CN100545486C - Coaxial radial push rod high-speed dividing mechanism - Google Patents
Coaxial radial push rod high-speed dividing mechanism Download PDFInfo
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- CN100545486C CN100545486C CNB2008100524995A CN200810052499A CN100545486C CN 100545486 C CN100545486 C CN 100545486C CN B2008100524995 A CNB2008100524995 A CN B2008100524995A CN 200810052499 A CN200810052499 A CN 200810052499A CN 100545486 C CN100545486 C CN 100545486C
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Abstract
The invention discloses a kind of coaxial radial push rod high-speed dividing mechanism, comprise casing, input shaft and output shaft, the axis of input shaft and output shaft point-blank, the input shaft end is fixed one and is driven annulus, drives annulus and is provided with at least one pair of symmetrical radial direction through hole; Be fixedly connected with at least one pair of symmetrical crank on the output shaft, the end of crank is respectively arranged with at least one first roller; Be fixed with the internal profile conjugate cam on the casing; Be respectively arranged with push rod in the radial direction through hole of every pair of symmetry on the driving annulus, an end of push rod is provided with second roller, and this second roller contacts with the internal profile conjugate cam; The other end of push rod is a flat-bottom structure, and flat-bottom structure contacts with first roller of crank end.
Description
Technical field
The present invention relates to a kind of indexing mechanism, relate in particular to a kind of coaxial-type high-speed dividing mechanism.
Background technique
Indexing mechanism type commonly used at present has: cam indexing mechanism, ratchet, sheave and intermittent gearing mechanism etc.As everyone knows, ratchet, sheave and intermittent gearing mechanism since indexing accuracy is low, impact noise is big etc. shortcoming can only be applied in running speed and the not high occasion of calibration positioning accuracy request.And the cam type indexing mechanism owing to have high rotating speed, high-precision characteristics, has been widely used in the automatics such as various printings, weaving, medicine food packing, electronic parts and components assembling and army's construction machinery at present.
Indexing cam mechanism commonly used has three types, comprises ferguson cam mechanism, and cylindrical indexing cam mechanism and parallel indexing cam mechanism are as Fig. 1, Fig. 2 and shown in Figure 3.Wherein, the globoid cam indexing mechanism is developed (Roller Gear Drive by U.S. engineer C.N.Neklutin the beginning of the twenties, or Globoidal Indexing CamMechanism), at first carried out mass production by the solid rope company (Ferguson Machine Co.) of phenanthrene the fifties; Parallel indexing cam mechanism (Parallel Indexing Cam Mechanism) is by (the Commerciai Cam ﹠amp of american commerce cam manufacturing company; Machine Co.) develops, and unite manufacturing, introduce the beginning of the sixties such as Japan, Germany etc. by the said firm and luxuriant and rich with fragrance solid rope company.After this parallel graduated cam is developed rapidly in Japan.At present this series products has formed specialization, producing in serial form in flourishing technology country; China introduces this series products since the end of the seventies, at present surplus 10 enterprise of family form small batch production.
Above-mentioned three kinds of indexing mechanisms differ from one another, and are applicable to different applications respectively.As, parallel indexing cam mechanism is easy to realize little number of divisions transmission, can realize that the number of divisions is 1 intermittent movement, this is used widely in the die-cutting machine in printing, package packing machine field, but this kind structural type is difficult to realize big number of divisions transmission; Cylindrical indexing cam mechanism is fit to big number of divisions transmission, as in electric light sources detection and light fixture make-up machinery, often adopt the number of divisions more than 20, but when this kind structural type realizes big number of divisions transmission, the roller number of arranging on the index plate is more, system inertia is bigger, so can only be used for low-speed running.In these three types, the attainable number of divisions scope of ferguson cam mechanism is moderate, good combination property, and the indexing accuracy height can be realized 2000 calibration of per minute during high speed.
