Variable-speed rotary transmission device

Abstract

The invention relates to a variable-speed rotating transmission device which comprises an input frame 10, an inner tooth arc plate 20, an intermediate gear 60 and an output gear 30, the intermediate gear 60 is installed on the input frame 10 and meshed with fan-shaped inner teeth 22 and the output gear 30, the input frame 10 drives the intermediate gear 60 to move around the output gear 30, and the output gear 30 is driven by the input frame 10 to rotate. The input frame 10 drives the inner tooth arc plate 20 to rotate through the wobble wheel 40. The input frame drives the intermediate gear, the wobble wheel drives the inner toothed arc plate, the rotating stroke of the output gear can be increased in the transmission process, the rotating speed and the output torque of the output gear can be changed through rotation of the inner toothed arc plate, the wobble wheel drives the inner toothed arc plate to rotate in a reciprocating mode, and the transmission ratio of the input frame to the output gear can be greatly adjusted. And the torque of the output gear is improved, the valve operation process is well adapted, continuous change of input / output transmission is further achieved, and operation is more stable.

Description

Technical Field

[0001] The present invention relates to a valve operating device, and more particularly to a variable speed rotary transmission device. Background Art

[0002] Ordinary ball valves operate by rotating the valve ball 90° to open or close the valve. These valves are typically equipped with actuators with a 90° operating stroke, a well-established product portfolio and widespread application. Common models, such as manual worm gearboxes, scotch-yoke pneumatic actuators, rack-and-pinion pneumatic actuators, gas-hydraulic actuators, integrated electric actuators, and split electric heads + worm gearboxes, all have structures and travels designed for a 90° travel. However, for some valves with operating strokes greater than 90°, actuators with a 90° travel struggle to complete the valve opening and closing operation. For example, the forced-seal ball valves disclosed in Chinese invention patents "A Forced Seal Valve Operating Device" (Application No. 202011319032X) and "A DBB Forced Seal Ball Valve Drive Structure" (Application No. 2021217521001), require the valve stem to rotate beyond 90° during both opening and closing. Another common characteristic of valves with operating travels greater than 90° is that the majority of their operating travel is unloaded (or lightly loaded). Only a short portion of the operating travel, when the valve reaches the closed position, requires a significant operating load. This results in uneven power density during actuator operation. Currently, some variable-speed and range-extending operating devices have emerged, such as the Chinese invention patents "A Valve Stem Speed ​​Shifting Device" (Application No. CN202510139561.8) and "A Variable-Speed ​​and Range-Extending Operating Device" (Application No. CN202411304492.3). These devices combine a planetary gear mechanism with a step-by-step operating control device to achieve two different speeds and increase the operating travel. However, these variable-speed and range-extending operating devices all employ two speed ranges on the output shaft. Within each speed range, the transmission ratio between the input and output shafts is constant, while the transmission ratios between the two speed ranges are different. The speed-shifting mechanism uses a locking element to control the transmission ratio change, resulting in a step-wise change in the transmission ratio, which can cause some shock during operation. Furthermore, the minimum transmission ratio is no less than 1, and the output shaft cannot increase torque relative to the input shaft. Summary of the Invention

[0003] The purpose of the present invention is to provide a variable speed rotary transmission device to increase the stroke of an actuator so that the actuator can better adapt to the valve operation process.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is: a speed-changing rotary transmission device, comprising an input frame 10, an internally toothed arc plate 20, an intermediate gear 60 and an output gear 30, wherein the internally toothed arc plate 20 is provided with sector-shaped internal teeth 22, the input frame 10, the internally toothed arc plate 20 and the output gear 30 rotate coaxially, the intermediate gear 60 is mounted on the input frame 10, the intermediate gear 60 is respectively engaged with the sector-shaped internal teeth 22 and the output gear 30, the input frame 10 drives the intermediate gear 60 to move around the output gear 30, the input frame 10 drives the internally toothed arc plate 20 to rotate via the swing wheel 40, and the internally toothed arc plate 20 rotates relative to the input frame 10.

