Variable speed integrated motor based on double-crank four-bar mechanism and control method thereof

Abstract

The application discloses a variable-speed integrated motor based on a double-crank four-bar mechanism and a control method thereof, which comprises a motor, a box body, a double-crank four-bar mechanism, an output shaft and a hinged telescopic adjusting mechanism, the double-crank four-bar mechanism and the hinged telescopic adjusting mechanism are arranged in the box body, the double-crank four-bar mechanism comprises an input crank, a connecting rod and an output crank, the motor is integrated on the box body, and the telescopic end of the hinged telescopic adjusting mechanism is adjusted in the length direction of the output crank or the input crank through the hinged position of the adjusting connecting rod to adjust the output rotating speed of the output shaft. The application realizes continuous adjustment of the output speed and the torque, greatly improves the adaptability and response capability of the equipment, meanwhile, the integration of the double-crank four-bar mechanism greatly reduces the manufacturing and assembling difficulty, reduces the cost and maintenance complexity, and improves the reliability and practicability of the equipment.

Description

Technical Field

[0001] This invention relates to the field of motor technology, specifically to a variable speed integrated motor based on a double crank four-bar linkage and its control method. Background Technology

[0002] Variable speed integrated motors are relatively sophisticated devices that integrate a motor and a speed-changing device. Their purpose is to reduce or increase speed (and correspondingly increase or decrease torque). Existing variable speed integrated motors have various types of speed-changing devices. To reduce the internal complexity of the speed-changing device, the reducer's speed-changing mechanism is usually set to one or more stages. Through the transmission ratio of the speed-changing device itself, the functions of acceleration, deceleration, and expanding the speed output range during the motor output process are realized. This is a crucial factor in motor selection and plays a decisive role in the widespread application of the motor.

[0003] However, existing speed reduction devices for integrated variable speed motors, whether using gears, steel belts, or chains, suffer from complex structures, high manufacturing difficulty, and high manufacturing costs. Furthermore, because the position of the output component is fixed, the output speed and torque of the speed reduction device cannot be dynamically adjusted according to the dynamic changes of the external load in many cases. For example, excessive output torque can cause mechanical failure and affect the service life of the machine. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology by providing a variable speed integrated motor based on a double crank four-bar linkage and its control method, which has a simple structure and can dynamically adjust the output speed.

[0005] To address the aforementioned technical problems, this invention first discloses a variable-speed integrated motor based on a double-crank four-bar linkage, comprising a motor, a housing, a double-crank four-bar linkage, an output shaft, and a hinged telescopic adjustment mechanism. The double-crank four-bar linkage and the hinged telescopic adjustment mechanism are disposed within the housing. The double-crank four-bar linkage includes an input crank, a connecting rod, and an output crank. The motor is integrated into the housing. The motor shaft is fixedly connected to one end of the input crank, the other end of the input crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to one end of the output crank, the other end of the output crank is fixedly connected to one end of the output shaft, and the other end of the output shaft extends outside the housing. The telescopic adjustment mechanism adjusts the output speed of the output shaft by adjusting the hinged position of the connecting rod in the length direction of the output crank or the input crank.

[0006] Furthermore, the hinged telescopic adjustment mechanism includes a control component and a telescopic component. The other end of the output crank is hinged to the other end of the connecting rod via a first connecting shaft. The other end of the output crank is provided with a long straight hole. The first connecting shaft is slidably connected to the long straight hole. The telescopic component is mounted on the output crank. The telescopic end of the telescopic component is connected to the first connecting shaft. The control component controls the telescopic end of the telescopic component to drive the first connecting shaft to slide along the long straight hole.

[0007] Furthermore, the telescopic assembly includes a battery pack, a lead screw, a lead screw motor, and a lead screw nut. The lead screw motor is connected to the battery pack, one end of the lead screw is connected to the lead screw motor for transmission, and the other end of the lead screw is engaged with the lead screw nut. The lead screw nut is mounted on the first connecting shaft.

[0008] Furthermore, the control components include a wirelessly connected PID controller and a signaler. The PID controller is mounted on the inner wall of the housing, and the signaler is mounted on the output crank and connected to both the battery pack and the lead screw motor.