At present along with automatic to speed up, the exhibition of precise treatment direction, more and more higher to the requirement of indexing mechanism.Require indexing mechanism can realize the rotating speed requirement of bigger calibration number of times and Geng Gao for some application.Obviously, existing indexing cam mechanism has been difficult to satisfy the working condition requirement of this speed up, precise treatment, the new index mechanism that needs research and development can realize high speed interval movement.
As follows at the representative result of study of the design studies of high-speed dividing mechanism in recent years:
Nineteen ninety, Gonzalez-Palacios and J.Angeles are (referring to Gonzalez-Palacios and Angeles.J, in:The Generation of Contact Surface of Indexing Cam Mechanisms-A UnifiedApproach, Proc ASME Design Automation Conference, Advances in Design Automation, Vol.2 (1990), p359.That is: Gonzalez-Palacios and Angeles.J " a kind of indexing cam mechanism contact surface generate unified approach " The Automation Design branch of American Society of Mechanical Engineers (AMSE), Vol.2 (1990), p.359 proposed a kind of input in and can constitute sphere indexing cam mechanism at any angle with output shaft, this kind form has been summarized three kinds of indexing cam mechanisms commonly used at present, it is the general type of these three kinds of structure indexing cam mechanisms, but the cam difficulty of processing is bigger, complex structure does not obtain practical application.
1998, Nishioka and Nishimura are (referring to M.Nishioka and Nishimura.Synthesis of theInternal Parallel Cam Mechanism.Proceedings of the Institution of MechanicalEngineers, Part C:Journal of Mechanical Engineering Science, 1998 Vol.212577-585 are western Gang He Xi village (day), cam ring mechanism comprehensive. mechanical engineer association collected works, the mechanical engineering science journal, C portion: 1998 Vol.212 577-585); Having proposed the general parameter design formula of a parallel indexing cam mechanism, provided the parallel indexing cam mechanism that adopts the cam ring internal connecting type in view of the above, is cam ring as the cam of driving link.The characteristics of this mechanism are that volume is less, minute of angle is bigger, but are subjected to strict geometric constraint during this mechanism design, and the parameter designing degrees of freedom is less, and its practical application is subjected to certain limitation.
Nineteen ninety-five, Zhang Ce etc. have proposed a kind of planet scale division cam structure of big number of divisions transmission of realizing (referring to Zhang Ce based on the principle of cycloid pin tooth transmission, work such as Yang Yuhu ". the plane planet scale division cam structure ", machine science and technology, 1996,15 (6): 871-873); Use for reference the kind of drive of three-ring type gear reduction unit, the new structure that proposes two kinds of planetary indexing cam mechanisms is also arranged.
In addition, based on the structural type of existing indexing cam mechanism, the structure shape that relevant scholar has also carried out by changing existing indexing cam mechanism driven member reaches the innovation research that improves the mechanism driving performance.
W.H.Wang etc. have proposed to adopt difformity rollers such as cylndrical surface, conical surface and the hyperboloid of revolution to carry out the design method of the wide face of index cam (referring to 1W.H.Wang, C.H.Tseng and C.B.Tsay.Surface Contact Analysisfor a Spatial Cam Mechanism.Journal of Mechanical Design[J], 1997, Vol.119,169-177.That is: king, old and Cai. a kind of curved surface contact analysis of spatial cam. the design of machinery [J], 1997, Vol.119,169-177), analyzed difform roller to avoiding EDGE CONTACT and the influence that reduces kinematic error, point out to adopt the roller of revising the hyperboloid of revolution will obtain optimum efficiency, and can reduce to make the adverse effect with assembly error to greatest extent.
Also have based on the enveloping worm wheel worm drive principle, ferguson cam mechanism is considered as the worm and gear transmission of gear ratio, propose a kind of enveloping worm formula ferguson cam mechanism Design Conception (referring to Tao Xueheng. the enveloping worm indexing cam mechanism theoretical with Study on Technology [Dalian University of Technology's thesis for the doctorate] 1997.3).