[0005] Furthermore, in order to obtain an output effect of a stroke with a larger speed increase ratio and another stroke with a higher torque, the inner gear arc plate 20 rotates and swings back and forth, and the inner gear arc plate 20 rotates in the opposite direction relative to the input frame 10 from the initial position and continuously transitions to rotate in the same direction relative to the input frame 10.

[0006] Furthermore, a preferred connection structure between the input frame and the swing wheel is that a swing link 50 is provided between the input frame 10 and the swing wheel 40, one end of the swing link 50 is hinged to the input frame 10, and the other end of the swing link 50 is hinged to the swing wheel 40, so that the input frame, the swing wheel and the swing link constitute a four-bar linkage.

[0007] Furthermore, a preferred swing link connection structure is that the rotation center of the input frame is the first rotation center O1, the rotation center of the swing wheel is the second rotation center O2, the hinge point between the swing link and the input frame is the first hinge point O3, and the hinge point between the swing link and the swing wheel is the second hinge point O4. At the initial position of rotation of the input frame, the angle between the line connecting the second rotation center O2 to the first rotation center O1 and the line connecting the second rotation center O2 to the second hinge point O4 is the second initial angle α4, and the angle between the line connecting the second rotation center O2 to the first rotation center O1 and the line connecting the second rotation center O2 to the first hinge point O3 is the initial drive angle α5, and the second initial angle α4 is greater than the initial drive angle α5.

[0008] Furthermore, in order to obtain an output effect of a stroke with a larger speed increase ratio and another stroke with a higher torque, the input frame 10 reciprocates in the positive direction R1 or the reverse direction R2. During the rotation of the input frame from the initial position to the positive direction R1, the input frame 10 pushes the swing link 50 through the first hinge point O3, and the swing link 50 drives the swing wheel 40 through the second hinge point O4, so that the swing wheel 40 and the input frame 10 rotate in the same direction. When the first rotation center O1, the first hinge point O3, and the second hinge point O4 move to form a straight line, the swing wheel 40 stops rotating, and the input frame continues to rotate in the positive direction R1. The input frame 10 pulls the swing link 50 through the first hinge point O3, and the swing link 50 drives the swing wheel 40 through the second hinge point O4. The swing wheel 40 is connected to the input frame 10, so that the swing wheel 40 rotates in the opposite direction relative to the input frame 10; during the rotation of the input frame from the end position to the opposite direction R2, the input frame 10 pushes the swing link 50 through the first hinge point O3, and the swing link 50 drives the swing wheel 40 through the second hinge point O4, so that the swing wheel 40 rotates in the opposite direction relative to the input frame 10; when the first rotation center O1, the first hinge point O3, and the second hinge point O4 move to form a straight line, the swing wheel 40 stops rotating, and the input frame 10 continues to rotate in the opposite direction R2, the input frame 10 pulls the swing link 50 through the first hinge point O3, and the swing link 50 drives the swing wheel 40 through the second hinge point O4, so that the swing wheel 40 and the input frame 10 rotate in the same direction.

[0009] Furthermore, a preferred internal tooth arc plate structure is that one side of the internal tooth arc plate 20 is provided with a fan-shaped internal tooth 22 that engages with the intermediate gear 60, and the other side of the internal tooth arc plate 20 is provided with a fan-shaped swinging tooth 23 that engages with the swing wheel 40, and the swing wheel 40 drives the internal tooth arc plate 20 to swing through gear engagement.

[0010] Furthermore, a preferred input frame structure is that the input frame 10 is provided with an intermediate gear shaft hole 11 and a connecting rod shaft hole 12, the intermediate gear shaft hole 11 is connected to the intermediate gear 60, the connecting rod shaft hole 12 is connected to the swing link 50, and the swing link 50 drives the swing wheel 40 to rotate.

[0011] Furthermore, in order to realize the input and output functions, the input frame 10 is provided with an input shaft 13 , and the output gear 30 is provided with an output shaft hole 31 .

