Rope-driven flexible robot for helicopter test flight test

Abstract

The utility model provides a rope-driven flexible robot for a helicopter test flight test. The rope-driven flexible robot comprises a test fixing table, a flexible periodic pitch changing device and a high-precision total pitch adjusting device. Wherein the test fixing table, the flexible periodic pitch changing device and the high-precision total pitch adjusting device are all fixed in a helicopter cockpit, and the flexible periodic pitch changing device is used for simulating human hands to execute helicopter blade periodic pitch changing operation; the high-precision collective pitch adjusting device is used for simulating a human hand to execute collective pitch changing operation; an output shaft gear of the high-precision collective pitch adjusting device is connected with a collective pitch variable rod, a flexible belt is connected with a driving motor and a variable-size gear disc, and the output shaft gear and the variable-size gear disc are coaxially fixed to be used for outputting variable rotating speed. According to the rope-driven flexible robot for the helicopter test flight test, the test precision and reliability are improved, and meanwhile the personnel safety in the test process is guaranteed.

Description

Technical Field

[0001] The utility model discloses a rope-driven flexible robot used for helicopter test and flight test, and relates to the technical field of bionic robots. Background Art

[0002] Helicopter "ground resonance" is the self-excited vibration of the rotor-body coupling that occurs when the helicopter is working on the ground. It is a dynamic instability phenomenon involving the coupling of blade shimmying motion and rotor hub motion in the rotating plane. It is a problem that must be overcome and solved in helicopter development. "Ground resonance" may occur when the rotor shimmying retreat frequency is close to the natural frequency of the fuselage in a certain support direction. Once this vibration occurs, the amplitude can reach a very intense level within a few seconds, often causing serious accidents such as blade breakage, tire rupture, fuselage overturning, and even personal injury. Helicopter ground resonance once became a technical difficulty that hindered the development of helicopters. The ground resonance test is one of the important test items that are indispensable in the development of helicopters. Through the ground resonance test, it is checked whether the helicopter has ground resonance in all operating speed ranges to ensure its ground operation safety. According to the dynamic response time history measured in the test, the helicopter modal frequency and modal damping are analyzed to determine the stability margin of the ground resonance.

[0003] The helicopter torsion test is also a very important test item in the model development process. The early helicopter torsional vibration will not cause any harm, because the early helicopter control and engine control are independently controlled. The pilot controls the engine throttle to change the engine output power, which belongs to the pilot's open-loop control in the loop. At this time, there is no forcing force for the rotor torsional vibration system. Although the natural frequency of torsional vibration exists, it will not have any effect on the system. After entering the FADEC era, in order to improve the controllability of the helicopter, the constant rotor speed (usually replaced by the power turbine speed) is used as the control target. The engine control system adjusts the rotor speed by adjusting the fuel flow and changing the engine output power, that is, the rotor system and the engine fuel control form a closed-loop control. The driving force of the rotor system is the engine output power, which is related to the fuel flow control. When the fuel flow control is disturbed, the component with the natural frequency of torsional vibration cannot be absorbed by the system, resulting in the speed of the mixed natural frequency vibration component entering the control system as a feedback quantity. The fuel flow control will respond to the speed fluctuation and start to oscillate at the natural frequency. The vibration repeatedly excites and diverges each other until the system cannot bear it and resonance occurs.

[0004] When a helicopter is conducting a ground resonance or torsion test, the pilot needs to excite the joystick (cyclic pitch lever) and the collective pitch lever. Cyclic pitch excitation is mainly used during ground resonance tests, and collective pitch excitation is mainly used during torsional vibration tests. However, the traditional pilot excitation method has certain disadvantages, mainly including: (1) During the test process, such as during the ground resonance test, there is a certain degree of danger. Once the ground resonance occurs and is not handled in time, it may cause serious accidents such as the overturning of the fuselage and the rotor touching the ground within a few seconds, posing a threat to the personal safety of the pilot; (2) The pilot usually drives the cyclic pitch lever or the collective pitch lever according to the test requirements based on driving experience, but the driving frequency and amplitude are completely dependent on the pilot's experience. Due to the lack of effective feedback, it is difficult for the pilot to achieve precise driving. In response to the above two problems, this patent replaces the pilot with a flexible bionic multi-degree-of-freedom intelligent test robot based on rope drive. Compared with traditional rigid robots, flexible continuum robots have good dexterity and flexibility, and are more suitable for scenes with narrow space and complex paths, such as aviation, medical and other fields.

