CN103195898A - One-way driving non-circular gear differential gear train capable of achieving adjustable oscillation amplitude output and method - Google Patents

Abstract

The invention provides a one-way driving non-circular gear differential gear train capable of achieving adjustable oscillation amplitude output. The one-way driving non-circular gear differential gear train comprises a first non-circular gear and a second non-circular gear which are meshed with each other. A first circular gear is connected with the second non-circular gear through a shaft, and a second circular gear is meshed with the first circular gear. The first non-circular gear is arranged on a horizontal portion of a planet carrier, and a vertical portion end of the planet carrier is connected with the shaft. The first non-circular gear is connected with a first servo motor, and the planet carrier is connected with the second servo motor. The invention further provides a use method of the one-way driving non-circular gear differential gear train capable of achieving the adjustable oscillation amplitude output. By adding different motions with different angle speed for the first non-circular gear and the planet carrier, output of different swinging amplitudes can be obtained. By means of the device, reciprocating rotation of various rules can be output simply and effectively, output characteristics are adjustable, and a requirement for large change torsion driving of the servo motors is reduced. Simultaneously, a requirement for characteristic selection of the servo motor is greatly reduced, and a flexible degree is greatly improved.

Description

Can realize unidirectional drive noncircular gear differential gear train and the method for adjustable amplitude of oscillation output

Technical field

The present invention relates to a kind of unidirectional drive noncircular gear differential gear train and using method thereof that can realize adjustable amplitude of oscillation output, belong to high frequency to-and-fro motion technical field.

Background technique

At present, known high frequency to-and-fro motion is widely used in the many occasions in the engineering reality, for example in machineries such as weaving, food and packing.Traditional implementation adopts a constant-seed motor as power source usually, realizes reciprocal rotation by various transmission devices or actuator's (as crankrocker mechanism, cam mechanism, combined mechanism etc.).Though this class mechanism has advantages of high bearing capacity, motion speed and manufacturing efficiency, can satisfy requirement of mass production well, but this mode also exists some problems, on the one hand, realize to-and-fro motion with common AC motor, the centre will change motion mode through some complicated mechanisms, and because the existence of inertial force, transmission efficiency is lower, causes the waste of the energy; On the other hand, such kind of drive lacks flexible, and the output movement that change system will change type or the size of mechanism, be difficult to adapt to the multifarious requirement of product variety.

Adopting actuating motor directly to drive actuator, to obtain to-and-fro motion be another kind of research direction, yet, because the present bottleneck of motor technology, existing actuating motor can't be realized big inertia, reciprocal dynamic load, and can not respond fast when changing moment of torsion in the face of big.

Summary of the invention

The technical problem to be solved in the present invention provides a kind of unidirectional drive noncircular gear differential gear train and using method thereof that can succinctly realize to-and-fro motion, flexibility degree height and reliable performance efficiently.

In order to solve above-mentioned first technical problem, technological scheme of the present invention provides a kind of unidirectional drive noncircular gear differential gear train that can realize adjustable amplitude of oscillation output, it is characterized in that: comprise intermeshing first noncircular gear and second noncircular gear, first Knucle-gear is connected with second noncircular gear by first, and second Knucle-gear is located at the 3rd and is gone up and mesh with first Knucle-gear; First noncircular gear is located on second, and planet carrier one end connects second, and the planet carrier the other end connects first; First noncircular gear connects first actuating motor, and planet carrier connects second actuating motor.

In order to solve above-mentioned second technical problem, technological scheme of the present invention provides a kind of using method that can realize the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output, and it is characterized in that: this method is made up of following 2 steps:

Step 1: regulate first actuating motor, add angular velocity omega for first noncircular gear ₁Motion;

Step 2: regulate second actuating motor, add angular velocity omega to planet carrier _HMotion.

Preferably, ω in the described step 1 ₁=π (1/s), ω in the described step 2 _H=2 π (1/s); This moment second Knucle-gear with cycle 2s, the amplitude of oscillation 1 radian namely 57.3 ° do reciprocal rotation.

Preferably, ω in the described step 1 ₁=π (1+cos (π t)) (1/s), ω in the described step 2 _H=2 π (1/s); This moment, second Knucle-gear was done reciprocal rotation for 91.75 ° with cycle 2s, the amplitude of oscillation.

Preferably, in the step 1

ω ₁〉=0; In the described step 2

ω _H〉=0; This moment, second Knucle-gear was done reciprocal rotation for 57.3 ° with cycle 6s, the amplitude of oscillation.

Preferably, in the described step 1

In the described step 2

Second Knucle-gear is with cycle 12s, 50 ° of swings of the amplitude of oscillation at this moment, and the every 2s of oscillation center advances 30 °.

A kind of unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output of realizing provided by the invention comprises two servo inputs, actuating motor unidirectional drive and first noncircular gear, the direct unidirectional drive planet carrier of another actuating motor can obtain the different swing gyroscopic output of wobble amplitude by changing different servo-drive input motion rule combinations.