[0012] The beneficial effects of the present invention are as follows: the input rack drives the intermediate gear and simultaneously drives the inner gear arc plate through the swing wheel to realize the superimposed drive of the output gear. The transmission process can increase the rotational stroke of the output gear, and the rotation of the inner gear arc plate can change the speed and output torque of the output gear. The input rack adopts a swing connecting rod to connect the swing wheel, which can realize the swing wheel driving the inner gear arc plate to rotate reciprocatingly, and can greatly adjust the transmission ratio between the input rack and the output gear, change the rotational stroke and torque of the output gear, and well adapt to the operation process of the valve. The present invention also realizes the continuous change of input / output transmission, and the operation is smoother.

[0013] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the overall structural diagram of the present invention; Figure 2 It is an exploded view of the frame of the present invention; Figure 3 It is the internal structure diagram of the present invention, Figure 2 A-direction view; Figure 4 It is an exploded view of the internal structure of the present invention; Figure 5 Schematic diagram of the input frame, swing wheel and swing connecting rod mechanism in the initial state of the present invention (two 10s are marked) Figure 6 Schematic diagram of the input frame, swing wheel and swing connecting rod mechanism. The swing wheel is in a stopped state and the first rotation stroke of the input frame is completed. Figure 7 is a schematic diagram of the input frame, the swing wheel, and the swing connecting rod mechanism, showing the second rotation stroke of the input frame and the input frame at the end position of the second rotation stroke; Figure 8 is a schematic diagram of the input / output relationship of the present invention, with the input rack in the initial position; Figure 9 It is a schematic diagram of the input / output relationship of the present invention, where the input rack is rotated 5° in the positive direction from the initial position; Figure 10 It is a schematic diagram of the input / output relationship of the present invention, where the input rack is rotated 10° in the positive direction from the initial position; Figure 11 It is a schematic diagram of the input / output relationship of the present invention, where the input rack is rotated 15° in the positive direction from the initial position; Figure 12 It is a schematic diagram of the input / output relationship of the present invention, where the input rack is rotated 30° in the positive direction from the initial position; Figure 13 It is a schematic diagram of the input / output relationship of the present invention, where the input rack is rotated 35° in the positive direction from the initial position; Figure 14 It is a schematic diagram of the input / output relationship of the present invention, where the input rack is rotated 95° in the positive direction from the initial position; Figure 15 This is a schematic diagram of the relationship between the rotational stroke of the input rack and the rotational stroke of the output gear of the present invention; Figure 16 Schematic diagram of the relationship between the rotational speed (ω1) of the output gear and the rotational speed (ω2) of the input rack of the present invention; Figure 17 It is a schematic diagram of the relationship between the output torque of the output gear and the input torque of the input rack of the present invention. DETAILED DESCRIPTION

[0015] Example: like Figures 1 to 7 A variable speed rotary transmission device includes an input frame 10, an internally toothed arc plate 20, an intermediate gear 60, and an output gear 30. The internally toothed arc plate 20 is provided with sector-shaped internal teeth 22. The input frame 10, the internally toothed arc plate 20, and the output gear 30 rotate coaxially. The intermediate gear 60 is mounted on the input frame 10, between the internally toothed arc plate 20 and the output gear 30, and meshes with the sector-shaped internal teeth 22 and the output gear 30, respectively. The input frame 10 drives the intermediate gear 60 to move around the output gear 30. The input frame 10 also drives a swing wheel 40 to rotate, and the swing wheel 40 drives the internally toothed arc plate 20 to rotate relative to the input frame 10. The input frame 10 serves as an input unit, and the output gear 30 serves as an output unit. The input frame is provided with an input shaft 13, and the output gear 30 is provided with an output shaft hole 31.

[0016] The input frame 10 is provided with an intermediate gear shaft hole 11 and a connecting rod shaft hole 12 . The intermediate gear shaft hole 11 is connected to the intermediate gear 60 .

[0017] Internally-toothed arc plate 20 is provided with sector-shaped internal teeth 22 and a center hole 24. Center hole 24 of the internally-toothed arc plate is coaxial with the input shaft 13 of the input carrier and the output gear 30. Sector-shaped internal teeth 22 are provided on one side of the internally-toothed arc plate, and sector-shaped swinging teeth 23 are provided on the other side of the internally-toothed arc plate.