Other has, a kind of spherical envelope formula indexing cam mechanism has been proposed in the document, this kind spherical envelope formula is that the cylinder plate roller designs that will have now on the ferguson cam mechanism index plate is spherical steel ball, to improve the meshing characteristic of such indexing mechanism, (referring to Wang Qichao, Mu Dunhua " research of planar envelope ferguson cam mechanism profile equation and meshing characteristic " Machine Design, 1998 (5): 11-13).
Also have, proposed a kind of ferguson cam mechanism that adopts double roller in the document, this kind mechanism structure modern design, but increased the manufacture cost of index plate.(referring to (1) Ching-Huang Tseng, Wei-Han Wang, IndexingMechanism Using Pairs of Radially Disposed Rollers Engaged Between Ajacent CamRibs.Int.CL F16H27/04, US5960668A, Oct, 5,1999.That is: Chen Qinghua, Wang Weihan " between cam lobe crest, adopting the ferguson cam mechanism indexing mechanism of double roller to arrange " Int.CL F16H27/04, US5960668A, Oct, 5,1999 and (2) Wanghao Zhang Ce " innovation of cam type indexing mechanism ", Machine Design, 2001,143 (9): 1-4).
The research thinking of above-mentioned indexing mechanism is generally still based on the transmission principle of existing indexing cam mechanism, by changing input, output shaft relative position in the space, or by changing the innovative design that the driven member shape realizes indexing mechanism.These researchs are for the product performance of improving existing indexing cam mechanism, the structural type of abundant existing indexing cam mechanism is significant, but can not fundamentally solve the problem that existing indexing cam mechanism is difficult to realize the big number of divisions or the transmission of high speed interrupted division.
Summary of the invention
In order to be difficult to realize the requirement of bigger calibration number of times and Geng Gao calibration rotating speed at three kinds of indexing cam mechanisms commonly used in the prior art, the invention provides a kind of coaxial radial push rod high-speed dividing mechanism, indexing mechanism of the present invention organically combines the characteristics of cam mechanism and linkage mechanism, to overcome three kinds of defectives that number of divisions range of choice is little, relative volume is big, the calibration number of times is low that indexing cam mechanism commonly used exists in the prior art.
In order to solve the problems of the technologies described above, the technological scheme that coaxial radial push rod high-speed dividing mechanism of the present invention is achieved is: comprise casing, input shaft and output shaft, the axis of described input shaft and output shaft point-blank, described input shaft end fixedly connected one drives annulus, and described driving annulus is provided with at least one pair of symmetrical radial direction through hole; Be fixedly connected with at least one pair of symmetrical crank on the described output shaft, the end of described crank is respectively arranged with at least one first roller; Be fixedly connected with the internal profile conjugate cam on the described casing; Be respectively arranged with push rod in the radial direction through hole of every pair of symmetry on the described driving annulus, an end of described push rod is provided with second roller, and this second roller contacts with the internal profile conjugate cam; The other end of described push rod is a flat-bottom structure, and described flat-bottom structure contacts with first roller of crank end.Described internal profile conjugate cam profile formula is:
re
jθ＝(l
1cos(τ
0+τ-θ)+r
0+l
2)e
jθ (1)
In above-mentioned formula (1) and the formula (2): l
1, l
2The bar that is respectively crank and push rod is long, r
0Be radius of roller, θ is the input shaft corner, and τ is the output shaft corner, the dividing movement rule that τ=τ (θ) realizes for the output shaft expection, τ
0Be respectively the initial position angle of the first roller correspondence of diverse location on the output shaft, can calculate the conjugate cam profile of correspondence according to the initial position angle of diverse location; θ
hBe the traverse angle, n is the number of divisions, and d is the output ratio of Q-switching to free running.
Coaxial radial push rod high-speed dividing mechanism of the present invention, wherein: described push rod distributes along the radial symmetric that drives annulus respectively along radially direct that drives annulus or described push rod respectively.Described crank end first roller is at least two, and is symmetric arrangement.Described push rod and described through hole constitute sliding pair.Second roller of described cam and push rod end constitutes the shape locking mode of cam mechanism.