Device provided by the invention has overcome the deficiencies in the prior art, can succinctly realize the to-and-fro motion of needs effectively, the reciprocal rotation output of the controlled reciprocal rotation that can also export multiple rule, especially oscillation center motion; And the characteristic that can regulate output according to actual conditions, reduced the requirement to the big variation torque drive of actuating motor, greatly reduce the requirement that the actuating motor characteristic is selected simultaneously again, the flexibility degree improves greatly.

Description of drawings

Fig. 1 is a kind of unidirectional drive noncircular gear differential gear train schematic representation that can realize adjustable amplitude of oscillation output provided by the invention;

Fig. 2 is a kind of unidirectional drive noncircular gear differential gear train left view that can realize adjustable amplitude of oscillation output provided by the invention;

Fig. 3 is the synthetic angle displacement curve that back and forth rotates of two uniform rotation input;

Fig. 4 is that uniform rotation input is rotated the synthetic angle displacement curve that back and forth rotates of input with a unidirectional speed change;

Fig. 5 is that two unidirectional speed changes are rotated the synthetic angle displacement curve that back and forth rotates of input;

Fig. 6 is two uniform rotation input synthesized wobble gyroscopic output angular displacement curve;

Description of reference numerals

1-first noncircular gear; 2-second noncircular gear; 3-first Knucle-gear; 4-second Knucle-gear; The 5-planet carrier; First of 6-; Second of 7-; The 3rd of 8-.

Embodiment

For the present invention is become apparent, now with a preferred embodiment, and conjunction with figs. is described in detail below.

Fig. 1 is a kind of unidirectional drive noncircular gear differential gear train schematic representation that can realize adjustable amplitude of oscillation output provided by the invention, described a kind of energy realizes that the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output is the WW type, comprise intermeshing first noncircular gear 1 and second noncircular gear 2, first Knucle-gear 3 is connected with second noncircular gear 2 by axle 6, in conjunction with Fig. 2, second Knucle-gear 4 is contained on the 3rd 8 and with first Knucle-gear 3 and meshes; First noncircular gear 1 is contained on second 7, and planet carrier 5 one ends connect second 7, and planet carrier 5 the other ends connect first 6; First noncircular gear 1 connects first actuating motor, and planet carrier 5 connects second actuating motor.

First noncircular gear 1 and second Knucle-gear 4 are sun gears, second noncircular gear 2 and first Knucle-gear 3 are planet wheels, also are duplicate gears, first noncircular gear 1 and 2 engagements of second noncircular gear, first Knucle- gear 3 and 4 engagements of second Knucle-gear, they have identical centre distance.First noncircular gear 1 and planet carrier 5 are the input of this differential gear train, and second Knucle-gear 4 is output.

A kind of unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output of realizing provided by the invention comprises two servo inputs, actuating motor unidirectional drive and first noncircular gear 1, the direct unidirectional drive planet carrier 5 of another actuating motor can obtain the different swing output of wobble amplitude by changing different servo-drive input motion rule combinations.

Can reproduce certain function y=f (x) because of the noncircular gear transmission, the functional form that might as well establish noncircular gear transmission reproduction is y=f (x)=k ₁Sinx+k ₂X, x ∈ (0,2 π) can make the driving wheel corner of noncircular gear transmission be directly proportional with independent variable x, and the corner of follower is directly proportional with dependent variable f (x), is namely write as

X is the independent variable of presentation function, and y is the dependent variable of presentation function, k ₁, k ₂Be the coefficient of presentation function,

Be first noncircular gear corner,

It is the corner of second noncircular gear.

This noncircular gear transmission is used for differential gear train, then corresponding to the transformation mechanism of differential gear train, namely has Cause second Knucle-gear 4 and first Knucle-gear 3 are Knucle-gear, order

The velocity ratio of first Knucle-gear 3 and second Knucle-gear 4 wherein

Be respectively the corner of first Knucle-gear 3 and second Knucle-gear 4 in the train transformation mechanism, by

Can draw

Then

When being input as first noncircular gear 1 and planet carrier 5, can make

Namely

With

When satisfying certain linear ratio relation, then have Such second Knucle-gear 4 can be exported the to-and-fro motion that sinusoidal rule changes, and can change the rule of output this moment by the input condition of adjusting first noncircular gear 1 or planet carrier 5; When The time, namely can obtain the motion of reciprocally swinging center change by the input of regulating first noncircular gear 1 or planet carrier 5.

Sealing reaches the condition that spill do not occur and can try to achieve k according to non-circular gear pitch curve ₁≤ 0.5857, k ₂=1, if get k ₁=0.5,

The parameter of two Knucle-gears is respectively: modulus m=2mm, number of teeth z ₃=92, number of teeth z ₄=46.R then ₃=92mm, r ₄=46mm, the centre distance of two noncircular gears is a=r ₃+ r ₄=138mm, the pitch curve equation of first noncircular gear 1 and second noncircular gear 2 is:

1) synthetic back and forth rotation of two uniform rotation input exported:

Add angular velocity for respectively first noncircular gear 1 and planet carrier 5 and be respectively ω ₁=π (1/s), ω _HThe motion of=2 π (1/s), then:

Second Knucle-gear 4 is with period T=2s, the amplitude of oscillation 1 radian namely 57.30 ° do reciprocal rotation, as shown in Figure 3.