[0005] The position of the target rod in space is used as the input of the system, and the displacement / extension of the driving rope in the driving space is used as the output to construct the inverse kinematics mapping of the intelligent robot, solving the problem that inverse kinematics is difficult to solve and nonlinear errors are difficult to compensate. The displacement of the total pitch rod and the periodic variable pitch rod at any frequency and any angle can be precisely controlled to improve the accuracy and reliability of the test, while ensuring the safety of personnel during the experiment. Utility Model Content

[0006] In response to the dangers that exist during the experiment and the difficulty in achieving precise driving, this patent discloses a rope-driven flexible robot for helicopter test and flight tests, which improves the accuracy and reliability of the test while ensuring the safety of personnel during the experiment.

[0007] This application provides the following technical solutions:

[0008] On the one hand, the present application provides a rope-driven flexible robot for helicopter test flight test, the rope-driven flexible robot comprises a test fixed platform, a flexible cyclic pitch change device and a high-precision collective pitch adjustment device; wherein the test fixed platform, the flexible cyclic pitch change device and the high-precision collective pitch adjustment device are all fixed in the helicopter cockpit, the flexible cyclic pitch change device is installed on the test fixed platform, placed in front of the driving position, and connected to the helicopter cyclic pitch change rod, and is used to simulate the human hand to perform the helicopter blade cyclic pitch change operation;

[0009] The high-precision collective pitch adjustment device comprises a drive motor, a gear set and a flexible belt, wherein the gear set comprises an output shaft gear and a variable-size gear plate; the high-precision collective pitch adjustment device is fixed to the side of the driving position, and the control force is transmitted by meshing the output shaft gear with the gear at the root of the helicopter collective pitch lever, so as to simulate the collective pitch change operation performed by human hands;

[0010] The output shaft teeth of the high-precision collective pitch adjustment device are connected to the collective pitch change rod, the flexible belt connects the drive motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output a variable rotation speed.

[0011] Furthermore, the flexible periodic pitch-changing device comprises a flexible driver, a steel rope and a thimble; the flexible periodic pitch-changing device comprises a plurality of flexible drivers, the flexible drivers are fixed on the test fixed table in a symmetrical structure, and each flexible driver is connected to the thimble through a steel rope;

[0012] The flexible driver drives the collar to rotate through a steel rope, and the collar is connected to the helicopter cyclic pitch rod through an internal universal bearing.

[0013] Furthermore, the flexible actuator is made of shape memory alloy and intelligent piezoelectric material. The shape memory alloy is stacked into a honeycomb shape. Heating wires are arranged on the joints of the upper surface. The shape memory alloy is deformed by heating by the heating wires, thereby driving the steel rope to bend and straighten. When the steel rope bends, the ring is pushed out in a set direction, and when it recovers, the ring is pulled back.

[0014] The intelligent piezoelectric material is attached to the lower surface of the shape memory alloy surface, and generates forces and displacements of different directions and magnitudes according to the voltage polarity and voltage magnitude, so as to assist the movement of the shape memory alloy.

[0015] Further, the high-precision total distance adjustment device comprises a driving motor, output shaft teeth, a flexible belt, and a variable-size gear plate;

[0016] The high-precision total pitch adjustment device is connected to the cyclic pitch rod, the flexible belt connects the drive motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output rotation speeds of different precisions and magnitudes.

[0017] Furthermore, the variable-size gear plate comprises a follower plate, an axis gear, a fine-tuning gear, a telescopic rod and a transmission gear; a plurality of limit shaft keys are distributed on the follower plate, and the limit shaft keys are inserted into the slide grooves on the telescopic rod to enable the telescopic rod to move within a set degree of freedom; the fine-tuning gear is meshed with the inner edge of the axis gear, the follower plate is used to fix the axis gear, and the fine-tuning gear and the telescopic rod are ensured to rotate coaxially; one end of the telescopic rod is fixed on the transmission gear and contacts the belt for transmitting power, and the other end is fixed to the axis gear through a fixing hole and rotates with the axis gear;

[0018] A slide groove is distributed in the middle of the telescopic rod, and the limit shaft key on the follower plate slides along the slide groove in the middle of the telescopic rod; the fine-tuning gear is eccentrically fixed to the shaft gear and is used to adjust the angle of the shaft gear relative to the follower plate, and the gear ratio is adjusted by the forward and reverse rotation of the fine-tuning gear; the gear ratio n1 / n2 of the drive motor and the variable-size gear plate is adjusted by controlling the extension and contraction amount of the telescopic rod, thereby changing the size and accuracy of the output speed.