[0009] Furthermore, the housing is provided with a motor bearing housing and an output shaft bearing housing, the motor shaft of the motor is fitted with the bearing in the motor bearing housing, and the output shaft is fitted with the bearing in the output shaft bearing housing.

[0010] Furthermore, one end of the connecting rod and the other end of the input crank are hinged together by a second connecting shaft, and anti-loosening nuts are provided at both ends of the second connecting shaft.

[0011] Furthermore, a fixing screw is fixedly connected through the other end of the output crank, and the fixing screw is threadedly fixed to one end of the output shaft.

[0012] Then, the present invention discloses a control method for a variable speed integrated motor based on a double crank four-bar linkage. The method employs the aforementioned variable speed integrated motor based on a double crank four-bar linkage and includes the following steps: S1, sending a control signal to the lead screw motor through the PID controller; S2, controlling the rotation direction and speed of the lead screw through the lead screw motor; S3, driving the lead screw nut to reciprocate through the lead screw; S4, pushing the first connecting shaft to move within a long straight hole through the lead screw nut, thereby changing the effective length of the output crank and controlling the output speed of the output shaft.

[0013] Furthermore, when the operating conditions require the output shaft to output a large torque, the position of the first connecting shaft within the long straight hole on the output crank is adjusted to bring it closer to the output shaft.

[0014] Furthermore, when the operating conditions require the output shaft to output a stable speed, the connecting shaft is adjusted to a position away from the output shaft.

[0015] Compared with the prior art, the advantages of the present invention are as follows:

[0016] The variable speed integrated motor of this invention achieves continuous adjustment of output speed and torque through the cooperation of a hinged telescopic adjustment mechanism and a double-crank four-bar linkage, greatly improving the adaptability and responsiveness of the equipment. At the same time, the integration of the double-crank four-bar linkage significantly reduces the difficulty of manufacturing and assembly, while also reducing costs and maintenance complexity, thus improving the reliability and practicality of the equipment. Compared with the prior art, this application can more flexibly adapt to different working conditions, ensure precise matching of power output, and improve the overall performance and reliability of the equipment. Attached Figure Description

[0017] Figure 1 This is a front view schematic diagram of a variable speed integrated motor based on a double crank four-bar linkage disclosed in a preferred embodiment of the present invention; Figure 2 This is a first isometric schematic diagram of a variable speed integrated motor based on a double crank four-bar linkage disclosed in a preferred embodiment of the present invention (hiding part of the side wall structure of the housing). Figure 3 This is a second isometric schematic diagram of a variable speed integrated motor based on a double crank four-bar linkage disclosed in a preferred embodiment of the present invention (hiding part of the side wall structure of the housing). Figure 4 This is an isometric schematic diagram of the double-crank four-bar linkage disclosed in a preferred embodiment of the present invention; Figure 5 This is a front view schematic diagram of a double-crank four-bar linkage disclosed in a preferred embodiment of the present invention.

[0018] Legend: 1. Motor; 2. Housing; 3. Double-crank four-bar linkage; 31. Input crank; 32. Connecting rod; 33. Output crank; 331. Long straight hole; 34. First connecting shaft; 35. Second connecting shaft; 36. Anti-loosening nut; 37. Fixing screw; 4. Output shaft; 5. Hinged telescopic adjustment mechanism; 51. Control component; 511. PID controller; 512. Signal transmitter; 52. Telescopic component; 521. Battery pack; 522. Lead screw; 523. Lead screw motor; 524. Lead screw nut; 6. Motor bearing housing; 7. Output shaft bearing housing. Detailed Implementation