2) uniform rotation input is rotated with a unidirectional speed change and is imported the synthetic output of back and forth rotating:

Adding angular velocity for respectively first noncircular gear 1 and planet carrier 5 is respectively

$\left\{\begin{array}{c}{\mathrm{\ω}}_1=\mathrm{\π}+\mathrm{\π}\cos \left(\mathrm{\πt}\right)\\ {\mathrm{\ω}}_H=2\mathrm{\π}\end{array}(1/s)\right.$

Motion, then:

Second Knucle-gear 4 is in theory with period T=2s, and the amplitude of oscillation is done reciprocal rotation for 91.75 °, as shown in Figure 4.

3) two unidirectional speed changes are rotated the synthetic back and forth rotation of input output:

Adding angular velocity for respectively first noncircular gear 1 and planet carrier 5 is respectively

$\left\{\begin{array}{c}{\mathrm{\ω}}_1=\frac{\mathrm{\π}}{6}+\frac{\mathrm{\π}}{6}\cos \left(\frac{\mathrm{\π}}{6}t\right)\≥0\\ {\mathrm{\ω}}_H=\frac{\mathrm{\π}}{3}+\frac{\mathrm{\π}}{3}\cos \left(\frac{\mathrm{\π}}{6}t\right)\≥0\end{array}(1/s)\right.$

Motion, then:

Second Knucle-gear 4 is with period T=6s, and the amplitude of oscillation is done reciprocal rotation for 57.30 °, as shown in Figure 5.

4) two uniform rotation input synthesized wobble gyroscopic output:

Adding angular velocity for respectively first noncircular gear 1 and planet carrier 5 is respectively

$\left\{\begin{array}{c}{\mathrm{\ω}}_1=\frac{11\mathrm{\π}}{12}(1/s)\\ {\mathrm{\ω}}_H=\frac{23\mathrm{\π}}{12}(1/s)\end{array}\right.$

Motion, then:

Output gear 4 is that 50 °, the every 2s of oscillation center advance 30 ° and do rotation motion with wobble amplitude, period T=12s, as shown in Figure 6.

A kind of unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output of realizing provided by the invention can obtain the output of different wobble amplitude by the unidirectional servo-drive input motion of reasonable change rule, especially the swing output of oscillation center motion, realized that the direct unidirectional drive of actuating motor just can realize the purpose of the adjustable output of the amplitude of oscillation, can export the to-and-fro motion of various ways, have input and simply export diversified advantage, can be widely used in the reciprocating occasion of many demand high frequencies in the engineering reality.

Claims (6)

1. the unidirectional drive noncircular gear differential gear train that can realize the output of the adjustable amplitude of oscillation, it is characterized in that: comprise intermeshing first noncircular gear (1) and second noncircular gear (2), first Knucle-gear (3) is connected with second noncircular gear (2) by first (6), and second Knucle-gear (4) is located at the 3rd (8) and is gone up and mesh with first Knucle-gear (3); First noncircular gear (1) is located on second (7), and planet carrier (5) one ends connect second (7), and planet carrier (5) the other end connects first (6); First noncircular gear (1) connects first actuating motor, and planet carrier (5) connects second actuating motor.

2. using method that can realize the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output, it is characterized in that: this method is made up of following 2 steps:

Step 1: regulate first actuating motor, add angular velocity omega for first noncircular gear (1) ₁Motion;

Step 2: regulate second actuating motor, add angular velocity omega for planet carrier (5) _HMotion.

3. a kind of using method that can realize the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output as claimed in claim 2 is characterized in that: ω in the described step 1 ₁=π (1/s), ω in the described step 2 _H=2 π (1/s); Second Knucle-gear this moment (4) is 57.3 ° with cycle 2s, the amplitude of oscillation 1 radian and does reciprocal rotation.

4. a kind of using method that can realize the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output as claimed in claim 2 is characterized in that: ω in the described step 1 ₁=π (1+cos (π t)) (1/s), ω in the described step 2 _H=2 π (1/s); Second Knucle-gear this moment (4) is done reciprocal rotation for 91.75 ° with cycle 2s, the amplitude of oscillation.

5. a kind of using method that can realize the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output as claimed in claim 2 is characterized in that: in the described step 1 ω ₁〉=0; In the described step 2

ω _H〉=0; Second Knucle-gear this moment (4) is done reciprocal rotation for 57.3 ° with cycle 6s, the amplitude of oscillation.

6. a kind of using method that can realize the unidirectional drive noncircular gear differential gear train of adjustable amplitude of oscillation output as claimed in claim 2 is characterized in that: in the described step 1

In the described step 2

Second Knucle-gear this moment (4) is with cycle 12s, 50 ° of swings of the amplitude of oscillation, and the every 2s of oscillation center advances 30 °.

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