[0019] Compared with the prior art, the utility model has the following advantages:

[0020] 1. The utility model is a rope-driven flexible robot for helicopter test flight test, which has the advantages of low cost, convenient operation, and no need for a wide test site. It can simulate periodic excitations of different frequencies and amplitudes, and calculate the motion trajectory of the periodic variable pitch rod. The precise control of the displacement of the total pitch rod and the periodic variable pitch rod at any frequency and any angle improves the accuracy and reliability of the test, while ensuring the safety of personnel during the experiment.

[0021] 2. The flexible driver used in the utility model cleverly utilizes the deformation characteristics of shape memory alloys, can achieve rapid response, reduce invalid deformation, and improve energy utilization.

[0022] 3. The utility model is cleverly used to convert the periodic torque converter offset angle, which cannot be accurately calculated, into rope length for calculation, and the high-precision collective pitch adjustment device can not only achieve fine-tuning of the helicopter collective pitch, but also achieve rapid adjustment at a large angle, which more realistically simulates real-person operation.

[0023] 4. The utility model has a compact structure, occupies a small space, is light and flexible, can be installed in the cabin of various types of helicopters, and has universal applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the flexible periodic pitch-changing device;

[0025] Figure 2 It is a top view of the flexible periodic pitch-changing device;

[0026] Figure 3 This is a detailed diagram of the internal structure of the ring;

[0027] Figure 4 This is a schematic diagram of the structure of a high-precision collective distance adjustment device;

[0028] Figure 5 It is a schematic diagram of a variable size gear plate mechanism;

[0029] Figure 6 Detailed diagram of the telescopic rod;

[0030] Figure 7 It is the gear ratio switching diagram of the variable size gear plate;

[0031] Figure 8 Detail of the flexible actuator;

[0032] In the figure: 1-4 are the first to fourth flexible drives, 6 is a collar, 5 is a periodic pitch rod, 22 is a test fixed table, 23 is a steel rope, 7 is a universal bearing, 8 is a plane bearing, 9 is a total pitch rod, 10 is an output shaft tooth, 11 is a drive motor, 12 is a flexible belt, 13 is a variable size gear plate, 14 is a follower plate, 15 is a limit shaft key, 16 is an axis gear, 17 is a fine-tuning gear, 18 is a telescopic rod, 19 is a transmission tooth, 20 is a slide groove, 21 is a fixing hole, 24 is a shape memory alloy, 25 is an intelligent piezoelectric material, and 26 is a heating wire. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0034] During the ground resonance test, there is a certain danger, which threatens the life safety of the driver; the driver usually drives the joystick or the collective pitch lever according to the test requirements based on driving experience, but the driving frequency and amplitude are completely dependent on the driver's experience. Due to the lack of effective feedback, it is difficult for the driver to achieve accurate driving and other problems. This patent discloses a rope-driven flexible robot for helicopter test flight test and its control method.

[0035] Example 1

[0036] As shown in the attached figure, a rope-driven flexible robot for helicopter test flight test includes: Figure 1 The system structure test fixed platform, flexible periodic pitch device and Figure 4 High-precision collective distance adjustment device.

[0037] On the one hand, the present application provides a rope-driven flexible robot for helicopter test flight test, the rope-driven flexible robot comprises a test fixed platform, a flexible cyclic pitch change device and a high-precision collective pitch adjustment device; wherein the test fixed platform, the flexible cyclic pitch change device and the high-precision collective pitch adjustment device are all fixed in the helicopter cockpit, the flexible cyclic pitch change device is installed on the test fixed platform, placed in front of the driving position, and connected to the helicopter cyclic pitch change rod, and is used to simulate the human hand to perform the helicopter blade cyclic pitch change operation;

[0038] The high-precision collective pitch adjustment device comprises a drive motor, a gear set and a flexible belt, wherein the gear set comprises an output shaft gear and a variable-size gear plate; the high-precision collective pitch adjustment device is fixed to the side of the driving position, and the control force is transmitted by meshing the output shaft gear with the gear at the root of the helicopter collective pitch lever, so as to simulate the collective pitch change operation performed by human hands;

[0039] The output shaft teeth of the high-precision collective pitch adjustment device are connected to the collective pitch change rod, the flexible belt connects the drive motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output a variable rotation speed.