[0019] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0020] like Figure 1 - Figure 5 As shown, this embodiment first discloses a variable speed integrated motor based on a double-crank four-bar linkage, including a motor 1, a housing 2, a double-crank four-bar linkage 3, an output shaft 4, and a hinged telescopic adjustment mechanism 5. The motor 1 is a conventional small motor. The double-crank four-bar linkage 3 and the hinged telescopic adjustment mechanism 5 are housed in the housing 2 and are also small mechanisms matched to the small motor. The housing 2 isolates the reduction components, thereby improving safety performance. The double-crank four-bar linkage 3 includes an input crank 31, a connecting rod 32, and an output crank 33. The motor 1 is integrated on the housing 2, and the motor shaft of the motor 1 is connected to the input crank. One end of 31 is fixed, the other end of the input crank 31 is hinged to one end of the connecting rod 32, the other end of the connecting rod 32 is hinged to one end of the output crank 33, the other end of the output crank 33 is fixed to one end of the output shaft 4, and the other end of the output shaft 4 extends outside the housing 2, so that the other end of the output shaft 4 drives the external load. The extension end of the hinge telescopic adjustment mechanism 5 adjusts the output speed of the output shaft 4 by adjusting the hinge position of the connecting rod 32 in the length direction of the output crank 33 or the input crank 31, that is, by adjusting the effective length of the output crank 33 or the input crank 31, the entire reduction ratio is adjusted. The variable-speed integrated motor of this invention achieves continuous adjustment of output speed and torque through the cooperation of the hinged telescopic adjustment mechanism 5 and the double-crank four-bar linkage 3, greatly improving the adaptability and responsiveness of the equipment. Simultaneously, the integration of the double-crank four-bar linkage significantly reduces manufacturing and assembly difficulty, while also reducing costs and maintenance complexity, thus improving the reliability and practicality of the equipment. Compared with existing technologies, this application can more flexibly adapt to different working conditions, ensuring precise matching of power output and improving the overall performance and reliability of the equipment. Furthermore, the spatial mounting positions of the motor shaft axis of the motor 1, the rotation center of the input crank 31, and the rotation center of the output crank 33 are fixed relative to the housing 2, and the center distance between the motor shaft and the output shaft 4 is constant, resulting in a more compact structure and a simpler transmission chain.

[0021] In this embodiment, to achieve adjustment and control of the hinge position, the hinge telescopic adjustment mechanism 5 includes a control component 51 and a telescopic component 52. The other end of the output crank 33 is hinged to the other end of the connecting rod 32 via a first connecting shaft 34. The other end of the output crank 33 is provided with a long straight hole 331, which is arranged along the length direction of the output crank 33. The first connecting shaft 34 slides with the long straight hole 331. Specifically, the outer diameter of the first connecting shaft 34 is the same as the width of the long straight hole 331, so that the first connecting shaft 34 can only slide along the length direction of the long straight hole 331 and will not displace along the width direction of the long straight hole 331. At the same time, grease is applied to the mating surface of the first connecting shaft 34 and the long straight hole 331 to reduce friction. The telescopic component 52 is installed on the output crank 33, and the telescopic end of the telescopic component 52 is connected to the first connecting shaft 34. The control component 51 controls the telescopic end of the telescopic component 52 to drive the first connecting shaft 34 to slide along the long straight hole 331. The telescopic component 52 can be a variety of structures that can realize telescopic drive function, such as electric actuators and lead screw electronic components.

[0022] In this embodiment, to improve the telescopic control accuracy and response speed, the telescopic component 52 includes a battery pack 521, a lead screw 522, a lead screw motor 523, and a lead screw nut 524. The axis of the lead screw 522 is parallel to the length direction of the elongated straight hole 331. The battery pack 521 uses a pre-charged built-in lithium battery. The lead screw motor 523 is connected to the battery pack 521 and provides power through the battery pack 521. One end of the lead screw 522 is connected to the lead screw motor 523 for transmission, and the lead screw motor 523 drives the lead screw 522 to rotate. The other end of the lead screw 522 is engaged with the lead screw nut 524. The lead screw nut 524 is mounted on the first connecting shaft 34. Thus, when the lead screw 522 rotates, it can drive the lead screw nut 524 to reciprocate, thereby adjusting the position of the first connecting shaft 34 in the elongated straight hole 331 and realizing dynamic adjustment of the reduction ratio.

[0023] In this embodiment, the control component 51 includes a wirelessly connected PID controller 511 and a signal transmitter 512. The PID controller 511 is installed on the inner wall of the housing 2 and its parameters are set through an external user interface to control the output speed in real time. The PID controller 511 can overcome the shortcomings of traditional gearboxes that cannot dynamically adjust the output, achieving higher control accuracy and adaptability. The signal transmitter 512 is installed on the output crank 33 and is connected to the battery pack 521 and the lead screw motor 523. Thus, the control signal from the PID controller 511 is wirelessly transmitted to the signal transmitter 512, which converts it into control signals for components such as the lead screw motor 523. The electronic components on the output crank 33 are all powered by the battery pack 521.

