4 is a polygonal structure and is fixed inside the flange end cover 5, so that the right end of the torsion bar spring 4 remains stationary.

[0075] like Figure 2 As shown, the hatch cover 22 is fixedly connected to the rotating shaft 3 via the swing arm 21, so that the hatch cover 22 and the rotating shaft 3 maintain the same rotational angular displacement.

[0076] like Figure 3 , Figure 4 and Figure 5As shown, the driving gear 8 is fixedly mounted on the rotating shaft 3 so that the driving gear 8 and the hatch cover 22 maintain the same rotational angular displacement.

[0077] The crankshaft 10 is composed of a rotating rod 10-1, a rotating left shaft 10-2, a rotating right shaft 10-3 and a guide shaft 10-4, and the four parts are fixed together. The rotating left shaft 10-2 and the rotating right shaft 10-3 are respectively installed in the corresponding shaft holes of the box cover 7 and the box body 6, and the crankshaft 10 can rotate around the shaft holes.

[0078] The sector gear 9 is fixedly mounted on the rotating right shaft 10 - 3 so that the sector gear 9 and the rotating rod 10 - 1 maintain the same rotational angular displacement.

[0079] The driving gear 8 and the sector gear 9 form a "gear reduction" mechanism, which converts the large angular displacement of the hatch cover 22 into the small angular displacement of the rotating rod 10-1.

[0080] The left end of the torsion bar spring 4 is a spline shaft, and is connected to the guide rod 11 through a spline pair 11 - 2 , so that the left end of the torsion bar spring 4 rotates with the rotation of the guide rod 11 .

[0081] The rotating rod 10-1 and the guide rod 11 are connected through the guide shaft 10-4 and the waist-shaped hole 11-1, and the two constitute a "rotating guide rod" mechanism, that is, the rotation of the rotating rod 10-1 causes the guide rod 11 to rotate accordingly, and the angular displacement between the two is a nonlinear corresponding relationship.

[0082] In actual working process:

[0083] like Figure 2 As shown, the hatch cover 22 is fixedly connected to the rotating shaft 3 through the swing arm 21. As the hatch cover 22 is opened and closed, the rotating shaft 3 and the driving gear 8 rotate accordingly; under the action of the "gear reduction" mechanism, the fan gear 9 follows the driving gear 8 to reduce the rotation; through the connection of the crankshaft 10, the rotating rod 10-1 follows the fan gear 9 to rotate; under the action of the "rotating guide rod" mechanism, the guide rod 11 rotates accordingly, and the angular displacement of the guide rod 11 and the rotating rod 10-1 is in a nonlinear corresponding relationship. Therefore, the rotation angle of the rotating rod 10-1 and the hatch cover 22 is a scaled and nonlinear corresponding relationship.

[0084] The spline end of the torsion bar spring 4 rotates with the guide rod 11, and the polygonal end of the torsion bar spring 4 is fixed, so the torsion bar spring 4 is deformed and generates a reverse torque. Since the rotation angle of the rotating rod 10-1 and the hatch cover 22 is a scaled and nonlinear corresponding relationship, the spring torque and the rotation angle of the hatch cover 22 are also a scaled and nonlinear corresponding relationship.

[0085] By rationally designing the reduction ratio of the "gear reduction" mechanism and the nonlinear motion relationship of the "rotating guide rod" mechanism, a good match between the spring torque and the hatch cover gravity moment can be achieved.

[0086] The specific design method of the present invention based on the nonlinear torsion bar booster device is as follows:

[0087] Assume that the rotation angle of the hatch cover 22, the rotating shaft 3, and the driving gear 8 is θ, the rotation angle of the sector gear 9 and the rotating rod 10-1 is α, the rotation angle of the guide rod 11 and the spline end of the torsion bar spring 4 is β, the gravity moment of the hatch cover is M, and the torque of the torsion bar spring 4 is T.

[0088] like Figure 6 As shown, in this state, the sector gear 9, the rotating rod 10-1 and the guide rod 11 are in a vertical state, the hatch cover gravity moment and the spring torque are both 0, that is, when α2=0°, β2=0°, T2=0Nm, M2=0Nm, and at this time the hatch cover 22 has a rotation angle of θ2.