Compared with prior art, the beneficial effect that the present invention had is:
(1) number of divisions scope is big, and can realize high speed indexing.Indexing mechanism input of the present invention and output shaft synchronous speed, promptly input shaft whenever circles, and output shaft can be finished n time calibration simultaneously.This and three kinds of indexing cam mechanisms at present commonly used, its input shaft output shaft that whenever circles is only realized the calibration difference 1 time.Indexing mechanism of the present invention is compared with three kinds of indexing cam mechanisms commonly used, and under the identical situation of input shaft rotating speed, the attainable number of divisions is equivalent to n times of indexing cam mechanism commonly used; In other words, new index mechanism can realize being equivalent to the calibration function under the indexing cam mechanism n times rotating speed commonly used, thereby can realize the high speed indexing transmission.
(2) have good dynamics, and the indexing accuracy height.The periodic inertia loading of its output shaft of all kinds of indexing mechanisms of prior art is the principal element that causes its periodic speed fluctuation and vibration.And indexing mechanism of the present invention can effectively be applied to inertia loading on the member that connects firmly with casing in dividing movement, and by rationally choosing the degree that parameter of structure design can increase this mechanism's revesal self-locking, thereby can effectively suppress the speed fluctuation of input shaft.In addition, each member of indexing mechanism input of the present invention and output system all adopts symmetrical structure to arrange, can realize inertial force and moment of inertia complete equilibrium, therefore, has good dynamics, and can realize higher indexing accuracy.
(3) compact structure, bearing capacity is big.Because indexing mechanism of the present invention adopts the layout of input shaft and output shaft coaxial line type, its compact structure.And by adopting the symmetrical structure layout, can realize that a plurality of members participate in the calibration transmission in design, therefore, bearing capacity is big.
(4) range of choice of design parameter is big, has the design flexibility of appropriateness.Indexing mechanism of the present invention is compared with existing three kinds of indexing cam mechanisms commonly used, has utilized cabinet space to greatest extent, can design realization all scopes from the little number of divisions to big number of divisions transmission in theory, and the range of choice of other design parameters such as the output ratio of Q-switching to free running is wider.Design flexibility with appropriateness, as for different applications, when needing to realize the calibration transmission of different parameters such as the number of divisions, the output ratio of Q-switching to free running, only need redesign one of them critical component can realize, needs all redesigns and processing and need not three kinds of indexing cam mechanisms commonly used in prior art.
Coaxial radial push rod high-speed dividing mechanism of the present invention, needing can be widely used in that number of divisions scope is wide, compact structure, rigidity is big, bearing capacity is high, input output are coaxial, in the automatic of high speed indexing intermittent movement, as all kinds of machineries such as printing, packing, food, pottery, pharmacy and war industrys.
Description of drawings
Fig. 1 is the schematic representation of ferguson cam mechanism in the prior art;
Fig. 2 is the schematic representation of cylindrical indexing cam mechanism in the prior art;
Fig. 3 is a parallel indexing cam mechanism in the prior art;
Fig. 4-the 1st, the axial schematic representation of coaxial radial push rod high-speed dividing mechanism of the present invention;
Fig. 4-the 2nd, the end of indexing mechanism is to schematic representation shown in Fig. 4-1;
Fig. 5-the 1st, conjugate cam internal profile embodiment one schematic representation in the indexing mechanism of the present invention;
Fig. 5-the 2nd, conjugate cam internal profile embodiment two schematic representation in the indexing mechanism of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments coaxial radial push rod high-speed dividing mechanism of the present invention is described in further detail.
Component and specification specified among Fig. 4-1 and Fig. 4-2: 1 casing, 2 input shafts, 3 output shafts, 4 drive annulus, 5 through holes (guide passage), 6 cranks, 7 first rollers, 8 conjugate cams, 81,82 profiles, 9 push rods, 10 second rollers, 11 flat-bottom structures.