[0018] The input frame 10 drives the internally toothed arc plate 20 to swing and rotate via the swing wheel 40. The swing wheel 40 is equipped with swing wheel teeth 41 that mesh with the sector-shaped swing teeth 23 of the internally toothed arc plate. A swing link 50 is disposed between the input frame 10 and the swing wheel 40. The input frame 10 is provided with a connecting rod shaft hole 12, which is hinged to one end of the swing link 50. The other end of the swing link 50 is hinged to the swing wheel 40 via a pin 51. This structure forms a four-bar linkage among the input frame 10, the swing wheel 40, and the swing link 50. When the input frame 10 rotates, the swing wheel 40 is driven to rotate via the swing link 50, which in turn drives the internally toothed arc plate 20 to rotate.

[0019] This embodiment schematically illustrates a rack, which includes a rack base plate 70 and a rack shell 71. This embodiment does not limit the connection structure between the rack base plate 70 and the rack shell 71, and the rack may also adopt various other structures. As a conventional mechanical connection structure, the rack may adopt various combination structures such as bolt connection and welding.

[0020] The frame is provided with a main hole 72 and a swing wheel hole 73. The input frame 10, internally toothed arc plate 20, and output gear 30 are mounted with the main hole 72 as the rotation axis. The input frame 10 and output gear 30 rotate in conjunction with each other, and the output gear 30 and internally toothed arc plate 20 rotate in conjunction with each other. The swing wheel 40 is mounted with the swing wheel hole 73 as its axis.

[0021] In the transmission structure of this embodiment, the input carrier 10, internally toothed plate 20, output gear 30, and intermediate gear 60 form a planetary gear transmission relationship. The input carrier 10 drives the output gear 30 via the intermediate gear 60. Simultaneously, the input carrier 10 drives the internally toothed plate 20 via the oscillating wheel 40, which in turn drives the output gear 30. Thus, the input carrier 10 achieves a superimposed drive of the output gear 30. By controlling the rotation of the internally toothed plate 20, the output gear 30's rotational stroke and torque can be adjusted.

[0022] like Figure 5 As shown, the rotation center of the input frame 10 is the first rotation center O1, the rotation center of the swing wheel 40 is the second rotation center O2, the hinge point between the swing link 50 and the input frame is the first hinge point O3, and the hinge point between the swing link and the swing wheel is the second hinge point O4.

[0023] In the initial position of the input rack (such as Figure 5 As shown in FIG5 ), the angle between the line (O1-O2) connecting the first rotation center O1 to the second rotation center O2 and the line (O1-O3) connecting the first rotation center O1 to the first hinge point O3 is the first initial angle α3, the angle between the line (O2-O1) connecting the second rotation center O2 to the first rotation center O1 and the line (O2-O4) connecting the second rotation center O2 to the second hinge point O4 is the second initial angle α4, and the angle between the line (O2-O1) connecting the second rotation center O2 to the first rotation center O1 and the line (O2-O3) connecting the second rotation center O2 to the first hinge point O3 is the initial driving angle α5. At the initial position of the input frame ( Figure 5 ), the second initial angle α4 is greater than the initial drive angle α5.

[0024] To obtain the desired transmission characteristics, the first initial angle α3 can be less than 90°, and the second initial angle α4 can be less than 90°. In this embodiment, to obtain the desired transmission characteristics, the first initial angle α3 is 55°, the second initial angle α4 is 46°, and the initial drive angle α5 is 30°. The second initial angle is greater than the initial drive angle by 16°.

[0025] In order to clearly analyze the transmission characteristics of the variable speed rotary transmission device, the rotation of the input frame is divided into two rotation strokes, the first rotation stroke α1 and the second rotation stroke α2, and the rotation direction of each component is defined as the positive direction R1 or the reverse direction R2, as shown in Figure 5 shown.