[0040] Furthermore, the Figure 2 The flexible periodic pitch-changing device comprises a first, a second, a third and a fourth flexible driver, a collar 6, a periodic pitch-changing rod 5, a universal bearing 7, a plane bearing 8, a test fixed platform 22 and a steel rope 23; the flexible periodic pitch-changing device comprises a plurality of flexible drivers, which are fixed on the test fixed platform in a symmetrical structure, and each flexible driver is connected to the collar by a steel rope;

[0041] The collar 6 is embedded with a universal bearing 7 , and the universal bearing 7 is connected to the cyclic pitch rod 5 via an embedded plane bearing 8 ; the collar 6 can rotate freely in a plane, or move up and down along the axial direction of the cyclic pitch rod 5 .

[0042] Furthermore, the flexible actuator 1 is made of shape memory alloy 24 and intelligent piezoelectric material 25. The shape memory alloy 24 is stacked into a honeycomb shape, and heating wires 26 are arranged on the joints. The shape memory alloy 24 is deformed by heating through the heating wires 26, thereby driving the steel rope to move, pushing it out when bending and pulling it back when recovering.

[0043] The smart piezoelectric material 25 is attached to the lower surface of the shape memory alloy 24 , and generates forces and displacements of different directions and magnitudes according to the voltage polarity and voltage magnitude, thereby assisting the movement of the shape memory alloy 24 .

[0044] Further, such as Figure 4 As shown, the high-precision total distance adjustment device comprises 9 total distance rods, 10 output shaft teeth, 11 driving motors, 12 flexible belts, and 13 variable-size gear plates. Figure 1 and Figure 4 The device is connected in the manner shown to ensure that the ring 6, the first to fourth flexible drives and the steel rope 23 are in the same plane.

[0045] The high-precision total pitch adjustment device is connected to the cyclic pitch rod, the flexible belt connects the drive motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output rotation speeds of different precisions and magnitudes.

[0046] Furthermore, the variable-size gear plate includes a follower plate, an axial gear, a fine-tuning gear, a telescopic rod and a transmission tooth; a plurality of limit shaft keys are distributed on the follower plate, and the limit shaft keys are inserted into the slide grooves on the telescopic rod to enable the telescopic rod to move within a set degree of freedom; the fine-tuning gear is meshed with the inner edge of the axial gear, and the follower plate is used to fix the axial gear, and the fine-tuning gear and the telescopic rod ensure that they can rotate coaxially; one end of the telescopic rod is fixed on the transmission tooth and contacts with the belt for transmitting power, and the other end is fixed to the axial gear through a fixing hole and rotates with the axial gear.

[0047] The variable-size gear plate 13 is composed of a follower plate 14, a limit shaft key 15, an axis gear 16, a fine-tuning gear 17, and a telescopic rod 18; a plurality of limit shaft keys 15 are distributed on the follower plate 14 to limit the freedom of movement of the telescopic rod; the follower plate 14 is used to fix the axis gear 16, the fine-tuning gear 17 and the telescopic rod 18 to ensure that they can rotate coaxially; the end of the telescopic rod 18 is fixed to the axis gear 16 through a fixing hole 21 and can rotate with the axis gear 16; the transmission gear 19 is fixed to the telescopic rod 18 The front end is in contact with the belt for transmitting power; a slide groove 20 is distributed in the middle of the telescopic rod 18, and the limit shaft key 15 on the follower plate 14 can slide along the slide groove 20 in the middle of the telescopic rod; the fine-tuning gear 17 is eccentrically fixed to the shaft gear 16, and is used to adjust the angle of the shaft gear 16 relative to the follower plate 14, and the gear ratio is adjusted by the forward and reverse rotation of the fine-tuning gear 17; the gear ratio of the drive motor 11 and the variable-size gear plate 13 is adjusted by controlling the extension and contraction amount of the telescopic rod 18, thereby changing the size and accuracy of the output speed.