[0024] In this application, by introducing a PID controller 511 and a lead screw adjustment mechanism, precise output regulation and real-time control are achieved, ensuring that the system can respond quickly and provide optimal power output under various operating conditions. This makes the system perform particularly well in precision control applications, significantly improving the performance and reliability of the equipment.

[0025] In this embodiment, in order to control the rotational accuracy of the motor shaft and output shaft 4 of motor 1, a motor bearing seat 6 and an output shaft bearing seat 7 are provided inside the housing 2, both of which are connected to the inner wall of the housing 2 by bolts. The bottom of the motor bearing seat 6 and the output shaft bearing seat 7 are provided with grooves or protrusions to improve the installation accuracy. In this embodiment, the bottom of the motor bearing seat 6 and the output shaft bearing seat 7 are provided with grooves that cooperate with the protrusions (not shown) on the inner wall of the housing 2. The motor shaft of motor 1 cooperates with the bearing in the motor bearing seat 6, and the output shaft 4 cooperates with the bearing in the output shaft bearing seat 7. Both bearings can be deep groove ball bearings.

[0026] In this embodiment, in order to achieve the hinge connection between the connecting rod 32 and the input crank 31, one end of the connecting rod 32 and the other end of the input crank 31 are hinged through a second connecting shaft 35. The two ends of the second connecting shaft 35 are provided with anti-loosening nuts 36, so that one end of the connecting rod 32 and the other end of the input crank 31 are limited between the two anti-loosening nuts 36, preventing the second connecting shaft 35 from slipping off from the installation position.

[0027] In this embodiment, see Figure 4 and Figure 5 In order to achieve a detachable fixed connection between the output crank 33 and the output shaft 4, a fixing screw 37 is fixedly connected through the other end of the output crank 33 (the other end of the output crank 33 is provided with a threaded hole that mates with the fixing screw 37), and the fixing screw 37 is threadedly fixed to the axial threaded hole at one end of the output shaft 4.

[0028] Then, this invention discloses a control method for a variable speed integrated motor based on a double-crank four-bar linkage. The variable speed integrated motor based on a double-crank four-bar linkage of this embodiment includes the following steps: S1, a control signal is sent from a PID controller 511 to a signal transmitter 512, and then transmitted to a lead screw motor 523 via the signal transmitter 512; S2, the lead screw motor 523 controls the rotation direction and speed of the lead screw 522; S3, the lead screw 522 drives the lead screw nut 524 to reciprocate; S4, the lead screw nut 524 pushes the first connecting shaft 34 to move within the elongated straight hole 331, thereby changing the effective length of the output crank 33 and thus controlling the output speed of the output shaft 4. Through the cooperation of the hinged telescopic adjustment mechanism 5 and the double-crank four-bar linkage 3, continuous adjustment of the output speed and torque is achieved. By dynamically adjusting the effective length of the output crank 33, the mechanical components can be adjusted according to real-time operating conditions, significantly reducing the risk of stress concentration and torque mismatch, lowering the probability of mechanical failure, and improving the reliability and service life of the equipment.

[0029] In this embodiment, when the operating conditions require the output shaft 4 to output a large torque, the position of the first connecting shaft 34 within the long straight hole 331 on the output crank 33 is adjusted to bring it closer to the output shaft 4. After adjustment, the effective length of the output crank 33 becomes shorter, the rotational speed of the output shaft 4 decreases, and the output torque increases accordingly.

[0030] In this embodiment, when the operating conditions require the output shaft 4 to output a stable speed, the first connecting shaft 34 is adjusted to a position away from the output shaft 4, thereby increasing the relative position between the first connecting shaft 34 and the output shaft 4. After adjustment, the effective length of the output crank 33 increases, the output speed variation range of the output shaft 4 becomes smaller, and torque fluctuations also decrease, thus providing a more stable speed output.