[0026] The input frame 10 swings and rotates in the positive direction R1 or the reverse direction R2. During the rotation of the input frame from the initial position to the positive direction R1, within the first rotation stroke α1, the input frame 10 pushes the swing link 50 via the first hinge point O3. The swing link 50 drives the swing wheel 40 via the second hinge point O4, causing the swing wheel 40 to rotate in the same direction as the input frame 10. When the first hinge point O3 rotates from the initial position O3a to the position O3b, the rotation center O1 of the input frame, the first hinge point O3b, and the second hinge point O4 move to form a straight line. At this point, the swing wheel is in a stopped state, and the first rotation stroke α1 of the input frame ends. Figure 6 As shown in the figure, during the first rotational stroke α1 of the input carrier, the oscillating wheel 40 rotates in the same direction as the input carrier 10, driving the internally toothed arc plate 20 to rotate counterclockwise relative to the input carrier. The oscillating wheel 40 gradually and continuously decelerates from its initial speed to 0, and the rotational speed of the internally toothed arc plate 20 also gradually and continuously decelerates from its initial speed to 0. At the end of the first rotational stroke α1 of the input carrier, the oscillating wheel 40 stops rotating in the forward direction.

[0027] like Figure 7 As shown, the input frame continues to rotate in the positive direction R1 and enters the second rotation stroke α2. The input frame 10 pulls the swing link 50 through the first hinge point O3. The swing link 50 drives the swing wheel 40 through the second hinge point O4. The swing wheel 40 starts to rotate in the opposite direction R2 from the stopped state, that is, the swing wheel 40 rotates in the opposite direction relative to the input frame 10, and the internal gear arc plate 20 rotates in the same direction as the input frame 10.

[0028] Assume that ω1 is the speed of the output gear 30, ω2 is the speed of the input frame 10, ω3 is the speed of the inner tooth arc plate 20, and i is the gear ratio between the inner tooth arc 22 and the output gear 30. Then ω1=ω2·(1+i)-ω3·i From this, it can be seen that when the rotational speed ω3 of the internally-coated plate 20 is in the same direction as the rotational speed ω2 of the input carrier 10, the rotation of the internally-coated plate 20 decelerates the output gear 30. When the rotational speed ω3 of the internally-coated plate 20 is in the opposite direction to the rotational speed ω2 of the input carrier 10, the rotation of the internally-coated plate 20 accelerates the rotational speed of the output gear 30. Conversely, during the second rotational stroke α2 of the input carrier 10, the rotation of the internally-coated plate 20 in the same direction as the input carrier decelerates the rotational speed of the output gear 30. Throughout the entire rotational process of the input carrier in the positive direction R1, from the first rotational stroke α1 to the second rotational stroke α2, the speed of the internally-coated plate continuously changes from reverse to forward rotation, and the speed of the output gear 30 also continuously changes from high to low speed, thereby increasing the ratio of the output torque of the output gear 30 to the input torque of the input carrier 10. This effectively adapts to the valve stem rotation process during the valve closing operation.

[0029] As the input frame 10 rotates from its final position in the reverse direction R2, within its second rotational stroke α2, the input frame 10 pushes the swing link 50 via the first hinge point O3c. The swing link 50, in turn, drives the swing wheel 40 via the second hinge point O4, causing the swing wheel 40 to rotate counterclockwise relative to the input frame 10. When the first hinge point O3 rotates from the final position O3c to O3b, the input frame's rotation center (first rotation center) O1, the first hinge point O3b, and the second hinge point O4 move to a straight line. At this point, the swing wheel stops rotating, and the input frame's second rotational stroke α2 ends. During the second rotational stroke α2, the swing wheel 40 rotates counterclockwise relative to the input frame 10, driving the internally toothed plate 20 to rotate in the same direction as the input frame. The swing wheel 40 gradually and continuously decelerates from its initial speed to zero, and the rotational speed of the internally toothed plate 20 also gradually and continuously decelerates from its initial speed to zero. At the end of the input frame's second rotational stroke α2, the swing wheel 40 ceases forward rotation.

[0030] The input frame continues to rotate in the opposite direction R2 and enters the first rotation stroke α1. The input frame 10 pulls the swing link 50 through the first hinge point O3. The swing link 50 drives the swing wheel 40 through the second hinge point O4. The swing wheel 40 starts to rotate in the opposite direction R2 from the stopped state. That is, the swing wheel 40 rotates in the same direction as the input frame 10, and the internal gear arc plate 20 rotates in the opposite direction relative to the input frame 10.