[0048] A slide groove is distributed in the middle of the telescopic rod, and the limit shaft key on the follower plate slides along the slide groove in the middle of the telescopic rod; the fine-tuning gear is eccentrically fixed to the shaft gear and is used to adjust the angle of the shaft gear relative to the follower plate, and the gear ratio is adjusted by the forward and reverse rotation of the fine-tuning gear; the gear ratio n1 / n2 of the drive motor and the variable-size gear plate is adjusted by controlling the extension and contraction amount of the telescopic rod, thereby changing the size and accuracy of the output speed.

[0049] The utility model discloses a rope-driven flexible robot for helicopter test flight test, which has the advantages of low cost, convenient operation, and no need for a wide test site. It can simulate periodic excitations of different frequencies and amplitudes, and calculate the motion trajectory of the periodic variable pitch rod. It can accurately control the displacement of the total pitch rod and the periodic variable pitch rod at any frequency and any angle, improve the accuracy and reliability of the test, and ensure the safety of personnel during the experiment.

[0050] Based on the above-mentioned flexible robot, the present application also provides a control method of a rope-driven flexible robot for helicopter test flight test, the control method is implemented based on the rope-driven flexible robot, the rope-driven flexible robot includes a test fixed platform, the test fixed platform, a flexible cyclic pitch change device and a high-precision total pitch adjustment device are all fixed in the helicopter cockpit, the flexible cyclic pitch change device is installed on the test fixed platform, placed in front of the driving position, and is used to connect with the helicopter cyclic pitch change rod, and is used to simulate the human hand to perform the helicopter blade cyclic pitch change operation;

[0051] The flexible driver simulates the driver's arm to manipulate the cyclic torque rod to achieve rapid driving at any spatial position. The flexible cyclic pitch device adjusts the spatial position of the cyclic pitch rod by controlling the steel rope contraction through the flexible driver.

[0052] The high-precision collective pitch adjustment device is fixed to the side of the driving position, and transmits control force by meshing the output shaft teeth with the gear at the root of the helicopter collective pitch lever, so as to simulate the collective pitch change operation performed by human hands.

[0053] The collar 6 is embedded with a universal bearing 7, and the universal bearing 7 is connected to the cyclic pitch rod 5 through an embedded plane bearing 8; the collar 6 can rotate freely in the plane, or move up and down along the axis of the cyclic pitch rod 5. Record the installation positions of the four flexible actuators in the oxy coordinate system (x1,0), (0,y1), (x2,0), (0,y2), and ensure that the initial position of the cyclic pitch rod is perpendicular to the ground and in a neutral position. Before the test begins, the placement of the four flexible actuators needs to be checked, and the angles between the actuators and the collars are 90°. Four formulas are used to calculate the lengths of four steel ropes in space respectively, where (r, ψ) is the position coordinate of the periodic pitch rod in the plane where the flexible drive is located. The flexible periodic pitch device converts the rope length into the offset angle of the periodic pitch rod in space. The offset angle of the periodic pitch device in space is ψ=ωt, where ω is the frequency of periodic excitation of the periodic pitch rod. The length of the steel rope 23 is controlled by four flexible drives.

[0054] Figure 4The high-precision collective pitch adjustment device is connected to the collective pitch change rod, the flexible belt connects the drive motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output a variable rotation speed.

[0055] The output end of the variable-size gear plate is connected to the helicopter's collective pitch control lever. The minimum angle of the stepper motor output is 1.8°. The definition of the direction that will make the gear ratio amplify is positive, then the fine-tuning gear is turned forward. After the gear ratio n2 / n1 is amplified, the accuracy of the motor output value can be controlled to within ±0.2°, so that the collective pitch change lever can be fine-tuned in a small range / small angle. At the same time, the reverse fine-tuning gear can reduce the gear ratio n2 / n1, thereby increasing the output speed, and the collective pitch change lever can be quickly adjusted in a large range / large angle, so as to quickly change the collective pitch to achieve helicopter maneuvering flight control.

[0056] The flexible driver used in the utility model cleverly utilizes the deformation characteristics of the shape memory alloy, can achieve rapid response, reduce invalid deformation, and improve energy utilization.