[0089] like Figure 5 As shown, at this time, the gravity moment M1 of the hatch cover 22 is maximum, and the parameters are θ1, α1, β1, and T1.

[0090] Assume that the pitch circle radius of the driving gear 8 is r1, the pitch circle radius of the sector gear 9 is r2, and the center distance between the two gears is l1=r1+r2; the center distance between the rotating rod 10-1 and the guide shaft 10-4 is l2.

[0091] Then the relationship between β and θ can be expressed as:

[0092] in

[0093] β and θ are scaled and nonlinearly corresponding, such as Figure 8 As shown:

[0094] Based on the characteristics of the "rotating guide rod", the maximum rotation angle αmax of the rotating rod 10-1 is:

[0095]

[0096] The reduction ratio r1 / r2 of the gear pair is reasonably selected to ensure that within the range of the hatch cover rotation angle θ, the rotation angle α of the rotating rod 10-1 does not exceed αmax.

[0097] Assume the mass of the hatch cover is m, the lever arm is lc, and the torsion coefficient of the torsion bar spring 4 is Ks.

[0098] The hatch cover gravity moment is M:

[0099] M=mgl c cosθ

[0100] The torque of torsion bar spring 4 is T:

[0101] in

[0102] Where:

[0103] in

[0104] The gravity moment M is a cosine function of the rotation angle θ, and the torque T is a nonlinear function of the rotation angle θ.

[0105] Based on the constraint relationship between r1, r2, and α, the initial values ​​of r1, r2, and l2 are determined, and the change curves of the torque T and gravity moment M with respect to the rotation angle θ are calculated, as shown in Fig. 9 shown.

[0106] If the torque T curve is lower than the gravity moment M curve, the ratio r1 / r2 should be reduced or the value of l2 should be increased to increase the spring angle β so that the torque T curve can be further convexed upward, thereby making the torque T curve closer to the gravity moment M curve.

[0107] If the torque T curve is higher than the gravity moment M curve, the ratio r1 / r2 should be increased or the value l2 should be reduced to reduce the spring angle β and achieve the purpose of slowing down the bulge of the torque T curve, so that the torque T curve is closer to the gravity moment M curve.

[0108] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A nonlinear torsion bar booster device, characterized in that: The invention comprises a rotating shaft (3), wherein a left base (1) and a right base (2) are respectively installed at both ends of the rotating shaft (3), the left base (1) and the right base (2) are positioned by an axial step of the rotating shaft (3), a sealing ring (12) is installed on the contact surface between the left base (1) and the rotating shaft (3), and the right base (2) and the rotating shaft (3), the left base (1) and the right base (2) are respectively fixed to the structure of the underwater platform by bolt connection, and the rotating shaft (3) can rotate freely in the left base (1) and the right base (2); A box body (6) is arranged outside the left base (1), a box cover (7) is mounted on the outside of the box body (6), and a flange end cover (5) is mounted on the outside of the right base (2); A torsion bar spring (4) is installed at a coaxial position at the center of the rotating shaft (3); the right end of the torsion bar spring (4) is a polygonal structure and is fixed inside the flange end cover (5) so that the right end of the torsion bar spring (4) remains stationary; A driving gear (8) and a guide rod (11) are mounted on the rotating shaft (3) located inside the housing (6), the driving gear (8) is meshed with a sector gear (9), and the sector gear (9) is mounted on a crankshaft (10); The outer surface of the rotating shaft (3) is sleeved with swing arms (21) at intervals, and the two swing arms (21) are hingedly connected to the hatch cover (22) at the same time.

2. A nonlinear torsion bar booster device as claimed in claim 1, characterized in that: The left base (1) and the right base (2) have the same structure, and both have a convex U-shaped cross-section.

3. A nonlinear torsion bar booster device according to claim 1, characterized in that: The driving gear (8), the sector gear (9), the crankshaft (10) and the guide rod (11) constitute a nonlinear transmission mechanism for realizing nonlinear conversion of the rotational angular displacement of the rotating shaft (3) into the angular displacement of the torsion bar spring (4), thereby achieving a good match between the gravity moment of the hatch cover and the torque of the torsion bar spring.