[0031] During the entire rotation process of the input carrier in the reverse direction R2, from the second rotation stroke α2 to the first rotation stroke α1, the speed of the internally toothed arc plate continuously changes from the reverse direction to the forward direction, and the speed of the output gear 30 also continuously changes from low speed to high speed. The ratio of the output torque of the output gear 30 to the input torque of the input carrier 10 decreases accordingly. This effectively adapts to the valve stem rotation process of the valve opening operation.

[0032] like Figures 8 to 14 , a specific example is introduced below to analyze the transmission characteristics of the present invention.

[0033] In this specific example, the output gear 30 has 17 teeth, the intermediate gear 60 has 17 teeth, the sector-shaped internal teeth 22 of the internally toothed arc plate 20 have 51 teeth (a full tooth count), the sector-shaped swinging teeth 23 of the internally toothed arc plate 20 have 18 teeth (a full tooth count), and the swinging gear teeth 41 of the swinging wheel have 17 teeth (a full tooth count). The gear ratio of the sector-shaped internal teeth to the output gear is i = 51 / 17 = 3.

[0034] The input frame 10 starts to rotate in the positive direction R1 from the initial position. Let the rotation angle of the input frame be α and the rotation angle of the output gear be β.

[0035] The initial position of the input rack 10 is as follows Figure 8 shown.

[0036] like Figure 9 As shown, the input frame 10 rotates in the positive direction R1, and the input frame 10 pushes the swing wheel 40 to rotate in the positive direction R1 through the swing link 50. The swing wheel 40 drives the internal gear arc plate 20 to rotate in the reverse direction R2. When the input frame 10 rotates to 5° (α=5°) in the positive direction R1, the output gear rotates to 42.2° (β=42.2°) in the positive direction R1.

[0037] like Figure 10 As shown, the input frame 10 continues to rotate in the positive direction R1, the swing wheel 40 rotates in the positive direction R1, and the internal gear plate 20 rotates in the reverse direction R2. When the input frame 10 rotates to 10° (α=10°, relative to the initial position, the same below) in the positive direction R1, the output gear rotates to 77.3° (β=77.3°, relative to the initial position, the same below) in the positive direction R1.

[0038] like Figure 11 As shown, the input frame 10 continues to rotate in the positive direction R1, the swing wheel 40 rotates in the positive direction R1, and the internal gear arc plate 20 rotates in the reverse direction R2. When the input frame 10 rotates to 15° (α=15°) in the positive direction R1, the output gear rotates to 108.3° (β=108.3°) in the positive direction R1.

[0039] The input frame 10 continues to rotate in the positive direction R1 (not shown). When the input frame 10 rotates to 20° (α=20°) in the positive direction R1, the output gear rotates to 135.8° (β=135.8°) in the positive direction R1.

[0040] When the input carrier 10 rotates to 25° (α=25°) in the positive direction R1 , the output gear rotates to 160.3° (β=160.3°) in the positive direction R1 .

[0041] like Figure 12 As shown, when the input carrier 10 rotates 30° (α = 30°) in the positive direction R1, the output gear rotates 181.6° (β = 181.6°) in the positive direction R1. At this point, the input carrier's rotation center (first rotation center) O1, the first hinge point O3b, and the second hinge point O4 move to form a straight line. Both the oscillating wheel 40 and the internally toothed arc plate 20 stop rotating.

[0042] like Figure 13 As shown, the input frame 10 continues to rotate in the positive direction R1, and the input frame 10 pulls the swing wheel 40 to rotate in the reverse direction R2 through the swing link 50. The swing wheel 40 drives the internal gear arc plate 20 to rotate in the positive direction R1. When the input frame 10 rotates to 35° (α=35°) in the positive direction R1, the output gear rotates to 199.8° (β=199.8°) in the positive direction R1.

[0043] The input frame 10 continues to rotate in the positive direction R1 (not shown). When the input frame 10 rotates to 40° (α=40°) in the positive direction R1, the output gear rotates to 214.9° (β=214.9°) in the positive direction R1.

[0044] When the input carrier 10 rotates to 45° (α=45°) in the positive direction R1 , the output gear rotates to 226.9° (β=226.9°) in the positive direction R1 .