[0031] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A variable speed integrated motor based on a double-crank four-bar linkage, characterized in that, The system includes a motor (1), a housing (2), a double-crank four-bar linkage (3), an output shaft (4), and a hinged telescopic adjustment mechanism (5). The double-crank four-bar linkage (3) and the hinged telescopic adjustment mechanism (5) are housed within the housing (2). The double-crank four-bar linkage (3) includes an input crank (31), a connecting rod (32), and an output crank (33). The motor (1) is integrated into the housing (2). The motor shaft of the motor (1) is fixedly connected to one end of the input crank (31). The other end is hinged to one end of the connecting rod (32), the other end of the connecting rod (32) is hinged to one end of the output crank (33), the other end of the output crank (33) is fixed to one end of the output shaft (4), the other end of the output shaft (4) extends outside the housing (2), and the extension end of the hinge telescopic adjustment mechanism (5) adjusts the output speed of the output shaft (4) by adjusting the hinge position of the connecting rod (32) in the length direction of the output crank (33) or the input crank (31).

2. The variable speed integrated motor based on a double-crank four-bar linkage according to claim 1, characterized in that, The hinged telescopic adjustment mechanism (5) includes a control component (51) and a telescopic component (52). The other end of the output crank (33) is hinged to the other end of the connecting rod (32) through a first connecting shaft (34). The other end of the output crank (33) is provided with a long straight hole (331). The first connecting shaft (34) is slidably connected to the long straight hole (331). The telescopic component (52) is installed on the output crank (33). The telescopic end of the telescopic component (52) is connected to the first connecting shaft (34). The control component (51) controls the telescopic end of the telescopic component (52) to drive the first connecting shaft (34) to slide along the long straight hole (331).

3. The variable speed integrated motor based on a double-crank four-bar linkage according to claim 2, characterized in that, The telescopic assembly (52) includes a battery pack (521), a lead screw (522), a lead screw motor (523), and a lead screw nut (524). The lead screw motor (523) is connected to the battery pack (521). One end of the lead screw (522) is connected to the lead screw motor (523) for transmission. The other end of the lead screw (522) is engaged with the lead screw nut (524). The lead screw nut (524) is mounted on the first connecting shaft (34).

4. The variable speed integrated motor based on a double-crank four-bar linkage according to claim 3, characterized in that, The control component (51) includes a wirelessly connected PID controller (511) and a signaler (512). The PID controller (511) is mounted on the inner wall of the housing (2), and the signaler (512) is mounted on the output crank (33) and connected to the battery pack (521) and the lead screw motor (523).

5. The variable speed integrated motor based on a double-crank four-bar linkage according to any one of claims 1-4, characterized in that, The housing (2) is provided with a motor bearing seat (6) and an output shaft bearing seat (7). The motor shaft of the motor (1) is fitted with the bearing in the motor bearing seat (6), and the output shaft (4) is fitted with the bearing in the output shaft bearing seat (7).

6. The variable speed integrated motor based on a double-crank four-bar linkage according to any one of claims 1-4, characterized in that, One end of the connecting rod (32) and the other end of the input crank (31) are hinged by a second connecting shaft (35), and anti-loosening nuts (36) are provided at both ends of the second connecting shaft (35).

7. The variable speed integrated motor based on a double-crank four-bar linkage according to any one of claims 1-4, characterized in that, A fixing screw (37) is fixedly connected through the other end of the output crank (33), and the fixing screw (37) is threadedly connected to one end of the output shaft (4).

8. A control method for a variable-speed integrated motor based on a double-crank four-bar linkage, characterized in that, The variable speed integrated motor based on the double crank four-bar linkage as described in claim 4 includes the following steps: S1, sending a control signal to the lead screw motor (523) through the PID controller (511); S2, controlling the rotation direction and speed of the lead screw (522) through the lead screw motor (523); S3, driving the lead screw nut (524) to reciprocate through the lead screw (522); S4, pushing the first connecting shaft (34) to move within the long straight hole (331) through the lead screw nut (524), thereby changing the effective length of the output crank (33) and controlling the output speed of the output shaft (4).

9. The control method for a variable-speed integrated motor based on a double-crank four-bar linkage according to claim 8, characterized in that, When the working conditions require the output shaft (4) to output a large torque, the position of the first connecting shaft (34) in the long straight hole (331) on the output crank (33) is adjusted so that it is close to the output shaft (4).

10. The control method for a variable-speed integrated motor based on a double-crank four-bar linkage according to claim 8, characterized in that, When the working conditions require the output shaft (4) to output a stable speed, the first connecting shaft (34) is adjusted to a position away from the output shaft (4).

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