Shown in Fig. 4-1 and Fig. 4-2, coaxial radial push rod high-speed dividing mechanism of the present invention, comprise casing 1, input shaft 2 and output shaft 3, the axis of described input shaft 2 and output shaft 3 point-blank, fixedly connected one drives annulus 4 on the described input shaft 2, and described driving annulus 4 is provided with at least one pair of symmetrical radial direction through hole 5 (guide passage); Be fixedly connected with crank 6 on the described output shaft 3, the end of described crank 6 is respectively arranged with at least one first roller 7; When first roller 7 of described crank 6 ends is even numbers, can be symmetric arrangement.Be fixedly connected with internal profile conjugate cam 8 on the described casing 1, be respectively arranged with push rod 9 in the radial direction through hole 5 of every pair of symmetry on the described driving annulus 4, shown in Fig. 4-1, described push rod in the present embodiment has four, and distribute along the radial symmetric that drives annulus 4 respectively, described push rod 9 constitutes sliding pair with described through hole (being guide passage) 5.One end of described push rod 9 is provided with second roller 10, and this second roller 10 contacts with internal profile conjugate cam 8, and second roller 10 of described conjugate cam 8 and push rod 9 ends constitutes the shape locking mode of cam mechanisms; The other end of described push rod 9 is a flat-bottom structure 11, and described flat-bottom structure 11 contacts with first roller 7 of crank 6 ends.
According to the dividing movement rule that the number of divisions, traverse angle and output shaft expection realize, can design the profile 81 and 82 of the internal profile conjugate cam of fixedlying connected with casing 1, formula is:
re
jθ＝(l
1cos(τ
0+τ-θ)+r
0+l
2)e
jθ (1)
In above-mentioned formula (1) and the formula (2): l
1, l
2The bar that is respectively crank and push rod is long, r
0Be radius of roller, θ is the input shaft corner, and τ is the output shaft corner, the dividing movement rule that τ=τ (θ) realizes for the output shaft expection, τ
0Be respectively the initial position angle of the first roller correspondence of diverse location on the output shaft, can calculate corresponding conjugate cam profile 81 and 82 according to the initial position angle of diverse location, shown in Fig. 4-2, θ
hBe the traverse angle, n is the number of divisions, and d is the output ratio of Q-switching to free running.
As Fig. 5-1 and Fig. 5-2 is the embodiment of conjugate cam 8 profile lines, and the cam profile embodiment one shown in Fig. 5-1 is that parameter is: number of divisions n=10, output ratio of Q-switching to free running d=3, τ
0=30 °, crank l
1=40, the long l of push rod
2=80, its dividing movement rule is sinusoidal for revising; Cam profile embodiment two shown in Fig. 5-2 is that parameter is: number of divisions n=4, output ratio of Q-switching to free running d=1, τ
0=30 °, crank l
1=20, the long l of push rod
2=100, its dividing movement rule is sinusoidal for revising.
The motion principle of coaxial radial push rod high-speed dividing mechanism of the present invention is: when input shaft 2 rotates continuously, driving push rods 9 by the driving annulus 4 that connects firmly with input shaft 2 is begun to rotate by initial position, push rod 9 is in rotation process, second roller 10 by its end is under the effect of conjugate cam 8 profiles, move radially along guide passage 5 generations that drive annulus 4, thereby first roller 7 of flat-bottom structure 11 throw cranks 6 ends by push rod 9 is realized indexing and rests motion that internal profile cam 8 is sealed with the geometry of second roller, 10 these indexing mechanisms of formation of push rod and push rod end by the characteristics of motion of expection.When input shaft 2 drives push rod 9 continuous rotations, periodically repeat above-mentioned movement process successively, form the continuous division and the intermittent movement of output shaft 3.