[0045] When the input carrier 10 rotates to 50° (α=50°) in the positive direction R1 , the output gear rotates to 236.1° (β=236.1°) in the positive direction R1 .

[0046] When the input carrier 10 rotates to 55° (α=55°) in the positive direction R1 , the output gear rotates to 242.9° (β=242.9°) in the positive direction R1 .

[0047] When the input carrier 10 rotates to 60° (α=60°) in the positive direction R1 , the output gear rotates to 248° (β=248°) in the positive direction R1 .

[0048] When the input carrier 10 rotates to 65° (α=65°) in the positive direction R1 , the output gear rotates to 251.9° (β=251.9°) in the positive direction R1 .

[0049] When the input carrier 10 rotates to 70° (α=70°) in the positive direction R1 , the output gear rotates to 255.3° (β=255.3°) in the positive direction R1 .

[0050] When the input carrier 10 rotates to 75° (α=75°) in the positive direction R1 , the output gear rotates to 258.5° (β=258.5°) in the positive direction R1 .

[0051] When the planet carrier 10 rotates 80° (α=80°) in the positive direction R1 , the sun gear rotates 261.9° (β=261.9°) in the positive direction R1 .

[0052] When the planet carrier 10 rotates 85° (α=85°) in the positive direction R1 , the sun gear rotates 265.4° (β=265.4°) in the positive direction R1 .

[0053] When the planet carrier 10 rotates 90° (α=90°) in the positive direction R1 , the sun gear rotates 269° (β=269°) in the positive direction R1 .

[0054] like Figure 14 As shown, when the planet carrier 10 rotates 95° (α=95°) in the positive direction R1 , the sun gear rotates 272.4° (β=272.4°) in the positive direction R1 .

[0055] The rotational travel of the input frame and the rotational travel of the output gear are listed as follows: Input rack rotation stroke α (°) Output gear rotation stroke β (°) 5 42.2 10 77.3 15 108.3 20 135.8 25 160.3 30 181.6 35 199.8 40 214.9 45 226.9 50 236.1 55 242.9 60 248.0 65 251.9 70 255.3 75 258.5 80 261.9 85 265.4 90 269.0 95 272.4 Figure 15 The graph shows the relationship between the rotation stroke α of the input carrier and the rotation stroke β of the output gear.

[0056] Figure 16 The relationship curve between the rotation speed (ω1) of the output gear and the rotation speed (ω2) of the input rack is shown. It can be seen that when the input rack (as the input unit) rotates from the initial position to the positive direction R1, the output gear (as the output unit) rotates at a faster relative speed, that is, ω2 / ω1 has a smaller value. As the rotation process of the input rack continues, the relative rotation speed of the output gear gradually decreases. In the final stage, the relative rotation speed of the output gear is even less than 1, that is, the rotation speed of the output gear is lower than the rotation speed of the input rack, and ω2 / ω1 has a larger value.

[0057] According to the principles of mechanical transmission, if mechanical efficiency losses are ignored, when the input rack's input speed and input torque are constant, the output torque of the output gear is inversely proportional to the output speed. This allows us to deduce the relationship between the output torque (T1) of the output gear and the input torque (T2) of the input rack: as the input rack rotates, the relative output torque of the output gear gradually increases, meaning that the value of T2 / T1 gradually decreases. Figure 17 The relationship curve between the output torque (T1) of the output gear and the input torque (T2) of the input carrier is shown.

[0058] The above embodiment is only an example of a specific structure and size. By adjusting the connecting rod structure, size, angle, etc. of the input frame 10, the swing wheel 40 and the swing connecting rod 50, different transmission relationships between the input frame and the output gear can be obtained to adapt to different transmission requirements.

[0059] The present invention utilizes an input rack to drive an intermediate gear, while simultaneously driving an internally toothed arc plate via a swing wheel, achieving superimposed drive of the output gear. This controls the transmission ratio between the input and output units, enabling continuous variation of the transmission ratio and significantly increasing the rotational travel of the output unit relative to the input unit. This allows the output unit's speed to gradually decrease while its torque to gradually increase, ultimately resulting in a higher output torque than the input torque, effectively adapting to valve operation. Furthermore, the output unit's speed and torque change continuously and smoothly, avoiding shock and vibration.