4. A nonlinear torsion bar booster device as claimed in claim 1, characterized in that: A sealed cavity is formed inside the box cover (7), the box body (6), the rotating shaft (3), the flange end cover (5), the left base (1) and the right base (2).

5. A nonlinear torsion bar booster device as claimed in claim 1, characterized in that: The box body (6) and the left base (1), the box cover (7) and the box body (6), and the flange end cover (5) and the right base (2) are fastened together by flange connection, and sealing rings (12) are installed on the contact surfaces.

6. A nonlinear torsion bar booster device as claimed in claim 1, characterized in that: The crankshaft (10) has a structure comprising a rotating rod (10-1), a rotating left shaft (10-2), a rotating right shaft (10-3) and a guide shaft (10-4) which are fixed together; the rotating left shaft (10-2) and the rotating right shaft (10-3) are respectively installed in corresponding shaft holes of the box cover (7) and the box body (6), and the crankshaft (10) can rotate around the shaft holes.

7. A nonlinear torsion bar booster device as claimed in claim 6, characterized in that: The sector gear (9) is fixedly mounted on the rotating right shaft (10-3) so that the sector gear (9) and the rotating rod (10-1) maintain the same rotational angular displacement.

8. A nonlinear torsion bar booster device as claimed in claim 6, characterized in that: The driving gear (8) and the sector gear (9) form a gear reduction mechanism, which converts the large angular displacement of the hatch cover (22) into the small angular displacement of the rotating rod (10-1).

9. A nonlinear torsion bar booster device as claimed in claim 8, characterized in that: The left end of the torsion bar spring (4) is a spline shaft, and is connected to the guide rod (11) through a spline pair (11-2), so that the left end of the torsion bar spring (4) rotates with the rotation of the guide rod (11), and the rotating rod (10-1) and the guide rod (11) are connected to the waist-shaped hole (11-1) through the guide shaft (10-4).

10. A design method for a nonlinear torsion bar booster device as claimed in claim 9, characterized in that: The process includes the following: First, set the parameters: Assume that the rotation angle of the hatch cover (22), the rotating shaft (3) and the driving gear (8) is θ, the rotation angle of the sector gear (9) and the rotating rod (10-1) is α, and the rotation angle of the guide rod (11) and the spline end of the torsion bar spring (4) is β. The hatch cover gravity moment is M, and the torsion bar spring (4) torque is T; The sector gear (9), the rotating rod (10-1) and the guide rod (11) are in a vertical state, the hatch cover gravity moment and the spring torque are both 0, that is, when α2=0° and β2=0°, T2=0Nm and M2=0Nm, and at this time the hatch cover (22) has a rotation angle of θ2; The gravity moment M1 of the hatch cover (22) is maximum, and the parameters are θ1, α1, β1, and T1; Assume that the pitch circle radius of the driving gear (8) is r1, the pitch circle radius of the sector gear (9) is r2, and the center distance between the two gears is l1=r1+r2; the center distance between the rotating rod (10-1) and the guide shaft (10-4) is l2; Then the relationship between β and θ can be expressed as: in Based on the characteristics of the "rotating guide rod", the maximum rotation angle αmax of the rotating rod (10-1) is: Reasonably select the reduction ratio r1 / r2 of the gear pair to ensure that within the range of the hatch cover rotation angle θ, the rotation angle α of the rotation rod (10-1) does not exceed αmax; Assume the mass of the hatch cover is m, the lever arm is lc, and the torsion coefficient of the torsion bar spring (4) is Ks; The hatch cover gravity moment is M: M=mgl c cosθ The torque of the torsion bar spring (4) is T: in Where: in The gravity moment M is a cosine function of the rotation angle θ, and the torque T is a nonlinear function of the rotation angle θ. Based on the constraint relationship between r1, r2, and α, the initial values ​​of r1, r2, and l2 are determined, and the change curves of the torque T and gravity moment M with respect to the rotation angle θ are calculated.

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