Adopt numerically controlled processing equipment, carry out the processing of such mechanism's critical component internal profile cam, can guarantee its machining accuracy; Use linkage mechanism ripe at present design theory and method, can finish the parameter designing of linkage mechanism; Use for reference the production technology and the technological equipment of planetary speed reducer maturation, can guarantee design, processing and the assembling of new index mechanism coaxial structure, and can effectively reduce its manufacture cost, thereby, can guarantee that indexing mechanism of the present invention has higher calibration Location accuracy by the structural parameter of such mechanism of choose reasonable and the design and the manufacturing tolerances of component.
Although in conjunction with the accompanying drawings the present invention has been carried out foregoing description, but the present invention is not limited to above-mentioned embodiment, above-mentioned embodiment only is schematic, rather than it is restrictive, those of ordinary skill in the art is under enlightenment of the present invention, under the situation that does not break away from aim of the present invention and claim institute protection domain, can also make a lot of distortion, such as: (1) coaxial radial push rod high-speed dividing mechanism of the present invention, can be according to the number of divisions, the dividing movement rule that traverse angle and output shaft expection realize, the internal profile conjugate cam of designing of fixedlying connected with casing, during design, even the number of divisions, traverse angle and output shaft dividing movement rule are different, and design the indexing mechanism of different designs parameter, (2) consider factors such as mechanism's bearing capacity, can be along a plurality of push rods of radial direction symmetric arrangement that drive annulus, (3) indexing mechanism output shaft of the present invention is designed to the crank structure form, can adopt the mode of symmetric arrangement to be designed to a plurality of cranks according to concrete load bearing requirements and spatial condition, etc.; These all belong to the row of protection of the present invention.
Claims (5)
1. coaxial radial push rod high-speed dividing mechanism, comprise casing, input shaft and output shaft, it is characterized in that: the axis of described input shaft and output shaft point-blank, fixedly connected one drives annulus on the described input shaft, and described driving annulus is provided with at least one pair of symmetrical radial direction through hole; Be fixedly connected with at least one pair of symmetrical crank on the described output shaft, the end of described crank is respectively arranged with at least one first roller; Be fixedly connected with the internal profile conjugate cam on the described casing, described internal profile conjugate cam profile formula is:
re
jθ＝(l
1cos(τ
0+τ-θ)+r
0+l
2)e
jθ (1)
In above-mentioned formula (1) and the formula (2): l
1, l
2The bar that is respectively crank and push rod is long, r
0Be radius of roller, θ is the input shaft corner, and τ is the output shaft corner, the dividing movement rule that τ=τ (θ) realizes for the output shaft expection, τ
0Be respectively the initial position angle of the first roller correspondence of diverse location on the output shaft, can calculate the conjugate cam profile of correspondence according to the initial position angle of diverse location; θ
hBe the traverse angle, n is the number of divisions, and d is the output ratio of Q-switching to free running;
Be respectively arranged with push rod in the radial direction through hole of every pair of symmetry on the described driving annulus, an end of described push rod is provided with second roller, and this second roller contacts with the internal profile conjugate cam; The other end of described push rod is a flat-bottom structure, and described flat-bottom structure contacts with first roller of crank end.
2. coaxial radial push rod high-speed dividing mechanism according to claim 1 is characterized in that: described push rod distributes along the radial symmetric that drives annulus respectively along radially direct that drives annulus or described push rod respectively.
3. coaxial radial push rod high-speed dividing mechanism according to claim 1 is characterized in that: a plurality of first rollers at described crank two end part are even numbers, and are symmetric arrangement.
4. coaxial radial push rod high-speed dividing mechanism according to claim 1 is characterized in that: described push rod and described through hole constitute sliding pair.
5. coaxial radial push rod high-speed dividing mechanism according to claim 1 is characterized in that: second roller of described cam and push rod end constitutes the shape locking mode of cam mechanism.
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| CNB2008100524995A CN100545486C (en) | 2008-03-21 | 2008-03-21 | Coaxial radial push rod high-speed dividing mechanism |
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| CN100545486C true CN100545486C (en) | 2009-09-30 |
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| CN105563468B (en) * | 2016-02-04 | 2017-09-22 | 陕西科技大学 | A kind of parallel manipulator of cam control |
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