Claims

1. A variable speed rotary transmission device, characterized in that: The invention comprises an input frame (10), an inner tooth arc plate (20), an intermediate gear (60) and an output gear (30), wherein the inner tooth arc plate (20) is provided with sector-shaped inner teeth (22), the input frame (10), the inner tooth arc plate (20) and the output gear (30) rotate coaxially, the intermediate gear (60) is mounted on the input frame (10), the intermediate gear (60) is respectively engaged with the sector-shaped inner teeth (22) and the output gear (30), the input frame (10) drives the intermediate gear (60) to move around the output gear (30), the input frame (10) drives the inner tooth arc plate (20) to rotate via a swing wheel (40), and the inner tooth arc plate (20) rotates relative to the input frame (10).

2. The variable speed rotary transmission device according to claim 1, wherein: The inner tooth arc plate (20) rotates and swings back and forth, and the inner tooth arc plate (20) rotates in the opposite direction relative to the input frame (10) from an initial position and continuously transitions to rotating in the same direction relative to the input frame (10).

3. The variable speed rotary transmission device according to claim 1, wherein: A swing link (50) is provided between the input frame (10) and the swing wheel (40), one end of the swing link (50) is hinged to the input frame (10), and the other end of the swing link (50) is hinged to the swing wheel (40), so that the input frame, the swing wheel and the swing link form a four-bar linkage.

4. The variable speed rotary transmission device according to claim 3, wherein: The rotation center of the input frame is the first rotation center (O1), the rotation center of the swing wheel is the second rotation center (O2), the hinge point between the swing link and the input frame is the first hinge point (O3), and the hinge point between the swing link and the swing wheel is the second hinge point (O4). At the initial position of rotation of the input frame, the angle between the line connecting the second rotation center (O2) to the first rotation center (O1) and the line connecting the second rotation center (O2) to the second hinge point (O4) is the second initial angle (α4), the angle between the line connecting the second rotation center (O2) to the first rotation center (O1) and the line connecting the second rotation center (O2) to the first hinge point (O3) is the initial driving angle (α5), and the second initial angle (α4) is greater than the initial driving angle (α5).

5. The variable speed rotary transmission device according to claim 4, characterized in that: The input frame (10) reciprocates in a positive direction (R1) or a negative direction (R2). When the input frame rotates from an initial position to the positive direction (R1), the input frame (10) pushes the swing link (50) through the first hinge point (O3), and the swing link (50) drives the swing wheel (40) through the second hinge point (O4), so that the swing wheel (40) rotates in the same direction as the input frame (10). When the first rotation center (O1), the first hinge point (O3), and the second hinge point (O4) move to form a straight line, the swing wheel (40) stops rotating, and the input frame (10) continues to rotate in the positive direction (R1). The input frame (10) pulls the swing link (50) through the first hinge point (O3), and the swing link (50) drives the swing wheel (40) through the second hinge point (O4), so that the swing wheel (40) rotates in the opposite direction relative to the input frame (10).

6. The variable speed rotary transmission device according to claim 1, wherein: One side of the inner tooth arc plate (20) is provided with sector-shaped inner teeth (22) meshing with the intermediate gear (60), and the other side of the inner tooth arc plate (20) is provided with sector-shaped swing teeth (23) meshing with the swing wheel (40). The swing wheel (40) drives the inner tooth arc plate (20) to swing through gear meshing.

7. The variable speed rotary transmission device according to claim 1, wherein: The input frame (10) is provided with an intermediate gear shaft hole (11) and a connecting rod shaft hole (12), wherein the intermediate gear shaft hole (11) is connected to the intermediate gear (60), and the connecting rod shaft hole (12) is connected to the swing connecting rod (50), and the swing connecting rod (50) drives the swing wheel (40) to rotate.

8. The variable speed rotary transmission device according to claim 1, wherein: The input frame (10) is provided with an input shaft (13), and the output gear (30) is provided with an output shaft hole (31).

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