[0057] The utility model converts the periodic torque change rod offset angle which cannot be accurately calculated into the rope length for calculation, and the high-precision collective pitch adjustment device can realize both fine adjustment of the helicopter collective pitch and rapid adjustment at a large angle, thus simulating real-person operation more realistically.

Claims

1. A rope-driven flexible robot for helicopter test flight test, characterized in that: The rope-driven flexible robot comprises a test fixed platform, a flexible cyclic pitch-changing device and a high-precision total pitch adjustment device; wherein the test fixed platform, the flexible cyclic pitch-changing device and the high-precision total pitch adjustment device are all fixed in the helicopter cockpit, the flexible cyclic pitch-changing device is installed on the test fixed platform, placed in front of the driving position, and connected to the helicopter cyclic pitch-changing rod, and is used to simulate the human hand to perform the helicopter blade cyclic pitch-changing operation; the flexible cyclic pitch-changing device comprises a flexible driver, and the flexible driver is made of shape memory alloy and intelligent piezoelectric material, the shape memory alloy is stacked into a honeycomb shape, and heating wires are arranged on the joint points of the upper surface, and the shape memory alloy is deformed by heating by the heating wire, thereby driving the steel rope to produce bending and straightening movements, and the ring is pushed out in a set direction when the steel rope is bent, and the ring is pulled back when it is restored; The intelligent piezoelectric material is attached to the lower surface of the shape memory alloy surface, and generates forces and displacements of different directions and magnitudes according to the voltage polarity and voltage magnitude, thereby assisting the movement of the shape memory alloy; The high-precision collective pitch adjustment device comprises a drive motor, a gear set and a flexible belt, wherein the gear set comprises an output shaft gear and a variable-size gear plate; the high-precision collective pitch adjustment device is fixed to the side of the driving position, and the control force is transmitted by meshing the output shaft gear with the gear at the root of the helicopter collective pitch lever, so as to simulate the collective pitch change operation performed by human hands; The output shaft gear of the high-precision collective pitch adjustment device is connected to the collective pitch change rod. The flexible belt connects the driving motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output a variable rotation speed.

2. A rope-driven flexible robot for helicopter test flight test according to claim 1, characterized in that: The flexible periodic pitch-changing device comprises a flexible driver, a steel rope and a thimble; the flexible periodic pitch-changing device comprises a plurality of flexible drivers, the flexible drivers are fixed on the test fixed platform in a symmetrical structure, and each flexible driver is connected to the thimble through a steel rope; The flexible driver drives the collar to rotate through a steel rope, and the collar is connected to the helicopter cyclic pitch rod through an internal universal bearing.

3. The rope-driven flexible robot for helicopter test flight test according to claim 1, characterized in that: The high-precision total distance adjustment device comprises a driving motor, output shaft teeth, a flexible belt, and a variable-size gear plate; The high-precision total pitch adjustment device is connected to the cyclic pitch rod, the flexible belt connects the drive motor and the variable-size gear plate, and the output shaft teeth are coaxially fixed with the variable-size gear plate to output rotation speeds of different precisions and magnitudes.

4. The rope-driven flexible robot for helicopter test flight test according to claim 3 is characterized in that: The variable-size gear plate comprises a follower plate, an axis gear, a fine-tuning gear, a telescopic rod and a transmission gear; a plurality of limit shaft keys are distributed on the follower plate, and the limit shaft keys are inserted into the slide grooves on the telescopic rod to enable the telescopic rod to move within the set degree of freedom; the fine-tuning gear is meshed with the inner edge of the axis gear, the follower plate is used to fix the axis gear, and the fine-tuning gear and the telescopic rod are ensured to rotate coaxially; one end of the telescopic rod is fixed on the transmission gear and contacts the belt for transmitting power, and the other end is fixed on the axis gear through a fixing hole and rotates with the axis gear; A slide groove is distributed in the middle of the telescopic rod, and the limit shaft key on the follower plate slides along the slide groove in the middle of the telescopic rod; the fine-tuning gear is eccentrically fixed to the shaft gear and is used to adjust the angle of the shaft gear relative to the follower plate, and the gear ratio is adjusted by the forward and reverse rotation of the fine-tuning gear; the gear ratio n1 / n2 of the drive motor and the variable-size gear plate is adjusted by controlling the extension and contraction amount of the telescopic rod, thereby changing the size and accuracy of the output speed.

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